Tunnel detection device and detection method thereof

Abstract

The invention relates to the technical field of tunnel detection, and discloses a tunnel detection device and a detection method thereof. The device comprises an image acquisition device and a shielding shell, the shielding shell comprises a first shell and a second shell, the first shell is arranged on the second shell, and the first shell and the second shell are rotationally connected; the image acquisition device comprises a camera assembly, a laser and an optical fiber; the second shell is connected with a vehicle body, the laser is arranged in the second shell, the camera assembly is arranged in the first shell, and the laser and the camera assembly are connected through the optical fiber; the first shell is provided with a first window, the camera assembly is provided with a second window, and the first window and the second window are arranged in a parallel and overlapped mode. The camera assembly is arranged in the first shell, the laser is arranged in the second shell, the size of the image acquisition device is reduced through the split type design, and the requirements for miniaturization and light weight of the tunnel detection device are met.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel detection, and in particular to a tunnel detection device and a detection method thereof. Background Art

[0002] Tunnels are critical nodes for highways, railways, and urban underground transportation, and their safety directly impacts the safety of public life and property. For example, lining delamination or water leakage in railway tunnels can lead to train suspensions or even accidents. Currently, many tunnels have entered the late stages of service, with structural defects (such as cracks, corrosion, and cavities) gradually becoming apparent. Furthermore, natural disasters such as earthquakes and floods exacerbate the risk of structural damage. Traditional manual inspections, which rely on manual tapping and visual inspection, are inefficient and prone to missing hidden defects (such as deep cracks and cavities), making it difficult to detect potential hazards in a timely manner. In recent years, tunnel inspection technology based on image acquisition and defect recognition has gradually developed. However, existing tunnel inspection equipment, typically mounted on large trucks, is bulky and lacks the necessary convenience, maneuverability, and energy efficiency. Therefore, tunnel inspection equipment needs to be miniaturized and lightweight. Summary of the Invention

[0003] In view of this, the present invention provides a tunnel detection device and a detection method thereof.

[0004] Specifically, the following technical solutions are included: In a first aspect, a tunnel detection device is provided, comprising an image acquisition device and a shielding shell; The shielding shell includes a first shell and a second shell, the first shell is arranged on the second shell, and the first shell and the second shell are rotatably connected; The image acquisition device includes a camera assembly, a laser and an optical fiber; The second housing is connected to the vehicle body, the laser is arranged in the second housing, the camera assembly is arranged in the first housing, and the laser and the camera assembly are connected via the optical fiber; A first viewing window is provided on the first shell, and a second viewing window is provided on the camera assembly. The first viewing window and the second viewing window are arranged in parallel and overlapped.

[0005] Exemplarily, the shielding shell further includes a rotating shaft; The rotating shaft is a hollow structure, the optical fiber passes through the rotating shaft, one end of the rotating shaft is connected to the first shell, and the other end of the rotating shaft is arranged in the second shell. A first driving member is arranged in the second shell, the first driving member is connected to the rotating shaft, and the first driving member is used to drive the rotating shaft to drive the first shell to rotate relative to the second shell.

[0006] Exemplarily, the tunnel detection device includes an absorbing material; The wave-absorbing material is disposed on the surface of the camera assembly, and the wave-absorbing material is disposed in the shell gap of the shielding shell.

[0007] Exemplarily, the first shell includes a shielding shell and a shielding cover, the shielding shell has a receiving cavity with an upper opening, the shielding cover is connected to the shielding shell, and the absorbing material is provided at the connection between the shielding cover and the shielding shell; The camera assembly is arranged in a space enclosed by the shielding shell and the shielding cover.

[0008] Exemplarily, the shielding shell includes a first side plate, a second side plate, a third side plate, and a fourth side plate, and the first side plate, the second side plate, the third side plate, and the fourth side plate are arranged in parallel; The camera assembly is provided in plurality, including a first camera assembly, a second camera assembly, a third camera assembly, a fourth camera assembly, a fifth camera assembly and a sixth camera assembly, the first camera assembly, the second camera assembly and the third camera assembly are arranged between the first side plate and the second side plate, and the fourth camera assembly, the fifth camera assembly and the sixth camera assembly are arranged between the third side plate and the fourth side plate; The first camera assembly, the second camera assembly, and the third camera assembly are arranged on the second side panel, and the fourth camera assembly, the fifth camera assembly, and the sixth camera assembly are arranged on the third side panel.

[0009] Exemplarily, the field of view of the plurality of camera assemblies on the tunnel surface covers half of the tunnel surface; From the roadbed of the tunnel to the vault of the tunnel, the field of view on the tunnel surface comes from the first camera assembly, the fourth camera assembly, the second camera assembly, the fifth camera assembly, the third camera assembly, and the sixth camera assembly in sequence.

[0010] Exemplarily, the configuration parameters of the third camera assembly and the sixth camera assembly are a first focal length, a first object distance, a first pixel, a first laser power, and a first aperture; Configuration parameters of the second camera assembly and the fifth camera assembly are a second focal length, a second object distance, a second pixel, a second laser power, and a second aperture; Configuration parameters of the first camera assembly and the fourth camera assembly are a third focal length, a third object distance, a third pixel, a third power laser, and a third aperture.

[0011] Exemplarily, the shielding shell includes a baffle; The first shell has a receiving cavity with an upper opening, and the baffle covers the opening of the first shell; The baffle is rotatably connected to the first shell.

[0012] In a second aspect, a detection method for a tunnel detection device is provided, using the tunnel detection device as described in the first aspect, the method comprising: Controlling the vehicle to travel along a preset path, and controlling the image acquisition device to start when the vehicle reaches a target tunnel to acquire a surface image of the target tunnel; Tunnel defects are identified and positions of the tunnel defects are determined based on the surface image of the target tunnel.

[0013] Exemplarily, identifying a tunnel defect and determining a location of the tunnel defect based on the surface image of the target tunnel includes: splicing the surface images of the target tunnel to obtain a full-length image of the target tunnel; identifying tunnel defects in the full-length image of the target tunnel based on a preset defect recognition model; According to the tunnel defect, determining, on the full-length image of the target tunnel, a curbstone located on the same tunnel circumference as the tunnel defect, namely, the target curbstone; The number of curbstones between the target tunnel entrance and the target curbstone is identified on the full-length image of the target tunnel to determine the position of the target curbstone, that is, the position of the tunnel defect.

[0014] The beneficial effects of the technical solution provided by the present invention include at least: In the present invention, the camera assembly is arranged in the first shell and the laser is arranged in the second shell. The split design reduces the volume of the image acquisition device and meets the miniaturization and lightweight requirements of the tunnel detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0016] Figure 1 This is a schematic diagram of the rear view structure of a tunnel detection device in a closed state according to an embodiment of the present invention; Figure 2 This is a schematic side view of the structure of a tunnel detection device in a closed state according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the top view of the tunnel detection device when closed according to one embodiment of the present invention; Figure 4 This is a schematic side view of the structure of a tunnel detection device when opened according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a tunnel detection device when opened according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a top view of a shielding housing of a tunnel detection device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the top view of the structure of a tunnel detection device without a baffle according to an embodiment of the present invention; Figure 8 A schematic diagram of the arrangement of an image acquisition device for a tunnel detection device according to an embodiment of the present invention; Figure 9 This is another schematic diagram of the arrangement of the image acquisition device of the tunnel detection device according to one embodiment of the present invention; Figure 10 This is a schematic diagram of the operation of a tunnel detection device according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the overall layout of an image acquisition device for a tunnel detection device according to an embodiment of the present invention; Figure 12 A cooling schematic diagram of a tunnel detection device according to an embodiment of the present invention; Figure 13 Another cooling schematic diagram of a tunnel detection device according to an embodiment of the present invention; Figure 14 for Figure 13 Schematic top view of the cooling diagram.

[0017] The reference numerals in the figures represent respectively: 1. Vehicle body; 100. Shielding shell; 110. First shell; 111. First shielding cover; 112. Shielding shell; 1121. First side panel; 1122. Second side panel; 1123. Third side panel; 1124. Fourth side panel; 1125. Bottom plate; 1126. Top plate; 113. Baffle; 114. Second shielding cover; 120. Second shell; 121. Air inlet channel; 122. Air outlet channel; 123. Air inlet; 124. Air inlet; 125. Air outlet; 126. Air outlet; 127. Guide plate; 130. Rotating shaft; 141. First camera assembly; 142. Second camera assembly; 143. Third camera assembly; 144. Fourth camera assembly; 145. Fifth camera assembly; 146. Sixth camera assembly.

[0018] The above drawings illustrate a specific embodiment of the present invention, which will be described in more detail below. These drawings and the description are not intended to limit the scope of the present invention in any way, but rather to illustrate the concept of the present invention to those skilled in the art by reference to a specific embodiment. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0020] Before further describing the embodiments of the present invention in detail, the directional nouns involved in the embodiments of the present invention, such as "upper", "lower", "side", etc., are used to represent the position of the subject matter. Figure 1 The directions shown in the figure are for reference only and do not limit the scope of protection of the present invention.

[0021] To make the technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0022] like Figures 1 to 11 As shown, this embodiment provides a tunnel detection device, comprising: an image acquisition device and a shielding shell 100. The shielding shell 100 includes a first shell 110 and a second shell 120. The first shell 110 is arranged on the second shell 120, and the first shell 110 and the second shell 120 are rotatably connected; the image acquisition device includes a camera assembly, a laser, and an optical fiber. The second shell 120 is connected to the vehicle body 1, the laser is arranged in the second shell 120, and the camera assembly is arranged in the first shell 110. The laser and the camera assembly are connected by an optical fiber. A first window is provided on the first shell 110, and a second window is provided on the camera assembly. The first window and the second window are arranged in parallel and overlap. The image acquisition device is used to detect the tunnel surface. In the present invention, the camera assembly is arranged in the first shell and the laser is arranged in the second shell. The split design reduces the volume of the image acquisition device, meeting the miniaturization and lightweight requirements of the tunnel detection device.

[0023] In one embodiment, the camera assembly includes a camera and a laser optical structure. The laser optical structure and the laser are connected by an optical fiber. The laser provides energy to the laser optical structure. When the laser optical structure and the laser are connected, a fill light source is provided for the camera.

[0024] In one embodiment, the tunnel detection device of the present application has a compact overall structure and can be installed on a small truck, eliminating the need for a large truck. This effectively improves the convenience, maneuverability, and energy efficiency of tunnel detection. For example, in the first embodiment, the laser and camera components are integrated. When the tunnel detection device is installed on a large truck, the vehicle dimensions are 11 meters long, 2.5 meters wide, and 4.3 meters high. In the second embodiment, the laser and camera components are installed separately. When the tunnel detection device is installed on a small truck, the vehicle dimensions are 5 meters long, 1.8 meters wide, and 2.2 meters high. The vehicle volume of the second embodiment only accounts for 16.7% of the volume of the vehicle in the first embodiment. Because the laser and camera components are integrated in the first embodiment, the laser power is relatively low. To ensure the fill light effect, the camera component is installed at a height of 4.3 meters. In the second embodiment, the laser and camera components are installed separately, the laser power is increased. While ensuring the fill light effect, the camera component can be installed at a height of 1.1 meters, significantly improving the device's miniaturization and lightweighting.

[0025] In one embodiment, when the tunnel inspection device is installed on a small truck, the clear height of the tunnel top is 7 to 7.3 meters. The object distance between the camera and the tunnel surface is large. In this case, a high-power fill light source must be used, and conventional low-power lasers can no longer meet the requirements. In this application, the laser and camera components are separated to avoid the limitation of the fill light source power caused by the heat generated by the laser when the laser and camera components are installed as one. Furthermore, the increase in the power of the fill light source can effectively increase the light distance of the fill light source. When the camera is far away from the tunnel surface, the object distance of the camera is large, and effective shooting can only be carried out under a high-power fill light source.

[0026] In one embodiment, the laser wavelength band emitted by the laser is the first wavelength band. The camera in the camera assembly is a photosensitive camera, and the camera's photosensitive wavelength band is the first wavelength band. Alternatively, the camera in the camera assembly is an ordinary camera, and the camera assembly includes a filter, which is arranged in front of the camera lens, and the filter wavelength band of the filter is the first wavelength band. As a result, the camera can only receive light in the first wavelength band and shield light of other wavelengths. On the basis of greatly improving the fill light effect, energy consumption is saved. Lower power consumption can generate less heat, effectively reducing heat dissipation pressure, and facilitating miniaturization of the equipment based on the low-power system. Specifically, the first wavelength band is 600nm to 700nm. Preferably, the laser wavelength emitted by the laser is 640nm, and the photosensitive wavelength of the camera is 640nm. As a result, the camera can only receive light with a wavelength of 640nm, shielding light of other wavelengths, thereby reducing the interference of other light.

[0027] In one embodiment, in the present application, the laser and the laser optical structure are independently set up, the laser band selects a specific band, and the camera sensitive band selects a specific band, thereby avoiding the influence of high-power laser heat dissipation on data acquisition, and at the same time is conducive to the miniaturization and lightweight of the tunnel detection device.

[0028] In one embodiment, Figure 1 、 Figure 2 、 Figure 4 、 Figure 8 and Figure 9 As shown, the shielding housing further includes a rotating shaft 130. The rotating shaft 130 is a hollow structure, through which the optical fiber passes. One end of the rotating shaft 130 is connected to the first housing 110, and the other end of the rotating shaft 130 is disposed in the second housing 120. A first driving member is disposed in the second housing 120 and connected to the rotating shaft 130. The first driving member is used to drive the rotating shaft 130 to rotate the first housing 110 relative to the second housing 120. The rotating shaft 130 and the second housing 120 are rotationally connected.

[0029] In one embodiment, Figure 8 、 Figure 9 、 Figure 10 and Figure 11 As shown, multiple camera assemblies are provided, and their field of view on the tunnel surface covers half of the tunnel surface. When inspecting the lining surface of a tunnel along the way from location A to location B, the vehicle first travels from location A to location B to inspect half of the tunnel surface, and then travels from location A to location B again to inspect the remaining half of the tunnel surface. Because the direction of travel of the inspection vehicle remains unchanged during the inspection process, the camera assemblies need to be rotated, which is why the rotating shaft 130 in this application is designed.

[0030] In one embodiment, Figure 6 and Figure 7 As shown, a threading hole is provided on the first housing 110 , which is connected to the rotation shaft 130 . The optical fiber passes through the threading hole and the rotation shaft 130 and enters the second housing 120 to connect with the laser.

[0031] In one embodiment, the first drive element is a brushless DC motor to mitigate the impact of electromagnetic interference on data acquisition. The image acquisition device also includes an industrial computer, which is housed in the second housing 120. The camera is electrically connected to the industrial computer via a data transmission line. To mitigate the impact of electromagnetic signals on data acquisition, the first drive element and the industrial computer are housed in a third housing, which is housed in the second housing 120. Both the second and third housings are constructed of sheet metal. Absorbing material can be provided in the gaps between the second and third housings. Absorbing material is provided on the data transmission line between the camera and the industrial computer, and the minimum length required is selected.

[0032] In one embodiment, the tunnel detection device includes an absorbing material; the absorbing material is disposed on the surface of the camera assembly, and the absorbing material is disposed in the shell gap of the shielding shell. By disposing the image acquisition device in the shielding shell 100 and disposing the absorbing material in the gap between the camera assembly and the shielding shell 100, the present invention effectively reduces signal interference from the signal enhancement device and high-voltage line radiation during the image acquisition process, effectively resolving issues such as image loss, data loss, and detection failure, and can obtain effective and comprehensive image data, thereby improving the accuracy and comprehensiveness of detection. This application is also applicable to the detection of subway tunnels, having the same shielding effect on signal interference from high-voltage lines in the tunnel, and can improve the accuracy and comprehensiveness of detection.

[0033] In one embodiment, the absorbing material can be a coating, film, foam, fabric, or the like. Wrapping the image acquisition device with the absorbing material can effectively reduce electromagnetic interference from the signal enhancement device during image acquisition. To further reduce electromagnetic interference from the signal enhancement device during image acquisition, the shielding housing 100 is a metal housing, and the gaps within the shielding housing 100 are also filled with absorbing material. Alternatively, the surface of the shielding housing 100 may be covered with the absorbing material, or the shielding housing 100 may be filled with the absorbing material.

[0034] In one embodiment, Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, first housing 110 includes a shielding shell 112 and a shielding cover. Shielding shell 112 has an upper-opening accommodating cavity. The shielding cover is connected to shielding shell 112, and absorbing material is provided at the junction between the shielding cover and shielding shell 112. The camera assembly is positioned within the space enclosed by shielding shell 112 and shielding cover. This effectively reduces signal interference from the signal enhancement device and high-voltage line radiation during image acquisition, effectively resolving issues such as image loss, data loss, and detection failures. Effective and comprehensive image data is obtained, improving detection accuracy and comprehensiveness.

[0035] In one embodiment, the shielding shell 112 includes a first side panel 1121, a second side panel 1122, a third side panel 1123, a fourth side panel 1124, a bottom panel 1125, and a top panel 1126. The bottom panel 1125 is arranged parallel to the second shell 120 and the ground. The first side panel 1121, the second side panel 1122, the third side panel 1123, and the fourth side panel 1124 are arranged parallel to each other. The first side panel 1121, the second side panel 1122, the third side panel 1123, and the fourth side panel 1124 are all arranged perpendicular to the ground. The first side panel 1121, the second side panel 1122, the third side panel 1123, and the fourth side panel 1124 are all vertically connected to the bottom panel 1125. The accommodating cavity includes a first accommodating cavity, a second accommodating cavity, and a third accommodating cavity. A first accommodating cavity is defined between the first side panel 1121 and the second side panel 1122, a second accommodating cavity is defined between the second side panel 1122 and the third side panel 1123, and a third accommodating cavity is defined between the third side panel 1123 and the fourth side panel 1124. In this application, multiple image acquisition devices are provided. To effectively arrange these devices, a first camera assembly 141, a second camera assembly 142, and a third camera assembly 143 are positioned within the first accommodating cavity, while a fourth camera assembly 144, a fifth camera assembly 145, and a sixth camera assembly 146 are positioned within the third accommodating cavity. The laser optical structures within the first, second, third, fourth, fifth, and sixth camera assemblies 141, 142, 143, 144, 145, and 146 are connected to their respective lasers via optical fibers. The cameras within the first, second, third, fourth, fifth, and sixth camera assemblies 141, 142, 143, 144, 145, and 146 are connected to an industrial computer via data transmission lines. During connection, the optical fiber and the data transmission line pass through the threading hole and enter the rotating shaft 130 , and then enter the second housing 120 through the rotating shaft 130 to connect to the laser and the industrial computer.

[0036] In one embodiment, Figure 1 、 Figure 7 、 Figure 8 and Figure 9As shown, the shielding cover includes a first shielding cover 111 and a second shielding cover 114. The first shielding cover 111 is disposed in the third accommodating cavity, and the second shielding cover 114 is disposed in the first accommodating cavity. The first shielding cover 111 and the second shielding cover 114 are shaped plates. The shape of the first shielding cover 111 is adapted to the arrangement of the fourth camera assembly 144, the fifth camera assembly 145, and the sixth camera assembly 146. The first shielding cover 111 is provided with a strip-shaped first window. There are multiple first windows, each of which is parallel and overlaps with the second window on the camera assembly at its corresponding position to prevent the first shielding cover 111 from obstructing the field of view of the camera assembly. The edge of the first shielding cover 111 is connected to the third side panel 1123, the fourth side panel 1124, and the bottom panel 1125. Absorbent material is provided at these connection locations. The shape of the second shielding cover 114 is adapted to the arrangement positions of the first camera assembly 141, the second camera assembly 142 and the third camera assembly 143. A strip-shaped first window is provided on the second shielding cover 114. There are multiple first windows, and each first window is parallel and overlapped with the second window on the camera assembly at its corresponding position to prevent the second shielding cover 114 from obstructing the field of view of the camera assembly. The edge of the second shielding cover 114 is connected to the first side plate 1121, the second side plate 1122 and the bottom plate 1125, and absorbing materials are provided at the connected positions.

[0037] In one embodiment, the first camera assembly 141, the second camera assembly 142 and the third camera assembly 143 are arranged on the second side panel 1122, the fourth camera assembly 144, the fifth camera assembly 145 and the sixth camera assembly 146 are arranged on the third side panel 1123, and through holes are provided on the second side panel 1122 and the third side panel 1123 to facilitate the entry of optical fibers and data transmission lines into the second accommodating cavity and into the threading holes.

[0038] In one embodiment, Figure 7 、 Figure 8 、 Figure 9 As shown, from the tunnel's roadbed to the tunnel's dome, the viewing areas on the tunnel surface are sequentially captured by first camera assembly 141, fourth camera assembly 144, second camera assembly 142, fifth camera assembly 145, third camera assembly 143, and sixth camera assembly 146. Because the camera assemblies corresponding to adjacent viewing areas from the tunnel's roadbed to the tunnel's dome are respectively disposed on second side panel 1122 and third side panel 1123, the six viewing areas in this application are staggered, avoiding the problem of overexposure and unclear images caused by high brightness in the intersection areas due to intersections between adjacent viewing areas.

[0039] In one embodiment, Figure 1 and Figure 3As shown, a top plate 1126 is provided on the top surfaces of the second side plate 1122 and the third side plate 1123. The two edges of the top plate 1126, which are parallel to the second side plate 1122, are bent to form two receiving slots. The top plate 1126 shields the second receiving cavity, protecting the optical fibers and data transmission lines therein from direct sunlight and rain. The second and third side plates 1122 and 1123 are also provided with a front plate and a rear plate, forming a closed chamber. Absorbent material is provided at the joints to mitigate the impact of electromagnetic signals on the data transmission lines, improve data transmission security and accuracy, and enhance image quality. The front and rear plates are perpendicular to the direction of travel.

[0040] like Figure 1 、 Figure 3 、 Figure 4 and Figure 5 As shown, the shielding shell 100 includes a first shell 110 and a baffle 113; the first shell 110 has a receiving cavity with an upper opening, and the baffle 113 covers the first shell 110; the baffle 113 is rotatably connected to the first shell 110. Two baffles 113 are provided, one is connected to the first side plate 1121 and can rotate relative to the first side plate 1121, and the other is connected to the fourth side plate 1124 and can rotate relative to the fourth side plate 1124. When the baffle 113 is closed, the image acquisition device is closed and does not operate; when the baffle 113 is opened, the image acquisition device is turned on and operates. The edge of the baffle 113 is snapped into the receiving groove of the top plate 1126. The provision of the baffle 113 can prevent the image acquisition device from being exposed to the sun and rain, thereby increasing the service life of the image acquisition device.

[0041] In one embodiment, in a cooling embodiment, as Figure 12 As shown, the second housing 120 is disposed within the vehicle body 1. Ventilation holes are provided on the vehicle body 1. An air inlet is provided at the bottom of the second housing 120, and the ventilation holes and air inlet are arranged opposite each other. An air outlet is provided at the top of the second housing 120. Air flows through the ventilation holes and the air inlet into the second housing 120. The direction of air flow is indicated by the arrows. After cooling the laser, industrial computer, etc. in the second housing 120, the air flows out through the air outlet. A rain shield is provided above the air outlet to prevent rain from entering the second housing 120. In this solution, an auxiliary exhaust fan is added to improve airflow performance and cooling effect.

[0042] In one embodiment, in another cooling embodiment, as Figure 13 and Figure 14As shown, the second housing 120 is disposed within the vehicle body 1. Ventilation holes are provided on the vehicle body 1, and an air inlet is provided at the bottom of the second housing 120. The ventilation holes and the air inlet are positioned opposite each other, allowing air to enter the second housing 120 through the ventilation holes at the bottom of the vehicle body 1 and the air inlet at the bottom of the second housing 120. An air inlet 123, comprising multiple circular holes, is provided on the windward sidewall of the air inlet duct 121. Air inlet 123 comprises multiple circular holes. An air inlet 124 is provided on the partition between the air inlet duct 121 and the second housing 120, connecting the air inlet 124 to the interior of the second housing 120. An air outlet 126, comprising multiple circular holes, is provided on the leeward sidewall of the air outlet duct 122. An air outlet 125 is provided on the partition between the air outlet duct 122 and the second housing 120, connecting the air outlet 122 and the interior of the second housing 120. The windward sidewall of the second housing 120, the windward sidewall of the air inlet duct 121, and the windward sidewall of the air outlet duct 122 are integrally formed. The leeward sidewall of the second housing 120, the leeward sidewall of the air inlet duct 121, and the leeward sidewall of the air outlet duct 122 are integrally formed. Deflectors 127 are provided on both the air inlet 123 and the air outlet 126 to direct airflow from the air inlet duct 121 into the interior of the second housing 120 and from within the second housing 120 into the air outlet duct 122, thereby enhancing airflow performance.

[0043] Specifically, such as Figure 14 As shown, the deflector 127 on the air inlet 124 is tilted toward the windward wall of the air inlet channel 121, and the deflector 127 on the air outlet 125 is tilted toward the leeward wall of the air outlet channel 122. The length of the deflector 127 on the air inlet 124 gradually increases from the windward wall of the air inlet channel 121 to the leeward wall of the air inlet channel 121, thereby enhancing the air diversion effect of the deflector 127 on the air inlet 124. In this application, by providing the air inlet channel 121 and the air outlet channel 122 to introduce air into the interior of the second housing 120 to cool the laser and industrial computer in the second housing 120, it can effectively prevent rainwater from entering the second housing 120, providing rain and wind protection. This application places the air inlet 123 on the windward side and the air outlet 126 on the leeward side. When the vehicle body 1 is in operation, air can effectively enter the interior of the second housing 120. The faster the vehicle body 1 runs, the faster the air circulates through the second housing 120, resulting in a better cooling effect. Furthermore, the high-speed airflow within the second housing 120 also facilitates the intake of air through the bottom air inlet of the second housing 120. This solution can omit the auxiliary exhaust fan, saving energy and streamlining the structure.

[0044] Specifically, providing an air inlet 123 on the windward wall of the air inlet channel 121 can effectively prevent rain from entering the second housing 120 when the air inlet is provided on the windward wall of the second housing 120. Furthermore, a drainage hole can be provided on the bottom wall of the air inlet channel 121 to effectively drain rainwater that enters the air inlet channel 121 through the air inlet 123.

[0045] Furthermore, a filtering structure may be provided on the air inlet, the air inlet 123 , the air inlet 124 , the air outlet 125 and the air outlet 126 .

[0046] Furthermore, the tunnel detection device includes a power generator, a voltage converter, and an encoder. The power generator is electrically connected to the voltage converter and an industrial computer. The power generator provides power to the voltage converter and the industrial computer. The voltage converter outputs 5V, 12V, and 24V voltages, which power the encoder, camera, and laser, respectively. The encoder is mounted on the axle and electrically connected to the industrial computer. The industrial computer controls the image capture frequency of the image acquisition device based on the encoder feedback pulse signal. Because the tunnel detection device involves both strong and weak currents, in order to further reduce interference from strong currents on the image acquisition signals, the strong and weak currents are separated in this application.

[0047] Furthermore, the tunnel detection device includes a conductive rope, which is made of metal. The conductive rope is arranged at the rear of the vehicle body and contacts the ground to discharge static electricity from the equipment in a timely manner.

[0048] This embodiment also provides a tunnel inspection method using the above-described tunnel inspection device. The method includes: controlling a vehicle 1 to travel along a preset path, and upon reaching a target tunnel, controlling an image acquisition device to activate and capture a surface image of the target tunnel; and identifying tunnel defects and determining their locations based on the surface image of the target tunnel. This application not only detects tunnel defects but also locates them, facilitating subsequent repairs.

[0049] Specifically, before testing, absorbing material is set on the outer shell of the camera assembly and on the data transmission line connecting the camera assembly and the industrial computer; the camera assembly and the shielding cover are installed, and absorbing material is set at the connection between the shielding cover and the second side panel 1122, the third side panel 1123, and the bottom panel 1125.

[0050] Specifically, a preset path is set in the industrial computer. The preset path is the inspection path of the tunnel detection device. Multiple tunnel positions are preset in the preset path. The preset tunnel positions may include the coordinates of the tunnel entrance position, the coordinates of the tunnel exit position, and the tunnel length.

[0051] Specifically, the target tunnel is the tunnel to be inspected that the vehicle 1 is about to reach. For example, three tunnels to be inspected, A, B, and C, are provided on a preset route, and the inspection order is A, B, and C. Therefore, when the vehicle 1 is traveling between tunnels A and B, the target tunnel is tunnel B; and when the vehicle 1 is traveling between tunnels B and C, the target tunnel is tunnel C. The method includes controlling the vehicle 1 to travel along the preset route, and upon reaching the target tunnel, manually or automatically activating an image acquisition device to inspect the surface of the target tunnel.

[0052] Specifically, the manual control method includes controlling the vehicle body 1 to travel along a preset path. When the vehicle reaches the entrance of a target tunnel, the baffle 113 is opened by a button on the baffle 113. After a preset time, the image acquisition device is manually or automatically activated to detect the surface of the target tunnel. The preset time is the time it takes for the baffle 113 to be fully opened.

[0053] Specifically, the automatic control method is introduced below: In one embodiment, the method includes: obtaining the position and speed of the vehicle body 1; determining the target tunnel entrance position coordinates and the time of arrival at the target tunnel entrance among the entrance position coordinates of multiple tunnels based on the position and speed of the vehicle body 1; determining the target configuration parameters of the image acquisition device when detecting the target tunnel based on the mapping relationship between the tunnel position and the configuration parameters according to the target tunnel entrance position coordinates; and controlling the image acquisition device to adjust to the target configuration parameters according to the time of arrival at the target tunnel entrance.

[0054] Specifically, the position of vehicle 1 is compared with the coordinates of multiple tunnel entrance locations. The coordinates of the tunnel entrance closest to vehicle 1 in its travel direction are determined as the target tunnel entrance coordinates. The position of vehicle 1 is its real-time coordinates, which can be obtained using satellite positioning. The distance between vehicle 1 and the target tunnel entrance can be calculated based on the position of vehicle 1 and the target tunnel entrance coordinates. The time it takes to reach the target tunnel entrance is then calculated based on the speed of vehicle 1.

[0055] Specifically, the configuration parameters of the camera component when inspecting each tunnel on a preset path are set in the industrial computer, and a mapping relationship is set between the tunnel position and the configuration parameters. The target configuration parameters of the camera component when inspecting the target tunnel can be obtained according to the coordinates of the target tunnel entrance position.

[0056] Specifically, according to the time of the target tunnel, when the vehicle body 1 is about to enter the target tunnel or when the time when the vehicle body 1 is expected to enter the target tunnel is equal to the preset time, the control baffle 113 is opened and the image acquisition device is adjusted to the target configuration parameters.

[0057] In one embodiment, when detecting a tunnel, Figure 12As shown, the configuration parameters of the six camera assemblies in this embodiment are: the third camera assembly 143 and the sixth camera assembly 146 capture images of the tunnel vault, and the configuration parameters are the first focal length, the first object distance, the first pixel, the first power laser, and the first aperture; the second camera assembly 142 and the fifth camera assembly 145 capture images of the tunnel waist, and the configuration parameters are the second focal length, the second object distance, the second pixel, the second power laser, and the second aperture; the first camera assembly 141 and the fourth camera assembly 144 capture images of the remaining tunnel, and the configuration parameters are the third focal length, the third object distance, the third pixel, the third power laser, and the third aperture.

[0058] In another embodiment, the method includes: obtaining the position and speed of the vehicle body 1; determining the target tunnel entrance position coordinates and the time of arrival at the target tunnel entrance from a plurality of tunnel entrance position coordinates based on the position and speed of the vehicle body 1; controlling the image acquisition device to acquire a first image of the target tunnel based on the target tunnel entrance position coordinates and the time of arrival at the target tunnel entrance; adjusting the configuration parameters of the image acquisition device based on the image parameters of the first image and preset image parameters, and controlling the image acquisition device to detect the target tunnel after the adjustment.

[0059] Specifically, the position of vehicle 1 is compared with the coordinates of multiple tunnel entrance locations. The coordinates of the tunnel entrance closest to vehicle 1 in its travel direction are determined as the target tunnel entrance coordinates. The position of vehicle 1 is its real-time coordinates, which can be obtained using satellite positioning. Based on the position of vehicle 1 and the target tunnel entrance coordinates, the distance between vehicle 1 and the target tunnel entrance can be calculated. The time it takes to reach the target tunnel entrance is then calculated based on the speed of vehicle 1.

[0060] Specifically, based on the time of arrival at the target tunnel entrance, when vehicle body 1 is about to enter the target tunnel or when the estimated time for vehicle body 1 to enter the target tunnel equals a preset time, baffle 113 is controlled to open. After baffle 113 is fully opened, the image acquisition device is controlled to capture a first image of the target tunnel. The first image of the target tunnel is a small amount of tunnel surface image captured after entering the target tunnel. The first image is only used to adjust the configuration parameters of the image acquisition device. The image captured by the image acquisition device after the adjustment is used to analyze damage on the tunnel surface.

[0061] Specifically, the image parameter is image brightness. Configuration parameters of the image acquisition device include camera gain. The camera gain of the image acquisition device is adjusted based on the difference between the brightness of the first image and a preset image brightness. After the adjustment, the image acquisition device is controlled to detect the target tunnel. The adjusted image acquisition device can produce images that meet the requirements.

[0062] The camera assembly in this application only contains a laser optical structure and a camera, with few internal components and a small size. Therefore, the size of the camera assembly can be directly reduced, reducing the installation space of the camera assembly. In this application, the laser and the laser optical structure are separated, and the laser is separately set in the second shell 120. The laser can be effectively dissipated, which is suitable for high-power lasers and can be used for long-distance image acquisition, thereby improving the brightness of the fill light. The image acquisition device in this application can use high-power high-power lasers, which effectively improves the object distance of tunnel detection.

[0063] In another embodiment, the method includes: presetting images of tunnel entrances, capturing an image in front of the vehicle while traveling, comparing the image in front of the vehicle with the pre-set images of the tunnel entrances, and determining a target tunnel based on the comparison results; and determining a time to arrive at the target tunnel based on the vehicle's speed and a comparison between the image in front of the vehicle and the image of the target tunnel entrance. The tunnel dimensions in the image in front of the vehicle vary depending on the distance between the vehicle and the tunnel. By comparing the tunnel dimensions in the image in front of the vehicle with the tunnel dimensions in the image of the target tunnel entrance, the distance between the vehicle and the target tunnel can be determined. The time to arrive at the target tunnel can then be determined based on the vehicle's speed and the distance between the vehicle and the target tunnel.

[0064] In one embodiment, based on the surface image of the target tunnel, tunnel defects are identified and the location of the tunnel defects is determined, including: splicing the surface images of the target tunnel to obtain a full-length image of the target tunnel; identifying the tunnel defect in the full-length image of the target tunnel based on a preset defect recognition model; based on the tunnel defect, determining, on the full-length image of the target tunnel, a curb located on the same tunnel circumference as the tunnel defect, i.e., a target curb; and identifying, on the full-length image of the target tunnel, the number of curbs between the entrance of the target tunnel and the target curb to determine the location of the target curb, i.e., the location of the tunnel defect.

[0065] In one embodiment, the target tunnel surface image is a half-image of the target tunnel. The target tunnel surface image is spliced using a pre-set camera array dynamic splicing technique. The full-length image of the target tunnel is a complete image of the tunnel surface from the tunnel entrance to the tunnel exit. The defect recognition model is trained based on historical inspection images. Curb recognition can be based on a pre-set curb recognition model, which is trained based on historical curb images.

[0066] In one embodiment, based on the tunnel defect, a curbstone located on the same tunnel circumference as the tunnel defect, i.e., a target curbstone, is determined on the full-length image of the target tunnel, including: obtaining a tunnel image to be identified that is located on the same tunnel circumference as the tunnel defect, and identifying the target curbstone in the tunnel image to be identified based on a pre-set curbstone recognition model.

[0067] In one embodiment, based on a pre-set curbstone recognition model, all curbstones between the target tunnel entrance and the target curbstone are identified, and the number of curbstones is calculated. The position of the target curbstone, i.e., the position of the tunnel defect, is determined based on the number of curbstones. For example, all curbstones from the target tunnel entrance to the target curbstone are sequentially recorded as 1, 2, 3...16, and the number of curbstones is 16. The target curbstone is 17, and the position of the target curbstone is determined to be the seventeenth curbstone. That is, the position of the tunnel defect is located on the tunnel circumference where the seventeenth curbstone is located. Subsequent staff can very conveniently determine the specific location of the tunnel defect and carry out maintenance work. The counting of curbstones can be achieved by identifying the gap between two adjacent curbstones.

[0068] The present application can simply and quickly determine the location of tunnel defects by counting curbstones, thereby improving the efficiency of on-site positioning of tunnel defects.

[0069] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless otherwise clearly defined.

[0070] Other embodiments of the present invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as illustrative only.

[0071] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tunnel detection device, characterized in that: include: Image acquisition device, shielding shell; The shielding shell includes a first shell and a second shell, the first shell is arranged on the second shell, and the first shell and the second shell are rotatably connected; The image acquisition device includes a camera assembly, a laser and an optical fiber; The second housing is connected to the vehicle body, the laser is arranged in the second housing, the camera assembly is arranged in the first housing, and the laser and the camera assembly are connected via the optical fiber; A first viewing window is provided on the first shell, and a second viewing window is provided on the camera assembly. The first viewing window and the second viewing window are arranged in parallel and overlapped.

2. A tunnel detection device according to claim 1, characterized in that: The shielding shell further includes a rotating shaft; The rotating shaft is a hollow structure, the optical fiber passes through the rotating shaft, one end of the rotating shaft is connected to the first shell, and the other end of the rotating shaft is arranged in the second shell. A first driving member is arranged in the second shell, the first driving member is connected to the rotating shaft, and the first driving member is used to drive the rotating shaft to drive the first shell to rotate relative to the second shell.

3. A tunnel detection device according to claim 1, characterized in that: The tunnel detection device includes an absorbing material; The wave-absorbing material is disposed on the surface of the camera assembly, and the wave-absorbing material is disposed in the shell gap of the shielding shell.

4. A tunnel detection device according to claim 3, characterized in that: The first shell includes a shielding shell and a shielding cover, the shielding shell has a receiving cavity with an upper opening, the shielding cover is connected to the shielding shell, and the absorbing material is provided at the connection between the shielding cover and the shielding shell; The camera assembly is arranged in a space enclosed by the shielding shell and the shielding cover.

5. A tunnel detection device according to claim 4, characterized in that: The shielding shell includes a first side plate, a second side plate, a third side plate, and a fourth side plate, wherein the first side plate, the second side plate, the third side plate, and the fourth side plate are arranged in parallel; The camera assembly is provided in plurality, including a first camera assembly, a second camera assembly, a third camera assembly, a fourth camera assembly, a fifth camera assembly and a sixth camera assembly, the first camera assembly, the second camera assembly and the third camera assembly are arranged between the first side plate and the second side plate, and the fourth camera assembly, the fifth camera assembly and the sixth camera assembly are arranged between the third side plate and the fourth side plate; The first camera assembly, the second camera assembly, and the third camera assembly are arranged on the second side panel, and the fourth camera assembly, the fifth camera assembly, and the sixth camera assembly are arranged on the third side panel.

6. A tunnel detection device according to claim 5, characterized in that: The field of view of the plurality of camera assemblies on the tunnel surface covers half of the tunnel surface; From the roadbed of the tunnel to the vault of the tunnel, the field of view on the tunnel surface comes from the first camera assembly, the fourth camera assembly, the second camera assembly, the fifth camera assembly, the third camera assembly, and the sixth camera assembly in sequence.

7. The tunnel detection device according to claim 5, characterized in that: Configuration parameters of the third camera assembly and the sixth camera assembly are a first focal length, a first object distance, a first pixel, a first laser power, and a first aperture; Configuration parameters of the second camera assembly and the fifth camera assembly are a second focal length, a second object distance, a second pixel, a second laser power, and a second aperture; Configuration parameters of the first camera assembly and the fourth camera assembly are a third focal length, a third object distance, a third pixel, a third power laser, and a third aperture.

8. The tunnel detection device according to claim 1, characterized in that: The shielding shell includes a baffle; The first shell has a receiving cavity with an upper opening, and the baffle covers the opening of the first shell; The baffle is rotatably connected to the first shell.

9. A detection method for a tunnel detection device, characterized in that: Using a tunnel detection device according to any one of claims 1 to 8, the method comprises: Controlling the vehicle to travel along a preset path, and controlling the image acquisition device to start when the vehicle reaches a target tunnel to acquire a surface image of the target tunnel; Tunnel defects are identified and positions of the tunnel defects are determined based on the surface image of the target tunnel.

10. The detection method of a tunnel detection device according to claim 9, characterized in that: Identifying tunnel defects and determining locations of the tunnel defects based on the surface image of the target tunnel includes: splicing the surface images of the target tunnel to obtain a full-length image of the target tunnel; identifying tunnel defects in the full-length image of the target tunnel based on a preset defect recognition model; According to the tunnel defect, determining, on the full-length image of the target tunnel, a curbstone located on the same tunnel circumference as the tunnel defect, namely, the target curbstone; The number of curbstones between the target tunnel entrance and the target curbstone is identified on the full-length image of the target tunnel to determine the position of the target curbstone, that is, the position of the tunnel defect.

Images