Comprehensive linkage control device, method and system of tunnel lining multi-source detection system

Abstract

The invention discloses a comprehensive linkage control device, method and system for a tunnel lining multi-source detection system, and the device comprises a programmable logic controller (PLC) which is used for matching a mileage position corresponding to a current moment according to a corrected clock frequency; in the rapid general survey mode, generating pose correction data of the detection unit according to the general survey data and the mileage position; receiving multi-dimensional feature data corresponding to the reflection intensity abrupt change signal in a precise checking mode; when it is determined that the defects exist, a fine checking command is generated according to the mileage position; according to the accurate data, the mechanical arm load data and the tunnel environment temperature data, a driving force control signal is generated and issued to a multi-axis synchronous servo driver; the multi-axis synchronous servo driver is used for performing curve correction on the detection unit according to the pose correction data; driving the detection unit to perform fine checking according to the fine checking command; and driving the detection unit to execute detection data acquisition according to the driving force control signal. The method is good in collaboration and high in control precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent detection of railway tunnels, and in particular to a comprehensive linkage control device, method and system for a tunnel lining multi-source detection system. BACKGROUND

[0002] This section is intended to provide background or context to the embodiments of the application recited in the claims.

[0003] The core principle of tunnel detection technology is to collect internal defect and apparent state data of tunnel lining through non-contact sensing technology (such as air-coupled / ground-coupled ground penetrating radar, high-definition imaging equipment, etc.), combine with mechanical execution system (such as multi-degree-of-freedom robot arm) to drive the detection unit to reach the specified position and maintain a stable detection posture (such as ground-coupled ground penetrating radar needs to maintain a constant distance from the lining surface), generate defect evaluation results after data processing and analysis, and finally realize equipment linkage and artificial decision feedback through the control system.

[0004] In the field of tunnel detection, the coordinated control of the tunnel lining multi-source detection system has always been a technical difficulty. There are three interrelated technical difficulties in the prior art: poor coordination, insufficient environmental adaptability, and low control accuracy of the tunnel lining multi-source detection system.

[0005] Poor coordination: each detection unit of the tunnel lining multi-source detection system operates independently, for example, the communication scheme using industrial Ethernet cannot solve the problem of global clock synchronization at the microsecond level, the time and space deviation of detection data is large, especially in the curved scene, the device pose misalignment rate is high, resulting in low detection efficiency and poor data correlation.

[0006] Insufficient environmental adaptability: to cope with low temperature environment, the conventional scheme generally uses heating sleeve, but this will introduce an additional power overload risk of up to 30%, affecting the long-time stable operation of the system. At the same time, the fixed parameter PID algorithm is commonly used in the control of the robot arm, which cannot adapt to the changes of load and temperature, resulting in that the control accuracy of the robot arm is easily affected by the environment.

[0007] Low control accuracy: the multi-axis coordination error of the robot arm is ±3cm, the distance fluctuation between the antenna of the ground-coupled ground penetrating radar unit and the lining surface is ±5cm, the obstacle avoidance response delay is large, and there is a risk of device collision and data failure; while the air-coupled ground penetrating radar antenna in the state of 80km / h high-speed movement, the robot arm pose misalignment rate is as high as 32%, which cannot meet the current limit requirements of high-speed rail tunnel on detection efficiency and accuracy

[0008] Therefore, there is an urgent need for an integrated and intelligent control scheme for the tunnel lining multi-source detection system to realize high-precision coordinated control, self-adaptive adjustment and integrated information display of multiple detection devices in complex environments. SUMMARY

[0009] The embodiment of the application provides a kind of comprehensive linkage control device of tunnel lining multi-source detection system, coordination is good, environmental adaptability is good, control precision is high, the device includes: programmable logic controller PLC and multi-axis synchronous servo driver;

[0010] The programmable logic controller PLC is used to correct the internal clock according to the received track car operation control device output mileage pulse signal, and match the mileage position corresponding to the current time according to the corrected clock frequency;

[0011] In the rapid census mode, according to the received tunnel lining multi-source detection system detection unit collected census data, according to the mileage position, the pose correction data of the detection unit is generated, and the pose correction data is sent to the multi-axis synchronous servo driver through the real-time industrial bus;

[0012] In the detailed investigation mode, the multi-dimensional feature data corresponding to the reflection intensity mutation signal collected by the detection unit is received;When it is determined that there is a defect according to the multi-dimensional feature data, the detailed investigation command is generated according to the mileage position, and is sent to the multi-axis synchronous servo driver;

[0013] The detailed investigation data collected by the detection unit in the detailed investigation process is received;According to the detailed investigation data, the mechanical arm load data of the detection unit and the tunnel environment temperature data, the driving force control signal is generated, and the driving force control signal is sent to the multi-axis synchronous servo driver;

[0014] The multi-axis synchronous servo driver is used to correct the detection unit according to the pose correction data;According to the detailed investigation command, the detection unit is driven to investigate at the mileage position corresponding to the current time;According to the driving force control signal, the detection unit is driven to perform detection data collection work.

[0015] The embodiment of the application provides a kind of comprehensive linkage control method of tunnel lining multi-source detection system, coordination is good, environmental adaptability is good, control precision is high, and the method comprises:

[0016] According to the received track car operation control device output mileage pulse signal, the internal clock is corrected through phase-locked loop circuit;According to the corrected clock frequency, the mileage position corresponding to the current time is matched;

[0017] In the rapid census mode, according to the received tunnel lining multi-source detection system detection unit collected census data, according to the mileage position, the pose correction data of the detection unit is generated, and the pose correction data is sent to the multi-axis synchronous servo driver through the real-time industrial bus;

[0018] In the intensive inspection mode, the multi-dimensional feature data corresponding to the reflection intensity mutation signal collected by the receiving detection unit is acquired; when it is determined that there is a defect according to the multi-dimensional feature data, the intensive inspection command is generated according to the mileage position, and is sent to the multi-axis synchronous servo driver;

[0019] The intensive inspection data collected by the receiving detection unit in the intensive inspection process is received; the driving force control signal is generated according to the intensive inspection data, the mechanical arm load data of the detection unit and the tunnel environment temperature data, and the driving force control signal is sent to the multi-axis synchronous servo driver, so that the multi-axis synchronous servo driver drives the detection unit to perform the detection data acquisition work according to the driving force control signal.

[0020] The embodiment of the application provides a comprehensive linkage control system of a tunnel lining multi-source detection system, which has good coordination, good environmental adaptability and high control precision.

[0021] The comprehensive linkage control device and the general control display system of the tunnel lining multi-source detection system;

[0022] The general control display system comprises a main screen module and a split screen module.

[0023] The main screen module is used for displaying preset core data in all data of the tunnel lining multi-source detection system and the comprehensive linkage control system, and sending a response instruction to the split screen module where the preset core data is located after receiving a click instruction of a user for one preset core data.

[0024] The split screen module is used for split screen display of all data of the tunnel lining multi-source detection system and the comprehensive linkage control system, and display of detailed data of the preset core data in the response instruction after receiving the response instruction.

[0025] The embodiment of the application further provides a computer device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the comprehensive linkage control method of the tunnel lining multi-source detection system when executing the computer program.

[0026] The embodiment of the application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by the processor to implement the comprehensive linkage control method of the tunnel lining multi-source detection system.

[0027] The embodiment of the application further provides a computer program product, which comprises a computer program, and the computer program is executed by the processor to implement the comprehensive linkage control method of the tunnel lining multi-source detection system.

[0028] In the embodiment of the present application, the internal clock is corrected by receiving the mileage pulse signal of the track vehicle operation control device, the system clock is accurately bound with the actual mileage, and the real-time matching of the clock frequency and the mileage position is ensured. This mechanism provides a unified spatial reference for detection data in the general survey / inspection mode, avoids the mileage positioning deviation caused by clock drift, and ensures the correspondence accuracy of multi-source detection data and the actual position of the tunnel. The fast general survey mode and the inspection mode are distinguished. The trajectory accuracy of the detection unit during high-speed movement is ensured through pose correction in the fast general survey mode (such as curve correction), and the detection deviation caused by the tunnel curve and other terrain is avoided. The inspection mode is triggered for suspected defects with sudden changes in reflection intensity, and the mileage position is accurately positioned and the detection unit is driven for pinpoint detection, realizing the hierarchical detection logic of large-scale general survey-small-scale inspection, greatly improving the accuracy and efficiency of defect identification, and significantly guaranteeing the detection rate of small-size defects. The programmable logic controller PLC fuses inspection data, mechanical arm load data, and tunnel environment temperature data to generate a driving force control signal in the inspection process, so that the multi-axis synchronous servo driver can dynamically adapt to changes in the detection environment (such as temperature fluctuations affecting the running accuracy of the mechanical arm, and load changes reflecting the contact state of the detection unit and the lining surface), ensuring that the detection unit can still stably collect data in complex working conditions (such as different lining materials and surface flatness differences), and improving the self-adaptability of the system to complex tunnel environments. From the automatic pose correction in the general survey stage to the defect judgment based on feature data in the inspection stage, the mileage positioning, the command issuing, and the dynamic regulation of the driving force, a closed-loop automated process of data collection-analysis decision-execution feedback is formed, reducing manual intervention and reducing operation complexity. At the same time, the real-time data interaction (such as pose correction data, inspection commands, and driving force signals) between the programmable logic controller PLC and the multi-axis synchronous servo driver ensures the accurate linkage of the detection unit action and data collection, avoids the misplacement of detection data caused by execution delay, and through the cooperative action of the real-time industrial bus and the phase-locked loop, reduces the time and space data deviation of multiple devices from the traditional scheme of >5% to <1%, and reduces the curve pose misalignment rate from 32% to <5%. Through the fast general survey mode, the whole tunnel is quickly covered, and only the suspected defect area is started in the inspection mode, avoiding the waste of resources (such as time and equipment energy consumption) caused by indiscriminate fine detection. While ensuring comprehensive detection, the detection efficiency is significantly improved, which is suitable for batch detection scenarios of long-distance tunnels. In the inspection stage, the driving force is regulated in combination with the mechanical arm load data, which can avoid equipment overload caused by excessive load (cooperating with the overload protection in the three-level safety protection mechanism), prolong the service life of the equipment; at the same time, the motion trajectory of the detection unit in the complex road section such as the curve is ensured to be compliant through the pose correction, avoiding collision with the tunnel structure, and improving the safety of the system operation. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor. In the drawings:

[0030] Figure 1 It is a structural schematic diagram of the comprehensive linkage control device of the tunnel lining multi-source detection system in the embodiment of the present application.

[0031] Figure 2 It is an initialization flowchart of the comprehensive linkage control device of the tunnel lining multi-source detection system in the embodiment of the present application.

[0032] Figure 3 It is a flowchart of detection task configuration and start of the comprehensive linkage control device of the tunnel lining multi-source detection system in the embodiment of the present application.

[0033] Figure 4 It is a flowchart of the rapid survey mode in the embodiment of the present application.

[0034] Figure 5 It is a flowchart of the fine rapid survey mode in the embodiment of the present application.

[0035] Figure 6 It is a flowchart of obstacle avoidance in the embodiment of the present application.

[0036] Figure 7 It is a processing flowchart of the end of the detection task in the embodiment of the present application.

[0037] Figure 8 It is a structural schematic diagram of the comprehensive linkage control system of the tunnel lining multi-source detection system in the embodiment of the present application.

[0038] Figure 9 It is a flowchart of the comprehensive linkage control method of the tunnel lining multi-source detection system in the embodiment of the present application.

[0039] Figure 10 It is a schematic diagram of the computer device in the embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the following will further describe the embodiments of the present application in combination with the drawings. Herein, the illustrative embodiments of the present application and the description thereof are used to explain the present application, but not as a limitation of the present application.

[0041] The core idea of the present application is to find and utilize the synergy among the real-time industrial bus (such as EtherCAT industrial bus) synchronization mechanism, the adaptive algorithm based on load-temperature dynamic compensation, and the wide-temperature element, to jointly solve the long-standing technical contradictions described above. This synergy is not a simple superposition, but produces a technical effect of "1+1+1>3": the use of a real-time industrial bus can improve synchronization; the use of an adaptive algorithm can compensate for environmental changes; and the use of a wide-temperature element can ensure low-temperature startup.

[0042] After combining the three, the present application first realizes stable control of the spatio-temporal data deviation to <1% in the full working condition range of 80km / h vehicle speed, -20℃ environment, and 0-200kg load variation, and improves the ground-coupled radar spacing control accuracy to ±2cm without a heating jacket. This overall technical effect cannot be achieved by any single existing technical means or simple combination thereof.

[0043] The core of the method proposed in the embodiments of the present application is to construct a comprehensive linkage control architecture of "centralized decision-making + distributed execution", and integrate a three-level safety protection mechanism, an adaptive control algorithm, and an integrated display platform, to form a dedicated control device for a tunnel lining multi-source detection system, and realize high-precision collaboration, complex environment adaptation, and data integrated management of the tunnel lining multi-source detection system.

[0044] The embodiments of the present application propose a comprehensive linkage control device for a tunnel lining multi-source detection system, as shown in Figure 1 The structure of the comprehensive linkage control device for the tunnel lining multi-source detection system in the embodiments of the present application is shown in the figure, and the device includes: a programmable logic controller PLC 101 and a multi-axis synchronous servo driver 102;

[0045] The programmable logic controller PLC is configured to: correct an internal clock through a phase-locked loop circuit according to a received mileage pulse signal output by a track vehicle operation control device; and match a mileage position corresponding to a current time according to a corrected clock frequency;

[0046] In the rapid survey mode, according to the received survey data collected by the detection unit of the tunnel lining multi-source detection system, the pose correction data of the detection unit is generated according to the mileage position, and the pose correction data is sent to the multi-axis synchronous servo driver through the real-time industrial bus;

[0047] In the detailed inspection mode, multi-dimensional feature data corresponding to the reflection intensity mutation signal collected by the detection unit is received; when it is determined that there is a defect according to the multi-dimensional feature data, a detailed inspection command is generated according to the mileage position, and is sent to the multi-axis synchronous servo driver;

[0048] The receiving detection unit collects the inspection data collected in the inspection process; generates a driving force control signal according to the inspection data, mechanical arm load data of the detection unit and tunnel environment temperature data, and issues the driving force control signal to a multi-axis synchronous servo driver;

[0049] The multi-axis synchronous servo driver is used for: according to the pose correction data, correcting the detection unit in a curve; according to the inspection command, driving the detection unit to perform the inspection at the corresponding mileage position at the current time; and according to the driving force control signal, driving the detection unit to perform the detection data collection work.

[0050] In the embodiment of the present application, the internal clock is corrected by receiving the mileage pulse signal of the track vehicle operation control device, the system clock is accurately bound with the actual mileage, and the real-time matching of the clock frequency and the mileage position is ensured. This mechanism provides a unified spatial reference for detection data in the general survey / inspection mode, avoids the mileage positioning deviation caused by clock drift, and ensures the correspondence accuracy of multi-source detection data and the actual position of the tunnel. The fast general survey mode and the inspection mode are distinguished, the trajectory accuracy of the detection unit during high-speed movement is ensured through the pose correction (such as bend correction) in the fast general survey mode, and the detection deviation caused by the tunnel bend and other terrains is avoided; the inspection mode is triggered for suspected defects with sudden change of reflection intensity, and the detection unit is driven for pinpoint fine detection combined with accurate positioning of the mileage position, so as to realize the hierarchical detection logic of large-scale general survey-small-scale inspection, greatly improve the accuracy and efficiency of defect identification, and significantly guarantee the detection rate of small-size defects. The programmable logic controller PLC fuses the inspection data, the mechanical arm load data and the tunnel environment temperature data to generate a driving force control signal in the inspection process, so that the multi-axis synchronous servo driver can dynamically adapt to the change of the detection environment (such as the temperature fluctuation affecting the operation accuracy of the mechanical arm, and the load change reflecting the contact state of the detection unit and the lining surface), and ensure that the detection unit can still stably collect data in complex working conditions (such as different lining materials and surface flatness differences), thereby improving the self-adaptive ability of the system to the complex environment of the tunnel. From the automatic pose correction in the general survey stage to the defect judgment based on feature data in the inspection stage, the mileage positioning, the command issuing, to the dynamic regulation of the driving force, a closed-loop automatic process of data collection-analysis decision-execution feedback is formed, manual intervention is reduced, and the operation complexity is reduced. At the same time, the real-time data interaction (such as pose correction data, inspection command, driving force signal) between the programmable logic controller PLC and the multi-axis synchronous servo driver ensures the accurate linkage of the action of the detection unit and the data collection, and avoids the misplacement of the detection data caused by the execution delay. Through the fast general survey mode, the whole tunnel is quickly covered, and the inspection mode is started only in the suspected defect area, thereby avoiding the waste of resources (such as time and equipment energy consumption) caused by indiscriminate fine detection, ensuring the detection comprehensiveness, and significantly improving the detection efficiency, which is suitable for batch detection scenes of long-distance tunnels. In the inspection stage, the driving force is regulated combined with the mechanical arm load data, so as to avoid the equipment overload caused by too high load (coordinated with the overload protection in the three-level safety protection mechanism), and prolong the service life of the equipment; at the same time, the motion trajectory of the detection unit in the complex road section such as the bend is corrected to ensure compliance, so as to avoid collision with the tunnel structure, and improve the safety of the system operation.

[0051] In the embodiment of the present application, the programmable logic controller PLC integrates global task scheduling, control strategy formulation, safety state monitoring and multi-source data aggregation functions; the PLC supports a real-time data processing rate of ≥1000 frames / second, and can simultaneously access signals of 15 or more detection units, thereby ensuring the real-time performance and accuracy of global control instructions.

[0052] In the embodiment of the present application, when the pose correction data is sent to the multi-axis synchronous servo driver through the real-time industrial bus, the communication period is ≤1ms, and the global clock synchronization accuracy is ≤±100ns.

[0053] In the embodiment of the present application, the programmable logic controller PLC is connected with the multi-axis synchronous servo driver through a real-time industrial bus.

[0054] In specific implementation, the real-time industrial bus can be represented as an EtherCAT real-time industrial bus network, the communication period of the EtherCAT real-time industrial bus network is ≤10ms, and the data transmission rate is ≥100Mbps, thereby ensuring the instruction synchronization of the programmable logic controller PLC and the multi-axis synchronous servo driver, and realizing a mechanical arm-radar motion synchronization error of <±1mm (originally ±3cm).

[0055] The multi-axis synchronous servo driver can be a 15-axis synchronous servo driver.

[0056] In an embodiment, the detection unit of the tunnel lining multi-source detection system includes an air-coupled ground penetrating radar unit, a ground-coupled ground penetrating radar unit, an apparent imaging unit and an obstacle avoidance unit.

[0057] The air-coupled ground penetrating radar unit (for high-speed continuous detection, stable operation at a vehicle speed of ≤80km / h, and general surveying): the radar frequency is adjustable in the range of 20MHz-1000MHz, the detection width of a single device is ≥3m, and full coverage detection of the tunnel section can be realized.

[0058] The ground-coupled ground penetrating radar unit (for detailed examination): used for suspected defect point re-inspection, the minimum sampling interval is 5mm / point, the defect positioning accuracy is ±0.1m, and the minimum cavity size that can be identified is 5cm×5cm×5cm.

[0059] The apparent imaging unit: uses a 4K high-definition camera + panoramic stitching algorithm, the image resolution is ≥3840×2160, and the stitching error is ≤0.5mm, which can automatically identify surface cracks with a width of ≥0.2mm.

[0060] The obstacle avoidance unit: integrates multi-modal technologies such as laser ranging (accuracy ±0.1mm), visual recognition (frame rate ≥30fps) and ultrasonic sensing (detection distance 0.1m-10m), and the obstacle recognition accuracy is ≥99.5%.

[0061] In an embodiment, the programmable logic controller PLC comprises a phase-locked loop circuit, which comprises:

[0062] a phase comparator configured to receive a mileage pulse signal output by the track vehicle operation control device, to perform real-time phase comparison between the mileage pulse signal and an internal clock of the integrated linkage control device of the tunnel lining multi-source detection system, and to obtain a phase deviation signal;

[0063] a loop filter configured to perform smoothing processing on the phase deviation signal and to output a correction control signal;

[0064] a voltage-controlled oscillator configured to correct the internal clock frequency according to the correction control signal and to obtain a corrected clock frequency;

[0065] The programmable logic controller PLC is further configured to: match a mileage position corresponding to a current time according to the corrected clock frequency; and generate pose correction data of the tunnel lining multi-source detection system according to the mileage position.

[0066] In the embodiment of the application, the cutoff frequency of the loop filter is configured to be 1 kHz-20 kHz, the control voltage range of the voltage-controlled oscillator is 0-5 V, the programmable logic controller PLC can receive the mileage pulse signal (1 pulse / meter) through a special signal interface, rely on the real-time data processing capability of the programmable logic controller PLC which is greater than 1000 frames / second, perform lossless sampling on the mileage pulse signal, and ensure that each 1 mileage pulse signal can be accurately captured to provide a reliable physical mileage-electrical signal correspondence for subsequent synchronization. The phase comparator of the phase-locked loop circuit adopts an MC14046B chip, the loop filter is a second-order low-pass filter, and the output frequency range of the voltage-controlled oscillator is 1-100 MHz.

[0067] First, the phase comparator performs real-time phase comparison between the sampled mileage pulse signal (external reference clock source) and the internal inherent oscillation clock (such as a PLC crystal oscillator clock, which is used to drive the cooperation of the multi-detection unit) of the device, identifies the phase deviation therebetween, for example, if the internal clock frequency is too fast, it will cause the “time length corresponding to 1 meter counted by the internal clock” to be shorter than “the time length actually represented by the mileage pulse signal (GYK) when the track vehicle travels 1 meter”, at this time, the phase comparator will output a corresponding phase deviation signal; then, the loop filter performs smoothing processing on the phase deviation signal, filters out the pulse noise caused by strong electromagnetic interference in the tunnel, and outputs a stable correction control signal; finally, the voltage-controlled oscillator dynamically adjusts the internal clock frequency according to the correction control signal, and if the internal clock is too fast, the frequency is reduced, and if the internal clock is too slow, the frequency is increased, so as to forcibly make the internal clock phase consistent with the phase of the mileage pulse signal.

[0068] The internal clock synchronized by the phase-locked loop is taken as a global unified clock reference, and is distributed to the multi-axis synchronous servo driver and the tunnel lining multi-source detection system through the EtherCAT real-time industrial bus (communication period ≤10 ms). Meanwhile, the programmable logic controller (PLC) can check the matching degree of the mileage pulse signal and the internal clock after synchronization in real time, ensure that the calibration error is ≤±0.1 m, and complete the whole-link clock synchronization of the "external mileage reference-internal clock-multi-detection device", thereby laying a foundation for the time-space correlation of subsequent detection data.

[0069] In an embodiment, the detection unit of the tunnel lining multi-source detection system includes an air-coupled ground penetrating radar unit and an apparent imaging unit.

[0070] The programmable logic controller (PLC) is further configured to:

[0071] receive the tunnel cross-section atlas generated by the air-coupled ground penetrating radar unit and the apparent image collected by the apparent imaging unit.

[0072] According to the corrected clock frequency, the tunnel cross-section atlas and the apparent image, pose correction data for the mechanical arm on which the air-coupled ground penetrating radar unit is installed are generated, and the pose correction data is sent to the multi-axis synchronous servo driver through the real-time industrial bus.

[0073] The multi-axis synchronous servo driver is further configured to: according to the pose correction data, make a curve correction on the mechanical arm on which the air-coupled ground penetrating radar unit is installed.

[0074] In an embodiment, the programmable logic controller (PLC) is further configured to:

[0075] receive inertial navigation data collected by an inertial measurement unit installed on the tunnel lining multi-source detection system;

[0076] obtain the current mileage according to the corrected clock frequency;

[0077] obtain the current terrain according to the tunnel cross-section atlas and the apparent image;

[0078] generate pose correction data for the mechanical arm on which the air-coupled ground penetrating radar unit is installed according to the curve parameters corresponding to the current mileage and the current terrain, and the inertial navigation data.

[0079] In the embodiment of the present application, the current terrain corresponding bending parameter includes curvature and turning, and the inertial navigation data is the mechanical arm attitude deviation data (such as angle offset, position offset), which is the pose misalignment information generated by the mechanical arm due to vehicle shaking in the bending driving. The programmable logic controller PLC fuses and calculates the current mileage, the current terrain corresponding bending parameter, and the inertial navigation data by using the built-in bending compensation algorithm, to generate the pose correction data (such as angle adjustment value, displacement adjustment value) of the mechanical arm on which the air-coupled ground penetrating radar unit is installed, so as to reduce the mechanical arm pose misalignment rate from the traditional 32% to <5%.

[0080] The above embodiment is a rapid survey mode, which belongs to a "continuous detection" mode. At this time, the speed of the general rail car is ≤80km / h.

[0081] In an embodiment, the detection unit of the tunnel lining multi-source detection system includes an air-coupled ground penetrating radar unit and a ground-coupled ground penetrating radar unit; the programmable logic controller PLC is further configured to:

[0082] receive multi-dimensional feature data corresponding to the reflection intensity mutation signal collected by the air-coupled ground penetrating radar unit; analyze the multi-dimensional feature data, and if the analysis result is that there is a suspected defect, match the mileage position corresponding to the current time according to the corrected clock frequency, and use it as the suspected defect position, generate an intensive investigation command according to the suspected defect position, and send it to the multi-axis synchronous servo driver;

[0083] The multi-axis synchronous servo driver is further configured to: drive the ground-coupled ground penetrating radar unit to move to the suspected defect position according to the intensive investigation command, and trigger the intensive investigation process of the ground-coupled ground penetrating radar unit;

[0084] The programmable logic controller PLC is further configured to: receive intensive investigation data collected by the ground-coupled ground penetrating radar unit in the intensive investigation process, the intensive investigation data including the distance between the ground-coupled ground penetrating radar unit and the tunnel lining; generate a driving force control signal of the mechanical arm on which the ground-coupled ground penetrating radar unit is installed according to the distance, the load data of the mechanical arm, and the tunnel environment temperature data, and send the driving force control signal to the multi-axis synchronous servo driver;

[0085] The multi-axis synchronous servo driver is further configured to: drive the mechanical arm on which the ground-coupled ground penetrating radar unit is installed according to the driving force control signal, to control the ground-coupled ground penetrating radar unit to move and perform detection data collection work.

[0086] In an embodiment, the multi-dimensional feature data corresponding to the reflection intensity mutation signal includes reflection intensity, waveform morphology feature, frequency spectrum energy distribution, defect feature frequency band, and time domain attenuation law.

[0087] The programmable logic controller PLC further includes an intelligent interpretation model, which is configured to:

[0088] If the reflection intensity mutation is greater than the mutation threshold, and the waveform morphology feature meets the typical defect waveform, and the spectral energy distribution is that the spectral energy in the defect characteristic frequency band accounts for more than the proportion threshold, and the time domain decay law is that the time domain decay time is greater than the time length threshold, it is determined that there is a suspected defect;

[0089] If only the reflection intensity mutation is greater than the mutation threshold, it is determined that the reflection intensity mutation signal is an invalid interference signal;

[0090] The programmable logic controller PLC is also used to: if the analysis result is an invalid interference signal, only record the invalid interference signal abnormal time and mileage.

[0091] In the embodiment of the application, after the air-coupled ground penetrating radar unit detects a reflection intensity mutation signal (generally ≥20dB), the complete waveform data corresponding to the reflection intensity mutation signal is synchronously collected, the reflection intensity, waveform morphology feature data (such as the number of waveform peak values, the depth of wave trough, the symmetry of waveform), the spectral energy distribution data (the energy proportion of the signal in different frequency intervals is obtained through Fourier transform, and the energy anomaly of the defect characteristic frequency band data (such as 50MHz-200MHz) is analyzed), and the time domain decay law data (the time required for the signal to decay from the peak value to 1 / 2 peak value, and the decay curve slope) are extracted to form a multi-dimensional feature data set;

[0092] The collected multi-dimensional feature data is transmitted to the intelligent interpretation model of the programmable logic controller PLC, and the intelligent interpretation model can first perform standardization processing on the multi-dimensional feature data (such as normalizing the reflection intensity, spectral energy value and other parameters to the [0, 1] interval), eliminating the influence of the dimension difference of different features on the interpretation result, and filtering invalid feature data caused by electromagnetic interference and equipment vibration in the tunnel through an outlier elimination algorithm (such as the 3σ criterion);

[0093] The intelligent interpretation model (based on a pre-set defect feature threshold library and logic rules) analyzes the pre-processed multi-dimensional feature data.

[0094] For example, if the reflection intensity mutation is >20dB (mutation threshold), and the waveform morphology meets the typical defect waveform (such as the “double-peak-trough” waveform corresponding to a cavity, and the “single-peak-steep drop” waveform corresponding to a crack), the spectral energy distribution is that the spectral energy in the defect characteristic frequency band accounts for >60% (proportion threshold), and the time domain decay time is >50μs (time length threshold), it is determined that there is a suspected defect; if only the reflection intensity mutation threshold is met, and other features do not meet, it is determined that it is an invalid interference signal (such as signal fluctuation caused by attachments on the lining surface);

[0095] If it is determined that it is a valid suspected defect, the programmable logic controller (PLC) generates a suspected defect position-feature data correlation package according to the clock frequency obtained through correction, matches the current time corresponding to the mileage position (positioning error ≤ ± 0.1 m), and sends an instruction to a multi-axis synchronous servo driver through an EtherCAT real-time industrial bus, so that the ground-coupled ground penetrating radar unit of the tunnel lining multi-source detection system is driven to move to the suspected defect position and trigger the detailed examination process of the ground-coupled ground penetrating radar unit. If it is determined that it is an invalid interference signal, only the signal abnormal time and the mileage are recorded, and the detailed examination process is not triggered, so as to avoid the detection efficiency reduction caused by invalid operation.

[0096] In an embodiment, the programmable logic controller (PLC) further comprises an adaptive control module for:

[0097] receiving real-time collected mechanical arm load data and tunnel environment temperature data of the ground-coupled ground penetrating radar unit;

[0098] generating a compensation signal according to the mechanical arm load data and the tunnel environment temperature data;

[0099] determining an error signal of an actual mechanical arm driving force and an expected mechanical arm driving force according to the distance between the ground-coupled ground penetrating radar unit and the tunnel lining collected by the ground-coupled ground penetrating radar unit through laser ranging, and generating an initial control signal through a PID adjustment method according to the error signal;

[0100] generating a driving force control signal of the mechanical arm of the ground-coupled ground penetrating radar unit according to the compensation signal and the initial control signal.

[0101] In the embodiment of the present application, in view of the problems of detection accuracy reduction and high equipment failure rate caused by environmental temperature drift and mechanical arm load change in the prior art, a wide-temperature hardware adaptation-dynamic algorithm compensation-signal optimization trinity adaptive environmental control system is constructed to realize stable operation of the tunnel lining multi-source detection system in a complex environment of-40℃ to 70℃. A compensation signal is generated according to the mechanical arm load data and the tunnel environment temperature data The formula is as follows:

[0102] =α·(load-load0)+β·(temp-temp0)

[0103] For example, the coefficient α is 0.15 N / kg, the coefficient β is 0.08 N / ℃, load is the load, the load threshold load0 is 100 kg, temp is the temperature, and the temperature threshold temp0 is 25℃, The formula parameter range (α: 0.1-0.2 N / kg, β: 0.05-0.1 N / ℃), The compensation signal is used to compensate the influence of the load change and the environmental temperature change on the system. The coefficients α=0.15N / kg and β=0.08N / ℃ are determined as follows: in a temperature chamber with a temperature range of-40℃ to 70℃, a test platform including the PLC, multi-axis synchronous servo driver and mechanical arm is built, and full combination experiments are performed on five load states of 0kg, 50kg, 100kg, 150kg and 200kg. The control accuracy of the distance between the ground-coupled radar antenna and the lining surface is taken as the optimization target, and through regression analysis of more than 500 experimental data, a system accuracy contour map under different (α, β) parameters is drawn. It is finally found that within the parameter range of α: 0.1-0.2 N / kg and β: 0.05-0.1 N / ℃, the device can stably control the distance within ±2cm, and the accuracy is significantly deteriorated (>±3cm) when the parameter combination is outside this range. In particular, when (α, β) is (0.15, 0.08), the device has the best comprehensive control performance under all working conditions, and the average accuracy can reach ±1.8cm, which can stably control the distance between the ground-coupled radar unit and the lining surface.

[0104] The initial control signal is generated by a PID adjustment method according to an error signal of an actual mechanical arm driving force and an expected mechanical arm driving force The formula is as follows:

[0105]

[0106] According to the compensation signal and the initial control signal, the formula for generating the mechanical arm driving force control signal is as follows:

[0107]

[0108] Wherein, is the initial control signal, is the mechanical arm driving force control signal.

[0109] is a proportional coefficient, related to the proportional control link, used for proportional amplification of the current error signal and rapid response to the error.

[0110] is an error signal, usually the difference between the actual mechanical arm driving force and the expected mechanical arm driving force, reflecting the current deviation.

[0111] is an integral coefficient, related to the integral control link, used for integral operation on the error signal to eliminate static error and improve control accuracy.

[0112] is an error signal The integral from the initial time 0 to the current time t reflects the accumulation of the error over time.

[0113] is a differential coefficient, related to the differential control link, used to process the rate of change of the error signal , has the effect of predicting the trend of error change, suppressing overshoot, etc.

[0114] is the derivative of the error signal with respect to time, that is, the rate of change of the error, which reflects the speed of error change.

[0115] In a specific embodiment, the proportional coefficient =1.2, the integral coefficient =0.05, and the differential coefficient =0.01, which can be adjusted according to actual conditions.

[0116] The driving force control signal is transmitted in real time to the multi-axis synchronous servo driver through the EtherCAT real-time industrial bus, and the multi-axis synchronous servo driver adjusts the driving force of the mechanical arm of the ground-coupled ground penetrating radar according to to ensure that the distance control accuracy between the antenna of the ground-coupled ground penetrating radar unit and the lining surface is stable at ±2cm, which is 60% lower than the accuracy deviation of ±5cm of conventional technology.

[0117] In an embodiment, the detection unit of the tunnel lining multi-source detection system includes an obstacle avoidance unit.

[0118] The programmable logic controller PLC is further used to:

[0119] receive the obstacle data sent by the obstacle avoidance unit, the obstacle data including the distance from the obstacle, the obstacle risk level, and the obstacle data being generated by the obstacle avoidance unit after identifying the obstacle;

[0120] According to the corrected clock frequency, the current time corresponding to the mileage position is matched and used as the obstacle position; according to the obstacle risk level and the distance from the obstacle, the action instruction is matched from the preset strategy library and transmitted to the multi-axis synchronous servo driver;

[0121] The multi-axis synchronous servo driver is further used to drive the obstacle avoidance unit according to the action instruction.

[0122] ​In the embodiment of the present application, after the obstacle avoidance unit identifies the obstacle, the obstacle data is transmitted to the programmable logic controller PLC through the EtherCAT real-time industrial bus, the programmable logic controller PLC calls the corrected clock frequency, matches the mileage position corresponding to the current time, and takes it as the obstacle position, such as K12+400; then, the action instruction is matched from the preset strategy library according to the obstacle risk level (low risk > 5m, medium risk 2-5m, high risk < 2m), and is sent to the multi-axis synchronous servo driver to drive the obstacle avoidance unit (for example, pre-warning, local retraction of the mechanical arm, and emergency protection of the whole device), while the action state is recorded and bound with the mileage to form a traceability data chain. The core purpose is: first, to ensure the continuity of detection, after the obstacle is removed, the obstacle avoidance unit automatically recovers the detection pose according to the recorded mileage, without the need for manual repositioning, thereby improving the continuity of detection; second, to realize operation traceability, the associated data is archived with the report, which is convenient for subsequent retrieval of obstacle avoidance details through the mileage; and third, to optimize risk control, the action is matched according to the risk level, and the safety of the device and the detection efficiency are balanced.

[0123] In an embodiment, the multi-axis synchronous servo driver and the heating jacket of the tunnel lining multi-source detection system are replaced by a wide-temperature element and a lubricant.

[0124] In the embodiment of the present application, the heating jacket design of the key components of the device (the programmable logic controller PLC, the multi-axis synchronous servo driver, and each detection unit of the tunnel lining multi-source detection system) is cancelled, a wide-temperature element (-40℃~70℃) is used, and the multi-axis synchronous servo driver is lubricated with a low-temperature resistant lubricant, thereby avoiding power overload, improving the success rate of starting the servo motor of the multi-axis synchronous servo driver at -20℃ to >95% (originally <60%), reducing heating energy consumption, and increasing the continuous operation time of the multi-axis synchronous servo driver and the tunnel lining multi-source detection system by 50%.

[0125] In an embodiment, the air-coupled ground penetrating radar unit and the ground-coupled ground penetrating radar unit are integrated with an electromagnetic shielding module and a signal amplification sub-module.

[0126] In the embodiment of the present application, the electromagnetic shielding module and the signal amplification sub-module can reduce the influence of strong electromagnetic interference in the tunnel on the signal by setting a copper foil shielding layer (shielding effectiveness ≥40dB) as the electromagnetic shielding module around the antenna of the air-coupled ground penetrating radar unit and the ground-coupled ground penetrating radar unit; and by adding a signal amplification sub-module (noise coefficient <1.5dB) in the signal acquisition link, the radar signal attenuation is controlled from ≥15dB in the prior art to <5dB, and the detection data efficiency is improved to more than 98%.

[0127] In an embodiment, the device further comprises a security verification module 103, configured to:

[0128] After the comprehensive linkage control device of the tunnel lining multi-source detection system is started, a communication test is performed to verify the connection state of the comprehensive linkage control device of the tunnel lining multi-source detection system and the tunnel lining multi-source detection system, and a communication test result is obtained;

[0129] The corrected clock frequency is sent to the multi-axis synchronous servo driver and the tunnel lining multi-source detection system;

[0130] The limit accuracy and redundancy logic of the comprehensive linkage control device of the tunnel lining multi-source detection system are tested, and a self-checking result is obtained;

[0131] A self-checking instruction is sent to the tunnel lining multi-source detection system, and a checking result fed back by the comprehensive linkage control device of the tunnel lining multi-source detection system is obtained.

[0132] Figure 2 The initialization flowchart of the comprehensive linkage control device of the tunnel lining multi-source detection system in the embodiment of the application is shown in Figure 2 The process of initialization includes:

[0133] Step 1: turn on the power supply and start the comprehensive linkage control device of the tunnel lining multi-source detection system;

[0134] Step 2: the safety verification module performs an EtherCat communication test (ensures that the 15-way servo driver of the multi-axis synchronous servo driver normally responds), and verifies the connection state of the comprehensive linkage control device of the tunnel lining multi-source detection system and the tunnel lining multi-source detection system;

[0135] Step 3: the comprehensive linkage control device synchronizes the clock through the mileage pulse signal, and ensures that the system time reference is unified;

[0136] Step 4: the comprehensive linkage control device tests the limit accuracy and redundancy logic of all hardware of itself, verifies the basic function of safety protection, and obtains a self-checking result;

[0137] Step 5: a self-checking instruction is sent to the tunnel lining multi-source detection system, the mechanical arm of the tunnel lining multi-source detection system is driven to perform a zero-return operation, and is adjusted to an accurate zero position (zero-return error <±0.5°), to ensure that the initial pose is accurate; the detection unit of the tunnel lining multi-source detection system is driven to perform a check, accurate measurement data are obtained through parameter adjustment, and detection accuracy is ensured (compared with a standard distance, error correction is to ±0.1 mm); the signal of the air-coupled ground penetrating radar unit and the ground-coupled ground penetrating radar unit of the tunnel lining multi-source detection system is preheated (the signal stability reaches 98% within 30 seconds), the working state of the radar is stabilized, and it is ensured that subsequent detection data are reliable;

[0138] Step 6: The tunnel lining multi-source detection system receives data such as mechanical arm zero return, detection unit calibration, radar signal preheating, and sends the data to the comprehensive linkage control device through the EtherCAT real-time industrial bus, and the comprehensive linkage control device uploads the self-checking result to the display module.

[0139] In an embodiment, the programmable logic controller PLC is further configured to:

[0140] receive a detection task of an operator, the task including a tunnel mileage range to be detected;

[0141] generate a detection strategy according to the task and send the detection strategy to the multi-axis synchronous servo driver;

[0142] The multi-axis synchronous servo driver is further configured to drive the detection unit to detect according to the detection strategy.

[0143] In the embodiment, the operator can import the detection task through the display module.

[0144] Figure 3 The flowchart for configuring and starting the detection task of the comprehensive linkage control device of the tunnel lining multi-source detection system in the embodiment is shown in FIG. 1. Figure 3 The process of configuring and starting the detection task includes:

[0145] Step 1: The operator imports the detection task (including route and parameters, or specifies the detection task according to the detection strategy) through the display module, and imports the tunnel mileage range to be detected.

[0146] Step 2: The operator performs parameter configuration, sets parameters of each detection unit of the tunnel lining multi-source detection system (including setting the speed of the mechanical arm to 50 mm / s and setting the obstacle avoidance warning distance to 5 m (for small obstacles) / 2 m (for large obstacles)), and generates a detection strategy, and saves the detection strategy in the storage module of the device.

[0147] Step 3: The programmable logic controller PLC sends the detection strategy (including the “allow to walk” signal) to the multi-axis synchronous servo driver.

[0148] Step 4: The multi-axis synchronous servo driver drives the tunnel lining multi-source detection system to start detection, for example, the mechanical arm is driven to expand, so that the mechanical arm enters the corresponding posture for detection work.

[0149] Step 5: The display module displays information such as the posture of the mechanical arm, the radar mode, and the mileage pulse signal in real time, so as to facilitate the operator to monitor the system state in real time.

[0150] Figure 4 The flowchart of the rapid survey mode in the embodiment is shown in FIG. 2.

[0151] Step 1: The programmable logic controller PLC receives the mileage pulse signal to realize mileage synchronization.

[0152] Step 2: Every 100m of mileage is accumulated, the air-coupled ground penetrating radar unit triggers to generate a tunnel cross-section map (the file header writes a mileage label (such as "K12+100"), and the subsequent data retrieval and defect positioning provide the basis), and sends it to the programmable logic controller PLC;

[0153] Step 3: The apparent imaging unit collects apparent images and sends them to the programmable logic controller PLC; the inertial measurement unit collects inertial navigation data and sends it to the programmable logic controller PLC;

[0154] Step 4: The programmable logic controller PLC combines the corrected clock frequency, tunnel cross-section map, apparent image, and inertial navigation data to generate pose correction data for the mechanical arm on which the air-coupled ground penetrating radar unit is installed, and sends the pose correction data to the multi-axis synchronous servo driver through the real-time industrial bus;

[0155] Step 5: The multi-axis synchronous servo driver corrects the mechanical arm on which the air-coupled ground penetrating radar unit is installed according to the pose correction data (misalignment rate <5%, original 32%).

[0156] In the embodiment of the present application, the apparent imaging unit and other units, the time and space of the mileage pulse signal are kept in double synchronization to automatically splice images: relying on the global unified clock of the comprehensive linkage control device formed by the mileage pulse signal (synchronized with the mileage pulse signal through a phase-locked loop, accuracy ±0.1ms): in time, the apparent image acquisition timestamp and the data timestamp collected by the radar unit are generated based on the same clock; in space, the mileage pulse signal is received through the EtherCAT real-time industrial bus, the image acquisition is bound to the mileage of the track vehicle, and the shooting angle is adjusted to focus on the defect area during fine detection, ensuring that the detection position of the air-coupled ground penetrating radar unit driven by the mechanical arm matches.

[0157] The identified apparent defects (such as cracks) are automatically associated with the corresponding mileage position. This association data mainly serves three scenarios: first, multi-source data integration, forming a "mileage-radar-image" data set with air-coupled / ground-coupled ground penetrating radar unit data at the same mileage, solving the problem of data fragmentation; second, real-time and reporting applications, supporting viewing associated data by mileage in the display module to assist decision-making, and summarizing defect information by mileage as an index when generating a detection report; third, historical tracing, which can retrieve associated data by mileage to reproduce the defect detection scene.

[0158] Figure 5 The flowchart of the fine and rapid survey mode in the embodiment of the present application, the flow of the fine and rapid survey mode ("point re-inspection" mode) includes:

[0159] Step 1: When the air-coupled ground penetrating radar unit detects a reflected intensity mutation signal, the corresponding multi-dimensional feature data of the reflected intensity mutation signal is returned.

[0160] Step 2: The programmable logic controller PLC receives the multi-dimensional feature data corresponding to the reflected intensity mutation signal for analysis, and generates an intensive examination command if the analysis result is that there is a suspected defect.

[0161] Step 3: According to the intensive examination command, the multi-axis synchronous servo driver drives the air-coupled ground penetrating radar unit of the tunnel lining multi-source detection system to move to the suspected defect position (moving positioning accuracy <±1 cm, i.e. moving time <5 s), and triggers the intensive examination process of the air-coupled ground penetrating radar unit.

[0162] Step 4: The laser ranging of the air-coupled ground penetrating radar unit feeds back (feedback frequency 1000 Hz) the distance between the radar and the lining to the programmable logic controller PLC.

[0163] Step 5: The programmable logic controller PLC generates a driving force control signal for the mechanical arm on which the air-coupled ground penetrating radar unit is installed according to the distance, the mechanical arm load data (such as 120 kg) and the tunnel environment temperature data (real-time temperature in the tunnel, such as -10℃), and sends the driving force control signal to the multi-axis synchronous servo driver.

[0164] Step 6: The multi-axis synchronous servo driver drives the mechanical arm on which the air-coupled ground penetrating radar unit is installed (maintains the radar distance within the set value (10 cm) ±2 cm) according to the driving force control signal, so as to control the air-coupled ground penetrating radar unit to perform detection data collection work (can continuously detect for 5-10 s, and obtain detailed defect data (size, depth)).

[0165] Figure 6 The flowchart of the obstacle avoidance in the embodiment of the application, the flowchart of the obstacle avoidance includes:

[0166] Step 1: The obstacle avoidance unit carries out obstacle identification work by means of laser, vision and ultrasonic fusion detection (data fusion frequency 30 Hz), and sends the obtained obstacle data (obstacle type, distance (accuracy ±0.1 m), size) to the programmable logic controller PLC.

[0167] Step 2: The programmable logic controller PLC matches the current time corresponding to the mileage position according to the corrected clock frequency, and takes it as the obstacle position; according to the obstacle risk level and the distance from the obstacle, the action instruction is matched from the preset strategy library and sent to the multi-axis synchronous servo driver.

[0168] Step 3: After the obstacle is removed, the mechanical arm of the obstacle avoidance unit automatically returns to its original position, and the detection unit continues detection from the breakpoint mileage. The detection is completed without the need for manual repositioning, and the continuity of detection is improved.

[0169] In the preset strategy library, when it is determined that the obstacle distance is greater than the first distance (for example, 5 m, low risk), the action instruction is to pop up a warning prompt on the display module for low-risk processing, and a warning prompt is popped up on the integrated display system master control screen, and the response time is <100 ms.

[0170] If it is determined that the obstacle distance is between the first distance and the second distance (for example, 2 m-5 m, medium risk), the action instruction is to retract the mechanical arm of the tunnel lining multi-source detection system locally, implement medium-risk processing, and the response time is <150 ms.

[0171] If it is determined that the obstacle distance is < the second distance (for example, 2 m, high risk), the action instruction is to retract all the mechanical arms of the tunnel lining multi-source detection system and power off, and implement high-risk processing, and the response time is <200 ms.

[0172] Step 3: After the obstacle is removed, the mechanical arm of the obstacle avoidance unit automatically returns to its original position, and the detection unit continues detection from the breakpoint mileage. The detection is completed without the need for manual repositioning, and the continuity of detection is improved.

[0173] Figure 7 The processing flowchart for the end of the detection task in the embodiment of the application includes:

[0174] Step 1: After the track car reaches the detection endpoint in the tunnel mileage range as needed for detection, the programmable logic controller (PLC) sends a parking instruction and stops smoothly (the parking distance error is <±1 m).

[0175] Step 2: The programmable logic controller (PLC) controls the mechanical arm to retract each detection unit in sequence (the preset sequence can be ground-coupled ground penetrating radar unit homing → mechanical arm retraction → air-coupled ground penetrating radar unit stop → apparent imaging camera power off, and the retraction time is <15 s).

[0176] Step 3: The programmable logic controller (PLC) integrates all data to generate a detection report.

[0177] The detection report includes a defect list, a map, and a running log. The detection report supports multi-dimensional retrieval by mileage (such as K12+000-K13+000), defect type (such as cavity, crack), and detection time, and the retrieval response is <3 s. It provides traceable data support for subsequent tunnel maintenance.

[0178] Step 4: The programmable logic controller (PLC) archives and stores all data.

[0179] In an embodiment, the device further comprises a display module for:

[0180] According to the corrected clock frequency, the received multi-dimensional feature data, driving force control signal, mechanical arm load data, tunnel environment temperature data, and obstacle data are aligned and then displayed.

[0181] The embodiment of the present application also proposes a comprehensive linkage control system of a tunnel lining multi-source detection system, Figure 8 The comprehensive linkage control system of the tunnel lining multi-source detection system in the embodiment of the present application is a structural schematic diagram, comprising a comprehensive linkage control device 801 of a tunnel lining multi-source detection system and a general control display system 802.

[0182] The general control display system comprises a main screen module and a split screen module.

[0183] The main screen module is used for displaying preset core data in all data of the tunnel lining multi-source detection system and the comprehensive linkage control system, and sending a response instruction to a split screen module where the preset core data is located after receiving a click instruction of a user for one preset core data.

[0184] The split screen module is used for displaying all data of the tunnel lining multi-source detection system and the comprehensive linkage control system in split screens, and displaying detailed data of the preset core data in the response instruction after receiving the response instruction.

[0185] In the embodiment of the present application, the display module is integrated into a split screen module, the system proposes a split screen + 65-inch general control screen architecture, and the preset core data comprises core indexes (mileage, defect number, running time), states of the tunnel lining multi-source detection system and the comprehensive linkage control device (mechanical arm pose, radar mode, obstacle avoidance state), communication and power states. An alarm icon is clicked to view details, and a button is clicked to switch the split screen. A parameter setting interface of the main screen module is used for visualizing configuration of parameters such as a mechanical arm (speed, angle range), a radar unit (detection frequency, sampling interval), and an obstacle avoidance unit (warning distance, response threshold). Parameter templates are supported to be saved and called.

[0186] The top of the main screen module displays core indexes; the left side of the middle part displays states of the tunnel lining multi-source detection system (frequency of an air-coupled ground penetrating radar unit, distance between ground penetrating radar units, apparent imaging splicing progress), the right side of the middle part displays states of the comprehensive linkage control device (EtherCAT real-time industrial bus communication, PLC load, servo driver temperature), and the bottom status bar displays communication, alarm and power states (main power / backup power, no risk / low risk / medium risk / high risk).

[0187] In the embodiment of the present application, the split-screen module can also serve as a data analysis interface, superimposedly displaying radar maps (annotating defects), apparent images (marking cracks, etc.), and mechanical arm posture curves. It supports historical data comparison, local magnification, and report generation.

[0188] The split-screen module can also serve as a strategy customization interface, which frames the detection area on the tunnel section schematic diagram, sets the detection point density (such as one section at a preset distance), associates specific radar parameters and detection modes for different areas, and saves it as a reusable strategy.

[0189] The split-screen module can also serve as a history record interface, which allows viewing of task details, running logs, exporting of raw data or reports by time.

[0190] Total control linkage: In the main screen module, any split-screen module can be quickly recalled, parameters can be modified in the split-screen, and the main screen module can send control instructions (such as moving a specified mechanical arm to a certain mileage position) to the split-screen module for execution.

[0191] In the process of total control linkage, the present application also proposes an intelligent multi-modal alignment algorithm and an event-driven linkage mechanism. The dynamic screen allocation and task-driven layout mechanism is a basic support at the hardware level, providing an adaptive carrier for the achievement display of the intelligent multi-modal alignment algorithm. By dynamically adjusting the screen content and layout, multi-dimensional feature data, driving force control signals, mechanical arm load data, and tunnel environment temperature data, obstacle data can be precisely presented in the corresponding screen area after alignment, avoiding data confusion. The intelligent multi-modal alignment algorithm provides high-quality, synchronized data sources for screen display, and the event-driven linkage mechanism ensures low latency for dynamic layout adjustment and data interaction. The three work together to realize a closed loop of hardware adaptive display-data precise synchronization-interactive efficient response, ensuring efficient presentation of detection data and operation linkage. According to the detection task and alarm events, the content and layout of each split screen can be automatically adjusted to avoid information overload and improve the operator's attention to key data.

[0192] In the system proposed in this embodiment of the invention, a three-level safety protection mechanism is adopted. The first layer is hardware protection, which provides mechanical limit (accuracy ±0.01°) and overload protection (adjustable trigger threshold) for the multi-axis synchronous servo drive, with a response accuracy of <10ms. The second layer is to set up software redundancy for the software (including the phase-locked loop circuit and intelligent judgment model in the programmable logic controller PLC), which is achieved through dual programmable logic controller PLC logic verification (real-time data synchronization between the main and backup programmable logic controller PLCs) and dual instruction confirmation, with a response accuracy of <50ms. The third layer is dynamic monitoring, which realizes real-time diagnosis and abnormal warning of multiple parameters such as temperature / current (accuracy ±0.1A) / vibration (frequency range 0-500Hz), with a response accuracy of <100ms.

[0193] The aforementioned intelligent multimodal alignment algorithm is used to achieve spatiotemporal synchronization and defect correlation of multi-source data (radar maps, appearance images, robotic arm pose, mileage information, etc.) in tunnel lining inspection, providing a high-quality, synchronized data foundation for screen display. The steps include:

[0194] Time alignment: Using a global clock (synchronization accuracy ±0.1ms) as a reference, all data are timestamped uniformly. Time stamp deviations in radar sampling, image frame acquisition, and robotic arm movement are calibrated (e.g., by correcting the time difference between the radar and the robotic arm through real-time data synchronization from the PLC).

[0195] Spatial alignment: A linear coordinate system for the tunnel is established based on mileage information (core indicator), mapping the robotic arm pose (3D coordinates), radar detection points (cross-sectional positions), and the apparent image acquisition area (spatial coordinates) to this system. For example:

[0196] The horizontal coordinates of the radar map correspond to the tunnel mileage, and the vertical coordinates correspond to the cross-sectional depth.

[0197] The apparent image is mapped to the location of the lining surface of a specific mileage section through coordinate mapping using a panoramic stitching algorithm;

[0198] The robotic arm pose data is bound to the installation offset of the detection units (radar, camera) to ensure that the detection points correspond one-to-one with the robotic arm positions.

[0199] Multimodal feature association: Geometric parameters (size, depth) of defects such as cavities and voids are identified from radar images, and the length, width, and orientation of cracks are identified from surface images. The spatial location of the defects (mileage + cross-sectional coordinates) is determined by combining the robot arm pose. Using similarity algorithms (such as Euclidean distance matching based on position coordinates), data of the same defect in different detection modalities are associated (e.g., "crack at mileage K1+200" corresponds to an abnormal reflection area in the radar image and a crack marker in the surface image), generating a "defect-multi-source data" association table with an association accuracy ≥99.8%.

[0200] Dynamic alignment optimization: Real-time monitoring of data synchronization errors (such as mechanical arm-radar motion synchronization errors <±1mm), when the error exceeds the threshold (such as ±2mm), trigger dynamic calibration: Adjust the mechanical arm motion parameters (speed, angle) through adaptive control algorithm, correct the sampling time of radar / camera, ensure the spatio-temporal consistency of multi-source data.

[0201] Output alignment results: The associated multi-modal data is stored in the "mileage - defect - multi-source feature" structure, providing a standardized data interface for screen display.

[0202] Event-driven linkage mechanism based on user operation, system state change or alarm event, trigger screen layout adjustment, data interaction and equipment control, ensure low delay of dynamic layout and data interaction, specific steps as follows:

[0203] Event definition and classification preset trigger event types, including:

[0204] User operation event: Main screen click core data (such as defect location, alarm icon), split screen parameter modification (such as radar frequency, mechanical arm speed), screen switching instruction (click button to switch split screen) and other.

[0205] System state event: Detection task start / end, equipment state change (such as mechanical arm pose abnormality, EtherCAT bus communication interruption), parameter template calling and other.

[0206] Alarm event: Alarm triggered by three-level safety protection mechanism (such as mechanical arm overload, PLC high load, temperature anomaly), defect detection alarm (such as finding ≥5cm×5cm×5cm cavity) and other.

[0207] Event capture and priority determination: Real-time monitoring of module state, including main screen module, split screen module, PLC controller, detection unit through EtherCAT bus (communication cycle ≤10ms) real-time interaction state information, capture event trigger signal. According to the emergency degree of event (such as alarm event > user operation event > system state event), ensure that high priority events (such as mechanical arm overload alarm) are responded first, response delay <100ms (meet the three-level protection response accuracy requirements).

[0208] Linkage logic execution According to the type of event, execute corresponding linkage operation:

[0209] User operation event linkage: Click on the main screen core data (such as the number of defects or specific defect location): the main screen module sends a response instruction to the corresponding split screen module, which automatically switches to the data analysis interface, superimposes the radar chart of the defect (annotates the defect), the apparent image (marks the crack), and the mechanical arm attitude curve, and locates to the corresponding mileage position. Split screen modification parameters (such as radar detection frequency): the split screen module synchronizes the modification instruction to the main screen module, which updates the parameter display in real time (such as the central left air-coupled geophysical radar unit frequency), and sends it to the detection unit through the programmable logic controller (PLC) and saves it to the parameter template (supporting reuse). The main screen sends a control instruction (such as moving the mechanical arm to K1+300 miles): after the programmable logic controller (PLC) analyzes the instruction, it drives the servo driver of the distributed execution layer to control the mechanical arm movement, and the split screen displays the mechanical arm attitude curve and motion trajectory in real time, and the main screen updates the mechanical arm pose state synchronously.

[0210] System state event linkage: When the detection task starts, the dynamic screen distribution mechanism automatically adjusts the layout, the main screen displays the real-time mileage and running time at the top, the split screen switches to the strategy customization interface (if it is a new task) or the historical record interface (if it is a continuation task), and loads the preset detection strategy (such as a detection point density of 5 meters per section). When the device state changes (such as high temperature of the servo driver), the main screen updates the "alarm state" (such as medium risk) in the status bar at the bottom, and the split screen automatically pops up the device state details interface to display the temperature curve and associated mechanical arm load data.

[0211] Alarm event linkage:

[0212] Three-level safety protection alarm (such as mechanical arm overload): the main screen flashes the alarm icon immediately and gives an audible and visual prompt, and after clicking the icon, the split screen switches to the safety monitoring interface to display the overload trigger threshold, current data (accuracy ±0.1A), vibration frequency (0-500Hz), etc. Diagnostics information, while the PLC automatically executes overload protection (such as stopping the mechanical arm movement).

[0213] Defect detection alarm (such as finding the smallest cavity): the main screen "defect number" increases in real time, and the split screen automatically jumps to the multi-source data alignment interface of the defect, marking the location of the cavity in the radar chart and apparent image, and associating the mechanical arm pose to support the re-inspection operation.

[0214] Dynamic layout adjustment: automatically optimize screen content based on event type: for example, when an alarm event is triggered, reduce non-critical data area (such as history record), expand alarm details and real-time monitoring area; when the task is executed, the split screen preferentially displays the detection strategy and real-time data (radar frequency, splicing progress). Support multi-screen cooperation: the main screen keeps the core indicators and state overview, the split screen dynamically switches to the data analysis, strategy customization or history record interface according to the event, avoids information overload, and improves the attention of key data.

[0215] Linkage result feedback and record: all linkage operation results are fed back to the main screen in real time (such as parameter modification success, mechanical arm positioning confirmation), and the split screen synchronously updates the data display. The system automatically records event logs (including time, event type, execution result), stores them in the history record interface, supports time query, original data export and report generation.

[0216] Dynamic screen allocation mechanism provides a display carrier for aligned data, allocates corresponding screen area according to multi-modal data dimensions (such as radar map, image, attitude curve), and ensures ordered data presentation.

[0217] The standardized data output by the intelligent multi-modal alignment algorithm is quickly mapped to the screen through the event-driven mechanism, realizing one-to-one correspondence of defect position-multi-source data-screen display.

[0218] The event-driven mechanism ensures low-delay processing of user operations, alarms and other events, dynamically adjusts the layout to adapt to real-time data changes, forms a closed loop of hardware-data-interaction, and improves detection efficiency and operation convenience.

[0219] In the embodiment of the application, the hardware configuration of each module of the comprehensive linkage control system of the multi-source detection system of the tunnel lining can adopt the form of Table 1.

[0220] Table 1

[0221]

[0222] A specific embodiment is given below to illustrate the specific application of the device proposed in the embodiment of the application.

[0223] Taking the operation of railway tunnel detection as an example, after initialization, the track vehicle travels at a speed of 80 km / h. The PLC synchronizes the mileage pulse signal through a phase-locked loop, and the synchronization error is <±0.1 m. In the rapid survey mode, the air-coupled ground penetrating radar unit generates a cross-sectional profile every 100 m, and the mechanical arm corrects the pose based on the inertial navigation data. The actual pose misalignment rate is 3.8%. When a sudden change (25 dB) in reflection intensity is detected at the mileage K125+200, the intelligent interpretation module determines that it is a suspected cavity based on the waveform and spectral characteristics, and automatically triggers fine detection. The ground-coupled ground penetrating radar unit moves to the specified position, and the adaptive control module dynamically outputs control signals according to the real-time load (110 kg) and environmental temperature (-15℃), maintaining the distance between the radar antenna and the lining at 10±1.5 cm, and successfully collecting clear defect data. During the entire process, the EtherCAT real-time industrial bus communication cycle is maintained at 1 ms, and there is no data packet loss.

[0224] In the embodiment, the hardware part composed of the programmable logic controller PLC, the multi-axis synchronous servo driver and each detection unit has an overall working temperature range of -40℃ to 70℃, and the system can maintain the distance control precision of the ground-coupled ground penetrating radar unit and the tunnel lining surface within ±2 cm under the conditions of an environment of -20℃, a vehicle speed of 80 km / h and a load change of 100 kg to 200 kg.

[0225] The embodiment of the application also proposes a comprehensive linkage control method of a tunnel lining multi-source detection system, which has a principle similar to that of the comprehensive linkage control device of the tunnel lining multi-source detection system, and will not be described here.

[0226] Figure 9 The flowchart of the comprehensive linkage control method of the tunnel lining multi-source detection system in the embodiment of the application includes:

[0227] Step 901, correcting the internal clock through a phase-locked loop circuit according to the received mileage pulse signal output by the track vehicle operation control device; and matching the mileage position corresponding to the current time according to the corrected clock frequency;

[0228] Step 902, in the rapid survey mode, generating pose correction data of the detection unit according to the received survey data collected by the detection unit of the tunnel lining multi-source detection system and the mileage position; and sending the pose correction data to the multi-axis synchronous servo driver through a real-time industrial bus;

[0229] Step 903, in the detailed inspection mode, receiving multi-dimensional feature data corresponding to the reflection intensity mutation signal collected by the detection unit; and when it is determined that there is a defect according to the multi-dimensional feature data, generating a detailed inspection command according to the mileage position and issuing it to the multi-axis synchronous servo driver;

[0230] Step 904, receiving the detection unit collects the detection data in the detailed inspection process; according to the detection data, the mechanical arm load data of the detection unit and the tunnel environment temperature data, the driving force control signal is generated, and the driving force control signal is sent to the multi-axis synchronous servo driver, so that the multi-axis synchronous servo driver drives the detection unit to execute the detection data collection work according to the driving force control signal.

[0231] In an embodiment, according to the received mileage pulse signal output by the track vehicle operation control device, the internal clock is corrected through the phase-locked loop circuit, including:

[0232] Receiving the mileage pulse signal output by the track vehicle operation control device, and comparing the mileage pulse signal with the internal clock of the comprehensive linkage control device of the tunnel lining multi-source detection system in real time to obtain a phase deviation signal;

[0233] The phase deviation signal is smoothed to output a correction control signal;

[0234] According to the correction control signal, the internal clock frequency is corrected to obtain a corrected clock frequency.

[0235] In an embodiment, the detection unit of the tunnel lining multi-source detection system includes an air-coupled ground penetrating radar unit and an apparent imaging unit;

[0236] According to the received general survey data collected by the detection unit of the tunnel lining multi-source detection system, the pose correction data of the detection unit is generated according to the mileage position, including:

[0237] Receiving the tunnel cross section map generated by the air-coupled ground penetrating radar unit and the apparent image collected by the apparent imaging unit;

[0238] According to the corrected clock frequency, the tunnel cross section map and the apparent image, the pose correction data of the mechanical arm installed with the air-coupled ground penetrating radar unit is generated, and the pose correction data is sent to the multi-axis synchronous servo driver through the real-time industrial bus, so that the multi-axis synchronous servo driver corrects the mechanical arm installed with the air-coupled ground penetrating radar unit according to the pose correction data.

[0239] In an embodiment, according to the corrected clock frequency, the tunnel cross section map and the apparent image, the pose correction data of the mechanical arm installed with the air-coupled ground penetrating radar unit is generated, including:

[0240] Receiving the inertial navigation data collected by the inertial measurement unit installed on the tunnel lining multi-source detection system;

[0241] According to the corrected clock frequency, the current mileage is obtained;

[0242] Obtaining the current terrain according to the tunnel section atlas and the apparent image;

[0243] According to the current mileage and the curve parameters corresponding to the current terrain, and the inertial navigation data, pose correction data of the mechanical arm on which the air-coupled ground penetrating radar unit is installed is generated.

[0244] In an embodiment, the detection unit of the tunnel lining multi-source detection system comprises an air-coupled ground penetrating radar unit and a ground-coupled ground penetrating radar unit;

[0245] Receiving multi-dimensional feature data corresponding to the reflection intensity mutation signal collected by the detection unit; when it is determined that there is a defect according to the multi-dimensional feature data, generating an intensive examination command according to the mileage position and issuing it to the multi-axis synchronous servo driver, comprising:

[0246] Receiving multi-dimensional feature data corresponding to the reflection intensity mutation signal collected by the air-coupled ground penetrating radar unit; analyzing the multi-dimensional feature data, if the analysis result is that there is a suspected defect, matching the current time corresponding to the mileage position according to the corrected clock frequency, and taking it as the suspected defect position, generating an intensive examination command according to the suspected defect position, and issuing it to the multi-axis synchronous servo driver, so that the multi-axis synchronous servo driver drives the ground-coupled ground penetrating radar unit to move to the suspected defect position according to the intensive examination command, and triggers the intensive examination process of the ground-coupled ground penetrating radar unit;

[0247] Receiving intensive examination data collected by the ground-coupled ground penetrating radar unit in the intensive examination process, the intensive examination data comprising the distance between the ground-coupled ground penetrating radar unit and the tunnel lining; generating a driving force control signal of the mechanical arm on which the ground-coupled ground penetrating radar unit is installed according to the distance, the load data of the mechanical arm, and the tunnel environment temperature data, issuing the driving force control signal to the multi-axis synchronous servo driver, so that the multi-axis synchronous servo driver drives the mechanical arm on which the ground-coupled ground penetrating radar unit is installed according to the driving force control signal, to control the ground-coupled ground penetrating radar unit to move and perform detection data collection work.

[0248] In an embodiment, the multi-dimensional feature data corresponding to the reflection intensity mutation signal comprises reflection intensity, waveform feature, frequency spectrum energy distribution, defect feature frequency band, and time domain attenuation law;

[0249] Analyzing the multi-dimensional feature data, comprising:

[0250] If the reflection intensity mutation is greater than the mutation threshold, the waveform feature conforms to the typical waveform of the defect, the frequency spectrum energy distribution is that the proportion of the frequency spectrum energy in the defect feature frequency band is greater than the proportion threshold, and the time domain attenuation law is that the time domain attenuation length is greater than the length threshold, it is determined that there is a suspected defect;

[0251] If only the reflection intensity mutation greater than the mutation threshold is met, the reflection intensity mutation signal is determined as an invalid interference signal;

[0252] If the analysis result is an invalid interference signal, only the invalid interference signal abnormal time and the mileage are recorded.

[0253] In an embodiment, according to the distance, the load data of the mechanical arm installed with the ground-coupled geophysical radar unit, and the tunnel environment temperature data, a driving force control signal of the mechanical arm installed with the ground-coupled geophysical radar unit is generated, comprising:

[0254] The load data of the mechanical arm installed with the ground-coupled geophysical radar unit and the tunnel environment temperature data collected in real time by the ground-coupled geophysical radar unit are received;

[0255] According to the mechanical arm load data and the tunnel environment temperature data, a compensation signal is generated;

[0256] According to the distance between the ground-coupled geophysical radar unit and the tunnel lining collected by the ground-coupled geophysical radar unit through laser ranging, an error signal of the actual mechanical arm driving force and the expected mechanical arm driving force is determined, and according to the error signal, an initial control signal is generated through a PID adjustment method;

[0257] According to the compensation signal and the initial control signal, a driving force control signal of the mechanical arm installed with the ground-coupled geophysical radar unit is generated.

[0258] In an embodiment, the detection unit of the tunnel lining multi-source detection system comprises an obstacle avoidance unit;

[0259] The method further comprises:

[0260] The obstacle data sent by the obstacle avoidance unit is received, the obstacle data comprising the distance from the obstacle, the obstacle risk level, and the obstacle data being generated by the obstacle avoidance unit after identifying the obstacle;

[0261] According to the corrected clock frequency, the mileage position corresponding to the current time is matched and served as the obstacle position; according to the obstacle risk level and the distance from the obstacle, an action instruction is matched from a preset strategy library and issued to the multi-axis synchronous servo driver, so that the multi-axis synchronous servo driver drives the obstacle avoidance unit according to the action instruction.

[0262] In an embodiment, the method further comprises:

[0263] After the comprehensive linkage control device of the tunnel lining multi-source detection system is started, a communication test is performed to verify the connection state of the comprehensive linkage control device of the tunnel lining multi-source detection system and the tunnel lining multi-source detection system, and a communication test result is obtained;

[0264] The corrected clock frequency is sent to a multi-axis synchronous servo driver and a tunnel lining multi-source detection system;

[0265] The limit precision and redundancy logic of the comprehensive linkage control device of the tunnel lining multi-source detection system are tested, and a self-checking result is obtained;

[0266] A self-checking instruction is sent to the tunnel lining multi-source detection system, and the checking result fed back by the comprehensive linkage control device of the tunnel lining multi-source detection system is obtained.

[0267] In summary, the device, method and system proposed in the embodiments of the present application correct the internal clock by receiving the mileage pulse signal of the track vehicle operation control device, realize accurate binding of the system clock and the actual mileage, and ensure real-time matching of the clock frequency and the mileage position. This mechanism provides a unified spatial reference for detection data in the general survey / detailed survey mode, avoids mileage positioning deviation caused by clock drift, and ensures the correspondence accuracy of multi-source detection data and the actual position of the tunnel. The fast general survey mode and the detailed survey mode are distinguished, the trajectory accuracy of the detection unit during high-speed movement is ensured through pose correction (such as curve correction) in the fast general survey mode, and detection deviation caused by tunnel curves and other terrains is avoided; the detailed survey mode is aimed at suspected defects triggered by sudden changes in reflection intensity, accurately positions the mileage position, and drives the detection unit to perform pinpoint fine detection, realizes the hierarchical detection logic of large-scale general survey and small-scale detailed survey, and greatly improves the accuracy and efficiency of defect identification, especially the detection rate of small-size defects. The programmable logic controller PLC fuses detailed survey data, mechanical arm load data and tunnel environment temperature data to generate a driving force control signal in the detailed survey process, so that the multi-axis synchronous servo driver can dynamically adapt to changes in the detection environment (such as temperature fluctuations affecting the running accuracy of the mechanical arm, load changes reflecting the contact state of the detection unit and the lining surface), ensuring that the detection unit can still stably collect data in complex working conditions (such as different lining materials and surface flatness differences), and improving the self-adaptability of the system to complex tunnel environments. From the automatic pose correction in the general survey stage to the defect judgment based on feature data in the detailed survey stage, mileage positioning, command issuing, to dynamic regulation of driving force, a closed-loop automated process of data collection - analysis decision - execution feedback is formed, reducing manual intervention and reducing operation complexity. At the same time, real-time data interaction (such as pose correction data, detailed survey commands, and driving force signals) between the programmable logic controller PLC and the multi-axis synchronous servo driver ensures the accurate linkage of the detection unit action and data collection, avoiding detection data misplacement caused by execution delay. Through the fast general survey mode, the entire tunnel is quickly covered, and only the suspected defect area is started in the detailed survey mode, avoiding resource waste (such as time and equipment energy consumption) caused by indiscriminate fine detection, ensuring comprehensive detection while significantly improving detection efficiency, and being suitable for batch detection scenarios of long-distance tunnels. In the detailed survey stage, the driving force is regulated in combination with the mechanical arm load data, which can avoid equipment overload caused by excessive load (cooperating with the overload protection in the three-level safety protection mechanism), prolong the service life of the equipment; at the same time, the motion trajectory of the detection unit in complex road sections such as curves is ensured to be compliant through pose correction, avoiding collision with the tunnel structure and improving the safety of system operation.

[0268] In addition, in the embodiment of the present application, through the synergistic effect of the real-time industrial bus and the phase-locked loop circuit, the time and space data deviation of the detection unit of the tunnel lining multi-source detection system is reduced from >5% in the traditional scheme to <1%, and the pose misalignment rate of the curve is reduced from 32% to <5%. The leap in environmental adaptability: through the combination of wide-temperature elements and dynamic compensation algorithms, the startup success rate of the multi-axis synchronous servo driver at-20℃ is improved from <60% to >95% under the premise of canceling the heating jacket. The control accuracy is significantly optimized: through real-time compensation of the load and temperature (improved adaptive algorithm), the distance control accuracy between the ground-coupled ground penetrating radar antenna and the lining surface is improved from ±5cm to within ±2cm.

[0269] The embodiment of the present application also provides a computer device, Figure 10 For the schematic diagram of the computer device in the embodiment of the present application, the computer device 1000 comprises a memory 1010, a processor 1020, and a computer program 1030 stored in the memory 1010 and capable of running on the processor 1020, and the processor 1020 implements the comprehensive linkage control method of the tunnel lining multi-source detection system when the computer program 1030 is executed.

[0270] The embodiment of the present application also provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the comprehensive linkage control method of the tunnel lining multi-source detection system.

[0271] The embodiment of the present application also provides a computer program product, the computer program product comprises a computer program, and the computer program is executed by a processor to implement the comprehensive linkage control method of the tunnel lining multi-source detection system.

[0272] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0273] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0274] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0275] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0276] The above-described specific embodiments, the purpose, technical solutions and advantages of the present application are further described in detail, it should be understood that the above-described is only the specific embodiments of the present application, and is not used to limit the protection scope of the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A comprehensive linkage control device of a tunnel lining multi-source detection system, characterized in that, The tunnel lining multi-source detection system comprises a programmable logic controller (PLC) and a multi-axis synchronous servo driver. The programmable logic controller (PLC) is configured to: correct an internal clock through a phase-locked loop circuit according to a received mileage pulse signal output by a track vehicle operation control device; and match a current time corresponding mileage position according to a corrected clock frequency. In a rapid survey mode, according to survey data collected by a detection unit of a tunnel lining multi-source detection system, pose correction data of the detection unit is generated according to the mileage position, and the pose correction data is sent to the multi-axis synchronous servo driver through a real-time industrial bus. In a detailed inspection mode, multi-dimensional feature data corresponding to a reflection intensity mutation signal collected by the detection unit is received; when it is determined that there is a defect according to the multi-dimensional feature data, a detailed inspection command is generated according to the mileage position, and the detailed inspection command is sent to the multi-axis synchronous servo driver. Detailed inspection data collected by the detection unit in the detailed inspection process is received; and drive force control signals are generated according to the detailed inspection data, mechanical arm load data of the detection unit and tunnel environment temperature data, and the drive force control signals are sent to the multi-axis synchronous servo driver. The multi-axis synchronous servo driver is configured to: correct the detection unit according to the pose correction data; and drive the detection unit to perform detailed inspection at the current time corresponding mileage position according to the detailed inspection command. The detection unit performs detection data collection work according to the drive force control signals. The programmable logic controller (PLC) comprises a phase-locked loop circuit, and the phase-locked loop circuit comprises:

2. The apparatus of claim 1, wherein, a phase comparator configured to receive a mileage pulse signal output by a track vehicle operation control device, perform real-time phase comparison between the mileage pulse signal and an internal clock of a comprehensive linkage control device of a tunnel lining multi-source detection system, and obtain a phase deviation signal; a loop filter configured to perform smoothing processing on the phase deviation signal and output a correction control signal; a voltage-controlled oscillator configured to correct an internal clock frequency according to the correction control signal and obtain a corrected clock frequency. The detection unit of the tunnel lining multi-source detection system comprises an air-coupled ground penetrating radar unit and an apparent imaging unit.

3. The apparatus of claim 1, wherein, The programmable logic controller (PLC) is further configured to: receive a tunnel cross-section map generated by the air-coupled ground penetrating radar unit and an apparent image collected by the apparent imaging unit; generate pose correction data for a mechanical arm on which the air-coupled ground penetrating radar unit is installed according to the corrected clock frequency, the tunnel cross-section map and the apparent image, and send the pose correction data to the multi-axis synchronous servo driver through a real-time industrial bus; The multi-axis synchronous servo driver is further configured to: correct the mechanical arm on which the air-coupled ground penetrating radar unit is installed according to the pose correction data. The programmable logic controller (PLC) is further configured to:

4. The apparatus of claim 3, wherein, receive inertial navigation data collected by an inertial measurement unit installed on the tunnel lining multi-source detection system; obtain a current mileage according to the corrected clock frequency; obtain a current terrain according to the tunnel cross-section map and the apparent image; generate pose correction data for the mechanical arm on which the air-coupled ground penetrating radar unit is installed according to a bend parameter corresponding to the current mileage and the current terrain and the inertial navigation data. ​ 5. The apparatus of claim 1, wherein, The detection unit of the tunnel lining multi-source detection system comprises an air-coupled ground penetrating radar unit and a ground-coupled ground penetrating radar unit; The programmable logic controller PLC is further configured to: receive multi-dimensional feature data corresponding to the reflection intensity mutation signal collected by the air-coupled ground penetrating radar unit; analyze the multi-dimensional feature data, and if the analysis result is that a suspected defect exists, match the current time corresponding to the mileage position according to the clock frequency obtained through correction, and use the mileage position as the suspected defect position; generate an intensive inspection command according to the suspected defect position, and send the intensive inspection command to the multi-axis synchronous servo driver; The multi-axis synchronous servo driver is further configured to: drive the ground-coupled ground penetrating radar unit to move to the suspected defect position according to the intensive inspection command, and trigger the intensive inspection process of the ground-coupled ground penetrating radar unit; The programmable logic controller PLC is further configured to: receive intensive inspection data collected by the ground-coupled ground penetrating radar unit in the intensive inspection process, wherein the intensive inspection data comprises the distance between the ground-coupled ground penetrating radar unit and the tunnel lining; generate a driving force control signal for the mechanical arm on which the ground-coupled ground penetrating radar unit is installed according to the distance, load data of the mechanical arm, and tunnel environment temperature data; and send the driving force control signal to the multi-axis synchronous servo driver; The multi-axis synchronous servo driver is further configured to: drive the mechanical arm on which the ground-coupled ground penetrating radar unit is installed according to the driving force control signal, so as to control the ground-coupled ground penetrating radar unit to move and perform detection data collection.

6. The apparatus of claim 5, wherein, The multi-dimensional feature data corresponding to the reflection intensity mutation signal comprises reflection intensity, waveform feature, frequency spectrum energy distribution, defect feature frequency band, and time domain attenuation law; The programmable logic controller PLC further comprises an intelligent interpretation model, which is configured to: If the reflection intensity mutation is greater than a mutation threshold, the waveform feature conforms to a typical defect waveform, the frequency spectrum energy distribution is that the proportion of frequency spectrum energy in the defect feature frequency band is greater than a proportion threshold, and the time domain attenuation law is that the time domain attenuation duration is greater than a duration threshold, it is determined that a suspected defect exists; If only the reflection intensity mutation is greater than the mutation threshold, it is determined that the reflection intensity mutation signal is an invalid interference signal; The programmable logic controller PLC is further configured to: if the analysis result is an invalid interference signal, only record the invalid interference signal abnormal time and the mileage.

7. The apparatus of claim 5, wherein, The programmable logic controller PLC further comprises an adaptive control module, which is configured to: receive real-time collected load data of the mechanical arm on which the ground-coupled ground penetrating radar unit is installed and tunnel environment temperature data; generate a compensation signal according to the load data of the mechanical arm and the tunnel environment temperature data; determine an error signal of an actual mechanical arm driving force and an expected mechanical arm driving force according to the distance between the ground-coupled ground penetrating radar unit and the tunnel lining collected by the ground-coupled ground penetrating radar unit through laser ranging, and generate an initial control signal through a PID adjustment method according to the error signal; generate a driving force control signal for the mechanical arm on which the ground-coupled ground penetrating radar unit is installed according to the compensation signal and the initial control signal.

8. The apparatus of claim 1, wherein, The detection unit of the tunnel lining multi-source detection system comprises an obstacle avoidance unit; The programmable logic controller PLC is further configured to: Obstacle data transmitted by the obstacle avoidance unit, the obstacle data including a distance from an obstacle, an obstacle risk level, the obstacle data being generated by the obstacle avoidance unit after identifying the obstacle; According to the corrected clock frequency, match the mileage position corresponding to the current time, and take it as the obstacle position; According to the obstacle risk level and the distance from the obstacle, match the action instruction from the preset strategy library, and issue it to the multi-axis synchronous servo driver; The multi-axis synchronous servo driver is also used for driving the obstacle avoidance unit according to the action instruction.

9. The apparatus of claim 1, wherein, The device also includes a safety verification module for: After the comprehensive linkage control device of the tunnel lining multi-source detection system is started, a communication test is performed to verify the connection state of the comprehensive linkage control device of the tunnel lining multi-source detection system and the tunnel lining multi-source detection system, and a communication test result is obtained; Send the corrected clock frequency to the multi-axis synchronous servo driver and the tunnel lining multi-source detection system; Test the limit accuracy and redundancy logic of the comprehensive linkage control device of the tunnel lining multi-source detection system, and obtain a self-checking result; Send a self-checking instruction to the tunnel lining multi-source detection system, and obtain the checking result fed back by the comprehensive linkage control device of the tunnel lining multi-source detection system.

10. The apparatus of claim 1, wherein, The programmable logic controller PLC, the multi-axis synchronous servo driver, and each detection unit of the tunnel lining multi-source detection system use wide-temperature elements, and the multi-axis synchronous servo driver uses a low-temperature resistant lubricant for lubrication.

11. A comprehensive linkage control method of a tunnel lining multi-source detection system, characterized in that, It includes: According to the received mileage pulse signal output by the track vehicle operation control device, the internal clock is corrected through a phase-locked loop circuit; According to the corrected clock frequency, match the mileage position corresponding to the current time; In the rapid survey mode, according to the received survey data collected by the detection unit of the tunnel lining multi-source detection system, according to the mileage position, the pose correction data of the detection unit is generated, and the pose correction data is sent to the multi-axis synchronous servo driver through the real-time industrial bus; In the detailed examination mode, receive the multi-dimensional feature data corresponding to the reflection intensity mutation signal collected by the detection unit; when it is determined that there is a defect according to the multi-dimensional feature data, generate a detailed examination command according to the mileage position, and issue it to the multi-axis synchronous servo driver; Receive the detailed examination data collected by the detection unit in the detailed examination process; according to the detailed examination data, the mechanical arm load data of the detection unit and the tunnel environment temperature data, generate a driving force control signal, and issue it to the multi-axis synchronous servo driver, so that the multi-axis synchronous servo driver drives the detection unit to perform detection data collection work according to the driving force control signal.

12. A comprehensive linkage control system of a tunnel lining multi-source detection system, characterized in that, It includes: The comprehensive linkage control device and the general control display system of the tunnel lining multi-source detection system of any one of claims 1 to 10; The general control display system includes a main screen module and a split screen module; The main screen module is used to display preset core data in all data of the tunnel lining multi-source detection system and the comprehensive linkage control system, and after receiving a click instruction of a user for a preset core data, sends a response instruction to the split screen module where the preset core data is located. The split-screen module is used for displaying all data of the tunnel lining multi-source detection system and the comprehensive linkage control system in split screen; and after receiving the response instruction, the split-screen module displays the detailed data of the preset core data in the response instruction.

13. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method in claim 11.

14. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in claim 11.

15. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program is executed by the processor to implement the method in claim 11.

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