Tunnel inspection vehicle image splicing correction device

Abstract

The utility model relates to tunnel engineering detection technical field discloses a kind of tunnel inspection vehicle image splicing correction devices, including external shell and several light supplementing lamps, the utility model is set to height adjustable form by being located above a group of vertical upwards camera and light supplementing lamp on the basis of traditional quarter fan, the design of height adjustable can flexibly adjust the position of camera and light supplementing lamp according to the height of tunnel vault, so that device can more comprehensively cover tunnel vault area, effectively avoid the image distortion caused by height fixation of traditional device, not clear and other problems, and by setting a level, the horizontal state of device can be monitored in real time, and according to the value of level and the original horizontal line on tunnel wall are compared, image is rotated and corrected, effectively avoid the problem that photograph is not horizontal due to the deviation of device itself level and vehicle bumping and other factors, and then affect image splicing and analysis result.

Description

Technical Field

[0001] This utility model relates to the field of tunnel engineering inspection technology, and in particular to an image stitching and correction device for a tunnel inspection vehicle. Background Technology

[0002] In the field of tunnel engineering inspection, traditional tunnel inspection vehicles typically use a quarter-sector-shaped inspection device, whose inspection range covers half of the tunnel arch. For two-way tunnels, the inspection vehicle needs to make two round trips to complete the inspection of the entire tunnel. For one-way tunnels, the inspection device can rotate 180 degrees horizontally to inspect the other half of the tunnel wall. In addition, there is a semi-circular inspection device whose inspection range can cover the entire tunnel arch. However, these traditional designs have many problems in practical applications.

[0003] First, the internal structure of tunnels is not a standard circle. Different types of tunnels (such as two-lane tunnels and four-lane tunnels) have different width-to-height ratios. In actual operation, the distance between the detection equipment and the tunnel wall and the tunnel arch often varies. This difference in distance leads to uneven lighting, resulting in larger image areas. Uneven lighting also reduces image clarity, and the actual area of ​​the captured image is inconsistent with the image area at different shooting distances, affecting the subsequent analysis results. Second, inspection devices are usually installed on vehicles. During vehicle travel, due to the device's own level deviation and vehicle bumps, the photos may not be level. Such non-level photos introduce additional errors during image stitching and analysis, seriously affecting the reliability of the detection results. These problems limit the detection effect and efficiency of traditional tunnel inspection equipment in practical applications. Therefore, there is an urgent need for a new type of tunnel inspection device that can solve these problems. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides an image stitching and correction device for tunnel inspection vehicles.

[0005] This utility model is achieved using the following technical solution: an image stitching and correction device for a tunnel inspection vehicle, comprising an outer shell, several supplementary lights fixedly installed on the surface of the outer shell, several built-in cameras installed inside the outer shell, a level fixedly installed on the surface of the outer shell, several adjustment grooves opened on the surface of the outer shell, the interior of the adjustment grooves being fixedly installed on a vertical mounting frame by mounting bolts, upper supplementary lights fixedly connected to both sides of the surface of the vertical mounting frame, and an upper camera installed at the top of the interior of the vertical mounting frame.

[0006] The above technical solution, through the height-adjustable mounting frame, allows the device to adapt to tunnel arches of varying heights, improving its versatility and applicability. Simultaneously, the inclusion of a level effectively solves the problem of uneven photos caused by device levelness deviations and vehicle vibrations, ensuring the accuracy of image stitching and resulting in more realistic and reliable stitched images.

[0007] As a further improvement to the above solution, the supplementary lights are symmetrically arranged and evenly distributed on both sides of the outer surface of the outer casing.

[0008] The above technical solution ensures the uniformity of light, avoiding problems such as poor image quality and stitching distortion caused by uneven light, thereby improving the accuracy and reliability of image stitching.

[0009] As a further improvement to the above solution, the outer housing has several mounting cavities inside, and the built-in camera is fixedly installed inside the mounting cavities.

[0010] As a further improvement to the above solution, the surface of the outer housing is provided with several annular slots, and the supplementary light is fixedly installed on the surface of the outer housing through the annular slots.

[0011] As a further improvement to the above solution, the outer shell is shaped like a quarter circle, and the mounting vertical frame can move up and down along the adjustment groove to adjust the height of the upper fill light and the upper camera.

[0012] The above technical solutions further enhance the adaptability and flexibility of the device, enabling it to better adapt to tunnel environments at different heights and improving its practicality and versatility.

[0013] As a further improvement to the above solution, laser sensors are installed on one side of each of the built-in cameras and on the upper surface of the mounting bracket, and the level is located on the parallel side of one of the built-in cameras.

[0014] The above technical solution effectively solves the problem of image stitching distortion caused by different distances between the sensor and the tunnel wall and deviations in the levelness of the device through the synergistic effect of the laser sensor and the level. This improves the accuracy and authenticity of image stitching. The laser sensor is installed inside the installation cavity.

[0015] As a further improvement to the above solution, the bottom of the outer shell is provided with a connecting device for fixed connection with a tunnel inspection vehicle or other mobile platform.

[0016] The above technical solution enhances the scalability and compatibility of the device, enabling it to be used in conjunction with various types of tunnel inspection vehicles or other mobile platforms.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] This invention, based on the traditional quarter-sector design, incorporates a set of vertically upward-facing cameras and supplementary lights at the top, making them height-adjustable. This height-adjustable design allows for flexible adjustment of the camera and light positions according to the height of the tunnel arch, enabling the device to more comprehensively cover the tunnel arch area. This effectively avoids image distortion and unclear images caused by the fixed height of traditional devices. Furthermore, by incorporating a level, the device's horizontal status can be monitored in real time. By comparing the level reading with the original horizontal line on the tunnel wall, the image can be rotated and corrected. This effectively avoids issues such as uneven photos due to device level deviation or vehicle bumps, which could affect image stitching and analysis results. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This utility model Figure 1 Enlarged structural diagram at point A;

[0021] Figure 3 This is a side view of the supplementary lighting lamp of this utility model;

[0022] Figure 4 This is a schematic diagram of the annular slot of this utility model.

[0023] Explanation of key symbols:

[0024] 1. Outer casing; 2. Fill light; 3. Mounting cavity; 4. Built-in camera; 5. Level; 6. Mounting vertical bracket; 7. Upper fill light; 8. Upper camera; 9. Adjustment slot; 10. Mounting bolts; 11. Annular slot. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0026] Example:

[0027] Please combine Figure 1-4This embodiment of a tunnel inspection vehicle image stitching and correction device includes an outer housing 1. Several supplementary lights 2 are fixedly installed on the surface of the outer housing 1. Several built-in cameras 4 are installed inside the outer housing 1. A level 5 is fixedly installed on the surface of the outer housing 1. Several adjustment slots 9 are opened on the surface of the outer housing 1. The interior of the adjustment slots 9 is fixedly installed on the mounting frame 6 by mounting bolts 10. Upper supplementary lights 7 are fixedly connected to both sides of the surface of the mounting frame 6. An upper camera 8 is installed at the top inside the mounting frame 6. By fixing the mounting frame 6 in the adjustment slots 9 at different heights, the height of the upper supplementary lights 7 and the upper camera 8 can be adjusted to adapt to the height of different tunnel arches. At the same time, the device is installed on the vehicle. During the vehicle's movement, due to the device's own level deviation and vehicle bumps, the photos taken may not be level. At this time, the level 5 installed on one side parallel to one of the built-in cameras 4 is used to compare the original horizontal line on the tunnel wall in the photo with the value of the level 5, and rotate the device to keep the stitched image level.

[0028] The supplementary lights 2 are symmetrically arranged and evenly distributed on both sides of the outer surface of the outer housing 1. This symmetrical distribution allows the light to be more evenly distributed on the tunnel wall, providing good lighting conditions for the camera to shoot.

[0029] The outer casing 1 has several mounting cavities 3 inside, and the built-in camera 4 is fixedly installed inside the mounting cavity 3.

[0030] The outer housing 1 has several annular slots 11 on its surface. The fill light 2 is fixedly installed on the surface of the outer housing 1 through the annular slots 11. The design of the annular slots 11 makes the installation of the fill light 2 more convenient and quick, and also facilitates the replacement and maintenance of the fill light 2.

[0031] The outer casing 1 is shaped like a quarter circle. The vertical mounting bracket 6 can move up and down along the adjustment groove 9 to adjust the height of the upper supplementary light 7 and the upper camera 8. This allows the device to flexibly adjust the position of the upper supplementary light 7 and the upper camera 8 according to the height of the tunnel arch to meet the detection needs of different tunnels.

[0032] Laser sensors are installed on one side of several built-in cameras 4 and on the upper surface of the mounting bracket 6. A level 5 is located on the parallel side of one of the built-in cameras 4. The laser sensors are located next to each camera and measure the distance from the camera to the arch wall. The laser sensors are used to measure the detection distance and scale the captured images or process them with appropriate algorithms based on the measured distance so that the stitched images are not distorted. At the same time, the level 5 can monitor the horizontal status of the device in real time and provide a basis for image correction.

[0033] The bottom of the outer casing 1 is provided with a connecting device for fixed connection with a tunnel inspection vehicle or other mobile platform, which makes the device easy to install on different mobile platforms and improves the versatility and applicability of the device.

[0034] The implementation principle of the tunnel inspection vehicle image stitching and correction device in this application embodiment is as follows: The outer shell 1 of this device adopts a quarter circle shape, which matches the quarter fan-shaped detection range of common tunnel inspection vehicles, making it convenient to carry out effective inspection operations in the tunnel. Several adjustment slots 9 are provided on the surface of the outer shell 1. The mounting vertical frame 6 is fixed in different adjustment slots 9 by mounting bolts 10, which can realize the height adjustment of the upper supplementary light 7 and the upper camera 8, so that the device can flexibly adapt to the tunnel arch at different heights, ensuring that the upper supplementary light 7 and the upper camera 8 can accurately detect the tunnel arch.

[0035] During tunnel inspection, the non-concentric structure of the tunnel's interior causes the visual sensors and supplementary lights to be at different distances from the detected location. This makes it easy for the captured images to be distorted when stitched together. This device is equipped with a laser sensor next to each camera. The laser sensor can accurately measure the detection distance, so that the stitched image can more realistically reflect the actual situation of the tunnel wall.

[0036] The bottom of the outer casing 1 is equipped with a connecting device for fixed connection with a tunnel inspection vehicle or other mobile platform. The device is installed on the vehicle. During the vehicle's movement, due to factors such as the device's own level deviation and vehicle bumps, the photos taken may not be level. This device uses a level 5 installed on one side of the camera to monitor the device's level status in real time. The level 5 compares the original horizontal line on the tunnel wall in the photos with the value of the level 5 and performs rotation correction on the image through an algorithm.

[0037] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. An image stitching and correction device for a tunnel inspection vehicle, characterized in that, The device includes an outer housing (1), on the surface of which several fill lights (2) are fixedly installed. Inside the outer housing (1) are several built-in cameras (4). On the surface of the outer housing (1) are a level (5). On the surface of the outer housing (1) are several adjustment slots (9). The inside of the adjustment slots (9) is fixedly installed on the mounting frame (6) by mounting bolts (10). On both sides of the surface of the mounting frame (6) are fixedly connected upper fill lights (7). At the top of the inside of the mounting frame (6) is an upper camera (8).

2. The tunnel inspection vehicle image stitching and correction device as described in claim 1, characterized in that: The supplementary lights (2) are symmetrically arranged and evenly distributed on both sides of the outer surface of the outer shell (1).

3. The tunnel inspection vehicle image stitching and correction device as described in claim 1, characterized in that: The outer casing (1) has several mounting cavities (3) inside, and the built-in camera (4) is fixedly installed inside the mounting cavity (3).

4. The image stitching and correction device for a tunnel inspection vehicle as described in claim 1, characterized in that: The surface of the outer housing (1) is provided with several annular slots (11), and the supplementary light (2) is fixedly installed on the surface of the outer housing (1) through the annular slots (11).

5. The image stitching and correction device for a tunnel inspection vehicle as described in claim 1, characterized in that: The outer casing (1) is shaped like a quarter circle, and the mounting vertical bracket (6) can move up and down along the adjustment groove (9) to adjust the height of the upper fill light (7) and the upper camera (8).

6. The image stitching and correction device for a tunnel inspection vehicle as described in claim 1, characterized in that: Laser sensors are installed on one side of each of the built-in cameras (4) and on the upper surface of the mounting bracket (6), and the level (5) is located on the parallel side of one of the built-in cameras (4).

7. The image stitching and correction device for a tunnel inspection vehicle as described in claim 1, characterized in that: The bottom of the outer shell (1) is provided with a connecting device for fixed connection with a tunnel inspection vehicle or other mobile platform.

Images