CN110821560A - Tunnel inspection system - Google Patents
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Abstract
The embodiment of the invention provides a tunnel inspection system, which comprises an inspection robot, a control subsystem and a monitoring subsystem, wherein the inspection robot is used for sampling a tunnel environment and sending a sampling result to the control subsystem; and the control subsystem is used for analyzing the sampling result and sending alarm information if the analysis result meets the alarm requirement. The embodiment of the invention is an intelligent tunnel health detection system, which can replace manual tunnel inspection, avoid accidental injury of workers in a tunnel, has strong environmental adaptability, can monitor the health state of the tunnel in a severe environment, and has important significance for improving the intelligent maintenance level of the tunnel and ensuring the safe operation of a train in the tunnel.
Description
Technical Field
The invention relates to the technical field of tunnel maintenance, in particular to a tunnel inspection system.
Background
China is the country with the largest quantity of tunnels and underground projects, the fastest development speed and the most complex geological and structural forms in the world at present, tunnels are inevitably required to be constructed in the construction process of various rail traffics such as railways, subways and the like, and in the use process of the rail traffic tunnels, serious variation (disease) phenomena such as cracking, dislocation, freezing, earthquake disasters, collapse and the like are caused due to natural conditions such as underground water, material degradation, earthquake, freezing injury and the like, so that the service life of a structure is greatly shortened, and serious driving safety accidents can be caused by falling, invasion limit, water seepage and line aging fire of foreign matters in the tunnels, and great risks are brought to the safety of people and property.
The tunnel inspection work in the rail transit is always the foundation and the important guarantee measure for the safe operation of the train, and due to the reasons of multiple monitoring items, long lines, multiple measuring points, large quantity and the like, and the environmental conditions of the rail transit tunnel, particularly the ultra-long tunnel, are severe, the sealing performance is strong, the structures are multiple, and the communication is inconvenient. The personal safety of the inspection personnel is even difficult to be effectively ensured, and meanwhile, the detection method of the tunnel state by manpower is very limited, so that the tunnel state cannot be accurately judged, and the timely maintenance of the tunnel is influenced.
Disclosure of Invention
Embodiments of the present invention provide a tunnel inspection system that overcomes or at least partially solves the above-mentioned problems.
In a first aspect, an embodiment of the present invention provides a tunnel inspection system, including:
the inspection robot is used for sampling the tunnel environment and sending a sampling result to the control subsystem; and
and the control subsystem is used for analyzing the sampling result and sending alarm information if the analysis result meets the alarm requirement.
Preferably, the analyzing the sampling result specifically includes:
inputting the sampling result into a pre-trained neural network model, and outputting an analysis result;
the neural network model is trained by taking a sample sampling result of a tunnel environment as a sample and taking an analysis result of the sample sampling result as a sample label.
Preferably, the tunnel inspection system further includes:
and the tunnel maintenance center is used for carrying out secondary confirmation on the alarm information, and optimizing the neural network model according to a sampling result corresponding to false alarm if the alarm information is determined to be false alarm.
Preferably, the sampling of the tunnel environment includes, but is not limited to: the method comprises the steps of collecting the inner surface structure of the tunnel, video images, sound, temperature and humidity, harmful gases, infrared thermal imaging, visibility and positioning data.
Preferably, the tunnel inspection system further includes:
the charging station subsystem comprises charging piles distributed in the tunnel;
correspondingly, the inspection robot is also used for:
and acquiring the electric quantity of the user, and if the current electric quantity is smaller than a preset threshold value, moving the user to the nearest charging pile for charging according to the positioning data of the user and the position of each charging pile.
Preferably, the tunnel inspection system further includes:
and the communication subsystem is used for enabling the inspection robot to be in communication connection with the control subsystem.
Preferably, the tunnel inspection system further includes:
and the guide rail and transmission mechanism subsystem is used for controlling the inspection robot to move in the tunnel.
Preferably, the tunnel inspection system further comprises electronic tags arranged in a preset area in the tunnel, and each electronic tag has a unique identifier;
correspondingly, the inspection robot is also used for: and when the electronic tag moves to the communication range of the electronic tag, acquiring the unique identifier of the electronic tag, and packaging and sending the unique identifier and the sampling result to the control subsystem.
Preferably, the control subsystem is further configured to:
recording the unique identification of each electronic tag and the position information of the electronic tag;
and when a sampling result which is sent by the inspection robot and carries the unique identifier of the electronic tag is received, if the analysis result meets the alarm requirement, sending alarm information and the position information of the electronic tag.
Preferably, the inspection robot is also used for self-checking, stops moving when a component is detected to be in fault or blocked, and sends information of the component to be in fault or blocked to the control subsystem.
The tunnel inspection system provided by the embodiment of the invention samples the environment in the tunnel by arranging the inspection robot, analyzes the sampling result by the control subsystem, and sends alarm information if the analysis result meets the alarm requirement, so that the tunnel inspection system is an intelligent tunnel health detection system, can replace manual tunnel inspection, avoids accidental injury of workers in the tunnel, has strong environmental adaptability, can monitor the health state of the tunnel in severe environment, and has important significance for improving the intelligent maintenance level of the tunnel and ensuring the safe operation of trains in the tunnel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a tunnel inspection system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a tunnel inspection system according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a tunnel inspection system according to an embodiment of the present invention, and as shown in fig. 1, the tunnel inspection system includes:
the inspection robot 101 is used for sampling the tunnel environment and sending a sampling result to the control subsystem;
it should be noted that, in the tunnel inspection system of the embodiment of the present invention, the inspection robot subsystem is used for inspecting the tunnel, so as to replace manual inspection of the tunnel, thereby avoiding accidental injury of workers in the tunnel. It can be understood that the inspection robot is a device which moves in the tunnel and can collect parameters of the tunnel environment. Obviously, the inspection robot needs to integrate a certain kind of sensors, and as an optional embodiment, the inspection robot comprises a three-dimensional laser scanning sensor, a video image sensor, a sound sensor, a temperature and humidity sensor, a harmful gas sensor, an infrared thermal imaging sensor and a visibility sensor. The three-dimensional laser scanning sensor scans the inner surface structure of the tunnel, a high-precision point cloud model can be obtained, cross section data can be directly intercepted on the point cloud model to analyze tunnel engineering and states, grid management and data marking are conveniently carried out, and the precision and convenience of tunnel inspection are greatly improved. The video image sensor is used for acquiring images in the tunnel, and can identify disaster hidden dangers such as irregular arrangement of equipment/objects, mountain/tunnel quality, lining cracking, exposed steel bars, water leakage and freeze damage, material degradation, foreign matter invasion limit and the like in the images. The sound in the tunnel is also the key point of inspection, and the cracking, water leakage, foreign matter invasion and mountain/tunnel structure change of the lining are usually accompanied by the occurrence of the sound, so that the method is also favorable for identifying the disaster hidden danger by collecting the sound information. The abnormal change of the temperature and humidity information is usually related to water leakage, freezing damage and material deterioration. The monitoring of harmful gas is also very necessary, the air flow in the tunnel is not smooth, and once the harmful gas appears, serious accidents are easily caused. In the tunnel construction process, a certain section of area is often planned to be not allowed to have organisms, and the infrared thermal imaging sensor has the function of sensing the organisms.
And the control subsystem 102 is configured to analyze the sampling result, and send alarm information if the analysis result meets an alarm requirement.
Specifically, the control subsystem of the embodiment of the invention can analyze the video image in the sampling result by means of the existing image analysis method, and if the image has characterization information of disaster hidden danger (such as earth and rock collapse, tunnel lining cracking, steel bar exposure, water leakage and freeze damage, material degradation and foreign matter invasion limit), the control subsystem is determined to meet the alarm requirement; for example, sound in the sampling result is analyzed by means of the existing voice recognition method, and if abnormal sound occurs, the alarm requirement is determined to be met; and if the harmful gas sensor detects that harmful gas exists in the tunnel, determining that the alarm requirement is met, and the like.
The alarm information of the embodiment of the invention contains the sampling result, which is beneficial to the manual identification of the sampling result by the working personnel.
As an optional embodiment, the control subsystem is further configured to send an inspection instruction to the inspection robot, so that the inspection robot performs inspection according to the instruction, the tunnel inspection system can flexibly configure an inspection plan, and inspection efficiency is improved.
On the basis of the above embodiment, the inspection instruction may include: patrol time, patrol section (characterized by coordinates), sampling items, etc. The inspection robot can be controlled to inspect specific pieces in the tunnel through the inspection section, for example, the section which needs to be focused on is monitored, and monitoring efficiency is improved. Sometimes, all sensors of the inspection robot do not need to work, so that the number of working sensors is controlled by specifying sampling items in an inspection instruction, environment sampling can be conducted in a targeted mode, and inspection efficiency is improved.
It should be noted that the embodiment of the invention is an intelligent tunnel health detection system, which can replace manual tunnel inspection, avoid accidental injury of workers in the tunnel, has strong environmental adaptability, can monitor the health state of the tunnel in a severe environment, and has important significance for improving the intelligent maintenance level of the tunnel and ensuring the safe operation of trains in the tunnel.
On the basis of the foregoing embodiments, as an optional embodiment, the embodiment of the present invention performs analysis by using a deep learning neural network, specifically, the analyzing the sampling result specifically includes:
inputting the sampling result into a pre-trained neural network model, and outputting an analysis result;
the neural network model is trained by taking a sample sampling result of a tunnel environment as a sample and taking an analysis result of the sample sampling result as a sample label.
In an alternative embodiment, a recognition rate difference k is preset during the training process, and when the difference between two consecutive recognition rates is smaller than k, the training can be stopped.
On the basis of the embodiments of the above embodiments, the tunnel inspection system further includes:
and the tunnel maintenance center is used for carrying out secondary confirmation on the alarm information, and optimizing the neural network model according to a sampling result corresponding to false alarm if the alarm information is determined to be false alarm.
It should be noted that, the tunnel maintenance center according to the embodiment of the present invention receives the alarm information, and performs secondary confirmation on the alarm information, that is, confirms whether there is a potential safety hazard.
As an alternative embodiment, the second validation may be performed using a neural network model with a higher recognition accuracy. The sample during training of the neural network model with higher identification accuracy can be a sample result which meets the alarm requirement but does not actually pass the secondary confirmation, and the sample label is not in accordance with the alarm requirement.
On the basis of the foregoing embodiments, the sampling of the tunnel environment according to the embodiments of the present invention includes, but is not limited to: the method comprises the steps of collecting the inner surface structure of the tunnel, video images, sound, temperature and humidity, harmful gases, infrared thermal imaging, visibility and positioning data.
On the basis of the foregoing embodiments, as an optional embodiment, fig. 2 is a schematic structural diagram of a tunnel inspection system according to another embodiment of the present invention, and as shown in fig. 2, the tunnel inspection system includes:
an inspection robot 201, a control subsystem 202 and a charging station subsystem 203;
wherein, charging station subsystem 203 includes the electric pile that fills who distributes in the tunnel.
It should be noted that in the embodiment of the present invention, a plurality of charging piles are disposed in the tunnel, for example, at least two ends of the tunnel are provided with the charging piles, so that the inspection robot can charge the charging piles. Each fills electric pile including charging contact and power indicator, when the contact switch-on that charges, fills electric pile and charges to patrolling and examining the robot, lights power indicator simultaneously.
Correspondingly, the inspection robot is also used for:
and acquiring the electric quantity of the user, and if the current electric quantity is smaller than a preset threshold value, moving the user to the nearest charging pile for charging according to the positioning data of the user and the position of each charging pile.
It should be noted that, in the embodiment of the present invention, the inspection robot is charged by providing the charging station subsystem. The inspection robot is through obtaining the electric quantity of oneself to when the electric quantity is less than preset threshold value, according to the position of the location data of self with filling electric pile, remove as the target with the nearest electric pile that fills, optimized the charging flow who patrols and examines the robot.
On the basis of the foregoing embodiments, the tunnel inspection system according to the embodiments of the present invention further includes a communication subsystem, configured to enable the inspection robot to be in communication connection with the control subsystem, and optionally, the communication subsystem includes a Remote Radio Unit (RRU) and a leaky cable \ directional antenna. A Directional antenna (Directional antenna) is an antenna that emits and receives electromagnetic waves in one or more specific directions with a particularly strong intensity, and emits and receives electromagnetic waves in other directions with a null or minimum intensity. The directional transmitting antenna is adopted to increase the effective utilization rate of the radiation power and increase the confidentiality; the main purpose of using directional receiving antenna is to enhance signal strength and increase anti-interference ability.
On the basis of the above embodiments, as an optional embodiment, the tunnel inspection system further includes: and the guide rail and transmission mechanism subsystem is used for controlling the inspection robot to move in the tunnel.
The guide rail and transmission mechanism subsystem is an actuating mechanism which takes a motor as electric energy to be converted into mechanical energy, and controls the inspection robot to move on a guide rail preset in the tunnel in a sliding block/roller/gear mode.
On the basis of the above embodiments, as an optional embodiment, the tunnel inspection system according to the embodiment of the present invention further includes electronic tags disposed in a preset area in the tunnel, and each electronic tag has a unique identifier.
The inspection robot is also used for: and when the electronic tag moves to the communication range of the electronic tag, acquiring the unique identifier of the electronic tag, and packaging and sending the unique identifier and the sampling result to the control subsystem.
It should be noted that although the position of the inspection robot can be obtained by arranging a positioning sensor, such as a GPS positioning sensor, a beidou positioning sensor, etc., in the inspection robot, the obtained position is not high in precision relative to the tunnel space, in the embodiment of the present invention, an electronic tag, such as a zigbee tag, an RFID tag, or an NFC tag, is arranged in the tunnel, and position information is arranged on the electronic tag, for example, the position information of a certain electronic tag is set to be (100 m from the tunnel entrance), so that the inspection robot can obtain the precise position of the inspection robot by communicating with the electronic tag.
On the basis of the foregoing embodiments, as an optional embodiment, the control subsystem is further configured to:
recording the unique identification of each electronic tag and the position information of the electronic tag;
and when a sampling result which is sent by the inspection robot and carries the unique identifier of the electronic tag is received, if the analysis result meets the alarm requirement, sending alarm information and the position information of the electronic tag.
On the basis of the above embodiments, as an optional embodiment, the inspection robot is further used for self-inspection, and stops moving and sends failure information to the control subsystem when a component is detected to be faulty or blocked.
On the basis of the above embodiments, as an optional embodiment, the inspection robot is provided with a motor encoder, and the real-time movement distance of the inspection robot can be calculated through closed-loop feedback. It can be understood that, the method for calculating the distance by using the motor encoder is common knowledge in the art, and the embodiment of the present invention calculates the distance by using the electrode encoder, and calculates the absolute position by combining the RFID tag, on one hand, the distance calculation can be provided with secondary verification, and on the other hand, the quality of the RFID tag disposed in the tunnel can be monitored, for example, a certain distance should receive the position information of the corresponding RFID tag at the same time, and if not, it is indicated that the RFID tag at the position has a fault.
The inspection robot provided by the embodiment of the invention also has a self-checking function, and the self-checking items are not specifically limited, such as checking whether each sensor is normally started or not, checking whether each sensor is blocked or not and the like. If the inspection robot detects the component fault or stops moving when meeting the resistance, and sends the information of the component fault or the resistance to the control subsystem.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a tunnel system of patrolling and examining which characterized in that includes:
the inspection robot is used for sampling the tunnel environment and sending a sampling result to the control subsystem; and
and the control subsystem is used for analyzing the sampling result and sending alarm information if the analysis result meets the alarm requirement.
2. The tunnel inspection system according to claim 1, wherein the analyzing of the sampling results is specifically:
inputting the sampling result into a pre-trained neural network model, and outputting an analysis result;
the neural network model is trained by taking a sample sampling result of a tunnel environment as a sample and taking an analysis result of the sample sampling result as a sample label.
3. The tunnel inspection system according to claim 2, further comprising:
and the tunnel maintenance center is used for carrying out secondary confirmation on the alarm information, and optimizing the neural network model according to a sampling result corresponding to false alarm if the alarm information is determined to be false alarm.
4. The tunnel inspection system according to claim 1, wherein the sampling of the tunnel environment includes, but is not limited to: the method comprises the steps of collecting the inner surface structure of the tunnel, video images, sound, temperature and humidity, harmful gases, infrared thermal imaging, visibility and positioning data.
5. The tunnel inspection system according to claim 1, further comprising:
the charging station subsystem comprises charging piles distributed in the tunnel;
correspondingly, the inspection robot is also used for:
and acquiring the electric quantity of the user, and if the current electric quantity is smaller than a preset threshold value, moving the user to the nearest charging pile for charging according to the positioning data of the user and the position of each charging pile.
6. The tunnel inspection system according to claim 1, further comprising:
and the communication subsystem is used for enabling the inspection robot to be in communication connection with the control subsystem.
7. The tunnel inspection system according to claim 1, further comprising:
and the guide rail and transmission mechanism subsystem is used for controlling the inspection robot to move in the tunnel.
8. The tunnel inspection system according to claim 1, further comprising electronic tags disposed in a predetermined area within the tunnel, each electronic tag having a unique identifier;
correspondingly, the inspection robot is also used for: and when the electronic tag moves to the communication range of the electronic tag, acquiring the unique identifier of the electronic tag, and packaging and sending the unique identifier and the sampling result to the control subsystem.
9. The tunnel inspection system according to claim 8, wherein the control subsystem is further configured to:
recording the unique identification of each electronic tag and the position information of the electronic tag;
and when a sampling result which is sent by the inspection robot and carries the unique identifier of the electronic tag is received, if the analysis result meets the alarm requirement, sending alarm information and the position information of the electronic tag.
10. The tunnel inspection system according to claim 1, wherein the inspection robot is further configured for self-inspection and stops moving when a component is self-inspected for a fault or a fault, and sends a component fault or fault to the control subsystem.
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