CN107178054A - A kind of control method of Multipurpose Tunnel Cleanning Vehicle - Google Patents
A kind of control method of Multipurpose Tunnel Cleanning Vehicle Download PDFInfo
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- CN107178054A CN107178054A CN201710519379.0A CN201710519379A CN107178054A CN 107178054 A CN107178054 A CN 107178054A CN 201710519379 A CN201710519379 A CN 201710519379A CN 107178054 A CN107178054 A CN 107178054A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004140 cleaning Methods 0.000 claims abstract description 18
- 238000010276 construction Methods 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
It is that, on a kind of control method of Multipurpose Tunnel Cleanning Vehicle, this method includes that the present invention, which is disclosed,：Concreting metope in image acquisition device tunnel is in image not in the same time；Data sending device sends the image not in the same time to outside control centre, so that the image not in the same time is analyzed for the outside control centre, so as to judge metope pouring construction quality.The present invention, which is disclosed, can provide function more various tunnel cleaning vehicle, meet different work demand.
Description
Technical field
The present invention, which is disclosed, is related to technical field of tunnel construction, more particularly to a kind of controlling party of Multipurpose Tunnel Cleanning Vehicle
Method.
Background technology
In recent years, with the fast development of railway especially high ferro, circuit total kilometrage increasingly increases.In railway construction process
In it is inevitable the need for tunneling, and, it is necessary to periodically be cleaned to tunnel during tunnel pouring construction.
Tunnel cleaning vehicle, such as roller brush type tunnel cleaning vehicle, water under high pressure tunnel cleaning vehicle are occurred in that in correlation technique accordingly
Etc..Tunnel cleaning vehicle belongs to constructing tunnel aid branch field, and the field is often ignored, and inventor has found, current
The function of tunnel cleaning vehicle is more single, it is impossible to adapt to diversified job requirements.And have no related personnel at present and be concerned about this
A bit.
The content of the invention
Purpose disclosed by the invention is to provide a kind of control method of Multipurpose Tunnel Cleanning Vehicle vdiverse in function, with suitable
Answer diversified job requirements.
Embodiment disclosed by the invention provides a kind of control method of Multipurpose Tunnel Cleanning Vehicle, and the cleaning vehicle includes car body
Body, the car body body is provided with storage tank, high-pressure hydraulic pump, magnetic valve, water injector and controller；Wherein, the high pressure
Water pump is placed in storage tank, and is connected by water pipe with the water injector；The magnetic valve is arranged on the water pipe, described
Controller is electrically connected with the magnetic valve and high-pressure hydraulic pump；The cleaning vehicle also includes image collecting device and data processing equipment；
The control method includes：
Concreting metope in described image harvester collection tunnel is in image not in the same time；
The data processing equipment sends the image not in the same time to outside control centre, so that the outside control centre
The image not in the same time is analyzed, so as to judge metope pouring construction quality.
In embodiment disclosed by the invention, the cleaning vehicle also includes：
Illuminating lamp, is arranged on the car body body, and close to described image harvester, and electrically connected with the controller；
Light sensor, is arranged on the car body body, and close to described image harvester, and be electrically connected with the controller
Connect,；The control method also includes：
The light sensor is used to detect the light luminance in tunnel；
When the light luminance for the current position that the controller is detected in the light sensor is less than predetermined luminance threshold value, control
Open the illuminating lamp.
In embodiment disclosed by the invention, the control method also includes：
The definition for the image that the controller is gathered after illuminating lamp unlatching according to described image harvester, control is adjusted
The brightness of the whole illuminating lamp is so that described image harvester obtains picture rich in detail.
In embodiment disclosed by the invention, the controller is electrically connected with the data processing equipment；The control method
Also include：
The controller control data processing equipment interval preset time sends the once image not in the same time.
In embodiment disclosed by the invention, the control method also includes：
The data processing equipment carries out Digital Image Processing to the image not in the same time and generates corresponding carry uniquely
Each picture signal of identification information；Each picture signal is carried out respectively to send after coding compression into the outside control
The heart.
In embodiment disclosed by the invention, the control method also includes：So that the outside control centre will be described each
Picture signal is transformed into 2D signal from one-dimensional signal respectively, and 2-D discrete cosine change is done to each 2D signal after conversion
Change, form each 2D signal of correspondence discrete cosine transform domain；In discrete cosine transform domain, after two-dimension discrete cosine transform
Default interference signal in each 2D signal is eliminated；To each two dimension letter for the discrete cosine transform domain for eliminating default interference signal
Number 2-D discrete cosine inverse transformation is done, obtain corresponding two-dimentional each time-domain signal；Two-dimentional each time-domain signal is become from 2D signal
One-dimensional signal is changed to, each picture signal after default interference signal is eliminated is obtained and each picture signal is analyzed.
In embodiment disclosed by the invention, described image harvester is high-definition camera.
In embodiment disclosed by the invention, described image harvester is arranged on the car body body.
In embodiment disclosed by the invention, the data processing equipment is arranged on the car body body.
The technical scheme that embodiment disclosed by the invention is provided can include the following benefits：
In embodiment disclosed by the invention, image collecting device and data processing equipment are set in cleaning vehicle, to realize collection
Concreting metope in tunnel sends the image not in the same time into outside control in image not in the same time
The heart, so that the image not in the same time is analyzed for the outside control centre, so as to judge metope pouring construction matter
Amount.So, while cleaning vehicle cleans tunnel metope or tunnel wall, the pouring construction quality of metope or tunnel wall can be entered
Row is checked, vdiverse in function, can meet different job requirements.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not
The present invention can be limited to disclose.
Brief description of the drawings
Fig. 1 shows that the present invention discloses the control method flow chart of Multipurpose Tunnel Cleanning Vehicle in exemplary embodiment；
Fig. 2 shows that the present invention discloses the electric operation control circuit figure of Multipurpose Tunnel Cleanning Vehicle in exemplary embodiment；
Fig. 3 shows that the present invention discloses Multipurpose Tunnel Cleanning Vehicle schematic diagram in embodiment；
Fig. 4 shows that the present invention discloses the electric operation control circuit figure of another Multipurpose Tunnel Cleanning Vehicle in exemplary embodiment；
Fig. 5 shows that the present invention discloses the electric operation control circuit figure of another Multipurpose Tunnel Cleanning Vehicle in exemplary embodiment.
Embodiment
Example embodiment is described more fully with referring now to accompanying drawing.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that of the invention disclose will
More fully and completely, and by the design of example embodiment those skilled in the art is comprehensively conveyed to.Described spy
Levy, structure or characteristic can be combined in one or more embodiments in any suitable manner.
In addition, accompanying drawing is only schematic illustrations disclosed by the invention, it is not necessarily drawn to scale.Identical is attached in figure
Icon note represents same or similar part, thus will omit repetition thereof.Some block diagrams shown in accompanying drawing
It is functional entity, not necessarily must be corresponding with physically or logically independent entity.
With reference to shown in Fig. 1, the present invention discloses embodiment and provides a kind of control method of Multipurpose Tunnel Cleanning Vehicle, the control
Method processed comprises the following steps：
Step S101：Concreting metope in described image harvester collection tunnel is in image not in the same time.
Step S102：The data processing equipment sends the image not in the same time to outside control centre, so that
The image not in the same time is analyzed for the outside control centre, such as contrasting crack, so as to judge that metope is poured
Build construction quality.
With reference to shown in Fig. 2 ~ 3, in this example embodiment, the cleaning vehicle includes car body body 100, the car body body
100 are provided with storage tank, high-pressure hydraulic pump, magnetic valve, water injector（It is not shown）And controller；Wherein, the high-pressure hydraulic pump is put
Connected in storage tank, and by water pipe with the water injector；The magnetic valve is arranged on the water pipe, the controller
Electrically connected with the magnetic valve and high-pressure hydraulic pump（It is not shown）.The cleaning vehicle also includes image collecting device 120 and data processing
Device 110.Wherein, described image harvester 120 is arranged on the car body body 100, the data processing equipment 110
It is arranged on the car body body 100.
In the present embodiment while cleaning vehicle cleans tunnel metope or tunnel wall, metope or tunnel wall can be poured
Construction quality is checked, vdiverse in function, can meet different job requirements.
In some embodiments disclosed by the invention, described image harvester 120 can be high-definition camera.The number
Can be dsp chip according to processing unit 110.The controller can be microprocessor or microcontroller.It is certainly not limited to this.
In embodiment disclosed by the invention, as shown in figure 4, the controller is electrically connected with the data processing equipment 110.The control
Method also includes：The controller controls the interval of data processing equipment 110 preset time（Such as 5 minutes）Send once institute
Image not in the same time is stated, so, power consumption can be saved to a certain extent.
In embodiment disclosed by the invention, the control method also includes：The data processing equipment 110 can be to described
Image in the same time does not carry out that Digital Image Processing generation is corresponding to carry unique identification information（As unique encodings information, when
Between information or serial number information etc.）Each picture signal；Pass through nothing after each picture signal is carried out into coding compression respectively again
Gauze network（Such as ZigBee networkings）Send to the outside control centre 200.So, the outside basis of control centre 200 is conducive to
Unique identification information accurately handles each picture signal, improves the accuracy that construction quality judges.Data processing equipment 110 can have
There is wireless launcher, outside control centre 200 has corresponding wireless receiver.
In order to improve the accuracy of construction quality judgement, in embodiment disclosed by the invention, the control method also includes：
So that each picture signal received is transformed into 2D signal by the outside control centre 200 from one-dimensional signal respectively,
Two-dimension discrete cosine transform is done to each 2D signal after conversion, each two dimension letter of correspondence discrete cosine transform domain is formed
Number；In discrete cosine transform domain, the default interference signal in each 2D signal after two-dimension discrete cosine transform is eliminated；Offset
Except each 2D signal for the discrete cosine transform domain for presetting interference signal does 2-D discrete cosine inverse transformation, corresponding two are obtained
Tie up each time-domain signal；Two-dimentional each time-domain signal is transformed into one-dimensional signal from 2D signal, obtained after default interference signal elimination
Each picture signal and each picture signal is analyzed.Picture signal is being transmitted out of tunnel to outside control centre
During 200, due to the particular surroundings in tunnel, there are some such as noises or environmental disturbances signal so that picture signal goes out
Now such as deformation or distortion, influences the accuracy subsequently judged.Inventor's research is found, above-mentioned in discrete cosine transform domain
Interference signal and useful picture signal are separated from each other, and are switched back to again after discrete cosine transform domain eliminates interference signal
Time domain, so as to reach the purpose for eliminating interference signal.The present embodiment can effectively remove default interference signal so that outside control
Center can accurately receive the image information of collection, and then improve the accuracy that construction quality judges.
In embodiment disclosed by the invention, as shown in figure 5, the cleaning vehicle can also include illuminating lamp 410 and light is passed
Sensor 412.The illuminating lamp 410, is arranged on the car body body（It is not shown）, and close to described image harvester 120
（Not shown position relationship）, and electrically connected with the controller.The light sensor 412, is arranged on the car body body 100
On, and close to described image harvester 120（Not shown position relationship）, and electrically connected with the controller, for detecting tunnel
Light luminance in road.The controller, the light luminance being additionally operable in the current position of the detection of the light sensor 412 is low
When predetermined luminance threshold value, the illuminating lamp 410 is opened in control.
Further, in embodiment disclosed by the invention, the controller can be also used in the illuminating lamp 410
The definition of the image gathered after unlatching according to described image harvester 120, the brightness of the control adjustment illuminating lamp 410 with
Described image harvester 120 is set to obtain picture rich in detail.That is, when gathering image, if light secretly causes collection excessively
Fogging image, can control to open illuminating lamp regulation light filling collection image so that the accuracy of subsequent construction Quality estimation is entered
One step is improved.
Those skilled in the art will readily occur to the present invention and disclose after considering specification and putting into practice invention disclosed herein
Other embodiments.The application is intended to any modification disclosed by the invention, purposes or adaptations, these changes
Type, purposes or adaptations follow general principle disclosed by the invention and disclose undocumented this technology including the present invention
Common knowledge or conventional techniques in field.Description and embodiments be considered only as it is exemplary, it is disclosed by the invention true
Positive scope and spirit are pointed out by appended claim.
Claims (9)
1. a kind of control method of Multipurpose Tunnel Cleanning Vehicle, the cleaning vehicle includes car body body, the car body body is provided with
Storage tank, high-pressure hydraulic pump, magnetic valve, water injector and controller；Wherein, the high-pressure hydraulic pump is placed in storage tank, and is passed through
Water pipe is connected with the water injector；The magnetic valve is arranged on the water pipe, the controller and the magnetic valve and height
Water pump is electrically connected；Characterized in that, the cleaning vehicle also includes image collecting device and data processing equipment；The control method
Including：
Concreting metope in described image harvester collection tunnel is in image not in the same time；
The data processing equipment sends the image not in the same time to outside control centre, so that the outside control centre
The image not in the same time is analyzed, so as to judge metope pouring construction quality.
2. the control method of Multipurpose Tunnel Cleanning Vehicle according to claim 1, it is characterised in that the cleaning vehicle also includes：
Illuminating lamp, is arranged on the car body body, and close to described image harvester, and electrically connected with the controller；
Light sensor, is arranged on the car body body, and close to described image harvester, and be electrically connected with the controller
Connect；The control method also includes：
Light luminance in the light sensor detection tunnel；
When the light luminance for the current position that the controller is detected in the light sensor is less than predetermined luminance threshold value, control
Open the illuminating lamp.
3. the control method of Multipurpose Tunnel Cleanning Vehicle according to claim 2, it is characterised in that the control method is also wrapped
Include：
The definition for the image that the controller is gathered after illuminating lamp unlatching according to described image harvester, control is adjusted
The brightness of the whole illuminating lamp is so that described image harvester obtains picture rich in detail.
4. according to the control method of one of claim 1 ~ 3 Multipurpose Tunnel Cleanning Vehicle, it is characterised in that the controller
Electrically connected with the data processing equipment；The control method also includes：
The controller control data processing equipment interval preset time sends the once image not in the same time.
5. the control method of Multipurpose Tunnel Cleanning Vehicle according to claim 4, it is characterised in that the control method is also wrapped
Include：
The data processing equipment carries out Digital Image Processing to the image not in the same time and generates corresponding carry uniquely
Each picture signal of identification information；Each picture signal is carried out respectively to send after coding compression into the outside control
The heart.
6. the control method of Multipurpose Tunnel Cleanning Vehicle according to claim 5, it is characterised in that the control method is also wrapped
Include：
So that each picture signal is transformed into 2D signal by the outside control centre from one-dimensional signal respectively, after conversion
Each 2D signal do two-dimension discrete cosine transform, form each 2D signal of correspondence discrete cosine transform domain；Discrete
Cosine transform domain, the default interference signal in each 2D signal after two-dimension discrete cosine transform is eliminated；It is default to eliminating
Each 2D signal of the discrete cosine transform domain of interference signal does 2-D discrete cosine inverse transformation, obtains corresponding two-dimentional each time domain
Signal；Two-dimentional each time-domain signal is transformed into one-dimensional signal from 2D signal, each image after default interference signal is eliminated is obtained
Simultaneously each picture signal is analyzed for signal.
7. the control method of Multipurpose Tunnel Cleanning Vehicle according to claim 5, it is characterised in that described image harvester
For high-definition camera.
8. the control method of Multipurpose Tunnel Cleanning Vehicle according to claim 5, it is characterised in that described image harvester
It is arranged on the car body body.
9. the control method of Multipurpose Tunnel Cleanning Vehicle according to claim 5, it is characterised in that the data processing equipment
It is arranged on the car body body.
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| CN201710519379.0A CN107178054B (en) | 2017-06-30 | 2017-06-30 | A kind of control method of Multipurpose Tunnel Cleanning Vehicle |
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| CN201710519379.0A CN107178054B (en) | 2017-06-30 | 2017-06-30 | A kind of control method of Multipurpose Tunnel Cleanning Vehicle |
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| CN107178054B CN107178054B (en) | 2018-09-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110820649A (en) * | 2019-12-24 | 2020-02-21 | 贺晓利 | Highway tunnel cleaning system |
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|---|---|---|---|---|
| EP0874086A1 (en) * | 1996-06-21 | 1998-10-28 | José Antonio Villanueva Sauiu | Improved machine intended to the cleaning of tunnels, walls and the like |
| CN102564335A (en) * | 2012-01-16 | 2012-07-11 | 苏州临点三维科技有限公司 | Method for measuring deformation of large-scale tunnel |
| CN103246499A (en) * | 2013-05-28 | 2013-08-14 | 西安电子科技大学 | Device and method for parallelly processing images |
| CN103839268A (en) * | 2014-03-18 | 2014-06-04 | 北京交通大学 | Method for detecting fissure on surface of subway tunnel |
| CN204039963U (en) * | 2014-07-03 | 2014-12-24 | 中铁电气化局集团有限公司 | Subway tunnel water douching wheels |
| CN104655047A (en) * | 2015-02-16 | 2015-05-27 | 武汉武大卓越科技有限责任公司 | Rapid and comprehensive tunnel measurement system |
| CN105041304A (en) * | 2015-07-27 | 2015-11-11 | 电子科技大学 | Method for eliminating pump stroke jamming signals based on bidimensional discrete cosine transformation (DCT) |
| CN106441138A (en) * | 2016-10-12 | 2017-02-22 | 中南大学 | Deformation monitoring method based on vision measurement |
-
2017
- 2017-06-30 CN CN201710519379.0A patent/CN107178054B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0874086A1 (en) * | 1996-06-21 | 1998-10-28 | José Antonio Villanueva Sauiu | Improved machine intended to the cleaning of tunnels, walls and the like |
| CN102564335A (en) * | 2012-01-16 | 2012-07-11 | 苏州临点三维科技有限公司 | Method for measuring deformation of large-scale tunnel |
| CN103246499A (en) * | 2013-05-28 | 2013-08-14 | 西安电子科技大学 | Device and method for parallelly processing images |
| CN103839268A (en) * | 2014-03-18 | 2014-06-04 | 北京交通大学 | Method for detecting fissure on surface of subway tunnel |
| CN204039963U (en) * | 2014-07-03 | 2014-12-24 | 中铁电气化局集团有限公司 | Subway tunnel water douching wheels |
| CN104655047A (en) * | 2015-02-16 | 2015-05-27 | 武汉武大卓越科技有限责任公司 | Rapid and comprehensive tunnel measurement system |
| CN105041304A (en) * | 2015-07-27 | 2015-11-11 | 电子科技大学 | Method for eliminating pump stroke jamming signals based on bidimensional discrete cosine transformation (DCT) |
| CN106441138A (en) * | 2016-10-12 | 2017-02-22 | 中南大学 | Deformation monitoring method based on vision measurement |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110820649A (en) * | 2019-12-24 | 2020-02-21 | 贺晓利 | Highway tunnel cleaning system |
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| CN107178054B (en) | 2018-09-14 |
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