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CN-121973143-A - Vehicle-mounted mechanical arm type tunnel excavation surface geological structure identification system

CN121973143ACN 121973143 ACN121973143 ACN 121973143ACN-121973143-A

Abstract

The invention relates to a vehicle-mounted mechanical arm type tunnel excavation surface geological structure identification system. The existing mechanical arm device lacks a protective structure, cannot automatically rotate in angle and cannot shoot at multiple angles at one time. The system comprises a motion system, an illumination system, a ranging system, an image acquisition system, a control system and an analysis system, wherein the illumination system and the image acquisition system are respectively arranged on the motion system, the motion system and the analysis system are respectively connected with the control system, the control system is connected with a vehicle-mounted computer of a forklift, the motion system comprises a modularized mechanical arm, a bearing platform and a protective cover, the bearing platform is arranged on the modularized mechanical arm, the protective cover is arranged on the bearing platform, the ranging system and the image acquisition system are started, the image acquisition system shoots a plurality of pictures from a plurality of positions to simulate multi-view digital pictures, and information is transmitted to the analysis system by the control system to be subjected to operation processing. The invention has the protection structure, can automatically rotate the angle and can shoot at multiple angles at one time.

Inventors

  • ZHANG CHONGCHONG
  • WU WEI
  • FU WEI
  • HUANG YONG
  • GAO BIN

Assignees

  • 中铁第一勘察设计院集团有限公司
  • 中国铁建股份有限公司

Dates

Publication Date
20260505
Application Date
20251222

Claims (10)

  1. 1. The vehicle-mounted mechanical arm type tunnel excavation surface geological structure identification system is characterized by comprising a motion system (2), an illumination system (3), a ranging system (4), an image acquisition system (5), a control system (6) and an analysis system (7); The system comprises a motion system (2), an illumination system (3), an image acquisition system (5), a control system (6), a distance measuring system (4), an image acquisition system (5) and an analysis system (7), wherein the motion system (2) is arranged at the top of the forklift, the illumination system (3) and the image acquisition system (5) are respectively arranged on the motion system (2), the motion system (2) and the analysis system (7) are respectively connected with the control system (6) and controlled by the control system (6), the distance measuring system (4) is connected with the control system (6), the image acquisition system (5) is connected with the analysis system (7), and the control system (6) is connected with a vehicle-mounted computer of the forklift; The motion system (2) comprises a modularized mechanical arm (8), a bearing platform (9) and a protective cover (1), wherein the bearing platform (9) is arranged on the modularized mechanical arm (8), and the protective cover (1) is arranged on the bearing platform (9); After the forklift moves to a working position, the distance measuring system (4) and the image acquisition system (5) are started to acquire distance information between the forklift and an excavation surface, the image acquisition system (5) shoots a plurality of photos from a plurality of positions to simulate a plurality of digital photos, and the control system (6) is used for transmitting the information to the analysis system (7) to perform operation processing so as to acquire an excavation surface three-dimensional model.
  2. 2. The vehicle-mounted mechanical arm type tunnel excavation face geological structure recognition system according to claim 1, wherein: The modularized mechanical arm (8) is a three-degree-of-freedom mechanical arm.
  3. 3. The vehicle-mounted mechanical arm type tunnel excavation face geological structure recognition system according to claim 1, wherein: The bearing platform (9) is of a cuboid structure, and the bearing platform (9) is arranged at the tail end of the modularized mechanical arm (8).
  4. 4. The vehicle-mounted mechanical arm type tunnel excavation face geological structure recognition system according to claim 1, wherein: the protective cover (1) is of a cuboid structure, the inside of the protective cover is hollow, and the bottom surface and one side surface of the protective cover are both openings.
  5. 5. The vehicle-mounted mechanical arm type tunnel excavation face geological structure recognition system according to claim 1, wherein: The ranging system (4) comprises a laser radar and an infrared detection device.
  6. 6. The vehicle-mounted mechanical arm type tunnel excavation face geological structure recognition system according to claim 2, wherein: The image acquisition system (5) comprises an industrial camera (10) and a cradle head (11), wherein the industrial camera (10) is arranged on the cradle head (11), and the cradle head (11) is arranged at the top of the bearing platform (9).
  7. 7. The vehicle-mounted mechanical arm type tunnel excavation face geological structure recognition system according to claim 6, wherein: the image acquisition system (5) comprises a camera focusing system which is connected with and controlled by the control system (6).
  8. 8. The vehicle-mounted mechanical arm type tunnel excavation face geological structure recognition system according to claim 1, wherein: the control system (6) comprises a storage server (12) and a communication unit (13).
  9. 9. The vehicle-mounted mechanical arm type tunnel excavation face geological structure recognition system according to claim 1, wherein: The illumination system (3) comprises a car lamp and a plurality of searchlight, and the searchlight is respectively arranged at two sides of the image acquisition system (5).
  10. 10. The vehicle-mounted mechanical arm type tunnel excavation face geological structure recognition system according to claim 1, wherein: The analysis system (7) comprises a vehicle-mounted computer (14), a cloud server (15) and a background analysis program (16).

Description

Vehicle-mounted mechanical arm type tunnel excavation surface geological structure identification system Technical Field The invention relates to the technical field of information acquisition, in particular to a vehicle-mounted mechanical arm type tunnel excavation surface geological structure identification system. Background The information acquisition of the tunnel face is an important work in tunnel engineering, the traditional manual investigation mode is low in efficiency and has safety risks, the digitization and systematic recording of information are difficult to realize, along with the development of digital image technology, the image acquisition and analysis of the tunnel face are carried out by using the image pickup equipment, and the tunnel face is gradually an important direction for improving the informatization level of tunnel construction. In order to realize stable and continuous image acquisition, a camera-shooting mechanical arm device is introduced to control camera movement, and some patent schemes related to a camera-shooting mechanical arm exist in the prior art, for example, patent with the application number of 201610938100.8 discloses a method, a device and a system for controlling partial discharge detection of a patrol robot, and the patrol robot mechanical arm is adjusted to a specific position through equipment information to be detected of a patrol point; the method comprises the steps of receiving and analyzing videos shot by a mechanical arm and uploaded by a patrol robot, adjusting the position of the mechanical arm according to the analysis result of the videos, controlling a partial discharge sensor on the mechanical arm to be attached to equipment to be detected, triggering the partial discharge sensor to start collecting partial discharge data, wherein the equipment is not provided with a protective cover and dustproof measures, is not suitable for information collection in an industrial environment, and needs to upload pictures for a plurality of times to manually adjust the angle of the mechanical arm, so that the time is long, the angle cannot be automatically rotated, and the condition that the face can not be shot at multiple angles at one time cannot be realized. The patent with the application number of 2016610571010. X discloses a method and a device for generating a simulation map of a mechanical arm sampling environment, namely, a mechanical arm and a camera are combined to determine the position and the posture of equipment in the sampling process, and the three-dimensional position coordinates of each three-dimensional point coordinate of a three-dimensional scene topographic map under a camera coordinate system are determined according to the relative position and posture relation between the mechanical arm camera and the three-dimensional scene topographic map. Therefore, there is a need for a tunnel excavation face geological structure recognition system that has a protective structure, can automatically rotate an angle, and can perform one-time multi-angle shooting. Disclosure of Invention The invention aims to provide a vehicle-mounted mechanical arm type tunnel excavation surface geological structure recognition system, which at least solves the problems that the existing mechanical arm device lacks a protection structure, cannot automatically rotate an angle and cannot shoot at multiple angles at one time. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: The vehicle-mounted mechanical arm type tunnel excavation surface geological structure identification system comprises a motion system, an illumination system, a ranging system, an image acquisition system, a control system and an analysis system; The system comprises a motion system, an illumination system, an analysis system, a distance measuring system, an analysis system, a vehicle-mounted computer, a control system and an image acquisition system, wherein the motion system is arranged at the top of the forklift; The motion system comprises a modularized mechanical arm, a bearing platform and a protective cover, wherein the bearing platform is arranged on the modularized mechanical arm, and the protective cover is arranged on the bearing platform; After the forklift moves to a working position, the distance measuring system and the image acquisition system are started to acquire distance information between the forklift and an excavation surface, the image acquisition system shoots a plurality of photos from a plurality of positions to simulate a plurality of digital photos, and the control system is used for transmitting the information to the analysis system to perform operation processing so as to acquire an excavation surface three-dimensional model. Further, the modularized mechanical arm is a three-degree-of-freedom mechanical arm. Further, the bearing platform is of a cuboid structure, and the bearing platform is arranged at the tail en