CN-121999193-A - Intelligent air-raid shelter monitoring system for secondary lining concrete roof punching of tunnel

CN121999193ACN 121999193 ACN121999193 ACN 121999193ACN-121999193-A

Abstract

The invention discloses an intelligent air-raid shelter monitoring system for a secondary lining concrete roof of a tunnel, belongs to the technical field of tunnel construction monitoring, and solves the problems of low efficiency, poor safety, difficult automatic obstacle avoidance and easy occurrence of concrete leakage caused by relying on manual monitoring in the existing secondary lining concrete pouring process of the tunnel. The intelligent control center controls the shell body to rotate to avoid barriers or controls the camera to ascend and rotate to an image acquisition position according to pressure signals, and through image monitoring and cavity feature recognition, the camera rod is controlled to descend to be flush with the panel when concrete approaches, automatic blocking is achieved, and the intelligent control center is suitable for automatic monitoring and leakage-proof control of vault pouring quality in tunnel two-lining construction.

Inventors

ZHANG RUI
JIN XIN
ZHAO GANG
DING MINGFENG
Niu Liangjin
CHEN XIAOCHUN
ZHAO HONGJIAN
LIAO PINFU

Assignees

中铁隧道局集团建设有限公司
云南云岭高速天炬投资开发有限公司

Dates

Publication Date: 20260508
Application Date: 20251201

Claims (10)

1. The intelligent air-raid shelter monitoring system for the secondary lining concrete roof of the tunnel is characterized by comprising a toothed ring base, an outer shell provided with a camera shooting rod and an intelligent control center, wherein the toothed ring base is fixedly arranged on a reserved hole of a vault panel of a secondary lining trolley, and teeth are arranged on an inner ring of the toothed ring base; The upper end panel of the outer shell is rotatably embedded on the inner ring of the toothed ring base to shield the upper opening of the toothed ring base, the camera shooting rod is movably penetrated through the eccentric hole position of the upper end panel of the outer shell, and the upper end part of the camera shooting rod is encapsulated with a camera; The system also comprises a shooting rod lifting executing mechanism, a shooting rod rotation executing mechanism, an outer shell body rotating executing mechanism and a pressure sensor, wherein the shooting rod lifting executing mechanism is used for driving the shooting rod to lift, the shooting rod rotation executing mechanism is used for driving the shooting rod to rotate, the outer shell body rotating executing mechanism is used for driving the outer shell body to horizontally rotate on the toothed ring base, and the pressure sensor is used for detecting a pressure signal of the top surface of the upper end of the shooting rod to press an obstacle; When the pressure value is lower than the preset threshold value or zero, the camera rod lifting executing mechanism is controlled to drive the camera rod to rise to a preset position, and the camera rod autorotation executing mechanism is controlled to drive the camera rod to autorotate so that the camera is positioned at an image acquisition position, and the continuous monitoring of the concrete top pouring image and the identification of whether the preset cavity feature occurs in the image are started; When the concrete pouring surface is monitored to be close to the photographing rod, the photographing rod lifting executing mechanism is controlled to drive the photographing rod to descend, so that the top surface of the top end of the photographing rod is flush with the upper end panel of the outer shell and the vault panel of the two-lining trolley.
2. The intelligent air-raid shelter monitoring system of tunnel secondary concrete topping of claim 1, wherein the intelligent control center is configured to execute an automatic obstacle avoidance control procedure comprising: When the pressure value detected by the pressure sensor reaches a preset threshold value, controlling the outer shell rotation executing mechanism to drive the outer shell to rotate by a first preset angle; After the rotation is finished, detecting again through the pressure sensor, and repeatedly executing the operation of rotating the outer shell if the pressure value still reaches the preset threshold value until the pressure value is lower than the preset threshold value or the rotation times reach the preset times; When the rotation times reach the preset times and the pressure value still reaches the preset threshold value, the camera shooting rod lifting executing mechanism is controlled to drive the camera shooting rod to descend until the top surface of the top end of the camera shooting rod is flush with the panel of the secondary lining trolley, and an alarm signal is sent out.
3. The intelligent air-raid shelter monitoring system for tunnel secondary lining concrete topping of claim 1 or 2, wherein after the pressure value is lower than a preset threshold value, the intelligent control center controls the camera stick autorotation executing mechanism to drive the camera stick to rotate at a preset stepping angle; At each rotation pause interval, acquiring images of the dome area through the camera, and analyzing the images by the intelligent control center; if the image analysis result shows that the reinforcement shielding exists in the view field of the camera, continuously controlling the camera rod to rotate by a preset stepping angle or lift by a preset height; if the image analysis result shows that no reinforcement is shielded in the view field of the camera and the concrete pouring surface is visible, judging that the camera is at the acquisition position, stopping adjustment, and starting continuous monitoring; the intelligent control center analyzes the collected images in real time and identifies whether preset cavity features appear in the images.
4. The intelligent air-raid shelter monitoring system for a secondary concrete roof of a tunnel as claimed in claim 3, wherein the intelligent control center is integrated with an air-raid shelter identification module, the air-raid identification module is configured with: The cavity recognition model is trained based on a machine learning algorithm, and is trained by a pre-established image sample library comprising normal pouring surfaces and cavity features; The cavity recognition module is configured to receive the real-time image acquired by the camera and input the real-time image into the cavity recognition model, and generate an alarm signal when the confidence of the model output result exceeds a preset threshold.
5. The intelligent air-raid shelter monitoring system for the secondary lining concrete roof-punching of a tunnel according to claim 4, wherein the intelligent control center monitors the approaching state of a concrete pouring surface through an ultrasonic ranging sensor, and the ultrasonic ranging sensor is fixedly arranged on the camera rod, and the detection direction of the ultrasonic ranging sensor is consistent with the acquisition direction of a camera; The intelligent control center receives the distance data of the ultrasonic ranging sensor in real time, judges that the concrete pouring surface is approaching to the photographing rod when the monitored distance value is continuously reduced and is lower than a preset distance threshold value, controls the photographing rod lifting executing mechanism to drive the photographing rod to descend after judging that the concrete pouring surface is approaching, and controls the photographing rod lifting executing mechanism to be in a position when the photographing rod descends to trigger the in-position detecting sensor.
6. The intelligent air-raid shelter monitoring system for a tunnel secondary concrete roof of any of claims 1 or 2 or 4 or 5, wherein the outer housing rotation actuator comprises a first servo motor, a gear and a turntable; the first servo motor is fixedly arranged on the outer shell, the output end of the first servo motor is connected with the turntable through a bearing, the gear is arranged on the output end of the first servo motor, and the gear is meshed with teeth of the toothed ring base; the rotary table is fixedly arranged at the top of the outer shell as an upper end panel of the outer shell, and is slidably embedded in the inner ring of the toothed ring base to shield the upper opening of the toothed ring base; The camera shooting rod is movably arranged on the rotary table in a penetrating mode, and the penetrating position deviates from the axis of the rotary table.
7. The intelligent air-raid shelter monitoring system for a tunnel secondary lining concrete roof of claim 6, wherein the pick-up rod lifting actuator comprises a second servo motor, a transmission gear set, a screw rod and a screw rod nut; The second servo motor drives the screw rod to rotate through the transmission gear set, and the screw rod nut is connected with the camera rod to drive the camera rod to move up and down; the shooting rod autorotation executing mechanism comprises a third servo motor, is arranged at the bottom of the shooting rod and drives the shooting rod to autorotate.
8. The intelligent air-raid shelter monitoring system for a tunnel secondary lining concrete roof of claim 7, further comprising a shock absorbing buffer spring disposed at the bottom of the third servo motor.
9. The intelligent air-raid shelter monitoring system for the secondary lining concrete roof-punching of a tunnel according to claim 8, wherein an overhaul port is formed in the outer shell, a wear-resistant protection lens is arranged at a collecting port of a camera packaged at the upper end of the camera shooting rod, the wear-resistant protection lens is sealed with the camera shooting rod by an O-shaped sealing ring, and an ultrasonic ranging sensor is located below the collecting port.
10. The intelligent air-raid shelter monitoring system for a tunnel secondary concrete roof lining of any of claims 5, 7,8, or 9, wherein the intelligent control center employs a NVIDIA Jetson AGX Orin-based embedded artificial intelligence platform integrated with: The motor control interfaces are communicated with the first servo motor, the second servo motor and the third servo motor through a CAN bus protocol and are used for sending motion control instructions and receiving feedback data of a motor encoder; the image acquisition interface is used for receiving video stream data from the camera through the MIPI CSI-2 interface; the analog-digital conversion interface is used for collecting analog signals of the pressure sensor, the ultrasonic ranging sensor and the in-place detection sensor; the gigabit Ethernet interface is used for carrying out data communication with an external monitoring system; the platform runs a Linux operating system, is provided with a computer vision library based on OpenCV and a neural network reasoning framework based on TensorRT, and is used for executing an image processing algorithm and a cavity recognition model.

Description

Intelligent air-raid shelter monitoring system for secondary lining concrete roof punching of tunnel Technical Field The invention belongs to the technical field of tunnel construction monitoring, and particularly relates to an intelligent air-raid shelter monitoring system for a secondary lining concrete roof of a tunnel. Background In the secondary lining concrete pouring construction of a tunnel, a vault cavity is a long-term quality common disease. At present, besides relying on the experience of workers, some technical means are also presented. For example, chinese patent CN109184751B discloses an endoscopic air-raid shelter monitoring device and method, which adopts a pinhole probe fixed on a telescopic rod, and the probe is manually inserted into concrete through a preformed hole on a trolley plug, and the telescopic rod is manually pulled out and rotated slowly in the casting process, and the casting condition is judged by observing video through terminals such as a mobile phone. The scheme has the obvious defects that firstly, the whole operation is completely dependent on manual work, including insertion and extraction, pulling, rotation and abnormal judgment, the efficiency is low, the safety risk of constructors is increased, secondly, dense reinforcing steel bar meshes in a trolley cannot be automatically avoided, a probe is easily collided with, wound or damaged by the reinforcing steel bars, the applicability is poor in a practical complex construction environment, and thirdly, the hidden danger of leakage of concrete slurry from a reserved hole exists. Therefore, an intelligent monitoring system capable of realizing automatic lifting, intelligent obstacle avoidance, self top surface blocking and high integration is urgently needed in the field so as to fundamentally improve the monitoring capability of the tunnel top pouring quality and the construction automation level. Disclosure of Invention It is an object of the present invention to address at least the above-mentioned drawbacks and to provide at least the advantages to be described later. The invention provides an intelligent air-raid shelter monitoring system for a secondary lining concrete roof of a tunnel, which aims to solve the technical problems that the efficiency is low, the safety is poor, a probe is easy to collide with a reinforcing mesh and damage, concrete is easy to leak from a reserved hole and the like caused by manual control monitoring in the pouring process of the secondary lining concrete of the existing tunnel. The invention provides an intelligent air-raid shelter monitoring system for a secondary lining concrete roof of a tunnel, which comprises a toothed ring base, an outer shell provided with a camera shooting rod and an intelligent control center, wherein the toothed ring base is fixedly arranged on a reserved hole of a vault panel of a secondary lining trolley, and teeth are arranged on an inner ring of the toothed ring base; The upper end panel of the outer shell is rotatably embedded on the inner ring of the toothed ring base to shield the upper opening of the toothed ring base, the camera shooting rod is movably penetrated through the eccentric hole position of the upper end panel of the outer shell, and the upper end part of the camera shooting rod is encapsulated with a camera; the system also comprises a shooting rod lifting executing mechanism, a shooting rod autorotation executing mechanism, an outer shell rotating executing mechanism and a pressure sensor; the camera shooting rod lifting executing mechanism is used for driving the camera shooting rod to lift, the camera shooting rod autorotation executing mechanism is used for driving the camera shooting rod to autorotate, the outer shell rotating executing mechanism is used for driving the outer shell to horizontally rotate on the toothed ring base, and the pressure sensor is used for detecting a pressure signal of the top surface of the upper end of the camera shooting rod to press an obstacle; When the pressure value is lower than the preset threshold value or zero, the camera rod lifting executing mechanism is controlled to drive the camera rod to rise to a preset position, and the camera rod autorotation executing mechanism is controlled to drive the camera rod to autorotate so that the camera is positioned at an image acquisition position, and the continuous monitoring of the concrete top pouring image and the identification of whether the preset cavity feature occurs in the image are started; When the concrete pouring surface is monitored to be close to the photographing rod, the photographing rod lifting executing mechanism is controlled to drive the photographing rod to descend, so that the top surface of the top end of the photographing rod is flush with the upper end panel of the outer shell and the vault panel of the two-lining trolley. Preferably, the intelligent control center is configured to execute an automatic obstacle avoidance con