US 11,769,333 B2 · Method and system for detecting block falling disaster in a tunnel based on visual and mechanical perception

Abstract

A method and system for detecting a tunnel block falling disease based on visual and mechanical perception includes: capturing tunnel inner wall images, and preliminarily identifying a block falling disease using a trained first neural network model; constructing a circle based on a center which is the center position of the suspected disease determined in the preliminary identification process, dividing the circle equally through a plurality of diameters, pressing against the center of the suspected block falling disease in a pose perpendicular to the inner wall of the tunnel, moving in the diameter directions within the range of the suspected block falling disease, recording the displacement, and acquiring force and torque at the suspected block falling disease position during the movement; and determining the suspected tunnel block falling disease based on the acquired displacement, force and torque, using a second neural network model, and determining the tunnel block falling disease.

Claims16

Dependent claims

A method for detecting a block falling disaster in a tunnel based on visual and mechanical perception, the method comprising:

capturing tunnel inner wall images, and preliminarily identifying a suspected block falling disaster in the tunnel using a trained first neural network model;
constructing a circle by taking a center of a position of the suspected block falling disaster determined in the preliminary identification process as a center of the circle, dividing the circle equally through a plurality of diameters, pressing against the center of the position of the suspected block falling disaster in a pose perpendicular to the inner wall of the tunnel, moving in directions of the plurality of diameters within a range of the suspected block falling disaster, recording displacements, and acquiring force and torque at the position of the suspected block falling disaster during the movement;
and
further judging, using a second neural network model, the suspected block falling disaster based on the recorded displacements and the acquired force and torque, and finally determining the block falling disaster in the tunnel.

1 more element

A system for detecting a block falling disaster in a tunnel based on visual and mechanical perception, the system comprising a mobile platform and a control system, wherein:

a plurality of camera devices are arranged on the mobile platform for capturing tunnel inner wall images;
a positioning mechanism is arranged on the mobile platform for positioning the mobile platform;
a six-axis mechanical arm is arranged on the mobile platform, the six-axis mechanical arm is configured to move or stop at a specified position, and a six-dimensional force sensor is arranged at an end of the six-axis mechanical arm for acquiring force and torque;
and
the control system is configured to receive the tunnel inner wall images and information of a displacement of the six-axis mechanical arm, the acquired force and torque about the end of the six-axis mechanical arm, and preliminarily identify a suspected block falling disaster using a trained first neural network model based on information of the images;
further judging, using a second neural network model, the suspected block falling disaster based on the information of the displacement, force and torque, and finally determine the block falling disaster in the tunnel.

3 more elements

Dependencies are inferred from the claim text.

Method and system for detecting block falling disaster in a tunnel based on visual and mechanical perception

Life of this patent

Method and system for detecting block falling disaster in a tunnel based on visual and mechanical perception

Life of this patent

Abstract

Claims16