CN108645373A - A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device - Google Patents
A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device Download PDFInfo
- Publication number
- CN108645373A CN108645373A CN201810820893.2A CN201810820893A CN108645373A CN 108645373 A CN108645373 A CN 108645373A CN 201810820893 A CN201810820893 A CN 201810820893A CN 108645373 A CN108645373 A CN 108645373A
- Authority
- CN
- China
- Prior art keywords
- data
- detection device
- tunnel
- information
- run
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 117
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004458 analytical method Methods 0.000 title claims abstract description 44
- 238000013480 data collection Methods 0.000 claims abstract description 32
- 230000010354 integration Effects 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims description 22
- 230000000541 pulsatile effect Effects 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 11
- 238000007667 floating Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 abstract description 7
- 238000011156 evaluation Methods 0.000 abstract description 5
- 230000001276 controlling effect Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The present invention discloses a kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device.Method includes：Scanner acquisition tunnel cross-section information and rail profile information are controlled, to obtain point cloud data collection；Scanner is located on the vehicular platform of detection device；Control the 3 d pose data that inertial navigation device obtains detection device；Control the run-length data that driving motor obtains detection device；3 d pose data, run-length data are subjected to data based on synchronizing signal and synchronize integration, to generate location information；The three-dimensional spatial information data set that tunnel is generated according to point cloud data collection and location information, to carry out deformation analysis to tunnel.By the invention it is possible to during shorter maintenance, quick obtaining three-dimensional spatial information data set improves the efficiency for obtaining data to carry out deformation analysis to tunnel.And the acquisition precision of data can be improved by the common movement of scanner and vehicular platform, to realize the accurate evaluation to tunnel safety state.
Description
Technical field
The present invention relates to Tunnel testing technical fields, in particular to a kind of dynamic 3 D tunnel cross-section shape changing detection
And analysis system, method and device.
Background technology
With the raising of China's expanding economy and the level of urbanization, it is each metropolitan general that oneself warp of traffic jam becomes China
All over problem.The key of traffic jam is that urban road off-capacity, the speed of expressway extension do not catch up with the increased speed of vehicle flowrate
Degree.In order to solve the problems, such as traffic congestion, to reduce the car density in unit area road as principle, has and increase the road appearance of a street
Amount, reduce intersection, limitation vehicle the methods of drives into and develop mass transit system, wherein developing efficient underground rail public affairs
Traffic altogether, it is one of measure the most main to form the underground public transport links to extend in all direction.As transport passenger in city
Main carriers, safety problem are always people's emphasis of interest.For the rail traffic of subterranean tunnel, when with operation
Between increase, tunnel construction space can deform upon, the deformation in tunnel can also caused by a series of disease problems seriously affect ground
The normal operation in iron tunnel.Communications optical cable and power cable and its installation support construction, tunnel are installed in tunnel in side walls
There are pantograph contact net and mounting suspension member in road top, the pulling in tunnel that be railcar provided with normally travel communicate with
Power ensures.Therefore building geometric distortion is very significant considering that rail traffic safe operation environment in tunnel.
To ensure effective maintenance and quickly detection in tunnel construction space, under the concept of digital city, urban rail, which is safeguarded, protects
In " digitlization " evolution of barrier system, it is mainly reflected in using digitlization means, realizes the phase of tunnel construction space interior
Variation is detected, the scientific management water of track operation security can be further increased by obtaining the three-dimensional building spatial data in tunnel
It is flat, the deformed state in tunnel can be understood in time by the three-dimensional data in tunnel construction space.Currently, to tunnel space structure into
The measurement method of row detection mainly has two methods of contact type measurement and non-contact measurement.Contact type measurement includes artificial measurer
Mensuration and sensor measurement method, non-contact measurement include 3 D laser scanning, close-range photogrammetry, Free Station with Total Station electronic Thacheometer
Measurement, Levelling detection, Ground Penetrating Radar detection, infra-red thermal imaging measurement etc..
The acquisition that three-dimensional data is carried out using total powerstation and other ancillary equipments needs that scanner website and cloth is arranged
Target is set, needs to remove station during data acquire, reduces working efficiency.
Currently, for how efficiently and accurately obtains the true three-dimensional information data problem in tunnel in the prior art, not yet propose have
The solution of effect.
Invention content
A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device are provided in the embodiment of the present invention,
With the acquisition for solving that total powerstation and other ancillary equipments is used to carry out three-dimensional data in the prior art need that scanner station is arranged
Point and arrangement target, the problem of needing to remove station, reduce working efficiency during data acquire.
In order to solve the above technical problems, in a first aspect, the present invention provides a kind of dynamic 3 D tunnel cross-section shape changing detections
And analysis system, at detection device and synchronous locating device, three-dimensional spatial information reconstructing device and data
Device is managed,
The detection device includes：Vehicular platform, scanner, controller, inertial navigation device, driving motor, driving wheel with
And driven wheel,
The scanner is located on the vehicular platform, for acquiring tunnel cross-section information and rail profile information, with
Obtain point cloud data collection；
The inertial navigation device, connect with the vehicular platform, the 3 d pose data for obtaining the detection device；
The controller is connect with the driving motor, the rotating speed for controlling the driving motor；
The driving motor is connect with the driving wheel, the run-length data for acquiring the detection device, and drives institute
State driving wheel movement；
The driving wheel and the driven wheel are located at the lower section of the vehicular platform,
The driving wheel and the driven wheel are located at the lower section of the vehicular platform, and the driving wheel is described for driving
Vehicular platform moves on the track in the tunnel；
The synchronous locating device is separately connected with the scanner, the inertial navigation device and the driving motor,
Pulse signal for being generated using the scanner as synchronizing signal, by the 3 d pose data and the run-length data into
Row data, which synchronize, to be integrated, and location information is generated；
The three-dimensional spatial information reconstructing device, connect with the synchronous locating device and the scanner, is used for base
The three-dimensional spatial information data set in the tunnel is generated in the point cloud data collection and the location information；
The data processing equipment, for carrying out deformation point to the tunnel according to the three-dimensional spatial information data set
Analysis.
Further, the scanner, for generating and to the driving motor, the inertial navigation device and described same
It walks positioning device and sends pulse signal；
The driving motor then records primary current run-length data for often receiving pulsatile once signal；And by institute
The run-length data of record is sent to the synchronous locating device；
The inertial navigation device then records primary current 3 d pose data for often receiving pulsatile once signal；
And the 3 d pose data recorded are sent to the synchronous locating device；
The synchronous locating device, for being based on the pulse signal, by the run-length data of the record and the note
The 3 d pose data of record merge, to generate the location information.
Further, the three-dimensional spatial information reconstructing device is used for the point cloud data collection and the location information
Merge, to generate the three-dimensional spatial information data set.
Further, the detection device further includes：Position sensor, the position sensor are respectively arranged in described
The left and right sides in front of vehicular platform is connect with the controller respectively, for respectively according to track medial surface distance not
The different signal with generation；
The controller, for receiving and generating control instruction according to the signal that each position sensor generates；
The driving motor, for changing rotating speed according to the control instruction, to adjust the mobile side of the detection device
To, wherein there is one-to-one relationship between the driving motor and the driving wheel.
Further, the detection device further includes：Be arranged the fixation in a side drive wheel hold out against structure with setting exist
Floating in another side drive wheel holds out against structure, and the fixation holds out against structure and the floating holds out against structure and constitutes safe spacing system
System, for preventing the detection device from derailing.
Further, the detection device further includes：The supporting rack being connect with the vehicular platform, the scanner installation
On support frame as described above, the height of support frame as described above can be adjusted.
Further, the vehicular platform is " I " fonts vehicular platform, including two root longs of two root long crossbeams and connection
The tail trimmer at crossbeam midpoint, support frame as described above are mounted at the center of the tail trimmer, and the inertial navigation device is mounted on described
On front side of vehicular platform at the center of a long beam.
Further, the detection device further includes：The IR remote controller being connect with the controller, the infrared remote control
Device is used to control the start and stop of the detection device.
Further, the detection device further includes：It is described for electric installation for electric installation, it is led with the scanner, inertia
Boat, position sensor, driving motor are separately connected, for providing operating voltage.
Further, the 3 d pose data include：The position coordinates of the detection device, roll angle, pitch angle with
And course angle；The run-length data includes：The distance of the detection device movement；The location information is the 3 d pose number
The information obtained according to this and after run-length data merging.
Second aspect, the present invention provides a kind of dynamic 3 D tunnel cross-section shape changing detection and analysis method, the methods
Applied in the system described in first aspect, the system comprises detection device, the method includes：
Scanner acquisition tunnel cross-section information and rail profile information are controlled, to obtain point cloud data collection；Wherein, described
Scanner is located on the vehicular platform of the detection device, and the vehicular platform is moved with the movement of the detection device；
Control inertial navigation device obtains the 3 d pose data of the detection device；
Control driving motor obtains the run-length data of the detection device；
The 3 d pose data, the run-length data are subjected to data based on synchronizing signal and synchronize integration, it is fixed to generate
Position information；Wherein, the pulse signal that the scanner generates is the synchronizing signal；
The three-dimensional spatial information data set in the tunnel is generated according to the point cloud data collection and the location information；
Deformation analysis is carried out to the tunnel according to the three-dimensional spatial information data set.
Further, described that the 3 d pose data, the run-length data are carried out by data synchronization based on synchronizing signal
It integrates, includes to generate location information：
It controls the driving motor and often receives pulsatile once signal, then the primary current run-length data of record；
It controls the inertial navigation device and often receives pulsatile once signal, then the primary current 3 d pose data of record；
The run-length data of record is merged with 3 d pose data, generates location information.
Further, the three-dimensional spatial information in the tunnel is generated according to the point cloud data collection and the location information
Data set includes：
Point cloud data collection is merged with location information, generates the three-dimensional spatial information data set.
Further, the method further includes：
Receive the signal that each position sensor is sent；
Control instruction is generated according to the signal, is turned so that the driving motor adjusts itself according to the control instruction
Speed, to further change the moving direction of the detection device, wherein have between the driving motor and the driving wheel
One-to-one relationship.
Further, before control scanner acquisition tunnel cross-section information and rail profile information, the method is also
Including：
The telecommand that IR remote controller is sent is received, the telecommand is used to control the start and stop of the detection device.
Further, the method further includes：
The voltage provided for electric installation is provided.
Further, the 3 d pose data include：The position coordinates of the detection device, roll angle, pitch angle with
And course angle；The run-length data includes：The distance of the detection device movement；The location information is the 3 d pose number
The information obtained according to this and after run-length data merging.
The third aspect, the present invention also provides a kind of dynamic 3 D tunnel cross-section shape changing detection and analytical equipment, described devices
For executing the method described in second aspect, the analytical equipment includes：
Control module, for controlling scanner acquisition tunnel cross-section information and rail profile information, to obtain point cloud number
According to collection；Wherein, the scanner is located on the vehicular platform of the detection device, and the vehicular platform is with the detection device
It moves and moves；
The control module is additionally operable to the 3 d pose data that control inertial navigation device obtains the detection device；
The control module is additionally operable to the run-length data that control driving motor obtains the detection device；
Information generating module, for the 3 d pose data, the run-length data to be carried out data based on synchronizing signal
It is synchronous to integrate, to generate location information；Wherein, the pulse signal that the scanner generates is the synchronizing signal；
Described information generation module is additionally operable to generate the tunnel according to the point cloud data collection and the location information
Three-dimensional spatial information data set；
Deformation analysis module, for carrying out deformation analysis to the tunnel according to the three-dimensional spatial information data set.
Further, described information generation module often receives pulsatile once signal, then for controlling the driving motor
The primary current run-length data of record；It controls the inertial navigation device and often receives pulsatile once signal, then record is primary current
3 d pose data；The run-length data of record is merged with 3 d pose data, generates location information.Described information generates mould
Block is additionally operable to merge point cloud data collection with location information, generates the three-dimensional spatial information data set.
It applies the technical scheme of the present invention, detection device includes vehicular platform, scanner, controller, driving motor, driving
Wheel and driven wheel.Specifically, controller can control driving wheel in turn stepped through control driving motor, further control
Vehicular platform, to enable vehicular platform to move in orbit.The movement of vehicular platform can drive scanner to carry out full side again
The scanning of position.System then can generate location information according to the pulse signal of inertial navigation device, driving motor and scanner, according to
The data that location information and scanner obtain generate three-dimensional spatial information data set, and are carried out to three-dimensional spatial information data set
Deformation analysis, to accurately be assessed the deformation degree in tunnel.For compared to the prior art, the gatherer process of data
Dynamic is switched to by static state, scanner website need not be set, need not arrange target, and station need not be removed, it can be shorter
During maintenance, quick obtaining three-dimensional spatial information data set improves the efficiency for obtaining data.And scanner and vehicle can be passed through
The common movement of carrying platform, improves the acquisition precision of data, to realize the accurate evaluation to tunnel safety state.
Description of the drawings
Fig. 1 is the structural frames of a kind of dynamic 3 D tunnel cross-section shape changing detection according to the ... of the embodiment of the present invention and analysis system
Figure；
Fig. 2 is the structural frames of a kind of dynamic 3 D tunnel cross-section shape changing detection according to the ... of the embodiment of the present invention and analysis system
Figure；
Fig. 3 is acquired in a kind of dynamic 3 D tunnel cross-section shape changing detection according to the ... of the embodiment of the present invention and analysis system
Integrally bending tunnel three-dimensional spatial information data set；
Fig. 4 is acquired in a kind of dynamic 3 D tunnel cross-section shape changing detection according to the ... of the embodiment of the present invention and analysis system
Tunnel partial points cloud data set；
Fig. 5 is that a kind of dynamic 3 D tunnel cross-section shape changing detection according to the ... of the embodiment of the present invention and analysis system are generated
Tunnel defect signature analysis image；
Fig. 6 is the flow of a kind of dynamic 3 D tunnel cross-section shape changing detection according to the ... of the embodiment of the present invention and analysis method
Figure；
Fig. 7 is the structural frames of a kind of dynamic 3 D tunnel cross-section shape changing detection and analytical equipment according to the ... of the embodiment of the present invention
Figure.
Specific implementation mode
Present invention is further described in detail in the following with reference to the drawings and specific embodiments, it should be understood that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
In subsequent description, using for indicating that the suffix of such as " module ", " component " or " unit " of element is only
The explanation for being conducive to the present invention, itself does not have a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
Acquisition to solve that total powerstation and other ancillary equipments is used to carry out three-dimensional data in the prior art needs to be arranged
Scanner website and arrangement target, the problem of needing to remove station, reduce working efficiency during data acquire, the present invention is implemented
Example provides a kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, and as depicted in figs. 1 and 2, analysis system includes inspection
Device (not shown) and synchronous locating device 12, three-dimensional spatial information reconstructing device 13 and data processing equipment 14 are surveyed,
Detection device includes：Vehicular platform 7, scanner 10, controller 6, inertial navigation device 4, driving motor 2, driving wheel
11 and driven wheel 1,
Scanner 10 is located on vehicular platform 7, for acquiring tunnel cross-section information and rail profile information, to obtain a little
Cloud data set；
Inertial navigation device 4 is connect with vehicular platform 7, the 3 d pose data for obtaining detection device；
Controller 6 is connect with driving motor 2, the rotating speed for controlling driving motor 2；
Driving motor 2 is connect with driving wheel 11, is used for the run-length data of collecting and detecting device, and driving wheel 11 is driven to transport
It is dynamic；
Driving wheel 11 and driven wheel 1 are located at the lower section of vehicular platform 7,
Driving wheel 11 and driven wheel 1 are located at the lower section of vehicular platform 7, and driving wheel 11 is for driving vehicular platform 7 in tunnel
It is moved on the track in road；
Synchronous locating device 12 is separately connected with scanner 10, inertial navigation device 4 and driving motor 2, for scanning
The pulse signal that instrument 10 generates is synchronizing signal, and 3 d pose data and run-length data, which are carried out data, synchronizes integration, generates
Location information；
Three-dimensional spatial information reconstructing device 13 is connect with synchronous locating device 12 and scanner 10, for based on a cloud
Data set and location information generate the three-dimensional spatial information data set in tunnel；
Data processing equipment 14, for carrying out deformation analysis to tunnel according to three-dimensional spatial information data set.
In embodiments of the present invention, detection device includes vehicular platform 7, scanner 10, controller 6, driving motor 2, drives
Driving wheel 11 and driven wheel 1.Specifically, controller 6 can control driving wheel 11 in turn stepped through control driving motor 2,
Vehicular platform 7 is further controlled, to enable vehicular platform 7 to move in orbit.The movement of vehicular platform 7 can drive and sweep again
It retouches instrument 10 and carries out comprehensive scanning.System can then be believed according to the pulse of inertial navigation device 4, driving motor 2 and scanner 10
Number location information is generated, generates three-dimensional spatial information data set according to the data that location information and scanner 10 obtain, and right
Three-dimensional spatial information data set carries out deformation analysis, to accurately be assessed the deformation degree in tunnel.Compared to existing
For technology, the gatherer process of data switchs to dynamic by static state, and 10 website of scanner need not be arranged, need not arrange target,
And station need not be removed, and it can be during shorter maintenance, quick obtaining three-dimensional spatial information data set improves acquisition data
Efficiency.And the acquisition precision of data can be improved by the common movement of scanner 10 and vehicular platform 7, to realize to tunnel
The accurate evaluation of road safe condition.
In one possible implementation, vehicular platform 7 be " I " fonts vehicular platform 7, including two root long crossbeams with
And the tail trimmer at two root long crossbeam midpoints of connection, supporting rack are mounted at the center of tail trimmer, inertial navigation device 4 is mounted on vehicle-mounted
At the center of 7 one long beam of front side of platform.Detection device further includes：The supporting rack being connect with vehicular platform 7, scanner 10 are installed
On supporting rack, the height of supporting rack can be adjusted.Special construction design based on the vehicular platform 7, the scanning
Instrument 10 can be used for the acquisition of tunnel cross-section and orbit information, obtain 2D point cloud data collection, and support frame as described above with it is described vehicle-mounted
Platform 7 is fixedly connected.
In one possible implementation, detection device further includes：The fixation being arranged in a side drive wheel 11 is held out against
Structure holds out against structure with the floating being arranged in another side drive wheel 11, and fixation holds out against structure and floating holds out against structure and constitutes safety
Caging system, for preventing detection device from derailing.Described two driving wheels 11 and two driven wheels 1 are cylinder wheel, and are located at
7 lower section of the vehicular platform, drives the vehicular platform 7 to be moved on the track in tunnel.The vehicular platform 7 is driven using trailing wheel
Dynamic, i.e., two-wheeled is driven wheel 1 on front side of the described platform, and rear side two-wheeled is driving wheel 11.It is curved in tunnel to improve the vehicular platform 7
Fixed jacking mechanism is arranged in 11 side of the driving wheel in running stability and positional accuracy at road, and other side setting is floated
Jacking mechanism.For the detection device when tunnel corner turns to, track generates automatic adjustment force to the driving wheel 11, makes to float
Dynamic jacking mechanism generates Displacement-deformation, and accurate turn to is realized to be adjacent to track.The fixed jacking mechanism and floating hold out against machine
Structure constitutes safe spacing system, to prevent the detection device from derailing；
In one possible implementation, detection device further includes：Position sensor 3, position sensor 3, pacifies respectively
The left and right sides loaded on 7 front of vehicular platform, connect with controller 6 respectively, for basis respectively and track medial surface distance
Difference generates different signals；Controller 6, the signal for receiving and being generated according to each position sensor 3 generate control and refer to
It enables；Driving motor 2, for changing rotating speed according to control instruction, to adjust the moving direction of detection device, wherein driving motor 2
And there is one-to-one relationship between driving wheel 11.
Described two independent driving motors 2 act on described two driving wheels 11, by the effect of the motor, by driving
Wheel 11 drives driven wheel 1, realizes that the autonomous dynamic of vehicular platform 7 turns to.Described two position sensors 3 are installed on described vehicle-mounted
The 7 front left and right sides of platform, the platform moving direction is carried out by distance change between detection and the track medial surface in tunnel
Adjustment.Different variations occur for the different detection signals for turning to the position sensor 3 for causing the left and right sides of track, in turn
The left and right sides driving motor 2 is caused to generate adjustment of rotational speed, to realize corresponding turn to.For example, working as the detection device row
When sailing to the right-hand rotation bend of track, left sensor is reduced with left rail distance, can still receive detection feedback signal；Right side
Sensor can not receive the detection feedback signal due to right rail distance beyond predetermined threshold value.6 basis of the controller
Two side sensers detect the different variations of feedback signal, and rotation speed regulating and controlling, left side drive motor are carried out to the both sides driving motor 2
2 appropriate acceleration, right motor are suitably slowed down, to make the detection device realize right hand steering；
In one possible implementation, scanner 10, for generate and to driving motor 2, inertial navigation device 4 and
Synchronous locating device 12 sends pulse signal；Driving motor 2, for often receiving pulsatile once signal, then record is primary current
Run-length data；And the run-length data recorded is sent to synchronous locating device；Inertial navigation device 4, for often receiving one
Subpulse signal then records primary current 3 d pose data；And the 3 d pose data recorded are sent to synchronize and are determined
Position device；Synchronous locating device 12, for being based on pulse signal, by the 3 d pose data of the run-length data of record and record
Merge, to generate location information.Three-dimensional spatial information reconstructing device 13, for point cloud data collection to be merged with location information, with
Generate three-dimensional spatial information data set, wherein 3 d pose data include：Position coordinates, roll angle, the pitch angle of detection device
And course angle；Run-length data includes：The distance of detection device movement；Location information is 3 d pose data and run-length data
The information obtained after merging.Wherein, data structure analysis is carried out to three-dimensional spatial information data set, generates tunnel three dimensions shadow
On the one hand picture can further generate tunnel defect characteristic image by the analysis to the tunnel three dimensions image；Another party
Face can carry out deformation analysis to tunnel, determine tunnel deformation degree.
In one possible implementation, detection device further includes：The IR remote controller 8 being connect with controller 6, it is infrared
Remote controler 8 is used to control the start and stop of detection device.For electric installation 5, with scanner 10, inertial navigation device 4, position sensor 3, drive
Dynamic motor 2 is separately connected, for providing operating voltage.Preferably, it is described for electric installation 5 be lithium battery.
As a result, the present invention is based on the true three-dimensional tunnel section deformation testing and analysis system of the dynamic of inertial navigation attitude orientation,
Data acquisition efficiency is high, and scanner website need not be arranged, need not arrange target, can be during the shorter maintenance of subway
It is interior, the true three-dimensional data of tunnel space of the wanted sweep interval of quick obtaining；The data precision of acquisition is relatively high, in limited tunnel
Within the scope of section, the profile scanning of scanner has very high accuracy of data acquisition；Two based on sensor real-time feedback control
Wheel drive realizes that trolley is at the uniform velocity travelled along gauge center line always, it is ensured that the stability of trolley and the reliability of data；Acquisition
Be true three-dimensional data, the present invention is based on inertial navigations to carry out the detection device posture analysis, relative to other methods, obtains
Data are accurate, in time, truer can comprehensively reflect tunnel and track three-dimensional spatial information, can be used for tunnel deformation analysis,
Defect inspection and three-dimensional modeling build wisdom operation platform.
It is as shown in Figure 3 and Figure 4 the true three-dimensional tunnel section deformation detection of the dynamic based on inertial navigation attitude orientation
True the three of tunnel partial points cloud data set and the integrally bending tunnel by being generated after synchronous integrate that analysis system is acquired
Dimension space point cloud data collection can accurately obtain tunnel and track three-dimensional spatial information according to the data above collection, thus into one
Step realizes tunnel deformation analysis and tunnel defect signature analysis as shown in Figure 5.
Fig. 6 shows that a kind of analysis method according to the ... of the embodiment of the present invention, method are applied to shown in above-described embodiment
In system, system includes detection device, and method includes：
Step 601, control scanner acquisition tunnel cross-section information and rail profile information, to obtain point cloud data collection；
Wherein, scanner is located on the vehicular platform of detection device, and vehicular platform is moved with the movement of detection device；
Step 602, control inertial navigation device obtain the 3 d pose data of detection device；
Step 603, control driving motor obtain the run-length data of detection device；
3 d pose data, run-length data are carried out data synchronization integration by step 604 based on synchronizing signal, fixed to generate
Position information；Wherein, the pulse signal that scanner generates is synchronizing signal；
Step 605, the three-dimensional spatial information data set that tunnel is generated according to point cloud data collection and location information；
Step 606 carries out deformation analysis according to three-dimensional spatial information data set to tunnel.
For compared to the prior art, the gatherer process of data switchs to dynamic by static state, and scanner website need not be arranged,
It need not arrange target, and station need not be removed, can be during shorter maintenance, quick obtaining three-dimensional spatial information data
Collection improves the efficiency for obtaining data.And the acquisition essence of data by the common movement of scanner and vehicular platform, can be improved
Degree, to realize the accurate evaluation to tunnel safety state.
In one possible implementation, step 604, based on synchronizing signal by 3 d pose data, run-length data into
Row data, which synchronize, to be integrated, and includes to generate location information：Control driving motor often receives pulsatile once signal, then record is primary
Current run-length data；Control inertial navigation device often receives pulsatile once signal, then the primary current 3 d pose number of record
According to；The run-length data of record is merged with 3 d pose data, generates location information.
In one possible implementation, tunnel step S605, is generated according to point cloud data collection and location information
Three-dimensional spatial information data set includes：Point cloud data collection is merged with location information, generates three-dimensional spatial information data set.
In one possible implementation, method further includes：Receive the signal that each position sensor is sent；According to letter
Number generate control instruction so that driving motor adjusts itself rotating speed according to control instruction, to further change detection device
Moving direction, wherein there is one-to-one relationship between driving motor and driving wheel.
In one possible implementation, control scanner acquisition tunnel cross-section information and rail profile information it
Before, method further includes：The telecommand that IR remote controller is sent is received, telecommand is used to control the start and stop of detection device.
In one possible implementation, method further includes：The voltage provided for electric installation is provided.
In one possible implementation, 3 d pose data include：The position coordinates of detection device, are bowed at roll angle
The elevation angle and course angle；Run-length data includes：The distance of detection device movement；Location information is 3 d pose data and stroke
The information that data obtain after merging.
Fig. 7 shows a kind of dynamic 3 D tunnel cross-section shape changing detection and analytical equipment, which is characterized in that the device is used for
Method shown in fig. 6 is executed, analytical equipment includes：
Control module 701, for controlling scanner acquisition tunnel cross-section information and rail profile information, to obtain a cloud
Data set；Wherein, scanner is located on the vehicular platform of detection device, and vehicular platform is moved with the movement of detection device；
Control module 701 is additionally operable to the 3 d pose data that control inertial navigation device obtains detection device；
Control module 701 is additionally operable to the run-length data that control driving motor obtains detection device；
Information generating module 702, for be based on synchronizing signal by 3 d pose data, run-length data carry out data synchronize it is whole
It closes, to generate location information；Wherein, the pulse signal that scanner generates is synchronizing signal；
Information generating module 702 is additionally operable to generate the three dimensions letter in tunnel according to point cloud data collection and location information
Cease data set；
Deformation analysis module 703, for carrying out deformation analysis to tunnel according to three-dimensional spatial information data set.
For compared to the prior art, the gatherer process of data switchs to dynamic by static state, and scanner website need not be arranged,
It need not arrange target, and station need not be removed, can be during shorter maintenance, quick obtaining three-dimensional spatial information data
Collection improves the efficiency for obtaining data.And the acquisition essence of data by the common movement of scanner and vehicular platform, can be improved
Degree, to realize the accurate evaluation to tunnel safety state.
Information generating module 702 often receives pulsatile once signal for controlling driving motor, then record is primary current
Run-length data；Control inertial navigation device often receives pulsatile once signal, then the primary current 3 d pose data of record；It will note
The run-length data of record merges with 3 d pose data, generates location information.
Information generating module 702 is additionally operable to merge point cloud data collection with location information, generates three-dimensional spatial information
Data set.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a mobile terminal (can be mobile phone, computer, clothes
Be engaged in device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described above in conjunction with figure, but the invention is not limited in above-mentioned specific realities
Mode is applied, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art exist
Under the enlightenment of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, many shapes can be also made
Formula, all of these belong to the protection of the present invention.
Claims (19)
1. a kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, which is characterized in that the system comprises detection devices
And synchronous locating device, three-dimensional spatial information reconstructing device and data processing equipment,
The detection device includes：Vehicular platform, scanner, controller, inertial navigation device, driving motor, driving wheel and from
Driving wheel,
The scanner is located on the vehicular platform, for acquiring tunnel cross-section information and rail profile information, to obtain
Point cloud data collection；
The inertial navigation device, connect with the vehicular platform, the 3 d pose data for obtaining the detection device；
The controller is connect with the driving motor, the rotating speed for controlling the driving motor；
The driving motor is connect with the driving wheel, the run-length data for acquiring the detection device, and drives the drive
Driving wheel moves；
The driving wheel and the driven wheel are located at the lower section of the vehicular platform,
The driving wheel and the driven wheel are located at the lower section of the vehicular platform, and the driving wheel is described vehicle-mounted for driving
Platform moves on the track in the tunnel；
The synchronous locating device is separately connected with the scanner, the inertial navigation device and the driving motor, is used for
The pulse signal generated using the scanner is synchronizing signal, by the 3 d pose data and the run-length data into line number
It is integrated according to synchronous, generates location information；
The three-dimensional spatial information reconstructing device, connect with the synchronous locating device and the scanner, for being based on institute
It states point cloud data collection and the location information generates the three-dimensional spatial information data set in the tunnel；
The data processing equipment, for carrying out deformation analysis to the tunnel according to the three-dimensional spatial information data set.
2. system according to claim 1, which is characterized in that
The scanner, for generating and being sent out to the driving motor, the inertial navigation device and the synchronous locating device
Send pulse signal；
The driving motor then records primary current run-length data for often receiving pulsatile once signal；And it will be recorded
Run-length data be sent to the synchronous locating device；
The inertial navigation device then records primary current 3 d pose data for often receiving pulsatile once signal；And it will
The 3 d pose data recorded are sent to the synchronous locating device；
The synchronous locating device, for being based on the pulse signal, by the run-length data of the record and the record
3 d pose data merge, to generate the location information.
3. system according to claim 1, which is characterized in that
The three-dimensional spatial information reconstructing device, for merging the point cloud data collection with the location information, to generate
State three-dimensional spatial information data set.
4. system according to claim 1, which is characterized in that the detection device further includes：Position sensor,
The position sensor is respectively arranged in the left and right sides in front of the vehicular platform, is connect respectively with the controller,
For generating different signals according to from the difference of track medial surface distance respectively；
The controller, for receiving and generating control instruction according to the signal that each position sensor generates；
The driving motor, for changing rotating speed according to the control instruction, to adjust the moving direction of the detection device,
In, there is one-to-one relationship between the driving motor and the driving wheel.
5. system according to claim 1, which is characterized in that the detection device further includes：It is arranged in a side drive wheel
On fixation hold out against structure and the floating that is arranged in another side drive wheel holds out against structure, the fixation holds out against structure and described floating
The dynamic structure that holds out against constitutes safe spacing system, for preventing the detection device from derailing.
6. system according to claim 1, which is characterized in that the detection device further includes：Connect with the vehicular platform
The supporting rack connect,
The scanner is mounted on support frame as described above, and the height of support frame as described above can be adjusted.
7. system according to claim 6, which is characterized in that the vehicular platform is " I " fonts vehicular platform, including
Two root long crossbeams and the tail trimmer for connecting two root long crossbeam midpoints, support frame as described above are mounted at the center of the tail trimmer,
The inertial navigation device is mounted on front side of the vehicular platform at the center of a long beam.
8. system according to claim 1, which is characterized in that the detection device further includes：It is connect with the controller
IR remote controller, the IR remote controller is used to control the start and stop of the detection device.
9. system according to claim 1, which is characterized in that the detection device further includes：For electric installation,
It is described for electric installation, be separately connected with the scanner, inertial navigation, position sensor, driving motor, for providing work
Make voltage.
10. according to the system described in any one of claim 1-9, which is characterized in that
The 3 d pose data include：Position coordinates, roll angle, pitch angle and the course angle of the detection device；
The run-length data includes：The distance of the detection device movement；
The location information is the information obtained after the 3 d pose data and the run-length data merge.
11. a kind of dynamic 3 D tunnel cross-section shape changing detection and analysis method, which is characterized in that the method be applied to power 1 to
It weighs in 10 any one of them systems, the system comprises detection device, the method includes：
Scanner acquisition tunnel cross-section information and rail profile information are controlled, to obtain point cloud data collection；Wherein, the scanning
Instrument is located on the vehicular platform of the detection device, and the vehicular platform is moved with the movement of the detection device；
Control inertial navigation device obtains the 3 d pose data of the detection device；
Control driving motor obtains the run-length data of the detection device；
The 3 d pose data, the run-length data are subjected to data based on synchronizing signal and synchronize integration, to generate positioning letter
Breath；Wherein, the pulse signal that the scanner generates is the synchronizing signal；
The three-dimensional spatial information data set in the tunnel is generated according to the point cloud data collection and the location information；
Deformation analysis is carried out to the tunnel according to the three-dimensional spatial information data set.
12. according to the method for claim 11, which is characterized in that the synchronizing signal that is based on is by the 3 d pose number
Data are carried out according to, the run-length data synchronize to integrate, include to generate location information：
It controls the driving motor and often receives pulsatile once signal, then the primary current run-length data of record；
It controls the inertial navigation device and often receives pulsatile once signal, then the primary current 3 d pose data of record；
The run-length data of record is merged with 3 d pose data, generates location information.
13. according to the method for claim 11, which is characterized in that according to the point cloud data collection and the location information
The three-dimensional spatial information data set for generating the tunnel includes：
Point cloud data collection is merged with location information, generates the three-dimensional spatial information data set.
14. according to the method for claim 11, which is characterized in that the method further includes：
Receive the signal that each position sensor is sent；
Control instruction is generated according to the signal, so that the driving motor adjusts itself rotating speed according to the control instruction,
To further change the moving direction of the detection device, wherein have one between the driving motor and the driving wheel
One-to-one correspondence.
15. according to the method for claim 11, which is characterized in that in control scanner acquisition tunnel cross-section information and rail
Before road section information, the method further includes：
The telecommand that IR remote controller is sent is received, the telecommand is used to control the start and stop of the detection device.
16. according to the method for claim 11, which is characterized in that the method further includes：
The voltage provided for electric installation is provided.
17. according to the method described in any one of claim 11-16, which is characterized in that
The 3 d pose data include：Position coordinates, roll angle, pitch angle and the course angle of the detection device；
The run-length data includes：The distance of the detection device movement；
The location information is the information obtained after the 3 d pose data and the run-length data merge.
18. a kind of dynamic 3 D tunnel cross-section shape changing detection and analytical equipment, which is characterized in that described device is used for right of execution 11
To 17 any one of them methods of power, the analytical equipment includes：
Control module, for controlling scanner acquisition tunnel cross-section information and rail profile information, to obtain point cloud data collection；
Wherein, the scanner is located on the vehicular platform of the detection device, the vehicular platform with the detection device movement
And it moves；
The control module is additionally operable to the 3 d pose data that control inertial navigation device obtains the detection device；
The control module is additionally operable to the run-length data that control driving motor obtains the detection device；
Information generating module, for the 3 d pose data, the run-length data to be carried out data synchronization based on synchronizing signal
It integrates, to generate location information；Wherein, the pulse signal that the scanner generates is the synchronizing signal；
Described information generation module is additionally operable to generate the three of the tunnel according to the point cloud data collection and the location information
Dimension space message data set；
Deformation analysis module, for carrying out deformation analysis to the tunnel according to the three-dimensional spatial information data set.
19. device according to claim 18, which is characterized in that
Described information generation module often receives pulsatile once signal for controlling the driving motor, then record is primary current
Run-length data；It controls the inertial navigation device and often receives pulsatile once signal, then the primary current 3 d pose number of record
According to；The run-length data of record is merged with 3 d pose data, generates location information.
Described information generation module is additionally operable to merge point cloud data collection with location information, generates the three dimensions letter
Cease data set.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810820893.2A CN108645373A (en) | 2018-07-24 | 2018-07-24 | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device |
| CN201910455056.9A CN110132220A (en) | 2018-07-24 | 2019-05-29 | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810820893.2A CN108645373A (en) | 2018-07-24 | 2018-07-24 | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108645373A true CN108645373A (en) | 2018-10-12 |
Family
ID=63760318
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810820893.2A Withdrawn CN108645373A (en) | 2018-07-24 | 2018-07-24 | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device |
| CN201910455056.9A Pending CN110132220A (en) | 2018-07-24 | 2019-05-29 | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910455056.9A Pending CN110132220A (en) | 2018-07-24 | 2019-05-29 | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108645373A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109797612A (en) * | 2019-03-12 | 2019-05-24 | 北京星网宇达科技股份有限公司 | It is a kind of detect vehicle track determine method, apparatus, equipment and medium |
| CN109927739A (en) * | 2019-03-01 | 2019-06-25 | 广州南方测绘科技股份有限公司广州分公司 | The mobile detection carriage device of rail tunnel three-dimensional |
| CN110006396A (en) * | 2019-03-20 | 2019-07-12 | 中铁工程设计咨询集团有限公司 | A kind of tunnel cross-section and limit scanning detection apparatus and method |
| CN110440711A (en) * | 2019-08-15 | 2019-11-12 | 郑州联睿电子科技有限公司 | A kind of cable tunnel there-dimensional laser scanning device and its location method |
| CN111077844A (en) * | 2019-12-12 | 2020-04-28 | 南京航空航天大学 | Part accurate machining method based on measured data feature guidance |
| CN111532296A (en) * | 2020-05-12 | 2020-08-14 | 南京航空航天大学 | Modular track detection vehicle |
| CN111833449A (en) * | 2020-06-30 | 2020-10-27 | 南京航空航天大学 | Three-dimensional reconstruction and intelligent disease identification method for internal environment of subway tunnel |
| CN114150541A (en) * | 2021-11-08 | 2022-03-08 | 中铁三局集团线桥工程有限公司 | Full-automatic scanning system for cross section of track bed and operation method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112596027A (en) * | 2020-11-06 | 2021-04-02 | 广州艾目易科技有限公司 | High-precision positioning method and system for train in tunnel |
| CN114061535B (en) * | 2021-11-15 | 2022-09-13 | 北京环安工程检测有限责任公司 | Subway tunnel automatic deformation monitoring method and device based on MEMS |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101408410B (en) * | 2008-10-28 | 2010-08-11 | 山东科技大学 | Tunnel volume element deformation movable monitoring system and method |
| CN104680579B (en) * | 2015-03-02 | 2017-09-01 | 北京工业大学 | Tunnel construction informatization monitoring system based on three-dimensional scanning point cloud |
| CN104749187A (en) * | 2015-03-25 | 2015-07-01 | 武汉武大卓越科技有限责任公司 | Tunnel lining disease detection device based on infrared temperature field and gray level image |
| KR101794690B1 (en) * | 2016-07-07 | 2017-12-01 | 한국철도기술연구원 | Tunnel inspection system having individual driving rail-guided vehicle (rgv) and inertial navigation system (ins) |
| CN107289900A (en) * | 2017-06-22 | 2017-10-24 | 首都师范大学 | A kind of dynamic is without control tunnel cross-section detection means, analysis system and method |
| CN208505286U (en) * | 2018-07-24 | 2019-02-15 | 南京航空航天大学 | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system |
-
2018
- 2018-07-24 CN CN201810820893.2A patent/CN108645373A/en not_active Withdrawn
-
2019
- 2019-05-29 CN CN201910455056.9A patent/CN110132220A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927739A (en) * | 2019-03-01 | 2019-06-25 | 广州南方测绘科技股份有限公司广州分公司 | The mobile detection carriage device of rail tunnel three-dimensional |
| CN109797612A (en) * | 2019-03-12 | 2019-05-24 | 北京星网宇达科技股份有限公司 | It is a kind of detect vehicle track determine method, apparatus, equipment and medium |
| CN110006396A (en) * | 2019-03-20 | 2019-07-12 | 中铁工程设计咨询集团有限公司 | A kind of tunnel cross-section and limit scanning detection apparatus and method |
| CN110440711A (en) * | 2019-08-15 | 2019-11-12 | 郑州联睿电子科技有限公司 | A kind of cable tunnel there-dimensional laser scanning device and its location method |
| CN111077844A (en) * | 2019-12-12 | 2020-04-28 | 南京航空航天大学 | Part accurate machining method based on measured data feature guidance |
| CN111077844B (en) * | 2019-12-12 | 2020-09-22 | 南京航空航天大学 | Part accurate machining method based on measured data feature guidance |
| CN111532296A (en) * | 2020-05-12 | 2020-08-14 | 南京航空航天大学 | Modular track detection vehicle |
| CN111532296B (en) * | 2020-05-12 | 2021-11-30 | 南京航空航天大学 | Modular track detection vehicle |
| CN111833449A (en) * | 2020-06-30 | 2020-10-27 | 南京航空航天大学 | Three-dimensional reconstruction and intelligent disease identification method for internal environment of subway tunnel |
| CN114150541A (en) * | 2021-11-08 | 2022-03-08 | 中铁三局集团线桥工程有限公司 | Full-automatic scanning system for cross section of track bed and operation method |
| CN114150541B (en) * | 2021-11-08 | 2023-08-04 | 中铁三局集团线桥工程有限公司 | Full-automatic scanning system for track bed section and operation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110132220A (en) | 2019-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108645373A (en) | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device | |
| CN110615017A (en) | Rail transit automatic detection system and method | |
| US10260889B2 (en) | Position estimation device and position estimation method | |
| CN109059792A (en) | Dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device | |
| CN208736365U (en) | Dynamic 3 D tunnel cross-section shape changing detection and analysis system | |
| CN101580071B (en) | Railway locomotive and vehicle operating attitude measurement system | |
| CN105606150A (en) | Road comprehensive detection method and system based on line structured light and geological radar | |
| WO2016027394A1 (en) | Information management device, vehicle, and information management method | |
| CN101666716A (en) | Railway locomotive running attitude measuring method | |
| CN111547085B (en) | Self-moving type rail transit three-dimensional scanning system | |
| JPH11503520A (en) | Method and apparatus for non-contact measurement of road or rail distortion | |
| CN110806193A (en) | Subway tunnel deformation detection system | |
| CN106370162A (en) | Animal type determination device | |
| CN115597535B (en) | High-speed magnetic levitation track irregularity detection system and method based on inertial navigation | |
| CN104260751A (en) | Multi-sensor fusion system and method for detecting center line of high-speed rail | |
| CN103644843A (en) | Rail transit vehicle motion attitude detection method and application thereof | |
| CN113031602A (en) | Construction method of dynamic envelope line of mining rail electric locomotive | |
| CN106494611B (en) | A kind of dual-purpose patrol unmanned machine of sky rail | |
| CN208505286U (en) | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system | |
| CN114132358B (en) | Multi-platform intelligent track comprehensive detection system | |
| JP2000338865A (en) | Data gathering device for digital road map | |
| CN113002588B (en) | Train track foreign matter detection method and system | |
| JP7089063B2 (en) | Position detector and method | |
| CN203595497U (en) | Detection device of moving postures of rail transit vehicle | |
| US20240043247A1 (en) | High-precision positioning system for underground monorail hoist in coal mine and positioning method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181012 |
|
| WW01 | Invention patent application withdrawn after publication |