CN108827182B - A kind of tunnel three-D imaging method and system - Google Patents
A kind of tunnel three-D imaging method and system Download PDFInfo
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Abstract
The invention discloses a kind of tunnel three-D imaging method and systems, belong to traffic tunnel detection technical field of imaging.The present invention is by laser scanning in conjunction with ultrasonic listening technology, by keeping the relative position of laser scanning imager and ultrasonic transducer to fix, the mode that the sound wave direction of the launch of the optical axis of laser scanning imager and ultrasonic transducer is arranged in parallel, measure the relative position of ultrasonic transducer and laser scanning imager, the one-dimensional data that the reflection signal that ultrasonic transducer detects is characterized, that is the depth results of reflecting surface are converted to the three-dimensional coordinate of reflecting surface, and it can be corresponding with the coordinate data of tunnel surface point cloud model, it is rebuild jointly so as to be integrated into the point cloud data that laser scanning obtains, obtain the 3-D image comprising tunnel surface and infrastructure.
Description
Technical Field
The invention belongs to the technical field of traffic tunnel detection imaging, and particularly relates to a traffic tunnel appearance and interior three-dimensional imaging method and system, which are mainly used for three-dimensional imaging combined with defects on the surface of a tunnel and the back of a tunnel segment.
Background
In modern times, with the development of computer drawing technology, it has become a normal practice to draw three-dimensional design plans in the early stage of traffic tunnel design. The tunnel built earlier and storing the hand-drawing paper can also obtain the electronic drawing paper in a computer copying drawing mode, and then three-dimensional modeling is carried out. However, since the occurrence of trains is early, a large number of train tunnels are built before the occurrence of computer drawing technology in China, and a part of train design drawings are lost due to time, so that how to perform three-dimensional modeling on the part of train tunnels becomes a problem which needs to be solved urgently.
In addition, due to the problem of operation time, diseases such as appearance defects or cavities at the back of pipelines appear in the old and new traffic tunnels in different degrees. In the operation period, partial tunnels are scattered due to long total mileage, and the requirement of daily maintenance and repair of the tunnels cannot be met by manual detection.
The traditional detection method such as a laser scanning method can only carry out three-dimensional modeling on the appearance of the tunnel, while an ultrasonic detection method can detect the defects behind the tunnel segment, but the existing ultrasonic detection technology only focuses on detecting the approximate positions of the defects, needs detection personnel to have abundant experience to judge the types and the approximate shapes of the defects, and lacks corresponding means for forming three-dimensional images, so that three-dimensional modeling cannot be carried out on grouting layers, soil layers and defects behind the tunnel segment.
Disclosure of Invention
According to the defects in the prior art, the invention provides a tunnel three-dimensional imaging method and system, which combine laser scanning and ultrasonic detection technologies, convert depth data of a reflecting layer detected by an ultrasonic transducer into coordinates by measuring the relative positions of the ultrasonic transducer and a laser scanning imager, and integrate the coordinates into point cloud data obtained by laser scanning for reconstruction together, so that a three-dimensional image comprising a tunnel surface and a deep layer structure can be established.
In order to achieve the above object, the present invention provides a tunnel three-dimensional imaging method, comprising the following steps:
(1) keeping the relative position of a laser scanning imager and an ultrasonic transducer fixed, arranging the optical axis of the laser scanning imager and the sound wave emission direction of the ultrasonic transducer in parallel, synchronously scanning a tunnel through laser and ultrasonic waves, and acquiring the three-dimensional coordinates of all points in point cloud on the surface of the tunnel under a world coordinate system by utilizing the surface of the laser scanning tunnel; simultaneously scanning grouting and soil layers behind the corresponding laser scanning areas by using ultrasonic longitudinal waves perpendicular to the surface of the tunnel, determining the depth of the reflecting interfaces and the reflection times of each reflecting interface, and recording the three-dimensional coordinates of the ultrasonic transducer;
(2) generating a tunnel surface point cloud model according to the tunnel surface point cloud; acquiring a reflection interface coordinate according to the three-dimensional coordinate of the ultrasonic transducer and the depth of a reflection interface, and adding a reflection interface point cloud into the tunnel surface point cloud model according to the reflection interface coordinate, so as to obtain an original point cloud model comprising the reflection interface point cloud and the tunnel surface point cloud model;
(3) dividing the original point cloud model into regions according to the ultrasonic reflection times, and dividing the original point cloud model into a plurality of regions arranged along the axial direction of the tunnel; wherein,
the area with the least reflection times is a normal area, and only the reflection signals of the layered interface of the tunnel infrastructure exist; the other areas are defect areas and comprise reflection signals of a layered interface of the tunnel basic structure and reflection signals of an interface of a defect part;
(4) reconstructing the point cloud of the reflection interface of the layered interface of the tunnel foundation structure in the normal area to obtain the three-dimensional profile of the tunnel foundation structure in the normal area; confirming the layered interface of the tunnel basic structure in the defect area and the reflection interface of the defect part according to the receiving sequence of the reflection signals in the defect area, the reflection intensity of the layered interface of the tunnel basic structure in the normal area and the layering of the actual tunnel basic structure;
(5) reconstructing the point cloud of the reflection interface of the layered interface of the tunnel foundation structure in the defect area to obtain the three-dimensional profile of the tunnel foundation structure in the defect area, and connecting the three-dimensional profile of the tunnel foundation structure in the normal area to obtain the three-dimensional profile of the whole tunnel foundation structure; and combining and reconstructing the reflection interfaces of the defect part pairwise according to the receiving sequence of the reflection signals to obtain the three-dimensional profile of the defect part, so as to obtain a tunnel three-dimensional model comprising the three-dimensional profile of the whole tunnel basic structure and the three-dimensional profile of the defect part.
Further, in the step (1), an ultrasonic transducer planar array is adopted for ultrasonic scanning, and the ultrasonic emission directions of the ultrasonic transducers in the ultrasonic transducer planar array are parallel, and ultrasonic waves with different vibration frequencies are used for detection.
Further, in step (1), the method for acquiring the three-dimensional coordinates of the ultrasonic transducer is as follows: the method comprises the steps of measuring the relative position relation of an ultrasonic transducer and the origin of an internal coordinate system of a laser scanning imager in advance, obtaining the coordinates of the ultrasonic transducer in the internal coordinate system of the laser scanning imager, and further directly converting the coordinates into the coordinates under a world coordinate system according to the conversion relation of the internal coordinate system of the laser scanning imager and the world coordinate system.
In order to achieve the above object, the present invention also provides a tunnel three-dimensional imaging system, including: the system comprises a laser scanning imager, an ultrasonic transducer, an amplifying demodulator, a point cloud data processor and a point cloud data processing program module; the relative position of the laser scanning imager and the ultrasonic transducer is fixed, and the optical axis of the laser scanning imager is parallel to the sound wave emission direction of the ultrasonic transducer; the signal output end of the laser scanning imager is connected with the laser signal input end of the point cloud data processor, and the signal output end of the ultrasonic transducer is connected with the ultrasonic signal input end of the point cloud data processor through the amplification demodulator; wherein,
the laser scanning imager is used for scanning the surface of the tunnel to obtain point cloud of the surface of the tunnel and transmitting the point cloud to the point cloud data processor;
the ultrasonic transducer is used for scanning the back of the tunnel, collecting ultrasonic reflection signals and transmitting the ultrasonic reflection signals to the point cloud data processor;
the point cloud data processor is used for calling the point cloud data processing program module to process the point cloud and the ultrasonic reflection signals on the surface of the tunnel according to the method as claimed in any one of claims 1 to 3, and a tunnel three-dimensional model comprising the three-dimensional outline of the whole tunnel basic structure and the three-dimensional outline of the defect part is obtained.
The ultrasonic transducer assembly comprises an ultrasonic transducer mounting plate, a plurality of ultrasonic transducers form a planar array on the ultrasonic transducer mounting plate, and the ultrasonic wave emission directions of the ultrasonic transducers are parallel; the center of the ultrasonic transducer mounting plate is provided with a light hole, and the head of the laser scanning imager is arranged right opposite to the light hole.
Further, including the pick-up car, this pick-up car includes: the device comprises a cantilever, a vehicle body and a stepping motor; the root part of the cantilever is pivoted on the vehicle body so as to rotate under the drive of the stepping motor, and the vehicle body is used for driving the cantilever to move forwards or backwards;
the top end of the cantilever is provided with a sleeve, a compression spring, a cylindrical mounting rod and a connecting pin; two waist-shaped holes which are symmetrical about the sleeve axis are arranged on the sleeve along the axis direction; the compression spring is arranged in the sleeve, one end of the mounting rod is inserted into the sleeve and abutted against the compression spring, and the mounting rod is prevented from falling off from the sleeve through the matching of the connecting pin and the kidney-shaped hole; the other end of the mounting rod is used for mounting a laser scanning imager and an ultrasonic transducer mounting plate.
Generally, compared with the prior art, the above technical solution contemplated by the present invention has the following beneficial effects:
1. by a laser scanning measurement method, the point cloud three-dimensional coordinate data of the tunnel surface is rapidly acquired in a large area and a high resolution mode, and a tunnel surface point cloud model is rapidly established; the relative position of the laser scanning imager and the ultrasonic transducer is kept fixed, the optical axis of the laser scanning imager and the sound wave emission direction of the ultrasonic transducer are arranged in parallel, and one-dimensional data represented by a reflection signal detected by the ultrasonic transducer, namely a depth result of a reflection surface, is converted into a three-dimensional coordinate of the reflection surface by combining the coordinate record of the ultrasonic transducer, and can correspond to the coordinate data of a point cloud model on the surface of the tunnel, so that a three-dimensional model of the surface and deep structure of the tunnel is established;
2. according to the invention, the depth data detected by ultrasonic waves can correspond to the coordinate data of the point cloud model on the surface of the tunnel to obtain the three-dimensional coordinates of the reflecting surface, so that whether the hole defect exists on the back surface of the tunnel or not and the approximate shape, size and position of the defect can be judged according to the reflecting sequence of different reflecting surfaces and the basic structure of the tunnel, and the hole defect and the approximate shape, size and position of the defect can be visually displayed through three-dimensional modeling.
3. Ultrasonic scanning is carried out through the ultrasonic transducer planar array, ultrasonic waves with different vibration frequencies are used for detection, on one hand, detection signals of the ultrasonic transducers can be accurately distinguished, on the other hand, repeated detection can be carried out on the same scanning point for many times in the process of one-time scanning, and therefore reflected signal data of the repeated detection are utilized for verification, and more accurate reflected interface position information is obtained.
Drawings
FIG. 1 is a flow chart of the main steps of the present invention;
FIG. 2 is a functional module architecture diagram and an acoustic reflection diagram according to a first embodiment of the present invention;
FIG. 3 is a schematic plan view of an ultrasound transducer array of a second embodiment of the present invention;
FIG. 4 is a diagrammatic view of a lift truck according to a third embodiment of the present invention;
fig. 5 is a schematic view of a cantilever tip configuration of a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 and fig. 2, a tunnel three-dimensional imaging system method provided by the present invention includes the following steps:
(1) keeping the relative position of a laser scanning imager and an ultrasonic transducer fixed, arranging the optical axis of the laser scanning imager and the sound wave emission direction of the ultrasonic transducer in parallel, synchronously scanning a tunnel through laser and ultrasonic waves, and acquiring the three-dimensional coordinates of all points in point cloud on the surface of the tunnel under a world coordinate system by utilizing the surface of the laser scanning tunnel; and meanwhile, scanning grouting and soil layers behind the corresponding laser scanning areas by using ultrasonic longitudinal waves perpendicular to the surface of the tunnel, determining the depth of the reflecting interfaces and the reflection times of each reflecting interface, and recording the three-dimensional coordinates of the ultrasonic transducer.
Specifically, the method for acquiring the three-dimensional coordinates of the ultrasonic transducer is as follows: the method comprises the steps of measuring the relative position relation of an ultrasonic transducer and the origin of an internal coordinate system of a laser scanning imager in advance, obtaining the coordinates of the ultrasonic transducer in the internal coordinate system of the laser scanning imager, and further directly converting the coordinates into the coordinates under a world coordinate system according to the conversion relation of the internal coordinate system of the laser scanning imager and the world coordinate system.
(2) Generating a tunnel surface point cloud model according to the tunnel surface point cloud; and acquiring the coordinates of the measuring points of the reflecting interface according to the three-dimensional coordinates of the ultrasonic transducer and the depth of the reflecting interface, and adding the point cloud of the reflecting interface into the point cloud model of the tunnel surface according to the coordinates of the reflecting interface so as to obtain an original point cloud model comprising the point cloud of the reflecting interface and the point cloud model of the tunnel surface.
Specifically, the method for obtaining the depth of the reflection interface and the point cloud is as follows:
the propagation speed c of the sound velocity in the medium is calculated by the formula:
wherein E is the Young's modulus of elasticity of the medium, rho is the density of the medium, and k is a constant related to the Poisson's ratio sigma of the medium, and is selected according to an empirical value.
The properties of the tunnel segment and the soil layer can be obtained by sampling and actual measurement, so that the sound velocity c of the ultrasonic wave in the tunnel segment can be determined by a formula ①TunnelAnd speed of sound c in the earthSoil for soil。
Referring to fig. 2, since the first reflection is from the bottom surface of the tube sheet, the time of receiving the first reflection signal is t1Then thickness h of the tube sheetPipeThe calculation formula is as follows:
hpipe＝t1cTunnel/2 ②
The second reflection comes from the upper surface of the cavity, the second reflection passes through the soil layer and the duct piece, and the time interval from the reception of the first reflection signal to the reception of the second reflection signal is t2Then the depth h of the measuring point on the upper surface of the cavityOn the upper partThe calculation formula is as follows:
hon the upper part＝hPipe+t2cSoil for soil/2 ③
Because the cavity that tunnel soil layer becomes flexible and produces is generally not vacuum, and the inside is filled with air or liquid, therefore the sound wave can continue to permeate the cavity, and can not take place the total reflection at the cavity upper surface, and can receive the third reflection signal that the cavity lower surface reflects back.
The present embodiment assumes voidsThe content is gas, and the propagation speed of ultrasonic wave in the gas is cQi (Qi)The time interval from the reception of the second reflected signal to the reception of the third reflected signal is t3Then the depth h of the measuring point on the lower surface of the cavityLower partThe calculation formula is as follows:
hlower part＝hOn the upper part+t3cQi (Qi)/2 ④
Because the depth is a one-dimensional coordinate, the relative positions of the ultrasonic transducer and the laser scanning imager are kept fixed, and the ultrasonic wave emission direction is parallel to the optical axis direction, the coordinate of the ultrasonic transducer in the internal coordinate system of the laser scanning imager is constant, and therefore, the depth is directly added to the coordinate of the ultrasonic transducer in the optical axis direction of the internal coordinate system of the laser scanning imager, and the current measuring point coordinate of the reflecting interface (the bottom surface of the duct piece, the upper surface and the lower surface of the cavity) is obtained.
Through the scanning motion, the coordinates of all the measuring points on the reflecting interface can be obtained, and therefore the point cloud of the reflecting interface is obtained.
(3) Dividing the original point cloud model into regions according to the ultrasonic reflection times, and dividing the original point cloud model into a plurality of regions arranged along the axial direction of the tunnel; wherein,
the area with the least reflection times is a normal area, and only the reflection signals of the layered interface of the tunnel infrastructure exist; the other areas are defect areas and comprise reflection signals of the layered interface of the tunnel basic structure and reflection signals of the interface of the defect part.
(4) Reconstructing the point cloud of the reflection interface of the layered interface of the tunnel foundation structure in the normal area to obtain the three-dimensional profile of the tunnel foundation structure in the normal area; and confirming the layered interface of the tunnel basic structure in the defect area and the reflective interface of the defect part according to the receiving sequence of the reflected signals in the defect area, the reflection intensity of the layered interface of the tunnel basic structure in the normal area and the layering of the actual tunnel basic structure.
Taking fig. 2 as an example, since the normal region only includes the segment and the soil layer, and the reflection at the end of the soil layer is not considered in this embodiment, the normal region only includes the primary reflected wave reflected by the interface between the segment and the soil layer, and therefore, the region where only the primary reflected wave is in the original point cloud model is the normal region. Each cavity region can generate two reflections, so that three reflected waves indicate that a cavity is arranged at the position, five reflected waves indicate that two cavities are arranged in the depth direction at the position, and the like. The depth calculation formula can also be obtained by analogy with the step (2).
(5) Reconstructing the point cloud of the reflection interface of the layered interface of the tunnel foundation structure in the defect area to obtain the three-dimensional profile of the tunnel foundation structure in the defect area, and connecting the three-dimensional profile of the tunnel foundation structure in the normal area to obtain the three-dimensional profile of the whole tunnel foundation structure; the reflection interfaces of the defect parts (in this embodiment, cavities) are combined and reconstructed two by two according to the receiving sequence of the reflection signals, so as to obtain the three-dimensional profile of the defect parts, and thus, a tunnel three-dimensional model including the three-dimensional profile of the whole tunnel infrastructure and the three-dimensional profile of the defect parts is obtained.
Referring to fig. 2, the tunnel three-dimensional imaging system integrating the above method of the present invention includes: the system comprises a laser scanning imager, an ultrasonic transducer, an amplifying demodulator, a point cloud data processor and a point cloud data processing program module; the relative position of the laser scanning imager and the ultrasonic transducer is fixed, and the optical axis of the laser scanning imager is parallel to the sound wave emission direction of the ultrasonic transducer; the signal output end of the laser scanning imager is connected with the laser signal input end of the point cloud data processor, and the signal output end of the ultrasonic transducer is connected with the ultrasonic signal input end of the point cloud data processor through the amplification demodulator; the laser scanning imager is used for scanning the surface of the tunnel, obtaining point cloud of the surface of the tunnel and transmitting the point cloud to the point cloud data processor; the ultrasonic transducer is used for scanning the back of the tunnel, collecting ultrasonic reflection signals and transmitting the ultrasonic reflection signals to the point cloud data processor; the point cloud data processor is used for calling the point cloud data processing program module to process the point cloud on the surface of the tunnel and the ultrasonic reflection signals according to the method in the steps (1) to (5) to obtain a tunnel three-dimensional model containing the three-dimensional outline of the whole tunnel basic structure and the three-dimensional outline of the defect part.
The second embodiment of the present invention is different from the first embodiment in that, in step (1), an ultrasonic transducer planar array is used for ultrasonic scanning, ultrasonic emission directions of ultrasonic transducers in the ultrasonic transducer planar array are parallel, and ultrasonic waves with different vibration frequencies are used for detection, a schematic diagram of the ultrasonic transducer planar array is shown in fig. 3, and includes an ultrasonic transducer mounting plate 1, a plurality of ultrasonic transducers 2 form a planar array on the ultrasonic transducer mounting plate, and the ultrasonic emission directions of the ultrasonic transducers 2 are parallel; the center of the ultrasonic transducer mounting plate 1 is provided with a light hole 3, and the head of the laser scanning imager is just opposite to the light hole 3.
The ultrasonic transducer planar array can acquire multiple sets of depth data at one time in one ultrasonic detection period, and 25 sets of depth data can be acquired by scanning at one time as shown in fig. 3; and in the synchronous advancing scanning process along with the laser scanning imager, the secondary measurement is carried out on the intersection area of the two scanning processes. According to the set step-and-scan distance, the repeated measurement times of the same region can be adjusted at will, for example, for a 5 × 5 array in fig. 3, the same region is stepped rightward from the figure, and the advance distance is equal to the column pitch every time, then the same region can be repeatedly scanned 5 times through 5 columns of ultrasonic transducers to obtain 5 groups of point cloud data of the region, so that the noise can be eliminated by using the 5 groups of point cloud data, and a more accurate cavity contour curved surface can be fitted.
Referring to fig. 4 and 5, a third embodiment of the present invention provides a carrying vehicle for driving a laser scanning imager and an ultrasonic transducer to perform a scanning operation. This carrying vehicle includes: a cantilever 4, a vehicle body 5 and a stepping motor 6; the root of the cantilever 4 is pivoted on the vehicle body 5 to rotate under the drive of the stepping motor 6, and the vehicle body 5 is used for driving the cantilever to move forwards or backwards. The top end of the cantilever 4 is provided with a laser scanning imager and an ultrasonic transducer mounting plate integrated module 7
Referring to fig. 4 and 5, the top end of the cantilever is provided with a sleeve 8, a compression spring 9, a cylindrical mounting rod 10 and a connecting pin 11; two waist-shaped holes 12 which are symmetrical about the sleeve axis are arranged on the sleeve 8 along the axis direction; the compression spring 9 is arranged in the sleeve 8, one end of the mounting rod 10 is inserted into the sleeve 8 and is abutted against the compression spring 9, and the mounting rod 10 is prevented from falling off from the sleeve 8 through the matching of the connecting pin 11 and the kidney-shaped hole 12; the other end of the mounting rod 10 is used for mounting and fixing the laser scanning imager and the ultrasonic transducer mounting plate integrated module 7.
Through the arrangement, on one hand, the ultrasonic transducer is tightly attached to the surface of the tunnel by utilizing the elasticity of the compression spring 9, and on the other hand, the distance fluctuation in the scanning process can be compensated through the expansion and contraction of the compression spring 9, so that the scanning stability and the adaptability are improved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A tunnel three-dimensional imaging method is characterized by comprising the following steps:
(1) keeping the relative position of a laser scanning imager and an ultrasonic transducer fixed, arranging the optical axis of the laser scanning imager and the sound wave emission direction of the ultrasonic transducer in parallel, synchronously scanning a tunnel through laser and ultrasonic waves, and acquiring the three-dimensional coordinates of all points in point cloud on the surface of the tunnel under a world coordinate system by utilizing the surface of the laser scanning tunnel; simultaneously scanning grouting and soil layers behind the corresponding laser scanning areas by using ultrasonic longitudinal waves perpendicular to the surface of the tunnel, determining the reflection times, the depth of the reflection interfaces and the reflection sequence of each reflection interface, and recording the three-dimensional coordinates of the ultrasonic transducer;
(2) generating a tunnel surface point cloud model according to the tunnel surface point cloud; acquiring a reflection interface coordinate according to the three-dimensional coordinate of the ultrasonic transducer and the depth of a reflection interface, and adding a reflection interface point cloud into the tunnel surface point cloud model according to the reflection interface coordinate, so as to obtain an original point cloud model comprising the reflection interface point cloud and the tunnel surface point cloud model;
(3) dividing the original point cloud model into regions according to the ultrasonic reflection times, and dividing the original point cloud model into a plurality of regions arranged along the axial direction of the tunnel; wherein,
the area with the least reflection times is a normal area, and only the reflection signals of the layered interface of the tunnel infrastructure exist; the other areas are defect areas and comprise reflection signals of a layered interface of the tunnel basic structure and reflection signals of an interface of a defect part;
(4) reconstructing the point cloud of the reflection interface of the layered interface of the tunnel foundation structure in the normal area to obtain the three-dimensional profile of the tunnel foundation structure in the normal area; confirming the layered interface of the tunnel basic structure in the defect area and the reflection interface of the defect part according to the receiving sequence of the reflection signals in the defect area, the reflection intensity of the layered interface of the tunnel basic structure in the normal area and the layering of the actual tunnel basic structure;
(5) reconstructing the point cloud of the reflection interface of the layered interface of the tunnel foundation structure in the defect area to obtain the three-dimensional profile of the tunnel foundation structure in the defect area, and connecting the three-dimensional profile of the tunnel foundation structure in the normal area to obtain the three-dimensional profile of the whole tunnel foundation structure; and combining and reconstructing the reflection interfaces of the defect part pairwise according to the receiving sequence of the reflection signals to obtain the three-dimensional profile of the defect part, so as to obtain a tunnel three-dimensional model comprising the three-dimensional profile of the whole tunnel basic structure and the three-dimensional profile of the defect part.
2. The three-dimensional imaging method for the tunnel according to claim 1, wherein in step (1), the ultrasonic scanning is performed by using a planar array of ultrasonic transducers, and the ultrasonic emission directions of the ultrasonic transducers in the planar array of ultrasonic transducers are parallel and the ultrasonic waves with different vibration frequencies are used for detection.
3. The three-dimensional imaging method for the tunnel according to claim 1 or 2, wherein in the step (1), the method for acquiring the three-dimensional coordinates of the ultrasonic transducer comprises the following steps: the method comprises the steps of measuring the relative position relation of an ultrasonic transducer and the origin of an internal coordinate system of a laser scanning imager in advance, obtaining the coordinates of the ultrasonic transducer in the internal coordinate system of the laser scanning imager, and further directly converting the coordinates into the coordinates under a world coordinate system according to the conversion relation of the internal coordinate system of the laser scanning imager and the world coordinate system.
4. A three-dimensional imaging system for a tunnel, comprising: the system comprises a laser scanning imager, an ultrasonic transducer, an amplification demodulator, a depth calculator, a point cloud data processor and a point cloud data processing program module; the relative position of the laser scanning imager and the ultrasonic transducer is fixed, and the optical axis of the laser scanning imager is parallel to the sound wave emission direction of the ultrasonic transducer; the signal output end of the laser scanning imager is connected with the laser signal input end of the point cloud data processor, the signal output end of the ultrasonic transducer is connected with the amplification demodulator, and the output end of the depth calculator is connected with the ultrasonic signal input end of the point cloud data processor; wherein,
the laser scanning imager is used for scanning the surface of the tunnel to obtain point cloud of the surface of the tunnel and transmitting the point cloud to the point cloud data processor;
the ultrasonic transducer is used for scanning the back surface of the tunnel, collecting ultrasonic reflection signals and processing the ultrasonic reflection signals into time-amplitude waveforms through the amplifying demodulator;
the depth calculator is used for calculating the depth of the reflection interface according to the time-amplitude waveform and transmitting the depth to the point cloud data processor;
the point cloud data processor is used for calling the point cloud data processing program module to process the point cloud and the ultrasonic reflection signals on the surface of the tunnel according to the method as claimed in any one of claims 1 to 3, and a tunnel three-dimensional model comprising the three-dimensional outline of the whole tunnel basic structure and the three-dimensional outline of the defect part is obtained.
5. The three-dimensional imaging system for the tunnel according to claim 4, comprising an ultrasonic transducer mounting plate, wherein a plurality of ultrasonic transducers form a planar array on the ultrasonic transducer mounting plate, and the ultrasonic wave emitting directions of the ultrasonic transducers are parallel; the center of the ultrasonic transducer mounting plate is provided with a light hole, and the head of the laser scanning imager is arranged right opposite to the light hole.
6. The tunnel three-dimensional imaging system of claim 4 or 5, comprising a vehicle comprising: the device comprises a cantilever, a vehicle body and a stepping motor; the root part of the cantilever is pivoted on the vehicle body so as to rotate under the drive of the stepping motor, and the vehicle body is used for driving the cantilever to move forwards or backwards;
the top end of the cantilever is provided with a sleeve, a compression spring, a cylindrical mounting rod and a connecting pin; two waist-shaped holes which are symmetrical about the sleeve axis are arranged on the sleeve along the axis direction; the compression spring is arranged in the sleeve, one end of the mounting rod is inserted into the sleeve and abutted against the compression spring, and the mounting rod is prevented from falling off from the sleeve through the matching of the connecting pin and the kidney-shaped hole; the other end of the mounting rod is used for mounting a laser scanning imager and an ultrasonic transducer mounting plate.
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| CN110160517B (en) * | 2019-05-22 | 2021-03-16 | 上海交通大学 | Real-time navigation method and system of ultrasonic transducer |
| CN110596151A (en) * | 2019-08-16 | 2019-12-20 | 徐州远航模具有限公司 | Equipment suitable for mould is detected a flaw |
| CN112446852B (en) * | 2019-08-30 | 2023-12-15 | 成都唐源电气股份有限公司 | Tunnel imaging plane display method and defect intelligent recognition system |
| CN111272220B (en) * | 2020-02-13 | 2022-03-29 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Tunnel state detection monitoring management system |
| CN111257353B (en) * | 2020-03-10 | 2022-09-13 | 浙江大学城市学院 | Subway shield tunnel segment damage testing system and method |
| CN111624257A (en) * | 2020-06-08 | 2020-09-04 | 上海工程技术大学 | Metal surface crack detection system based on SLS |
| CN111833449B (en) * | 2020-06-30 | 2023-10-31 | 南京航空航天大学 | Three-dimensional reconstruction and intelligent defect identification method for internal environment of subway tunnel |
| CN112415011A (en) * | 2020-10-23 | 2021-02-26 | 武汉理工大学 | Robot laser ultrasonic detection device and method for defects of electric arc additive part |
| CN112362036A (en) * | 2020-11-02 | 2021-02-12 | 上海建工一建集团有限公司 | Method for counting complex engineering physical quantity based on 3D scanning and ray detection technology |
| CN115248446A (en) * | 2021-04-28 | 2022-10-28 | 中慧医学成像有限公司 | Three-dimensional ultrasonic imaging method and system based on laser radar |
| CN113359104B (en) * | 2021-05-12 | 2023-08-04 | 武汉中仪物联技术股份有限公司 | Laser radar data preprocessing method and device |
| CN113589403A (en) * | 2021-10-08 | 2021-11-02 | 深圳市联志光电科技有限公司 | Augmented reality display method and system based on image communication |
| CN114397403B (en) * | 2021-12-31 | 2024-07-30 | 北京无线电计量测试研究所 | Underground pipeline fault detection device and underground pipeline fault detection system |
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