CN109708615B - Subway tunnel clearance dynamic detection method based on laser scanning - Google Patents
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Abstract
The invention relates to a subway tunnel clearance dynamic detection method based on laser scanning, which mainly solves the technical problems of rapid dynamic detection of tunnel vehicle clearance, equipment clearance and building clearance. The dynamic detection method for the subway tunnel clearance comprises the following steps: s1, constructing a unified rectangular coordinate system and correcting the coordinate system; s2, acquiring space data and positioning data of the inner contour of the tunnel by using a subway tunnel deformation detection vehicle; s3, preprocessing data; s4, analyzing the tunnel limit in real time based on the scanning data; s5, storing the current scanning point cloud, the rail surface inclination angle, the mileage and the limit geometric model data, and outputting the tunnel limit analysis result; s6, repeating the steps S2-S5, the dynamic limit detection of the whole tunnel can be completed in real time.
Description
Technical Field
The invention relates to a tunnel clearance detection method based on laser scanning, in particular to a dynamic operation subway tunnel clearance detection method based on laser scanning, which is applied to the field of tunnel engineering detection.
Background
The subway is the most important member in urban rail transit, and plays an increasingly important role in bearing urban traffic. As the operation time of the subway increases, the tunnel structure of the subway is deformed due to the effects of material degradation, external loads and the like, and in addition, the railway is also bent and deformed under the action of the vibration load of the train for a long time. In addition, equipment installed in the tunnel is influenced by long-time train vibration and can be loosened or fall off to change the subway clearance, potential safety hazards or harm can be caused to normal operation of the train, and the subway clearance needs to be detected irregularly to judge whether the subway clearance is invaded or not.
The traditional subway limit detection method mainly adopts manual inspection to assist devices such as a tape measure, a feeler lever and a total station to detect, is low in speed, low in efficiency, high in cost and high in technical requirement on operators, and can not gradually meet the subway limit detection operation requirement along with the fact that the time of a subway skylight is less and less. In recent years, researchers at home and abroad have also conducted relevant research on rapid detection of tunnel limits. Zhou Shi Ming et al studied the tunnel clearance detection method based on moving laser scanning three-dimensional point cloud, but the tunnel clearance detection is carried out after point cloud data is divided and processed in the later period, and real-time detection cannot be carried out. Wangming et al have studied the limit measurement of subway tunnels by using a three-dimensional laser scanner, and the method needs site station establishment, still needs data processing at a later stage to perform limit analysis, cannot perform real-time detection and has lower operation efficiency.
In summary, an economical, convenient, accurate, non-contact dynamic and real-time detection method for tunnel clearance is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, designs a subway tunnel clearance dynamic detection method based on laser scanning, can quickly, accurately and real-timely judge whether the tunnel clearance is violated, and provides a new detection method for tunnel operation inspection.
The invention is realized by the following steps: a subway tunnel clearance dynamic detection method based on laser scanning is characterized in that: the method comprises the following steps:
s1, constructing a unified rectangular coordinate system and correcting the coordinate system;
the specific operation of step S1 is as follows:
(1) the construction limit coordinate system of the subway tunnel is adopted as a unified rectangular coordinate system marked as CaSThe coordinate system is a rectangular coordinate orthogonal to the track central line, and a horizontal coordinate axis led out by a midpoint O of a connecting line of the track top centers of the two tracks is represented by Y; the axis of the coordinate through which the midpoint is perpendicular to the horizontal axis is denoted by Z,
(2) the coordinate system of the two-dimensional laser scanner is expressed as Css, and the Css is as follows: the original point is the central point of the scanning lens, the horizontal left direction is the Y axis, the vertical direction is the Z axis, the moving direction is the X axis,
(3) coordinate system Css to coordinate system CaSConverting a formula:
in the formula (I), the compound is shown in the specification,
coordinate values in a self-contained coordinate system Css of the two-dimensional laser scanner are obtained;
as a unified rectangular coordinate system CaSA middle coordinate value;
、
、
the parameters are fixed for the installation position of the laser scanner, namely the horizontal distance and the height from the midpoint O of the connecting line of the centers of the two rail tops and the installation inclination angle of the scanner, and the three parameters can be determined when the subway tunnel deformation detection vehicle leaves a factory; beta is the inclination angle of the left and right orbital planes.
S2, acquiring space data and positioning data of the inner contour of the tunnel by using a subway tunnel deformation detection vehicle;
the specific operation of step S2 is as follows:
(1) the subway tunnel deformation detection vehicle acquisition equipment comprises a two-dimensional laser scanner, a coder, a two-dimensional inclinometer and a notebook computer,
(2) scanning the inner contour section of the tunnel for 360 degrees by a two-dimensional laser scanner of the subway tunnel deformation detection vehicle to obtain laser scanning point cloud data of the inner contour section of the tunnel, which is marked as C,
(3) the accumulated running distance of the subway tunnel deformation detection vehicle is collected through double encoders of the subway tunnel deformation detection vehicle, the distance can be converted into tunnel mileage data, a single data record format is index _ yyyy _ mm _ dd _ hh _ mm _ ss _ bbb _ increment and is expressed as an excitation sequence number, year, month, day, time, minute, second, millisecond distance increment, the two encoders are respectively arranged in distance measuring wheels on the left side and the right side of the subway tunnel deformation detection vehicle, and a time synchronizer is utilized to ensure that the data time output by the two encoders is consistent,
(4) the inclination angle of the current left and right rail surfaces of the running detection vehicle is acquired through a two-dimensional inclinometer of the subway tunnel deformation detection vehicle and recorded as
The single data recording format is index _ yyyy _ mm _ dd _ hh _ mm _ ss _ bbb _ angle, which representsThe method is characterized in that the method comprises the steps of acquiring serial number, year, month, day, hour, minute, second, millisecond and inclination angle values, and determining the mileage position corresponding to the current inclination angle data through time retrieval and mileage interpolation.
S3, preprocessing data;
the specific operation of step S3 is as follows:
(1) acquiring tunnel mileage numerical value K at current detection position through data acquired by encoderTPassing mileage KTObtaining a current subway clearance geometric model Mk，
Tunnel mileage numerical value K at current detection positionTThe determination method comprises the following steps: obtaining the accumulated distance K of two encoders at the current momentR、 KLThe average value K = (K) is obtainedR+KL) 0.5 mileage K by initial position0The tunnel mileage value K of the current detection position can be calculatedT=K0+ Flag × K, when the detection direction is the large mileage direction, Flag takes 1, when the detection direction is the small mileage direction, Flag takes-1,
(1.1) subway boundaries including vehicle boundaries, equipment boundaries and building boundaries, the geometric dimensions of which are determined over a period of time for a particular tunnel, wherein the vehicle boundaries are determined by vehicle type, the equipment boundaries and the building boundaries may differ in mileage position,
(1.2) the subway bound geometric model is a series of boundary line segments of a single-connected closed domain which are connected end to end, and a subway bound geometric model library can be determined and constructed in advance for a known subway tunnel;
(2) obtaining the inclination angles of the left and right track surfaces at the current detection position
And laser scanning point set P of profile section in tunnel0Denoising and coordinate conversion processing are carried out on the scanning point set;
(2.1) denoising treatment of the scanning point set: fitting a circular or rectangular or Bessel curve (determined according to the specific structure type of the tunnel) to the scanning point set, eliminating the scanning points except for a certain area on two sides of the central axis of the fitted curve, marking the scanning point set after noise elimination as P,
(2.2) scanning point set coordinate conversion processing: the scanning point set after noise elimination is subjected to coordinate conversion through a formula (1), and the converted scanning point set and a coordinate system C are subjected to coordinate conversionaSAnd the consistency is maintained.
S4, analyzing the tunnel limit in real time based on the scanning data;
the specific operation of step S4 is as follows:
(1) extracting subway clearance geometric model MkThe two-dimensional outer bounding box B, the extraction method of the two-dimensional outer bounding box B:
(1.1) traversing the geometric model MkObtaining X, Y axis maximum and minimum values, respectively Xmin、Xmax、YminAnd YmaxWherein the Z-axis coordinate is not used, regardless,
(1.2) the coordinates of two pairs of corner points of the two-dimensional outer bounding box B are respectively Pmin（Xmin、Ymin），Pmax（Xmax、Ymax），
(2) Traversing the denoised scanning point set P one by one, and calculating the scanning points PiGeometric topological relation with two-dimensional outer bounding box B if point PiOutside the two-dimensional outer bounding box B, no processing is carried out, otherwise, the next step is carried out,
(3) calculating a scanning point PiWith the geometric model MkIf the point is located in the geometric model MkIf so, indicating that an object invades the limit, and starting an alarm; if the scanning point is located on the geometric model MkIf the scanning point is not a rail surface scanning point, the object is also invaded into the limit, and an alarm is started.
And S5, storing the current scanning point cloud, the rail surface inclination angle, the mileage and the limit geometric model data, and outputting the tunnel limit analysis result.
S6, repeating the steps S2-S5, the dynamic limit detection of the whole tunnel can be completed in real time.
The invention has the beneficial effects that:
(1) the dynamic detection method of the subway tunnel limit based on two-dimensional laser scanning has the advantages that the technical scheme is complete and easy to integrate and program;
(2) according to the invention, the tunnel clearance real-time analysis is carried out by utilizing the data acquired by the inclinometer, the encoder and the laser scanner at the same time, so that problems can be directly found on the detection site, and the timeliness of the detection operation is improved;
(3) the invention scans the inner contour of the tunnel by 360 degrees based on the two-dimensional laser scanner, and has full coverage of the limit detection range and high precision.
Drawings
FIG. 1 is a schematic flow chart of the implementation of the method of the present invention.
FIG. 2 is a schematic diagram of the determination of topological relationship between scan points and a bounding geometric model.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
The invention relates to a subway tunnel clearance dynamic detection method based on laser scanning, which comprises the following steps of S1-S6, and the schematic flow chart of the method is shown in FIG. 1.
S1, constructing a unified rectangular coordinate system and correcting the coordinate system;
the specific operation of step S1 is as follows:
(1) the construction limit coordinate system of the subway tunnel is adopted as a unified rectangular coordinate system marked as CaSThe coordinate system is a rectangular coordinate orthogonal to the track central line, and a horizontal coordinate axis led out by a midpoint O of a connecting line of the track top centers of the two tracks is represented by Y; the axis of the coordinate through which the midpoint is perpendicular to the horizontal axis is denoted by Z,
(2) the coordinate system of the two-dimensional laser scanner is expressed as Css, and the Css is as follows: the original point is the central point of the scanning lens, the horizontal left direction is the Y axis, the vertical direction is the Z axis, the moving direction is the X axis,
(3) coordinate system Css to coordinate system CaSThe conversion method comprises the following steps:
in the formula (I), the compound is shown in the specification,
coordinate values in a self-contained coordinate system Css of the two-dimensional laser scanner are obtained;
as a unified rectangular coordinate system CaSA middle coordinate value;
、
、
the parameters are fixed for the installation position of the laser scanner, namely the horizontal distance and the height from the midpoint O of the connecting line of the centers of the two rail tops and the installation inclination angle of the scanner, and the three parameters can be determined when the subway tunnel deformation detection vehicle leaves a factory; beta is the inclination angle of the left and right orbital planes.
S2, acquiring space data and positioning data of the inner contour of the tunnel by using a subway tunnel deformation detection vehicle;
the specific operation of step S2 is as follows:
(1) the subway tunnel deformation detection vehicle can adopt a TDV-S2000 tunnel rapid detection vehicle of Shanghai same geotechnical engineering science and technology limited company, and the acquisition equipment of the detection vehicle comprises a two-dimensional laser scanner, an encoder, a two-dimensional inclinometer and a notebook computer,
(2) the two-dimensional laser scanner can select German Z + F PROFILER 9012A, and the acquisition parameters are as follows: the frequency is 200Hz, the number of single-turn points is 10240, the inner contour section of the tunnel is scanned for 360 degrees, the laser scanning point cloud data of the inner contour section of the tunnel is obtained and recorded as C,
(3) the method comprises the steps of collecting the running accumulated distance of a subway tunnel deformation detection vehicle by two incremental photoelectric rotary encoders with the accuracy of 3600 minutes and one thousandth of accumulated error, converting the distance into tunnel mileage data, recording a single data in an index _ yyyy _ mm _ dd _ hh _ mm _ ss _ bbb _ increment in a format of an excitation serial number, year _ month _ day _ hour _ minute _ second _ millisecond _ distance increment, respectively installing the two encoders in distance measuring wheels on the left side and the right side of the subway tunnel deformation detection vehicle, and utilizing a time synchronizer to ensure that the data time output by the two encoders is consistent,
(4) through the subway tunnel deformation detection vehicle, the inclination angles of the current left and right track surfaces of the running detection vehicle are dynamically acquired and recorded as
The single data recording format is index _ yyyy _ mm _ dd _ hh _ mm _ ss _ bbb _ angle, which is expressed as an acquisition sequence number _ year _ month _ day _ hour _ minute _ second _ millisecond _ inclination angle value, and the mileage position corresponding to the current inclination angle data can be determined through time retrieval and mileage interpolation.
S3, preprocessing data;
the specific operation of step S3 is as follows:
(1) acquiring tunnel mileage numerical value K at current detection position through data acquired by encoderTPassing mileage KTObtaining a current subway clearance geometric model Mk，
Tunnel mileage numerical value K at current detection positionTThe determination method comprises the following steps: obtaining the accumulated distance K of two encoders at the current momentR、 KLThe average value K = (K) is obtainedR+KL) 0.5 mileage K by initial position0The tunnel mileage value K of the current detection position can be calculatedT=K0+ Flag × K, when the detection direction is the large mileage direction, Flag takes 1, when the detection direction is the small mileage direction, Flag takes-1,
(1.1) subway boundaries including vehicle boundaries, equipment boundaries and building boundaries, the geometric dimensions of which are determined over a period of time for a particular tunnel, wherein the vehicle boundaries are determined by vehicle type, the equipment boundaries and the building boundaries may differ in mileage position,
(1.2) the subway bound geometric model is a series of boundary line segments of a single-connected closed domain which are connected end to end, and a subway bound geometric model library can be determined and constructed in advance for a known subway tunnel, wherein the vehicle bound can be executed according to the current national standard of the people's republic of China, namely the subway design Specification (GB 50157);
(2) obtaining the inclination angles of the left and right track surfaces at the current detection position
And laser scanning point set P of profile section in tunnel0Denoising and coordinate conversion processing are carried out on the scanning point set;
(2.1) denoising treatment of the scanning point set: fitting a circular or rectangular or Bessel curve (determined according to the specific structure type of the tunnel) to the scanning point set, eliminating the scanning points except for a certain area on two sides of the central axis of the fitted curve, marking the scanning point set after noise elimination as P,
(2.2) scanning point set coordinate conversion processing: the coordinate conversion is carried out on the scanning point set P after the noise elimination through a formula (1), and the converted scanning point set P and a coordinate system C are obtainedaSAnd the consistency is maintained.
S4, analyzing the tunnel limit in real time based on the scanning data;
the specific operation of step S4 is as follows:
(1) extracting subway clearance geometric model MkThe two-dimensional outer bounding box B, the extraction method of the two-dimensional outer bounding box B:
(1.1) traversing the geometric model MkObtaining X, Y axis maximum and minimum values, respectively Xmin、Xmax、YminAnd YmaxWherein the Z-axis coordinate is not used, regardless,
(1.2) the coordinates of two pairs of corner points of the two-dimensional outer bounding box B are respectively Pmin（Xmin、Ymin），Pmax（Xmax、Ymax），
(2) As shown in fig. 2, the denoised scanning point sets P are traversed one by one to calculate the scanning points PiTable of two-dimensional outer bounding box BWhich topological relation, if the point PiOutside the two-dimensional outer bounding box B, no processing is carried out, otherwise, the next step is carried out,
(3) as shown in fig. 2, a scanning point P is calculatediWith the geometric model MkIf the point is located in the geometric model MkIf so, indicating that an object invades the limit, and starting an alarm; if the scanning point is located on the geometric model MkIf the scanning point is not a rail surface scanning point, the object is also invaded into the limit, and an alarm is started.
And S5, storing the current scanning point cloud, the rail surface inclination angle, the mileage and the limit geometric model data, and outputting the tunnel limit analysis result.
S6, repeating the steps S2-S5, the dynamic limit detection of the whole tunnel can be completed in real time.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concept of the present invention should be within the protection scope of the present invention as claimed in the claims.
Claims (3)
1. A subway tunnel clearance dynamic detection method based on laser scanning is characterized in that: the method comprises the following steps:
s1, constructing a unified rectangular coordinate system and correcting the coordinate system:
(1) the construction limit coordinate system of the subway tunnel is adopted as a unified rectangular coordinate system marked as CaSThe coordinate system is a rectangular coordinate orthogonal to the track central line, and a horizontal coordinate axis led out by a midpoint O of a connecting line of the track top centers of the two tracks is represented by Y; the axis of the coordinate through which the midpoint is perpendicular to the horizontal axis is denoted by Z,
(2) the coordinate system of the two-dimensional laser scanner is expressed as Css, and the Css is as follows: the original point is the central point of the scanning lens, the horizontal left direction is the Y axis, the vertical direction is the Z axis, the moving direction is the X axis,
(3) coordinate system Css to coordinate system CaSConverting a formula:
in the formula (I), the compound is shown in the specification,
coordinate values in a self-contained coordinate system Css of the two-dimensional laser scanner are obtained;
as a unified rectangular coordinate system CaSA middle coordinate value;
、
、
fixing parameters for the installation position of the laser scanner, wherein the parameters are respectively the horizontal distance and the height from a midpoint O of a connecting line of the centers of the two track tops and the installation inclination angle of the scanner; beta is the inclination angle of the left and right track surfaces;
s2, acquiring contour space data and positioning data in the tunnel by using the subway tunnel deformation detection vehicle:
(1) the subway tunnel deformation detection vehicle acquisition equipment comprises a two-dimensional laser scanner, a coder, a two-dimensional inclinometer and a notebook computer;
(2) scanning the inner contour section of the tunnel by 360 degrees through a two-dimensional laser scanner of the subway tunnel deformation detection vehicle to obtain laser scanning point cloud data of the inner contour section of the tunnel, and recording the data as C;
(3) the method comprises the steps that the accumulated running distance of a subway tunnel deformation detection vehicle is collected through double encoders of the subway tunnel deformation detection vehicle, the distance can be converted into tunnel mileage data, a single data recording format is index _ yyyy _ mm _ dd _ hh _ mm _ ss _ bbb _ increment and is expressed as an excitation sequence number _ year _ month _ day _ time _ minute _ second _ millisecond _ distance increment, the two encoders are respectively installed in distance measuring wheels on the left side and the right side of the subway tunnel deformation detection vehicle, and a time synchronizer is utilized to ensure that data time output by the two encoders is consistent;
(4) the inclination angle of the current left and right rail surfaces of the running detection vehicle is acquired through a two-dimensional inclinometer of the subway tunnel deformation detection vehicle and recorded as
The single data recording format is index _ yyyy _ mm _ dd _ hh _ mm _ ss _ bbb _ angle, which is expressed as an acquisition sequence number _ year _ month _ day _ hour _ minute _ second _ millisecond _ inclination angle value, and the mileage position corresponding to the current inclination angle data can be determined through time retrieval and mileage interpolation;
s3, preprocessing data:
(1) acquiring tunnel mileage numerical value K at current detection position through data acquired by encoderTPassing mileage KTObtaining a current subway clearance geometric model Mk，
Tunnel mileage numerical value K at current detection positionTThe determination method comprises the following steps: obtaining the accumulated distance K of two encoders at the current momentR、KLThe average value K = (K) is obtainedR+KL) 0.5 mileage K by initial position0The tunnel mileage value K of the current detection position can be calculatedT=K0+ Flag × K, when the detection direction is the large mileage direction, Flag takes 1, and when the detection direction is the small mileage direction, Flag takes-1;
(2) obtaining the inclination angles of the left and right track surfaces at the current detection position
And laser scanning point set P of profile section in tunnel0Denoising and coordinate conversion processing are carried out on the scanning point set;
s4, analyzing the tunnel limit in real time based on the scanning data:
(1) extracting subway clearance geometric model MkThe two-dimensional outer bounding box B, the extraction method of the two-dimensional outer bounding box B:
(1.1) traversing the geometric model MkObtaining X, Y axis maximum and minimum values, respectively Xmin、Xmax、YminAnd YmaxWherein the Z-axis coordinate is not used and can be ignored;
(1.2) the coordinates of two pairs of corner points of the two-dimensional outer bounding box B are respectively Pmin（Xmin、Ymin），Pmax（Xmax、Ymax）；
(2) Traversing the denoised scanning point set P one by one, and calculating the scanning points PiGeometric topological relation with two-dimensional outer bounding box B if point PiIf the two-dimensional outer bounding box B is positioned outside the two-dimensional outer bounding box B, the processing is not carried out, otherwise, the next step is carried out;
(3) calculating a scanning point PiWith the geometric model MkIf the point is located in the geometric model MkIf so, indicating that an object invades the limit, and starting an alarm; if the scanning point is located on the geometric model MkIf the scanning point is not a rail surface scanning point, the object is also invaded into the boundary, and an alarm is started;
s5, storing the current scanning point cloud, the rail surface inclination angle, the mileage and the limit geometric model data, and outputting the tunnel limit analysis result;
s6, repeating the steps S2-S5, the dynamic limit detection of the whole tunnel can be completed in real time.
2. The method for dynamically detecting the subway tunnel boundary based on laser scanning as claimed in claim 1, wherein said step (1) of S3 is that the subway boundary acquisition specifically operates as follows:
(1.1) subway boundaries including vehicle boundaries, equipment boundaries and building boundaries, the geometric dimensions of which are determined over a period of time for a particular tunnel, wherein the vehicle boundaries are determined by vehicle type, the equipment boundaries and the building boundaries may differ in mileage position,
and (1.2) the subway bound geometric model is a series of boundary line segments of a single-connected closed domain which are connected end to end, and a subway bound geometric model library can be determined and constructed in advance for the known subway tunnel.
3. The method for dynamically detecting the boundary of a subway tunnel based on laser scanning as claimed in claim 1, wherein said step (2) of S3 is that the processing for denoising and coordinate transformation of the scanning point set is specifically as follows:
(2.1) denoising treatment of the scanning point set: performing circular or rectangular or Bessel curve fitting on the scanning point set, eliminating scanning points except for a certain area on two sides of the central axis by taking the fitting curve as the central axis, marking the scanning point set after noise elimination as P,
(2.2) scanning point set coordinate conversion processing: the denoised scanning point set is converted into a coordinate system C through a coordinate system CssaSAnd the conversion formula performs coordinate conversion.
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| CN110161043B (en) | 2019-05-10 | 2021-03-26 | 同济大学 | Subway tunnel structure comprehensive detection vehicle |
| CN110132157A (en) * | 2019-05-30 | 2019-08-16 | 华中科技大学 | A kind of metro safety distal end automatic monitoring and analysis system and method |
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| CN110345968A (en) * | 2019-07-18 | 2019-10-18 | 南京市测绘勘察研究院股份有限公司 | A kind of pair of moving three dimension laser scanning tunnel achievement mileage is with the method paid |
| 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 |
| CN110542388A (en) * | 2019-09-26 | 2019-12-06 | 贵州大学 | Tunnel face deformation alarm method based on mobile three-dimensional laser scanning |
| CN111322985B (en) * | 2020-03-25 | 2021-04-09 | 南京航空航天大学 | Tunnel clearance analysis method, device and system based on laser point cloud |
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| CN112197743B (en) * | 2020-10-10 | 2022-05-17 | 北京工商大学 | Subway tunnel contour-envelope shortest distance analysis method |
| CN112498412B (en) * | 2020-12-18 | 2023-06-27 | 中国铁路兰州局集团有限公司 | Combined round table body for railway limit overrun judgment and application method thereof |
| CN113269679B (en) * | 2021-02-03 | 2023-08-04 | 南京市测绘勘察研究院股份有限公司 | Method for extracting central line of circular tunnel structure |
| CN113223168B (en) * | 2021-03-29 | 2023-06-30 | 浙江大学台州研究院 | Method for rapidly modeling three-dimensional shape of tunnel |
| CN113673011A (en) * | 2021-06-04 | 2021-11-19 | 浙江华东测绘与工程安全技术有限公司 | Method for intelligently identifying tunnel invasion boundary in operation period based on point cloud data |
| CN114279335A (en) * | 2021-12-09 | 2022-04-05 | 上海市东方海事工程技术有限公司 | Trackside limit measuring method and device |
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