CN110006396A - A kind of tunnel cross-section and limit scanning detection apparatus and method - Google Patents
A kind of tunnel cross-section and limit scanning detection apparatus and method Download PDFInfo
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- CN110006396A CN110006396A CN201910214565.2A CN201910214565A CN110006396A CN 110006396 A CN110006396 A CN 110006396A CN 201910214565 A CN201910214565 A CN 201910214565A CN 110006396 A CN110006396 A CN 110006396A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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Abstract
This application involves a kind of tunnel cross-section and limit scanning detection apparatus, comprising: three-dimensional laser scanner, for obtaining the profiled outline data of route in real time；Inertial navigation system is fixedly connected with the three-dimensional laser scanner, for pitching, roll and the course angle of three-dimensional laser scanner under real-time measurement motion state in a space rectangular coordinate system；GPS antenna；Encoder；Data acquisition module carries out data acquisition to three-dimensional laser scanner, inertial navigation system, GPS antenna and encoder in real time and stores；Data processor is handled for obtaining the data of the data collecting module collected, and to it, generates three-dimensional point cloud model, and whether the deformation of analysis tunnel contour and limit meet design requirement.The application further relates to a kind of tunnel cross-section and limit scanning detection method.The application realizes the high-precision detection of tunnel cross-section and limit under high-speed motion state, effectively meets the demand that operation high-speed railway carries out screening detection to tunnel.
Description
Technical field
The present invention relates to a kind of Tunnel testing equipment, and in particular to a kind of tunnel cross-section and limit scanning detection apparatus and side
Method.
Background technique
Tunnel construction object is the important component of rail track, and cost is higher, construction is relative complex, due to by geology knot
Structure and the movable influence of above ground structure, often recurring structure variation, route shift etc. and to lead to tunnel tunnel construction object
Limit and profile situation against regulation, jeopardize traffic safety.Current China express railway just rapidly develops, and operating mileage is not
Disconnected to increase, adaptable is then closure of track operation and skylight mastery shield work pattern therewith.It is busy due to operation, leave work for
The Window time of business is shorter, so that traditionally using the tunnel contour of the means such as " lifting rope ", " feeler lever ", " tape measure " and limit detection
Method, due to low efficiency, time-consuming and laborious, accuracy is not high, covering surface is limited the disadvantages of, do not adapt to existing situation, no
Comprehensive analysis management can be carried out to tunnel clearance, be unfavorable for finding the abnormal conditions of tunnel clearance and profile in time.
One of tunnel cross-section and limit detection technique: CCD camera is mounted in railcar, when railcar drives through tunnel
When road, CCD camera, which is taken pictures, obtains data, obtains achievement by Data Post.This technology needs to install more CCD cameras,
Vulnerable to extraneous illumination effect, control planning and data processing complex when acquiring data, tunnel threedimensional model can not be established.
The two of tunnel cross-section and limit detection technique: the scanning element cloud number in tunnel is obtained using Three Dimensional Ground laser scanner
According to, and the section based on three-dimensional point cloud extraction tunnel, and then analyze tunnel clearance.SURVEYING CONTROL NETWORK is initially set up when operation, and
Setting scans dedicated target on control point, then three-dimensional laser scanner is erected to the scanning work that our station is carried out on tripod
Industry, a station scanning survey remove the scanning operation that station carries out the next stop after the completion.At least 4 targets between station of standing are swept by be overlapped
It retouches, convenient for the cloud data registration between two stations.This method can establish the tunnel three-dimensional point cloud model under unified coordinate system, survey
Accuracy of measurement is high, but manually carries out removing station rack station completely, and operating efficiency is low, and needs to establish control net to carry out point cloud registering,
Overall flow is complex, is generally used for the detection operation of Construction of Urban Rail Traffic phase shield tunnel.
The three of tunnel cross-section and limit detection technique: the efficiency in order to improve tunnel cross-section detection and marginal analysis, by three
Dimension laser scanner is mounted on hand propelled small rail car, is push small rail car by people and is advanced in orbit, and in the process three
It ties up laser scanner and tunnel surface data is obtained by spiral scan, mentioned in Data Post with rail to analyze benchmark
It takes tunnel cross-section and carries out marginal analysis.This method detection efficiency is suitable with the walking speed of people, does not have to establish control net in advance,
It is chiefly used in the detection operation of urban track traffic operation tunnel.Due to the limitation of detection efficiency, this method is not suitable on a large scale
Tunnel generaI investigation detection operation.
The four of tunnel cross-section and limit detection technique: Chinese patent CN201110228278.0 discloses a kind of based on vehicle-mounted
The railway clearance detection method of 3 D laser scanning.This method uses 360 degree rotation laser scanning tunnel profiled outline, with two strands
Adaptable coordinate system is established to each profiled outline on the basis of rail and carries out marginal analysis, it can be with higher efficiency pair
Railway clearance carries out generaI investigation detection.However there is no attitude rectification module and GPS measurement module in the technical solution, therefore locomotive exists
The factor that vibration on track when driving etc. influences measurement accuracy cannot effectively eliminate, and can not establish and unite to all fronts scan data
Three-dimensional point cloud model under one coordinate system is unfavorable for the further excavation application of scan data.
To sum up, for the screening detection of operation Railway Tunnel section and limit, existing detection technique or not
It is applicable in or efficiency is relatively low or data application is excessively single, cannot be well adapted for currently runing high-speed railway and break to tunnel
Face and limit generaI investigation detection and the demand for establishing three-dimensional point cloud model, therefore, it is necessary to develop new detection technique to meet this
Kind demand.
Summary of the invention
For the above-mentioned problems in the prior art, the present invention provides a kind of tunnel cross-section and limit scanning detection apparatus
And method, the Registration of Measuring Data between each data is realized by split-second precision benchmark, can uniformly be sat after data processing
All fronts three-dimensional laser point cloud data under mark system, it is convenient to establish the tunnel even point cloud model of all fronts.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A kind of tunnel cross-section and limit scanning detection apparatus, comprising:
Three-dimensional laser scanner is fixedly installed in inspection car headstock, for obtaining the profiled outline data of route in real time；
Inertial navigation system is fixedly connected with the three-dimensional laser scanner, for three-dimensional under real-time measurement motion state
Pitching, roll and the course angle of laser scanner in a space rectangular coordinate system；
GPS antenna is fixedly installed in inspection car roof, for obtaining coordinate and GPS time under WGS84 coordinate system；
Encoder is installed in a rotation shaft of wheel of inspection car, for measuring the turnning circle of wheel；
Data acquisition module, be located at inspection car in, in real time to three-dimensional laser scanner, inertial navigation system, GPS antenna and
Encoder carries out data acquisition and stores；
Data processor is handled for obtaining the data of the data collecting module collected, and to it, is generated three-dimensional
Whether point cloud model, the deformation of analysis tunnel contour and limit meet design requirement.
Further, the three-dimensional laser scanner is fixedly installed on mounting platform, and the mounting platform passes through welding
It is fixed on inspection car headstock.
Further, the inertial navigation system is fixedly connected by connecting flange plate with three-dimensional laser scanner.
Further, a timer is equipped in the data acquisition module, the timer adopts data acquisition module
Each data of collection are assigned to the time.
Further, the timer uses GPS time real time calibration.
A kind of tunnel cross-section and limit scanning detection method, include the following steps:
Step 1: according to above-mentioned tunnel cross-section and limit scanning detection apparatus, by three-dimensional laser scanner, inertial navigation system
System, GPS antenna, encoder and data acquisition module are installed in place on inspection car；
Step 2: it is powered to three-dimensional laser scanner, inertial navigation system, GPS antenna, encoder and data acquisition module,
Log-on data processor detects three-dimensional laser scanner, inertial navigation system, GPS antenna, encoder and data acquisition module
Whether signal is normal；
Step 3: static alignment being carried out to inertial navigation system, and the dot frequency and line frequency of three-dimensional laser scanner are set
Rate；
Step 4: after the completion of inertial navigation system static alignment, starting data acquisition, inspection car starts running；
Step 5: after inspection car drives to terminal, being handled by data of the data processor to acquisition, generate three
Tie up point cloud model, and analyze tunnel contour deformation and limit whether meet design requirement.
Compared with prior art, the invention has the benefit that the present invention merges three-dimensional laser scanner, inertial navigation system
The multiple sensors such as system, GPS antenna, encoder realize the Registration of Measuring Data between multisensor by split-second precision benchmark,
The all fronts three-dimensional laser point cloud data under unified coordinate system can be obtained after data processing, it is convenient to establish tunnel even completely
Point cloud model.Tunnel cross-section data are further extracted on the basis of point cloud model, and are superimposed Tunnel Design section and design
Limit, the deformation of analysis tunnel contour and limit whether there is overrun condition, and detection accuracy is high.
Detailed description of the invention
Fig. 1 is the structural block diagram of tunnel cross-section involved in a specific embodiment of the invention and limit scanning detection apparatus；
Fig. 2 is the mounting structure of tunnel cross-section involved in a specific embodiment of the invention and limit scanning detection apparatus
Front view；
Fig. 3 is the mounting structure of tunnel cross-section involved in a specific embodiment of the invention and limit scanning detection apparatus
Side view；
Fig. 4 shows for the testing result of tunnel cross-section involved in a specific embodiment of the invention and limit scanning detection apparatus
It is intended to.
In figure:
1- rail；2- inspection car；3- mounting platform；4- three-dimensional laser scanner；5- inertial navigation system；6-GPS antenna；
7- encoder.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
Referring to Fig.1-3, the present embodiment provides a kind of tunnel cross-section and limit scanning detection apparatus, comprising:
Three-dimensional laser scanner 4 is fixedly installed in 2 headstock of inspection car, for obtaining the profiled outline data of route in real time；
Inertial navigation system 5 is fixedly connected with the three-dimensional laser scanner 4, under real-time measurement motion state three
Tie up pitching, roll and the course angle of laser scanner 4 in a space rectangular coordinate system；
GPS antenna 6 is fixedly installed in inspection car roof, for obtaining coordinate and GPS time under WGS84 coordinate system；
Encoder 7 is installed in a rotation shaft of wheel of inspection car 2, for measuring the turnning circle of wheel；
Data acquisition module is located in inspection car 2, in real time to three-dimensional laser scanner 4, inertial navigation system 5, GPS days
Line 6 and encoder 7 carry out data acquisition and store；
Data processor is handled for obtaining the data of the data collecting module collected, and to it, is generated three-dimensional
Whether point cloud model, the deformation of analysis tunnel contour and limit meet design requirement.
In the present embodiment, the circle number that encoder 7 measures vehicle wheel rotation can pass through data processor in conjunction with wheel circumference
The distance for calculating wheel rolling can then calculate inspection car currently in railway when given starting fare register and mileage increase and decrease direction
Locating mileage on route.
In the technical scheme, data processor by GPS data in conjunction with inertial navigation data, using precise ephemeris or wide
It broadcasts ephemeris and resolves track in a manner of tight integration or pine combination, obtain three-dimensional laser scanner 4 in World Geodetic System
Space coordinate under WGS84 (World geodetic system, abbreviation WGS) coordinate system, then swashs track achievement with three-dimensional
Optical scanning data combine, and by under the laser scanning data reduction to WGS84 coordinate system of all fronts, obtain the laser under unified coordinate system
Point cloud data generates three-dimensional point cloud model；And on the basis of three-dimensional point cloud model, tunnel cross-section is extracted, on the basis of the time
The route mileage of encoder acquisition is assigned and extracts section；Then 1 center of rail is identified on profile data, and in rail 1
Tunnel cross-section analysis coordinate system is established on the basis of the heart, and design section and design limit are added on section, tunnel contour is analyzed
Whether deformation and limit meet design requirement.
Referring to Fig. 4, the detection of tunnel cross-section and limit scanning detection apparatus involved in Fig. 4 specific embodiment of the invention
Result schematic diagram；It is the tunnel contour test point extracted that outside, which constitutes the stain of tunnel contour, in figure, and the solid line of inside is design
Design limit is added on contour detecting point on the basis of rail 1, then can analyze in design limit by limit, the present embodiment
With the presence or absence of contour detecting point, show that invading limit happens if existing, it at this time can be to invading the red concurrent responding of display of point of accumulation mark
Report, to complete marginal analysis.
In addition, preferably, in a specific embodiment of the invention, it can be by data processor to three-dimensional laser scanner
4 line frequency and dot frequency is configured；Preferably, the line frequency of the three-dimensional laser scanner 4 is 50-200Hz, dot frequency
It is 10000 points of 60-120 per second.
In addition, preferably, in a specific embodiment of the invention, the three-dimensional laser scanner 4 is fixedly installed in peace
On assembling platform 3, the mounting platform 3 is by being fixedly welded on 2 headstock of inspection car.Preferably, it is arranged below the mounting platform 3
There is reinforcement steel plate.
The probe of three-dimensional laser scanner 4 described in the present embodiment should expose mounting platform 3, enable scanning laser edge
Route is vertical to be scanned；And installation site of the mounting platform 3 on inspection car 2 should have certain height, so that three-dimensional swashs
The scanning sight of photoscanner 4 can avoid hitch, and rail 1 is arrived in scanning.
In addition, preferably, in a specific embodiment of the invention, the inertial navigation system 5 passes through connecting flange plate
It is fixedly connected with three-dimensional laser scanner 5.
In addition, preferably, in a specific embodiment of the invention, the data acquisition module is swept with three-dimensional laser respectively
Instrument 4, inertial navigation system 5, encoder 7 is retouched to connect with GPS antenna 6 by data line；The data processor passes through data line
It is connected with data acquisition module.
In addition, a timer is equipped in the data acquisition module preferably, in a specific embodiment of the invention,
The timer each data collected to data acquisition module are assigned to the time.
The present embodiment is by being assigned to the time to data acquisition module each data collected, at later data
Registration of Measuring Data when reason between multisensor.Preferably, each data also can be endowed a mileage value, then in tunnel
It can be inquired according to route mileage when profile extraction, be used convenient for later data.
In addition, preferably, in a specific embodiment of the invention, the timer uses GPS time real time calibration.
Technical solution of the present invention combines inertial navigation data with GPS data, is aided with GPS antenna 6, inertial navigation
Mutual alignment relation parameter between 4 three of system 5 and three-dimensional laser scanner then can be calculated accurately in WGS84 coordinate
It is track and posture (pitching, roll and course i.e. in rectangular coordinate system in space of the scanning center of lower three-dimensional laser scanner 4
Angle)；When GPS signal lacks in tunnel, then calculate to obtain the track of scanning center and posture using pure inertial navigation.It then will scanning
Center track and posture are registrated with scanning point cloud data, and finally obtain the three-dimensional point cloud coordinate under WGS84 coordinate system.
The high-precision detection for realizing the tunnel cross-section under high-speed motion state and limit effectively meets operation high-speed railway to tunnel
Road carries out the demand of screening detection, simultaneity factor to tunnel outside data can also be acquired, and can establish completely unified
Three-dimensional point cloud model under coordinate system has further expanded data application range.
The present embodiment further relates to a kind of tunnel cross-section and limit scanning detection method, specifically comprises the following steps:
Step 1: according to tunnel cross-section described in any of the above embodiment and limit scanning detection apparatus, three-dimensional laser being swept
Instrument 4, inertial navigation system 5, GPS antenna 6, encoder 7 and data acquisition module is retouched to install on inspection car 2 in place；
Step 2: giving three-dimensional laser scanner 4, inertial navigation system 5, GPS antenna 6, encoder 7 and data acquisition module
It is powered, log-on data processor, detection three-dimensional laser scanner 4, inertial navigation system 5, GPS antenna 6, encoder 7 and data
Whether the signal of acquisition module is normal；
Step 3: static alignment being carried out to inertial navigation system 5, and the dot frequency and line frequency of three-dimensional laser scanner 4 are set
Rate；
Step 4: after the completion of inertial navigation system static alignment, starting data acquisition, inspection car 2 starts running；
Step 5: after inspection car 2 drives to terminal, being handled by data of the data processor to acquisition, generate three
Tie up point cloud model, and analyze tunnel contour deformation and limit whether meet design requirement.
Preferably, after the completion of Data Management Analysis, data processor can export in the form of statements processing analysis results,
Location that is larger or transfiniting there are limit is deformed to tunnel contour simultaneously to sound an alarm, and is that the daily operation of railway department is supported
Protect maintenance service.
For the present invention in the case where 2 highest of inspection car runs speed per hour 160km, detection accuracy is 0~-40mm, has reached rule
Model requirement realizes the high-precision detection of the tunnel cross-section under high-speed motion state and limit, effectively meets operation high speed
Railway carries out the demand of screening detection to tunnel.
Above embodiments are only exemplary embodiment of the present invention, are not used in the limitation present invention, protection scope of the present invention
It is defined by the claims.Those skilled in the art can within the spirit and scope of the present invention make respectively the present invention
Kind modification or equivalent replacement, this modification or equivalent replacement also should be regarded as being within the scope of the present invention.
Claims (6)
1. a kind of tunnel cross-section and limit scanning detection apparatus characterized by comprising
Three-dimensional laser scanner is fixedly installed in inspection car headstock, for obtaining the profiled outline data of route in real time；
Inertial navigation system is fixedly connected with the three-dimensional laser scanner, for three-dimensional laser under real-time measurement motion state
Pitching, roll and the course angle of scanner in a space rectangular coordinate system；
GPS antenna is fixedly installed in inspection car roof, for obtaining coordinate and GPS time under WGS84 coordinate system；
Encoder is installed in a rotation shaft of wheel of inspection car, for measuring the turnning circle of wheel；
Data acquisition module is located in inspection car, in real time to three-dimensional laser scanner, inertial navigation system, GPS antenna and coding
Device carries out data acquisition and stores；
Data processor is handled for obtaining the data of the data collecting module collected, and to it, generates three-dimensional point cloud
Whether model, the deformation of analysis tunnel contour and limit meet design requirement.
2. a kind of tunnel cross-section according to claim 1 and limit scanning detection apparatus, which is characterized in that described three-dimensional sharp
Photoscanner is fixedly installed on mounting platform, and the mounting platform is by being fixedly welded on inspection car headstock.
3. a kind of tunnel cross-section according to claim 1 and limit scanning detection apparatus, which is characterized in that the inertia is led
Boat system is fixedly connected by connecting flange plate with three-dimensional laser scanner.
4. a kind of tunnel cross-section according to claim 1 and limit scanning detection apparatus, which is characterized in that the data are adopted
Collect and be equipped with a timer in module, the timer each data collected to data acquisition module are assigned to the time.
5. a kind of tunnel cross-section according to claim 4 and limit scanning detection apparatus, which is characterized in that the timer
Using GPS time real time calibration.
6. a kind of tunnel cross-section and limit scanning detection method, which comprises the steps of:
Step 1: tunnel cross-section according to claim 1 to 3 and limit scanning detection apparatus, by 3 D laser scanning
Instrument, inertial navigation system, GPS antenna, encoder and data acquisition module are installed in place on inspection car；
Step 2: it is powered to three-dimensional laser scanner, inertial navigation system, GPS antenna, encoder and data acquisition module, starting
Data processor detects the signal of three-dimensional laser scanner, inertial navigation system, GPS antenna, encoder and data acquisition module
It is whether normal；
Step 3: static alignment being carried out to inertial navigation system, and the dot frequency and line frequency of three-dimensional laser scanner are set；
Step 4: after the completion of inertial navigation system static alignment, starting data acquisition, inspection car starts running；
Step 5: after inspection car drives to terminal, being handled by data of the data processor to acquisition, generate three-dimensional point
Cloud model, and analyze tunnel contour deformation and limit whether meet design requirement.
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| CN110700839A (en) * | 2019-10-21 | 2020-01-17 | 北京易联创安科技发展有限公司 | Heading machine pose measuring device based on laser scanner and measuring method thereof |
| CN110763194A (en) * | 2019-11-01 | 2020-02-07 | 中国矿业大学 | Method for monitoring surface subsidence of mining area by ground three-dimensional laser scanning and without target |
| CN112498412A (en) * | 2020-12-18 | 2021-03-16 | 中国铁路兰州局集团有限公司 | Combined round platform body for railway clearance overrun judgment and application method thereof |
| CN113188589A (en) * | 2021-04-01 | 2021-07-30 | 山东大学 | Full-time intelligent monitoring equipment and method for subway tunnel |
| CN113777111A (en) * | 2021-08-23 | 2021-12-10 | 南方电网调峰调频发电有限公司 | Multi-dimensional detection device for structural defects of large-diameter diversion tunnel |
| CN113776454A (en) * | 2021-08-20 | 2021-12-10 | 国家电投集团远达环保装备制造有限公司 | Boundary detection system and boundary detection method |
| CN114018153A (en) * | 2021-11-09 | 2022-02-08 | 中铁工程设计咨询集团有限公司 | Railway work detection and analysis method, device, equipment and readable storage medium |
| CN114252052A (en) * | 2021-12-13 | 2022-03-29 | 中煤科工集团沈阳研究院有限公司 | Mining movable roadway section detection system and detection method |
| CN114440791A (en) * | 2022-04-06 | 2022-05-06 | 北京中铁建电气化设计研究院有限公司 | Subway clearance detection system and method |
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| CN110700839A (en) * | 2019-10-21 | 2020-01-17 | 北京易联创安科技发展有限公司 | Heading machine pose measuring device based on laser scanner and measuring method thereof |
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| CN110763194A (en) * | 2019-11-01 | 2020-02-07 | 中国矿业大学 | Method for monitoring surface subsidence of mining area by ground three-dimensional laser scanning and without target |
| CN112498412A (en) * | 2020-12-18 | 2021-03-16 | 中国铁路兰州局集团有限公司 | Combined round platform body for railway clearance overrun judgment and application method thereof |
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| CN113776454A (en) * | 2021-08-20 | 2021-12-10 | 国家电投集团远达环保装备制造有限公司 | Boundary detection system and boundary detection method |
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