CN110132220A - A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device - Google Patents
A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device Download PDFInfo
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Abstract
The present invention discloses a kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device.Method includes: control scanner acquisition tunnel cross-section information and rail profile information, to obtain point cloud data collection；Scanner is located on the vehicular platform of detection device；Control the 3 d pose data that inertial navigation device obtains detection device；Control the run-length data that driving motor obtains detection device；3 d pose data, run-length data are subjected to the synchronous integration of data based on synchronization signal, to generate location information；The three-dimensional spatial information data set in tunnel is generated, according to point cloud data collection and location information to carry out deformation analysis to tunnel.By the invention it is possible to which quick obtaining three-dimensional spatial information data set improves the efficiency for obtaining data to carry out deformation analysis to tunnel during shorter maintenance.And the acquisition precision of data can be improved by the common movement of scanner and vehicular platform, to realize the accurate evaluation to tunnel safety state.
Description
Technical field
The present invention relates to Tunnel testing technical fields, in particular to a kind of dynamic 3 D tunnel cross-section shape changing detection
And analysis system, method and device.
Background technique
With the raising of China's expanding economy and the level of urbanization, it is each metropolitan general that oneself warp of traffic jam becomes China
All over problem.The key of traffic jam is that urban road off-capacity, the speed of expressway extension do not catch up with the increased speed of vehicle flowrate
Degree.In order to solve the problems, such as traffic congestion, to reduce the car density in unit area road as principle, has and increase the road appearance of a street
Amount, reduce intersection, limitation vehicle the methods of drives into and develop mass transit system, wherein developing efficient underground rail public affairs
Traffic altogether, forming the underground public transport links to extend in all direction is one of measure the most main.As transport passenger in city
Main carriers, safety problem are always people's emphasis of interest.For the rail traffic of subterranean tunnel, when with operation
Between increase, tunnel construction space can deformation occurs, the deformation in tunnel can also caused by a series of disease problems seriously affect ground
The normal operation in iron tunnel.Communications optical cable and power cable and its installation support construction, tunnel are installed in side walls in tunnel
There are pantograph contact net and mounting suspension member in road top, the pulling in tunnel that be railcar provided with normally travel communicate with
Power guarantees.Therefore building geometric distortion is very significant considering that rail traffic safe operation environment in tunnel.
For the effective maintenance and quickly detection for guaranteeing tunnel construction space, under the concept of digital city, urban rail maintenance is protected
In " digitlization " development process of barrier system, it is mainly reflected in using digitlization means, realizes the phase of tunnel construction space interior
Variation is detected, the three-dimensional building spatial data for obtaining tunnel can be further improved the scientific management water of track operation security
It is flat, the deformed state in tunnel can be understood in time by the three-dimensional data in tunnel construction space.Currently, to tunnel space structure into
The measurement method of row detection mainly has two methods of contact type measurement and non-contact measurement.Contact type measurement includes artificial measurer
Mensuration and sensor measurement method, non-contact measurement include 3 D laser scanning, close-range photogrammetry, Free Station with Total Station electronic Thacheometer
Measurement, Levelling detection, Ground Penetrating Radar detection, infra-red thermal imaging measurement etc..
Need to be arranged scanner website and cloth using the acquisition that total station and other ancillary equipments carry out three-dimensional data
Target is set, needs to remove station during data acquisition, reduces working efficiency.
Currently, not yet proposing have for how efficiently and accurately obtains the true three-dimensional information data problem in tunnel in the prior art
The solution of effect.
Summary of the invention
A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device are provided in the embodiment of the present invention,
To solve to need to be arranged scanner station using the acquisition that total station and other ancillary equipments carry out three-dimensional data in the prior art
Point and arrangement target, the problem of needing to remove station during data acquisition, reduce working efficiency.
In order to solve the above technical problems, in a first aspect, the present invention provides a kind of dynamic 3 D tunnel cross-section shape changing detections
And analysis system, the system comprises at detection device and synchronous locating device, three-dimensional spatial information reconstructing device and data
Device is managed,
The detection device include: vehicular platform, scanner, controller, inertial navigation device, driving motor, driving wheel with
And driven wheel,
The scanner is located on the vehicular platform, for acquiring tunnel cross-section information and rail profile information, with
Obtain point cloud data collection；
The inertial navigation device, connect with the vehicular platform, for obtaining the 3 d pose data of the detection device；
The controller is connect with the driving motor, for controlling the revolving speed of the driving motor；
The driving motor is connect with the driving wheel, for acquiring the run-length data of the detection device, and drives institute
State driving wheel movement；
The driving wheel and the driven wheel are located at the lower section of the vehicular platform,
The driving wheel and the driven wheel are located at the lower section of the vehicular platform, and the driving wheel is described for driving
Vehicular platform moves on the track in the tunnel；
The synchronous locating device is separately connected with the scanner, the inertial navigation device and the driving motor,
Pulse signal for being generated using the scanner as synchronization signal, by the 3 d pose data and the run-length data into
The synchronous integration of row data, generates location information；
The three-dimensional spatial information reconstructing device, connect with the synchronous locating device and the scanner, is used for base
The three-dimensional spatial information data set in the tunnel is generated in the point cloud data collection and the location information；
The data processing equipment, for carrying out deformation point to the tunnel according to the three-dimensional spatial information data set
Analysis.
Further, the scanner, for generating and to the driving motor, the inertial navigation device and described same
It walks positioning device and sends pulse signal；
The driving motor then records primary current run-length data for often receiving pulsatile once signal；And by institute
The run-length data of record is sent to the synchronous locating device；
The inertial navigation device then records primary current 3 d pose data for often receiving pulsatile once signal；
And the 3 d pose data recorded are sent to the synchronous locating device；
The synchronous locating device, for being based on the pulse signal, by the run-length data of the record and the note
The 3 d pose data of record merge, to generate the location information.
Further, the three-dimensional spatial information reconstructing device is used for the point cloud data collection and the location information
Merge, to generate the three-dimensional spatial information data set.
Further, the detection device further include: position sensor, the position sensor are respectively arranged in described
The left and right sides in front of vehicular platform is connect with the controller respectively, for respectively according to track medial surface distance not
The different signal with generation；
The controller, for receiving and generating control instruction according to the signal that each position sensor generates；
The driving motor, for changing revolving speed according to the control instruction, to adjust the mobile side of the detection device
To, wherein there is one-to-one relationship between the driving motor and the driving wheel.
Further, the detection device further include: the fixation top tight structure in a side drive wheel is set and setting exists
Floating top tight structure in another side drive wheel, the fixed top tight structure and the floating top tight structure constitute safe spacing system
System, for preventing the detection device from derailing.
Further, the detection device further include: the support frame being connect with the vehicular platform, the scanner installation
On support frame as described above, the height of support frame as described above is able to carry out adjusting.
Further, the vehicular platform is " I " fonts vehicular platform, including two root longs of two root long crossbeams and connection
The tail trimmer at crossbeam midpoint, support frame as described above are mounted at the center of the tail trimmer, and the inertial navigation device is mounted on described
On front side of vehicular platform at the center of a long beam.
Further, the detection device further include: the IR remote controller being connect with the controller, the infrared remote control
Device is used to control the start and stop of the detection device.
Further, the detection device further include: power supply unit, the power supply unit are led with the scanner, inertia
Boat, position sensor, driving motor are separately connected, for providing operating voltage.
Further, the 3 d pose data include: the position coordinates, roll angle, pitch angle of the detection device with
And course angle；The run-length data includes: the mobile distance of the detection device；The location information is the 3 d pose number
The information obtained accordingly and after run-length data merging.
Second aspect, the present invention provides a kind of dynamic 3 D tunnel cross-section shape changing detection and analysis method, the methods
Applied in system described in first aspect, the system comprises detection devices, which comprises
Scanner acquisition tunnel cross-section information and rail profile information are controlled, to obtain point cloud data collection；Wherein, described
Scanner is located on the vehicular platform of the detection device, and the vehicular platform is moved with the movement of the detection device；
Control inertial navigation device obtains the 3 d pose data of the detection device；
Control driving motor obtains the run-length data of the detection device；
The 3 d pose data, the run-length data are subjected to the synchronous integration of data based on synchronization signal, it is fixed to generate
Position information；Wherein, the pulse signal that the scanner generates is the synchronization signal；
The three-dimensional spatial information data set in the tunnel is generated according to the point cloud data collection and the location information；
Deformation analysis is carried out to the tunnel according to the three-dimensional spatial information data set.
Further, described based on synchronization signal that the 3 d pose data, run-length data progress data are synchronous
It integrates, includes: to generate location information
It controls the driving motor and often receives pulsatile once signal, then the primary current run-length data of record；
It controls the inertial navigation device and often receives pulsatile once signal, then the primary current 3 d pose data of record；
The run-length data of record is merged with 3 d pose data, generates location information.
Further, the three-dimensional spatial information in the tunnel is generated according to the point cloud data collection and the location information
Data set includes:
Point cloud data collection is merged with location information, generates the three-dimensional spatial information data set.
Further, the method also includes:
Receive the signal that each position sensor is sent；
Control instruction is generated according to the signal, is turned so that the driving motor adjusts itself according to the control instruction
Speed, to further change the moving direction of the detection device, wherein have between the driving motor and the driving wheel
One-to-one relationship.
Further, before control scanner acquisition tunnel cross-section information and rail profile information, the method is also
Include:
The telecommand that IR remote controller is sent is received, the telecommand is used to control the start and stop of the detection device.
Further, the method also includes:
Receive the voltage that the power supply unit provides.
Further, the 3 d pose data include: the position coordinates, roll angle, pitch angle of the detection device with
And course angle；The run-length data includes: the mobile distance of the detection device；The location information is the 3 d pose number
The information obtained accordingly and after run-length data merging.
The third aspect, the present invention also provides a kind of dynamic 3 D tunnel cross-section shape changing detection and analytical equipment, described devices
For executing method described in second aspect, the analytical equipment includes:
Control module, for controlling scanner acquisition tunnel cross-section information and rail profile information, to obtain point cloud number
According to collection；Wherein, the scanner is located on the vehicular platform of the detection device, and the vehicular platform is with the detection device
It moves and moves；
The control module is also used to control the 3 d pose data that inertial navigation device obtains the detection device；
The control module is also used to control the run-length data that driving motor obtains the detection device；
Information generating module, for the 3 d pose data, the run-length data to be carried out data based on synchronization signal
Synchronous integration, to generate location information；Wherein, the pulse signal that the scanner generates is the synchronization signal；
The information generating module is also used to generate the tunnel according to the point cloud data collection and the location information
Three-dimensional spatial information data set；
Deformation analysis module, for carrying out deformation analysis to the tunnel according to the three-dimensional spatial information data set.
Further, the information generating module often receives pulsatile once signal for controlling the driving motor, then
The primary current run-length data of record；It controls the inertial navigation device and often receives pulsatile once signal, then record is primary current
3 d pose data；The run-length data of record is merged with 3 d pose data, generates location information.The information generates mould
Block is also used to merge point cloud data collection with location information, generates the three-dimensional spatial information data set.
It applies the technical scheme of the present invention, detection device includes vehicular platform, scanner, controller, driving motor, driving
Wheel and driven wheel.Specifically, controller can control driving wheel in turn stepped through control driving motor, further control
Vehicular platform, so that vehicular platform be enable to move in orbit.The movement of vehicular platform can drive scanner to carry out full side again
The scanning of position.System then can generate location information according to the pulse signal of inertial navigation device, driving motor and scanner, according to
The data that location information and scanner obtain generate three-dimensional spatial information data set, and carry out to three-dimensional spatial information data set
Deformation analysis, so that the deformation degree to tunnel is accurately assessed.For compared to the prior art, the collection process of data
Dynamic is switched to by static state, does not need setting scanner website, does not need arrangement target, and do not need to remove station, it can be shorter
During maintenance, quick obtaining three-dimensional spatial information data set improves the efficiency for obtaining data.And scanner and vehicle can be passed through
The common movement of carrying platform, improves the acquisition precision of data, to realize the accurate evaluation to tunnel safety state.
Detailed description of the invention
Fig. 1 is the structural frames of a kind of dynamic 3 D tunnel cross-section shape changing detection according to an embodiment of the present invention and analysis system
Figure；
Fig. 2 is the structural frames of a kind of dynamic 3 D tunnel cross-section shape changing detection according to an embodiment of the present invention and analysis system
Figure；
Fig. 3 is acquired in a kind of dynamic 3 D tunnel cross-section shape changing detection according to an embodiment of the present invention and analysis system
Integrally bending tunnel three-dimensional spatial information data set；
Fig. 4 is acquired in a kind of dynamic 3 D tunnel cross-section shape changing detection according to an embodiment of the present invention and analysis system
Tunnel partial points cloud data set；
Fig. 5 is that a kind of dynamic 3 D tunnel cross-section shape changing detection according to an embodiment of the present invention and analysis system are generated
Tunnel defect signature analysis image；
Fig. 6 is the process of a kind of dynamic 3 D tunnel cross-section shape changing detection according to an embodiment of the present invention and analysis method
Figure；
Fig. 7 is the structural frames of a kind of dynamic 3 D tunnel cross-section shape changing detection and analytical equipment according to an embodiment of the present invention
Figure.
Specific embodiment
Present invention is further described in detail in the following with reference to the drawings and specific embodiments, it should be understood that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
In subsequent description, it is only using the suffix for indicating such as " module ", " component " or " unit " of element
Be conducive to explanation of the invention, itself there is no a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
To solve to need to be arranged using the acquisition that total station and other ancillary equipments carry out three-dimensional data in the prior art
Scanner website and arrangement target, need the problem of removing station, reducing working efficiency during data acquisition, the present invention is implemented
Example provides a kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, and as depicted in figs. 1 and 2, analysis system includes inspection
Device (not shown) and synchronous locating device 12, three-dimensional spatial information reconstructing device 13 and data processing equipment 14 are surveyed,
Detection device includes: vehicular platform 7, scanner 10, controller 6, inertial navigation device 4, driving motor 2, driving wheel
11 and driven wheel 1,
Scanner 10 is located on vehicular platform 7, for acquiring tunnel cross-section information and rail profile information, to obtain a little
Cloud data set；
Inertial navigation device 4 is connect with vehicular platform 7, for obtaining the 3 d pose data of detection device；
Controller 6 is connect with driving motor 2, for controlling the revolving speed of driving motor 2；
Driving motor 2 is connect with driving wheel 11, for the run-length data of collecting and detecting device, and driving wheel 11 is driven to transport
It is dynamic；
Driving wheel 11 and driven wheel 1 are located at the lower section of vehicular platform 7,
Driving wheel 11 and driven wheel 1 are located at the lower section of vehicular platform 7, and driving wheel 11 is for driving vehicular platform 7 in tunnel
It is moved on the track in road；
Synchronous locating device 12 is separately connected with scanner 10, inertial navigation device 4 and driving motor 2, for scanning
The pulse signal that instrument 10 generates is synchronization signal, and 3 d pose data and run-length data are carried out the synchronous integration of data, are generated
Location information；
Three-dimensional spatial information reconstructing device 13 is connect with synchronous locating device 12 and scanner 10, for based on a cloud
Data set and location information generate the three-dimensional spatial information data set in tunnel；
Data processing equipment 14, for carrying out deformation analysis to tunnel according to three-dimensional spatial information data set.
In embodiments of the present invention, detection device includes vehicular platform 7, scanner 10, controller 6, driving motor 2, drives
Driving wheel 11 and driven wheel 1.Specifically, controller 6 can control in turn driving wheel 11 stepped through control driving motor 2,
Vehicular platform 7 is further controlled, so that vehicular platform 7 be enable to move in orbit.The movement of vehicular platform 7 can drive again and sweep
It retouches instrument 10 and carries out comprehensive scanning.System can then be believed according to the pulse of inertial navigation device 4, driving motor 2 and scanner 10
Number location information is generated, generates three-dimensional spatial information data set according to the data that location information and scanner 10 obtain, and right
Three-dimensional spatial information data set carries out deformation analysis, so that the deformation degree to tunnel is accurately assessed.Compared to existing
For technology, the collection process of data switchs to dynamic by static state, does not need setting 10 website of scanner, does not need arrangement target,
And do not need to remove station, it can be during shorter maintenance, quick obtaining three-dimensional spatial information data set improves acquisition data
Efficiency.And the acquisition precision of data can be improved by the common movement of scanner 10 and vehicular platform 7, to realize to tunnel
The accurate evaluation of road safe condition.
In one possible implementation, vehicular platform 7 be " I " fonts vehicular platform 7, including two root long crossbeams with
And the tail trimmer at two root long crossbeam midpoints of connection, support frame are mounted at the center of tail trimmer, inertial navigation device 4 is mounted on vehicle-mounted
At the center of 7 one long beam of front side of platform.Detection device further include: the support frame connecting with vehicular platform 7, scanner 10 are installed
On the support frame, the height of support frame is able to carry out adjusting.Special construction design based on the vehicular platform 7, the scanning
Instrument 10 can be used for the acquisition of tunnel cross-section and orbit information, obtain 2D point cloud data collection, and support frame as described above with it is described vehicle-mounted
Platform 7 is fixedly connected.
In one possible implementation, detection device further include: the fixation being arranged in a side drive wheel 11 is held out against
Structure and the floating top tight structure being arranged in another side drive wheel 11, fixed top tight structure and floating top tight structure constitute safety
Caging system, for preventing detection device from derailing.Described two driving wheels 11 and two driven wheels 1 are cylinder wheel, and are located at
7 lower section of vehicular platform, drives the vehicular platform 7 to move on the track in tunnel.The vehicular platform 7 is driven using rear-wheel
Dynamic, i.e., two-wheeled is driven wheel 1 on front side of the described platform, and rear side two-wheeled is driving wheel 11.It is curved in tunnel to improve the vehicular platform 7
Fixed jacking mechanism is arranged in 11 side of driving wheel in running stability and positional accuracy at road, and other side setting is floated
Jacking mechanism.For the detection device when tunnel corner turns to, track generates automatic adjustment force to the driving wheel 11, makes to float
Dynamic jacking mechanism generates Displacement-deformation, so that being adjacent to track realizes accurate turn to.The fixed jacking mechanism and floating hold out against machine
Structure constitutes safe spacing system, to prevent the detection device from derailing；
In one possible implementation, detection device further include: position sensor 3, position sensor 3 are pacified respectively
The left and right sides loaded on 7 front of vehicular platform, connect with controller 6 respectively, for basis respectively and track medial surface distance
Difference generates different signals；Controller 6, the signal for receiving and being generated according to each position sensor 3 generate control and refer to
It enables；Driving motor 2, for changing revolving speed according to control instruction, to adjust the moving direction of detection device, wherein driving motor 2
And there is one-to-one relationship between driving wheel 11.
Described two independent driving motors 2 act on described two driving wheels 11, by the effect of the motor, by driving
Wheel 11 drives driven wheel 1, realizes that the autonomous dynamic of vehicular platform 7 turns to.Described two position sensors 3 are installed on described vehicle-mounted
The 7 front left and right sides of platform, carries out the platform moving direction by distance change between detection and the track medial surface in tunnel
Adjustment.Different turn to of track causes the detection signal of the position sensor 3 of the left and right sides that different variations occur, in turn
The left and right sides driving motor 2 is caused to generate revolving speed adjustment, to realize corresponding turn to.For example, working as the detection device row
When sailing to the right-hand rotation bend of track, left sensor and left rail distance reduce, and still can receive detection feedback signal；Right side
Sensor can not receive the detection feedback signal due to exceeding preset threshold with right rail distance.6 basis of controller
Two side sensers detect the different variations of feedback signal, carry out rotation speed regulating and controlling, left side drive motor to the two sides driving motor 2
2 appropriate acceleration, right motor is suitably slowed down, so that the detection device be made to realize right hand steering；
In one possible implementation, scanner 10, for generate and to driving motor 2, inertial navigation device 4 and
Synchronous locating device 12 sends pulse signal；Driving motor 2, for often receiving pulsatile once signal, then record is primary current
Run-length data；And the run-length data recorded is sent to synchronous locating device；Inertial navigation device 4, for often receiving one
Subpulse signal then records primary current 3 d pose data；And the 3 d pose data recorded are sent to synchronize and are determined
Position device；Synchronous locating device 12, for being based on pulse signal, by the 3 d pose data of the run-length data of record and record
Merge, to generate location information.Three-dimensional spatial information reconstructing device 13, for point cloud data collection to be merged with location information, with
Generate three-dimensional spatial information data set, wherein 3 d pose data include: the position coordinates, roll angle, pitch angle of detection device
And course angle；Run-length data includes: the mobile distance of detection device；Location information is 3 d pose data and run-length data
The information obtained after merging.Wherein, data structure analysis is carried out to three-dimensional spatial information data set, generates tunnel three-dimensional space shadow
On the one hand picture can further generate tunnel defect characteristic image by the analysis to the tunnel three-dimensional space image；Another party
Face can carry out deformation analysis to tunnel, determine tunnel deformation degree.
In one possible implementation, detection device further include: the IR remote controller 8 being connect with controller 6, it is infrared
Remote controler 8 is used to control the start and stop of detection device.Power supply unit 5, with scanner 10, inertial navigation device 4, position sensor 3, drive
Dynamic motor 2 is separately connected, for providing operating voltage.Preferably, the power supply unit 5 is lithium battery.
As a result, the present invention is based on the true three-dimensional tunnel section deformation testing and analysis system of the dynamic of inertial navigation attitude orientation,
Data acquisition efficiency is high, does not need setting scanner website, does not need arrangement target, can be during the shorter maintenance of subway
It is interior, the true three-dimensional data of tunnel space of the wanted sweep interval of quick obtaining；The data precision of acquisition is relatively high, in limited tunnel
Within the scope of section, the profile scanning of scanner has very high accuracy of data acquisition；Two based on sensor real-time feedback control
Wheel drive realizes that trolley drives at a constant speed along gauge center line always, it is ensured that the stability of trolley and the reliability of data；Acquisition
Be true three-dimensional data, the present invention is based on inertial navigations to carry out the detection device posture analysis, relative to other methods, obtains
Data are accurate, in time, truer can comprehensively reflect tunnel and track three-dimensional spatial information, can be used for tunnel deformation analysis,
Defect inspection and three-dimensional modeling construct wisdom operation platform.
It is as shown in Figure 3 and Figure 4 the true three-dimensional tunnel section deformation detection of the dynamic based on inertial navigation attitude orientation
True the three of analysis system tunnel partial points cloud data set collected and the integrally bending tunnel by being generated after synchronous integration
Dimension space point cloud data collection can accurately obtain tunnel and track three-dimensional spatial information according to the above data collection, thus into one
Step realizes tunnel deformation analysis and tunnel defect signature analysis as shown in Figure 5.
Fig. 6 shows a kind of analysis method according to an embodiment of the present invention, and method is applied to shown in above-described embodiment
In system, system includes detection device, and method includes:
Step 601, control scanner acquisition tunnel cross-section information and rail profile information, to obtain point cloud data collection；
Wherein, scanner is located on the vehicular platform of detection device, and vehicular platform is moved with the movement of detection device；
Step 602, control inertial navigation device obtain the 3 d pose data of detection device；
Step 603, control driving motor obtain the run-length data of detection device；
3 d pose data, run-length data are carried out the synchronous integration of data based on synchronization signal by step 604, fixed to generate
Position information；Wherein, the pulse signal that scanner generates is synchronization signal；
Step 605, the three-dimensional spatial information data set that tunnel is generated according to point cloud data collection and location information；
Step 606 carries out deformation analysis to tunnel according to three-dimensional spatial information data set.
For compared to the prior art, the collection process of data switchs to dynamic by static state, does not need setting scanner website,
Arrangement target is not needed, and does not need to remove station, can be during shorter maintenance, quick obtaining three-dimensional spatial information data
Collection improves the efficiency for obtaining data.And the acquisition essence of data by the common movement of scanner and vehicular platform, can be improved
Degree, to realize the accurate evaluation to tunnel safety state.
In one possible implementation, step 604, based on synchronization signal by 3 d pose data, run-length data into
The synchronous integration of row data includes: that control driving motor often receives pulsatile once signal to generate location information, then record is primary
Current run-length data；Control inertial navigation device often receives pulsatile once signal, then the primary current 3 d pose number of record
According to；The run-length data of record is merged with 3 d pose data, generates location information.
In one possible implementation, tunnel step S605, is generated according to point cloud data collection and location information
Three-dimensional spatial information data set includes: to merge point cloud data collection with location information, generates three-dimensional spatial information data set.
In one possible implementation, method further include: receive the signal that each position sensor is sent；According to letter
Number generate control instruction so that driving motor adjusts itself revolving speed according to control instruction, to further change detection device
Moving direction, wherein there is one-to-one relationship between driving motor and driving wheel.
In one possible implementation, control scanner acquisition tunnel cross-section information and rail profile information it
Before, method further include: receive the telecommand that IR remote controller is sent, telecommand is used to control the start and stop of detection device.
In one possible implementation, method further include: receive the voltage that power supply unit provides.
In one possible implementation, 3 d pose data include: the position coordinates of detection device, roll angle, bow
The elevation angle and course angle；Run-length data includes: the mobile distance of detection device；Location information is 3 d pose data and stroke
The information that data obtain after merging.
Fig. 7 shows a kind of dynamic 3 D tunnel cross-section shape changing detection and analytical equipment, which is characterized in that the device is used for
Method shown in fig. 6 is executed, analytical equipment includes:
Control module 701, for controlling scanner acquisition tunnel cross-section information and rail profile information, to obtain a cloud
Data set；Wherein, scanner is located on the vehicular platform of detection device, and vehicular platform is moved with the movement of detection device；
Control module 701 is also used to control the 3 d pose data that inertial navigation device obtains detection device；
Control module 701 is also used to control the run-length data that driving motor obtains detection device；
Information generating module 702, it is whole for being synchronized 3 d pose data, run-length data progress data based on synchronization signal
It closes, to generate location information；Wherein, the pulse signal that scanner generates is synchronization signal；
Information generating module 702 is also used to generate the three-dimensional space letter in tunnel according to point cloud data collection and location information
Cease data set；
Deformation analysis module 703, for carrying out deformation analysis to tunnel according to three-dimensional spatial information data set.
For compared to the prior art, the collection process of data switchs to dynamic by static state, does not need setting scanner website,
Arrangement target is not needed, and does not need to remove station, can be during shorter maintenance, quick obtaining three-dimensional spatial information data
Collection improves the efficiency for obtaining data.And the acquisition essence of data by the common movement of scanner and vehicular platform, can be improved
Degree, to realize the accurate evaluation to tunnel safety state.
Information generating module 702 often receives pulsatile once signal for controlling driving motor, then record is primary current
Run-length data；Control inertial navigation device often receives pulsatile once signal, then the primary current 3 d pose data of record；It will note
The run-length data of record merges with 3 d pose data, generates location information.
Information generating module 702 is also used to merge point cloud data collection with location information, generates three-dimensional spatial information
Data set.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a mobile terminal (can be mobile phone, computer, clothes
Business device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described above in conjunction with figure, but the invention is not limited to above-mentioned specific realities
Mode is applied, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art exist
Under enlightenment of the invention, without breaking away from the scope protected by the purposes and claims of the present invention, many shapes can be also made
Formula, all of these belong to the protection of the present invention.
Claims (19)
1. a kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, which is characterized in that the system comprises detection devices
And synchronous locating device, three-dimensional spatial information reconstructing device and data processing equipment,
The detection device include: vehicular platform, scanner, controller, inertial navigation device, driving motor, driving wheel and from
Driving wheel,
The scanner is located on the vehicular platform, for acquiring tunnel cross-section information and rail profile information, to obtain
Point cloud data collection；
The inertial navigation device, connect with the vehicular platform, for obtaining the 3 d pose data of the detection device；
The controller is connect with the driving motor, for controlling the revolving speed of the driving motor；
The driving motor is connect with the driving wheel, for acquiring the run-length data of the detection device, and drives the drive
Driving wheel movement；
The driving wheel and the driven wheel are located at the lower section of the vehicular platform,
The driving wheel and the driven wheel are located at the lower section of the vehicular platform, and the driving wheel is described vehicle-mounted for driving
Platform moves on the track in the tunnel；
The synchronous locating device is separately connected with the scanner, the inertial navigation device and the driving motor, is used for
The pulse signal generated using the scanner counts the 3 d pose data and the run-length data as synchronization signal
It is integrated according to synchronous, generates location information；
The three-dimensional spatial information reconstructing device, connect with the synchronous locating device and the scanner, for being based on institute
It states point cloud data collection and the location information generates the three-dimensional spatial information data set in the tunnel；
The data processing equipment, for carrying out deformation analysis to the tunnel according to the three-dimensional spatial information data set.
2. system according to claim 1, which is characterized in that
The scanner, for generating and being sent out to the driving motor, the inertial navigation device and the synchronous locating device
Send pulse signal；
The driving motor then records primary current run-length data for often receiving pulsatile once signal；And it will be recorded
Run-length data be sent to the synchronous locating device；
The inertial navigation device then records primary current 3 d pose data for often receiving pulsatile once signal；And it will
The 3 d pose data recorded are sent to the synchronous locating device；
The synchronous locating device, for being based on the pulse signal, by the run-length data of the record and the record
3 d pose data merge, to generate the location information.
3. system according to claim 1, which is characterized in that
The three-dimensional spatial information reconstructing device, for merging the point cloud data collection with the location information, to generate
State three-dimensional spatial information data set.
4. system according to claim 1, which is characterized in that the detection device further include: position sensor,
The position sensor is respectively arranged in the left and right sides in front of the vehicular platform, connect respectively with the controller,
For generating different signals according to from the difference of track medial surface distance respectively；
The controller, for receiving and generating control instruction according to the signal that each position sensor generates；
The driving motor, for changing revolving speed according to the control instruction, to adjust the moving direction of the detection device,
In, there is one-to-one relationship between the driving motor and the driving wheel.
5. system according to claim 1, which is characterized in that the detection device further include: be arranged in a side drive wheel
On fixation top tight structure and the floating top tight structure that is arranged in another side drive wheel, the fixed top tight structure and described floating
Dynamic top tight structure constitutes safe spacing system, for preventing the detection device from derailing.
6. system according to claim 1, which is characterized in that the detection device further include: connect with the vehicular platform
The support frame connect,
The scanner is mounted on support frame as described above, and the height of support frame as described above is able to carry out adjusting.
7. system according to claim 6, which is characterized in that the vehicular platform is " I " fonts vehicular platform, including
Two root long crossbeams and the tail trimmer for connecting two root long crossbeam midpoints, support frame as described above are mounted at the center of the tail trimmer,
The inertial navigation device is mounted on front side of the vehicular platform at the center of a long beam.
8. system according to claim 1, which is characterized in that the detection device further include: connect with the controller
IR remote controller, the IR remote controller is used to control the start and stop of the detection device.
9. system according to claim 1, which is characterized in that the detection device further include: power supply unit,
The power supply unit is separately connected, for providing work with the scanner, inertial navigation, position sensor, driving motor
Make voltage.
10. system described in any one of -9 according to claim 1, which is characterized in that
The 3 d pose data include: position coordinates, roll angle, pitch angle and the course angle of the detection device；
The run-length data includes: the mobile distance of the detection device；
The location information is the information obtained after the 3 d pose data and the run-length data merge.
11. a kind of dynamic 3 D tunnel cross-section shape changing detection and analysis method, which is characterized in that the method be applied to power 1 to
It weighs in 10 described in any item systems, the system comprises detection devices, which comprises
Scanner acquisition tunnel cross-section information and rail profile information are controlled, to obtain point cloud data collection；Wherein, the scanning
Instrument is located on the vehicular platform of the detection device, and the vehicular platform is moved with the movement of the detection device；
Control inertial navigation device obtains the 3 d pose data of the detection device；
Control driving motor obtains the run-length data of the detection device；
The 3 d pose data, the run-length data are subjected to the synchronous integration of data based on synchronization signal, to generate positioning letter
Breath；Wherein, the pulse signal that the scanner generates is the synchronization signal；
The three-dimensional spatial information data set in the tunnel is generated according to the point cloud data collection and the location information；
Deformation analysis is carried out to the tunnel according to the three-dimensional spatial information data set.
12. according to the method for claim 11, which is characterized in that the synchronization signal that is based on is by the 3 d pose number
The synchronous integration of data is carried out according to, the run-length data, includes: to generate location information
It controls the driving motor and often receives pulsatile once signal, then the primary current run-length data of record；
It controls the inertial navigation device and often receives pulsatile once signal, then the primary current 3 d pose data of record；
The run-length data of record is merged with 3 d pose data, generates location information.
13. according to the method for claim 11, which is characterized in that according to the point cloud data collection and the location information
The three-dimensional spatial information data set for generating the tunnel includes:
Point cloud data collection is merged with location information, generates the three-dimensional spatial information data set.
14. according to the method for claim 11, which is characterized in that the method also includes:
Receive the signal that each position sensor is sent；
Control instruction is generated according to the signal, so that the driving motor adjusts itself revolving speed according to the control instruction,
To further change the moving direction of the detection device, wherein have one between the driving motor and the driving wheel
One-to-one correspondence.
15. according to the method for claim 11, which is characterized in that in control scanner acquisition tunnel cross-section information and rail
Before road section information, the method also includes:
The telecommand that IR remote controller is sent is received, the telecommand is used to control the start and stop of the detection device.
16. according to the method for claim 11, which is characterized in that the method also includes:
Receive the voltage that the power supply unit provides.
17. method described in any one of 1-16 according to claim 1, which is characterized in that
The 3 d pose data include: position coordinates, roll angle, pitch angle and the course angle of the detection device；
The run-length data includes: the mobile distance of the detection device；
The location information is the information obtained after the 3 d pose data and the run-length data merge.
18. a kind of dynamic 3 D tunnel cross-section shape changing detection and analytical equipment, which is characterized in that described device is used for right of execution 11
To 17 described in any item methods of power, the analytical equipment includes:
Control module, for controlling scanner acquisition tunnel cross-section information and rail profile information, to obtain point cloud data collection；
Wherein, the scanner is located on the vehicular platform of the detection device, the vehicular platform with the detection device movement
And it moves；
The control module is also used to control the 3 d pose data that inertial navigation device obtains the detection device；
The control module is also used to control the run-length data that driving motor obtains the detection device；
Information generating module is synchronized for the 3 d pose data, the run-length data to be carried out data based on synchronization signal
Integration, to generate location information；Wherein, the pulse signal that the scanner generates is the synchronization signal；
The information generating module is also used to generate the three of the tunnel according to the point cloud data collection and the location information
Dimension space message data set；
Deformation analysis module, for carrying out deformation analysis to the tunnel according to the three-dimensional spatial information data set.
19. device according to claim 18, which is characterized in that
The information generating module often receives pulsatile once signal for controlling the driving motor, then record is primary current
Run-length data；It controls the inertial navigation device and often receives pulsatile once signal, then the primary current 3 d pose number of record
According to；The run-length data of record is merged with 3 d pose data, generates location information.
The information generating module is also used to merge point cloud data collection with location information, generates the three-dimensional space letter
Cease data set.
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| CN2018108208932 | 2018-07-24 | ||
| CN201810820893.2A CN108645373A (en) | 2018-07-24 | 2018-07-24 | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device |
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| CN201910455056.9A Pending CN110132220A (en) | 2018-07-24 | 2019-05-29 | A kind of dynamic 3 D tunnel cross-section shape changing detection and analysis system, method and device |
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| CN114061535A (en) * | 2021-11-15 | 2022-02-18 | 北京环安工程检测有限责任公司 | Subway tunnel automatic deformation monitoring method and device based on MEMS |
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| CN109927739A (en) * | 2019-03-01 | 2019-06-25 | 广州南方测绘科技股份有限公司广州分公司 | The mobile detection carriage device of rail tunnel three-dimensional |
| CN109797612A (en) * | 2019-03-12 | 2019-05-24 | 北京星网宇达科技股份有限公司 | It is a kind of detect vehicle track determine method, apparatus, equipment and medium |
| CN110006396A (en) * | 2019-03-20 | 2019-07-12 | 中铁工程设计咨询集团有限公司 | A kind of tunnel cross-section and limit scanning detection apparatus and method |
| CN110440711A (en) * | 2019-08-15 | 2019-11-12 | 郑州联睿电子科技有限公司 | A kind of cable tunnel there-dimensional laser scanning device and its location method |
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