CN110530290A - The laser scanner and method of tunnel cross-section - Google Patents
The laser scanner and method of tunnel cross-section Download PDFInfo
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- CN110530290A CN110530290A CN201910804006.7A CN201910804006A CN110530290A CN 110530290 A CN110530290 A CN 110530290A CN 201910804006 A CN201910804006 A CN 201910804006A CN 110530290 A CN110530290 A CN 110530290A
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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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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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
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
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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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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of laser scanner of tunnel cross-section and methods, comprising: 4 scanning laser sensors and data acquisition memory；4 scanning laser sensors are installed on detection vehicle, and two scanning laser sensors, backwards to installing, are respectively used to from the profile perpendicular to tunnel direction transversal scanning tunnel two sides to top as first pair of scanning laser sensor；Other two scanning laser sensor, backwards to installing, is respectively used to the profile at dip sweeping tunnel two sides to top as second pair of scanning laser sensor；Data acquisition memory is connect with scanning laser sensor by data line, for storing the laser scanning result of the scanning laser sensor.The present apparatus can increase the section detection probability of small bore object, to solve the detection leakage phenomenon in high speed detection.
Description
Technical field
The present invention relates to the laser scanners and side of Tunnel testing technical field more particularly to a kind of tunnel cross-section
Method.
Background technique
Subway tunnel will appear the disease conditions such as deformation, crack, percolating water during military service, be to influence traffic safety
Key factor, if do not detected in time to the safe condition in tunnel, early warning and maintenance can cause once accident occurs
Serious consequence.Currently, tunnel contour detection mainly using scanning laser sensor measure tunnel contour size, generate two dimension or
Three-dimensional point cloud carries out parameter detecting and shape changing detection；Tunnel surface Defect inspection forms tunnel using visual sensors such as cameras
Image acquisition system acquires tunnel surface image, and studies image procossing and Target Recognition Algorithms, automatic to detect disease region.
The three-dimensional measurement and tunnel surface image panorama of current tunnel profile acquire, the system typically to work independently.
In large-scale vehicular detection system, the measurement of tunnel contour three-dimensional point cloud is generally attached to headstock or compartment tail portion, vertical scanning
Tunnel surface；Tunnel surface image capturing system, is generally attached to around compartment, is spliced using multiple cameras, collection surface image.
In small-sized detection vehicle, the usually tunnel contour three-dimensional point cloud measurement centre that is installed on trolley forms dedicated detection system；
Tunnel surface image capturing system forms a circle according to round or square structure and acquires image.Tunnel three dimensional detection is adopted with image
Collecting system, it is relatively independent, do not have correlation.
" the subway tunnel section Clearance Detection " of the Beijing Jiaotong University College of Mechanical Engineering Zhu Li designs such as by force, uses base
In the non-contact detection scheme of laser distance measuring principle, system uses high-speed data acquisition card, completes adopting for high-rate laser data
Collect synchronous with clock.The vibration compensation algorithm based on displacement meter is designed for body oscillating bring measurement error simultaneously.Benefit
With VC++6.0 develop environment, develop data acquisition software, using the acquisition of multithreading and database technique data, storage,
Inquiry and analytic function.Maximum 30 meters of distance of measurement installs laser range sensor at 70 ° of angle, it can be achieved that 180 ° of scannings,
It may be implemented the complete scan vertical to line section, but its disadvantage are as follows: in high speed dynamic detection, section interval increases,
The point cloud data rarefaction of tunnel cross-section, there are missing inspections for the object for causing object and cross sectional dimensions for elongated shape small
Situation；Scanning laser sensor vertical scanning tunnel contour, can only measure this cross section place, the object wheel nearest apart from laser
Exterior feature is unable to measure the dimensional parameters of tunnel surface due to blocking for foremost object for the size of tunnel surface.Patent of invention
(CN201610347483.1) a kind of full section of tunnel high speed dynamical health detection dress based on active panoramic vision is disclosed
It sets, using laser photography mensuration, laser light source projects to tunnel surface form tunnel laser contour line, utilize multiple cameras
The vision collecting system of composition, the panoramic picture for carrying out subrange to tunnel acquire, and take laser wheel profile.By with swash
The theoretical algorithm of light photogrammetry calculates the corresponding geometric dimension parameter of tunnel contour pixel, to form tunnel wheel
Wide three-dimensional point cloud.It can use the three-dimensional point cloud of profile scanning simultaneously, be fitted sectional curve and form simulation cylindrical surface, thus
Three-dimensional Display tunnel three-dimensional dimension parameter, for detecting Tunnel Displacement and deformation.But the disadvantage is that: this technology is merely with panorama
Visual sensor and laser scanning, higher cost；When visual sensor acquires the laser profile information of tunnel surface, light will receive
The influence of line leads to the decline of measurement accuracy；Simultaneously for the dark object of tunnel surface, the light spot profile of laser scanning is strong
Degree not enough, will lead to local leak detection situation；Also due to vertical scanning tunnel surface, can only measure this cross section place,
The contour of object nearest apart from laser is unable to measure tunnel surface due to blocking for objects in front for the size of tunnel surface
Dimensional parameters.
It is right since helically line is distributed two-dimentional fast laser scanning element in actual tunnel section survey and limit detection
It is run in faster situation in speed, section interval becomes larger, and point cloud density becomes smaller, and leads to the object elongated for section, occurs
Detection leakage phenomenon seriously affects tunnel contour measurement and limit detection, and detection vehicle speed is faster, then missing inspection possibility is bigger.
Summary of the invention
The present invention provides a kind of laser scanner of tunnel cross-section and methods, to solve in the prior art lack
It falls into.
To achieve the goals above, this invention takes following technical solutions.
An aspect of of the present present invention provides a kind of laser scanner of tunnel cross-section characterized by comprising 4
A scanning laser sensor and data acquisition memory；
4 scanning laser sensors are installed on detection vehicle, and two scanning laser sensors swash as first Dui
Optical scanning sensor is respectively used to backwards to installing from the profile perpendicular to tunnel direction transversal scanning tunnel two sides to top；Separately
Outer two scanning laser sensors, backwards to installing, are respectively used to dip sweeping tunnel two sides as second pair of scanning laser sensor
To the profile at top；
The deposit data acquisition memory is connect with scanning laser sensor by data line, is swept for storing the laser
Retouch the laser scanning result of sensor.
Preferably, the profile at dip sweeping tunnel two sides to top includes the folder of second pair of scanning laser sensor and tunnel
Angle is 30 ° -60 °.
Preferably, which further includes pedestal, and the pedestal includes vertical plane and horizontal plane, the vertical plane and water
Plane one, vertical plane are used to for pedestal being fixed on the front or tail portion of detection vehicle, and horizontal plane is used to that described 4 to be fixedly mounted
Scanning laser sensor.
Preferably, which further includes sensor stand, and the sensor stand is fixed by bolts in the pedestal
On, 4 scanning laser sensors are fixed by bolts on the sensor stand.
Preferably, the angle in second pair of scanning laser sensor and tunnel is 45 °.
Preferably, scanning laser sensor and pedestal are provided with angle, for scanning scanning laser sensor to rail,
And the two beam laser in scanning to tunnel top in every a pair of of scanning laser sensor have at least 5 degree of coincidence.
Preferably, the scanning optical path of 4 scanning laser sensors is non-interference.
Tunnel is carried out according to the laser scanner of above-mentioned tunnel cross-section another aspect provides a kind of
Profile scanning measurement method characterized by comprising
Step 1, will be equipped with the tunnel cross-section laser scanner detection vehicle at a predetermined velocity in tunnel
Interior traveling, and open 4 scanning laser sensors of the laser scanner of the tunnel cross-section；
Step 2, by first pair of scanning laser sensor in 4 scanning laser sensors respectively from perpendicular to
The profile at two sides to the top in tunnel direction transversal scanning tunnel；Pass through second pair of scanning laser sensor dip sweeping tunnel
The profile at road two sides to top；
Step 3 records the scan data of each scanning laser sensor by the data acquisition memory and works as
The location information of front sensor；
Step 4 is coordinately transformed according to the location information of the scan data and current sensor, obtains two groups of laser
The tunnel cross-section size of scanning.
Preferably, second pair of scanning laser sensor direction scanning-tunnelling two sides to top with 45 ° of tunnel angle respectively
Profile.
Preferably, the scanning optical path of 4 scanning laser sensors in step 2 is non-interference.
It can be seen from the technical solution that the laser scanner and method of the tunnel cross-section of aforementioned present invention provide
The present invention passes through the profile at direction scanning-tunnelling two sides to the top of two scanning laser sensors and tunnel cross in a device,
Complementary scan is carried out to tunnel two sides, the section detection probability of small bore object can be increased, small bore object is along section
The section in direction is smaller, and the point of laser direct projection scanning is also fewer, causes detection leakage phenomenon.But perpendicular to section direction,
This object may be plate or strip or other shapes, laser dip sweeping, and the point of scanning to object is relatively more, can be with
Detection leakage phenomenon is avoided, to solve the detection leakage phenomenon in high speed detection, improves the accuracy of object scanning survey in tunnel, it is right
In the object of intrusion tunnel clearance size, there is higher early warning accuracy, it is ensured that the safe operation of electric car in tunnel.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only one embodiment of the present of invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is a kind of laser scanner schematic diagram of tunnel cross-section of embodiment；
Fig. 2 is base schematic diagram；
Fig. 3 is sensor stand schematic diagram；
Fig. 4 is the scanning mode schematic diagram of first pair of scanning laser sensor；
Fig. 5 is the tunnel cross-section scanning survey method schematic diagram that embodiment provides；
Fig. 6 is the schematic diagram of a scenario that emulation experiment is carried out by the device of embodiment；
Fig. 7 is the scanning result schematic diagram obtained by the device of traditional vertical scanning；
Fig. 8 is the scanning result schematic diagram obtained by embodiment device.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
In order to facilitate understanding of embodiments of the present invention, explanation is further explained below in conjunction with attached drawing.
Embodiment
Fig. 1 is a kind of laser scanner schematic diagram of tunnel cross-section provided in this embodiment, referring to Fig.1, the dress
Set includes: 4 scanning laser sensors and data acquisition memory.
4 scanning laser sensors are installed on detection vehicle, and two scanning laser sensors are as first pair of laser scanning
Sensor is respectively used to backwards to installing from the profile perpendicular to tunnel direction transversal scanning tunnel two sides to top；Other two
Scanning laser sensor, backwards to installing, is respectively used to dip sweeping tunnel two sides to top as second pair of scanning laser sensor
Profile.
Deposit data acquisition memory is connect with scanning laser sensor by data line, is passed for storing the laser scanning
The laser scanning result of sensor.
Wherein, scanning laser sensor is two dimensional laser scanning sensor.Scanning angle is a covering of the fan of 180 degree.Swash
Optical scanning sensor is per second to be scanned 50-150 times in 180 ° of scanning range, is determined with specific reference to sensor indices.
The angle in second pair of scanning laser sensor and tunnel is 45 °, which can be 30 ° -60 °.
Referring to Fig.1, which further includes pedestal, and Fig. 2 is base schematic diagram, and referring to Fig. 2, pedestal includes vertical plane and level
Face, vertical plane and horizontal plane one, vertical plane are used to for pedestal being fixed on the front or tail portion of detection vehicle, and horizontal plane is for fixing
Installation 4 scanning laser sensors.
The device further includes sensor stand, and Fig. 3 is sensor stand schematic diagram, and referring to Fig.1 with 3, sensor stand is logical
It crosses bolt to be fixed on pedestal, 4 scanning laser sensors are fixed by bolts on sensor stand.
Scanning laser sensor and pedestal are provided with angle, for making scanning laser sensor scanning to rail, and
Two beam laser when scanning to tunnel top in every a pair of of scanning laser sensor have at least 5 ° of coincidence, so as to ensure tunnel
Road top area does not have missing inspection when scanning.The angle of scanning laser sensor and pedestal can be 0-10 °, and Fig. 4 is first pair and swashs
The scanning mode schematic diagram of optical scanning sensor, referring to Fig. 4, the angle of sensor stand and pedestal is 85 °, makes sensor and bottom
The angle of seat is 5 °, and two laser sensors can scan rail, while two laser beams have 10 ° when scanning to tunnel top
Coincidence.
It should be noted that the scanning optical path of 4 scanning laser sensors is non-interference.Second pair of scanning laser sensor
The laser that second pair of scanning laser sensor cannot be blocked goes out beam position, so first pair of scanning laser sensor prolongs with second Dui
The holding fore-and-aft clearance for stretching scanning laser sensor is placed, and second pair of scanning laser sensor is in a pair of of scanning laser sensor
Side rear.
Fig. 5 is provided in this embodiment according to the progress tunnel cross-section scanning of the laser scanner of above-mentioned tunnel cross-section
Measurement method schematic diagram, referring to Fig. 5, this method is specifically included:
Step 1, will be equipped with the tunnel cross-section laser scanner detection vehicle at a predetermined velocity in tunnel
Interior traveling, and open 4 scanning laser sensors of the laser scanner of the tunnel cross-section；
Step 2, by first pair of scanning laser sensor in 4 scanning laser sensors respectively from perpendicular to
The profile at two sides to the top in tunnel direction transversal scanning tunnel；Pass through second pair of scanning laser sensor dip sweeping tunnel
The profile at road two sides to top；
Step 3, the scan data and current sensor that each scanning laser sensor is recorded by data acquisition memory
The location information of device；
Step 4 is coordinately transformed according to the location information of the scan data and current sensor, laser scans
Tunnel point cloud data, be transformed by computer from laser scans sensor local Coordinate Systems with orbit centre as 0 point
World coordinate system, and then obtain the tunnel cross-section size of two groups of laser scannings.
Wherein, second pair of scanning laser sensor direction scanning-tunnelling two sides to top with 45 ° of tunnel angle respectively
Profile.
It should be noted that the scanning optical path of 4 scanning laser sensors in step 2 is non-interference.
Fig. 6 is the schematic diagram of a scenario of device progress emulation experiment through this embodiment, referring to Fig. 6, the scene left tunnel
Side is placed with one perpendicular to tunnel cross sectional plate-shaped body, and Fig. 7 is the scanning obtained by the device of traditional vertical scanning
Result schematic diagram, Fig. 8 are the scanning result schematic diagram that device obtains through this embodiment, by comparison as can be seen that leading in Fig. 7
Cross the device of traditional vertical scanning, two vertical lasers can only scan the side of this plank a little perhaps section or
It simply sweeps less than this plank, because sectional dimension is very small, as shown in the circular frame in Fig. 7, does not scan this plank,
Or the point of only some plank sides.And emulation experiment is carried out by the device of the present embodiment in Fig. 8 and can be seen that when detection
When vehicle passes through this plank, entire plate face is all swept to, and in the radial direction of tunnel cross-section, scans the depth number of object more
According to avoiding the detection leakage phenomenon of tiny section object in tunnel.Shown in as shown in circular frame in Fig. 8, this test has been arrived in scanning
Plank, and image is perfectly clear.
In conclusion can be avoided the detection leakage phenomenon of tiny section object in tunnel by using the device of the invention,
Improve the accuracy of object scanning survey in tunnel.
Those skilled in the art will be understood that above-mentioned defeated application type is only for example, other are existing or may go out from now on
Existing application type is such as applicable to the embodiment of the present invention, should also be included within the scope of protection of the present invention, and herein with reference
Mode is incorporated herein.
In practical applications, the other positions in detection vehicle also can be set in above-mentioned scanning laser sensor, carry out laser
The dip sweeping of sensor.The embodiment of the present invention does not limit to the specific placement location of above-mentioned scanning laser sensor, above-mentioned to swash
As long as any placement of the optical scanning sensor in detection vehicle meets scanning mode of the invention all in the guarantor of the embodiment of the present invention
It protects in range.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It realizes by means of software and necessary general hardware platform.Based on this understanding, technical solution of the present invention essence
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment or embodiment of the invention
Method described in part.
The embodiments are all described in a progressive manner in this specification, and same and similar part refers to each other in embodiment
, for embodiment of the method, since it is substantially similar to Installation practice, so describe fairly simple, phase
Place is closed to illustrate referring to the part of embodiment of the method.Embodiment of the method described above is only schematical, ability
Domain those of ordinary skill can understand and implement without creative efforts.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (10)
1. a kind of laser scanner of tunnel cross-section characterized by comprising 4 scanning laser sensors and data
Acquisition memory；
4 scanning laser sensors are installed on detection vehicle, and two scanning laser sensors are swept as first pair of laser
Sensor is retouched backwards to installing, is respectively used to from the profile perpendicular to tunnel direction transversal scanning tunnel two sides to top；Other two
A scanning laser sensor, backwards to installing, is respectively used to dip sweeping tunnel two sides to top as second pair of scanning laser sensor
The profile in portion；
The deposit data acquisition memory is connect with scanning laser sensor by data line, is passed for storing the laser scanning
The laser scanning result of sensor.
2. the laser scanner of tunnel cross-section according to claim 1, which is characterized in that the dip sweeping
The profile at tunnel two sides to top includes that the angle in second pair of scanning laser sensor and tunnel is 30 ° -60 °.
3. the laser scanner of tunnel cross-section according to claim 1, which is characterized in that the device also wraps
Pedestal is included, the pedestal includes vertical plane and horizontal plane, and the vertical plane and horizontal plane one, vertical plane are used for pedestal
It is fixed on the front or tail portion of detection vehicle, horizontal plane is used to that 4 scanning laser sensors to be fixedly mounted.
4. the laser scanner of tunnel cross-section according to claim 3, which is characterized in that the device also wraps
Sensor stand is included, the sensor stand is fixed by bolts on the pedestal, 4 scanning laser sensors
It is fixed by bolts on the sensor stand.
5. the laser scanner of tunnel cross-section according to claim 2, which is characterized in that described second pair swashs
The angle in optical scanning sensor and tunnel is 45 °.
6. the laser scanner of tunnel cross-section according to claim 4, which is characterized in that the laser scanning passes
Sensor and pedestal are provided with angle, for making scanning laser sensor scanning to rail, and it is every in scanning to tunnel top
Two beam laser in a pair of of scanning laser sensor have at least 5 degree of coincidence.
7. the method according to claim 1, wherein the scanning optical path of 4 scanning laser sensors is mutual
Do not interfere.
It is swept 8. a kind of laser scanner of tunnel cross-section according to claim 1-7 carries out tunnel cross-section
Retouch measurement method characterized by comprising
Step 1, will be equipped with the tunnel cross-section laser scanner detection vehicle at a predetermined velocity in tunnel expert
It sails, and opens 4 scanning laser sensors of the laser scanner of the tunnel cross-section；
Step 2, by first pair of scanning laser sensor in 4 scanning laser sensors respectively from perpendicular to tunnel
The profile at two sides to the top in direction transversal scanning tunnel；Pass through second pair of scanning laser sensor dip sweeping tunnel two
The profile at side to top；
Step 3 records the scan data of each scanning laser sensor by the data acquisition memory and works as forward pass
The location information of sensor；
Step 4 is coordinately transformed according to the location information of the scan data and current sensor, obtains two groups of laser scannings
Tunnel cross-section size.
9. according to the method described in claim 8, it is characterized in that, second pair of scanning laser sensor respectively with tunnel
The profile at 45 ° of angle of direction scanning-tunnelling two sides to top.
10. according to the method described in claim 8, it is characterized in that, 4 scanning laser sensors in the step 2
Scanning optical path is non-interference.
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| CN201910804006.7A CN110530290A (en) | 2019-08-28 | 2019-08-28 | The laser scanner and method of tunnel cross-section |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112461198A (en) * | 2020-11-10 | 2021-03-09 | 常州沃翌智能科技有限公司 | Device and method for detecting geometric parameters of tunnel section |
| 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 |
| CN115061152A (en) * | 2022-08-18 | 2022-09-16 | 深圳煜炜光学科技有限公司 | Laser radar scanning point cloud processing method and device |
| CN116626706A (en) * | 2023-05-12 | 2023-08-22 | 北京交通大学 | Rail transit tunnel intrusion detection method and system |
| CN117470126A (en) * | 2023-12-27 | 2024-01-30 | 浙江同禾传感技术有限公司 | Tunnel detection device |
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| CN109060820A (en) * | 2018-07-10 | 2018-12-21 | 深圳大学 | Tunnel defect detection method and tunnel defect detection device based on laser detection |
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| CN201945294U (en) * | 2010-12-30 | 2011-08-24 | 北京交通大学 | Automatic detecting system for full face of line |
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| CN112461198A (en) * | 2020-11-10 | 2021-03-09 | 常州沃翌智能科技有限公司 | Device and method for detecting geometric parameters of tunnel section |
| 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 |
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| CN117470126A (en) * | 2023-12-27 | 2024-01-30 | 浙江同禾传感技术有限公司 | Tunnel detection device |
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