CN110823180A - Intelligent tunnel full-section convergence monitoring device and using method - Google Patents
Intelligent tunnel full-section convergence monitoring device and using method Download PDFInfo
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- CN110823180A CN110823180A CN201910987238.0A CN201910987238A CN110823180A CN 110823180 A CN110823180 A CN 110823180A CN 201910987238 A CN201910987238 A CN 201910987238A CN 110823180 A CN110823180 A CN 110823180A
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000012545 processing Methods 0.000 claims abstract description 16
- 230000008054 signal transmission Effects 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims description 31
- 238000004458 analytical method Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 238000007405 data analysis Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000010835 comparative analysis Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000003014 reinforcing effect Effects 0.000 claims 2
- 239000011435 rock Substances 0.000 abstract description 6
- 230000002787 reinforcement Effects 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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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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- 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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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model provides an intelligent full section convergence monitoring devices in tunnel and application method, including laser scanning device, wireless signal transmission device, remote data processing system, laser scanning device includes laser scanner, angle adjustment mechanism, autogiration base and fixed support piece, laser scanning device includes at least two to the tunnel central line is axisymmetric, and fixed support piece sets up in the tunnel inner wall, and the last autogiration base that is provided with of fixed support piece, the last angle adjustment mechanism that is provided with of autogiration base, angle adjustment mechanism tip sets up laser scanner, makes laser scanner's scanning area three-dimensional adjustable, and the information that laser scanner gathered passes through wireless signal transmission device and transmits to remote data processing system. The tunnel surrounding rock convergence monitoring device is arranged inside a tunnel, can monitor the convergence of the surrounding rock of the whole tunnel, can find out the deformation position, carries out reinforcement treatment, prevents the surrounding rock from happening in the bud, and ensures the safe operation of the tunnel.
Description
Technical Field
The disclosure belongs to the technical field of rock and soil monitoring, and particularly relates to an intelligent tunnel full-section convergence monitoring device and a using method thereof.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Tunnel engineering belongs to underground works, and construction conditions are complicated, and the risk is high, often leads to the personal casualties, time limit for a project delay because of the accident, causes huge economic loss, consequently, tunnel monitoring measurement is the essential link of tunnel engineering, is the important means of guaranteeing tunnel engineering safety. The deformation convergence and the section shape measurement of the tunnel in the construction monitoring measurement are parameters which must be measured, the stability of the surrounding rock structure is judged through the section convergence of the tunnel, and the excavation quality (whether the excavation exceeds the underpass) of the section of the tunnel is evaluated through the measurement of the section of the tunnel. The operating tunnel also causes the tunnel section to deform when geological disasters and other conditions occur, and the effective means for monitoring the operating tunnel at present are not many.
According to the inventor, the problems existing in the aspect of automatic section deformation monitoring of the operating tunnel mainly include the following aspects:
(1) the traditional tunnel section testing instrument adopts a tunnel section instrument, needs to be erected on a tunnel road surface, and the testing process can not be shielded by vehicles coming and going, so monitoring personnel and vehicles coming and going can influence each other, and the traffic operation is not only hindered easily, and the working efficiency and the personal safety of the monitoring personnel are also reduced.
(2) The test data needs to be imported into a computer from an instrument, the data acquisition timeliness is low, the monitoring data needs to be analyzed and processed manually, the work content is complicated, errors are easy to occur, and the requirement on the working capacity of data processing personnel is high.
(3) The traditional monitoring feedback and early warning mechanism for operating the tunnel falls behind, and because data acquisition is slow, the processing period is long, and manual errors easily occur, the feedback and early warning can not be timely carried out on the tunnel operation safety, and the purpose of tunnel monitoring is reduced.
Disclosure of Invention
The intelligent tunnel full-section convergence monitoring device is arranged inside a tunnel, can monitor the convergence of the surrounding rock of the whole tunnel, can find out the deformation position, and can perform reinforcement treatment to prevent the situation in the bud and ensure the safe operation of the tunnel.
According to some embodiments, the following technical scheme is adopted in the disclosure:
the utility model provides an intelligent tunnel full section convergence monitoring devices, includes laser scanning device, wireless signal transmission device, remote data processing system, and laser scanning device includes laser scanner, angle adjustment mechanism, autogiration base and fixed support piece, wherein:
the laser scanning devices comprise at least two laser scanning devices which are symmetrically arranged by taking the central line of the tunnel as an axis;
the fixed supporting piece is arranged on the inner wall of the tunnel, an automatic rotating base is arranged on the fixed supporting piece, an angle adjusting mechanism is arranged on the automatic rotating base, and a laser scanner is arranged at the end part of the angle adjusting mechanism to enable the scanning area of the laser scanner to be three-dimensionally adjustable;
the information collected by the laser scanner is transmitted to a remote data processing system through a wireless signal transmission device.
As an alternative embodiment, the remote data processing system is composed of a terminal host and is configured to perform section line type drawing and deformation contrast analysis.
As an alternative embodiment, the laser scanner is provided with a data acquisition device therein.
In an alternative embodiment, the data acquisition device acquires three-dimensional coordinate data of the cross-section measuring points by setting preset values for the tunnel measuring points.
As an alternative embodiment, the fixed supporting member comprises a supporting bracket and a placing table, the supporting leg is arranged below the placing table and connected with the placing table through a bolt, and the rod pieces of the supporting bracket are connected with each other through a bolt.
As an alternative embodiment, a reinforcing steel bar embedded part is arranged on the inner wall of the tunnel, and the exposed end of the reinforcing steel bar embedded part is welded with the supporting bracket, so that the supporting brackets on two sides are ensured to be horizontal during installation.
As an alternative embodiment, the angle adjustment mechanism and the automatic rotating base are replaced by a pan-tilt.
As an alternative embodiment, the automatic rotating base of the laser scanning device is connected with the placing table through bolts.
As an alternative embodiment, the laser scanning device is arranged in a position which is located in the middle and above the inner walls of the two sides of the tunnel in the transverse direction and is symmetrically arranged, so that the laser scanning device is not too far downward to influence the passing of vehicles.
In the longitudinal direction, the arrangement is generally dependent on the tunnel length and the tunnel line type. For example, if the tunnel is a long straight tunnel or a large-radius curved tunnel, the tunnel is arranged in the middle of the tunnel; if a small radius bend occurs in the tunnel, the bend location also needs to be located.
As an alternative implementation manner, the wireless signal transmission device is connected with the data acquisition device in a matching manner, and is used for receiving three-dimensional coordinate data of a tunnel measuring point and sending tunnel section deformation monitoring data to the terminal host.
The terminal host is connected with the wireless signal transmission device in a matching mode, data analysis software is arranged in the terminal host, system analysis processing is carried out, tunnel section line types are drawn, deformation comparison analysis is carried out, and rotation of the laser scanner in the horizontal direction and the vertical direction is remotely controlled.
A use method suitable for a tunnel deformation monitoring device in an operation period comprises the following steps:
welding the fixed support piece with a steel bar embedded part of the monitoring section of the inner wall of the tunnel;
after the optical scanning device is installed, starting detection, and remotely controlling the angle adjusting device through the terminal host to scan in a vertical section;
the laser scanner is controlled to rotate in the horizontal direction through the automatic rotating base, and the operation is repeated continuously, so that the deformation monitoring of the whole tunnel section is completed, and the tunnel deformation work measurement is completed once;
and uploading the monitoring data to a terminal host, and drawing a tunnel section line type through data analysis by the terminal host so as to perform deformation comparative analysis.
Compared with the prior art, the beneficial effect of this disclosure is:
the laser scanning device disclosed by the invention is arranged at the designated positions on two sides of the inner wall of the tunnel by taking the central line of the tunnel as axial symmetry, and can be used for carrying out cross scanning, thus monitoring the monitoring section of the tunnel in an all-round manner and improving the monitoring efficiency.
Laser scanning device is laid respectively to this tunnel both sides inner wall, and two monitoring data form full section's tunnel monitoring data, can complement each other, contrastive analysis.
The monitoring device can be used for monitoring all weather and fully automatically, is not influenced by vehicles coming and going, and improves the working efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic flow chart of a tunnel deformation monitoring device according to the present embodiment;
fig. 2 is a schematic view of a tunnel deformation monitoring device according to the present embodiment;
FIG. 3 is a schematic diagram illustrating a tunnel cross-section monitoring operation according to the present embodiment;
FIG. 4 is a schematic diagram illustrating the operation of the present embodiment along the tunnel direction;
in the figure, a tunnel deformation monitoring system (1), a laser scanning device (2), a wireless signal transmission device (3), a remote data processing system (4), a laser scanner (5), an angle adjusting device (6), an automatic rotating base (7), a fixed supporting device (8), a terminal host (9), a data acquisition device (10), a bolt (11), a steel bar embedded part (12), a placing table (13) and a supporting bracket (14).
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
As shown in fig. 1-4, a tunnel deformation monitoring device suitable for an operation period includes a laser scanning device (2), a wireless signal transmission device (3), and a remote data processing system (4). The laser scanning device (2) is composed of a laser scanner (5), an angle adjusting device (6), an automatic rotating base (7) and a fixed supporting device (8). The remote data processing system consists of a terminal host (9) and can perform section line type drawing and deformation comparison analysis.
As shown in fig. 2, the laser scanning device (2) is composed of a laser scanner (5), an angle adjusting device (6), an automatic rotating base (7), and a fixed supporting device (8). Two laser scanning devices (1) are symmetrically arranged by taking the central line of the tunnel as an axis and are fixed on the inner wall of the tunnel to carry out all-round monitoring on the whole section.
As shown in fig. 2, the laser scanner (5) is mounted on a mounting table (13) of the fixed support device (8), and the data acquisition device (10) is disposed in the laser scanner (5).
As shown in figure 2, the data acquisition device (10) can acquire three-dimensional coordinate data of a section measuring point by setting a preset value for the tunnel measuring point.
As shown in fig. 3, the angle adjusting device (6) can be automatically rotated in the vertical direction to monitor the arch crown, arch waist, side wall, and inverted arch in the same section.
As shown in FIG. 4, the automatic rotating base (7) can automatically rotate to align the point position of the section of the tunnel, scan and monitor along the direction of the tunnel, and monitor a plurality of sections.
As shown in figure 2, the fixed supporting device (8) is composed of a supporting bracket (14) and a placing table (13), and the two are connected through a bolt (11). The rods of the support bracket (14) are connected through bolts (11). The support brackets (14) are welded at the exposed ends of the steel bar embedded parts (12), and the support brackets (14) at two sides are ensured to be horizontal during installation.
And the wireless signal transmission device (3) is connected with the data acquisition device (10) in a matching manner and is used for receiving the three-dimensional coordinate data of the tunnel measuring point and then sending the tunnel section deformation monitoring data to the terminal host (9).
And the terminal host (9) is connected with the wireless signal transmission device (3) in a matching way, is internally provided with data analysis software, can perform system analysis processing, draws a tunnel section line type, and performs deformation comparison analysis. And can remotely control the rotation of the laser scanner (5) in the horizontal direction and the vertical direction.
As shown in fig. 2, the automatic rotation base (7) of the laser scanner (1) is connected to the placement table (13) by a bolt (11).
A use method suitable for a tunnel deformation monitoring device in an operation period comprises the following steps:
1. before the device (1) is used, a fixed supporting device (8) is required to be welded with a steel bar embedded part (12) of a monitoring section of the inner wall of a tunnel;
2. after the laser scanning device (2) is installed, detection is started, and the angle adjusting device (6) is remotely controlled through the terminal host to scan in a vertical section.
3. And the laser scanner (5) is controlled to rotate in the horizontal direction through the automatic rotating base (7). And (5) repeating the step (2) to finish the deformation monitoring of the whole tunnel section. And finishing one tunnel deformation work measurement.
4. Through wireless signal transmission device (3), upload monitoring data to terminal host computer (9), terminal host computer (9) are through drawing the tunnel line type to data analysis, then carry out deformation contrastive analysis.
The terminal host is internally provided with built-in software, and can analyze the uploaded data (the data refer to the three-dimensional coordinates of each measuring point in the tunnel) and draw different section line types according to the three-dimensional coordinate values of each point. And finally, comparing the section line types of all the sections so as to judge. And the linear data of each section can be stored in the terminal host, and can be compared with the data measured again later for the second time, so that the deformation part and the deformation amount can be judged more accurately.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. The utility model provides an intelligent tunnel full section convergence monitoring devices which characterized by: including laser scanning device, wireless signal transmission device, remote data processing system, laser scanning device includes laser scanner, angle adjustment mechanism, autogiration base and fixed support piece, wherein:
the laser scanning devices comprise at least two laser scanning devices which are symmetrically arranged by taking the central line of the tunnel as an axis;
the fixed supporting piece is arranged on the inner wall of the tunnel, an automatic rotating base is arranged on the fixed supporting piece, an angle adjusting mechanism is arranged on the automatic rotating base, and a laser scanner is arranged at the end part of the angle adjusting mechanism to enable the scanning area of the laser scanner to be three-dimensionally adjustable;
the information collected by the laser scanner is transmitted to a remote data processing system through a wireless signal transmission device.
2. The intelligent tunnel full-section convergence monitoring device as claimed in claim 1, wherein: the remote data processing system is composed of a terminal host and is configured to conduct section line type drawing and deformation comparison analysis.
3. The intelligent tunnel full-section convergence monitoring device as claimed in claim 1, wherein: and a data acquisition device is arranged in the laser scanner.
4. The intelligent tunnel full-section convergence monitoring device as claimed in claim 1, wherein: the data acquisition device acquires three-dimensional coordinate data of the measuring points of the cross section by setting preset values for the measuring points of the tunnel.
5. The intelligent tunnel full-section convergence monitoring device as claimed in claim 1, wherein: the fixed support piece comprises a support bracket and a placing table, the support leg is arranged below the placing table and connected with the placing table through a bolt, and rod pieces of the support bracket are connected through a bolt.
6. The intelligent tunnel full-section convergence monitoring device as claimed in claim 1, wherein: be provided with the reinforcing bar built-in fitting on the tunnel inner wall, and reinforcing bar built-in fitting exposes the end welding support bracket, guarantees both sides support bracket level during the installation.
7. The intelligent tunnel full-section convergence monitoring device as claimed in claim 1, wherein: the angle adjusting mechanism and the automatic rotating base are replaced by a holder.
8. The intelligent tunnel full-section convergence monitoring device as claimed in claim 1, wherein:
the wireless signal transmission device is connected with the data acquisition device in a matching mode and used for receiving three-dimensional coordinate data of the tunnel measuring points and sending tunnel section deformation monitoring data to the terminal host.
9. The intelligent tunnel full-section convergence monitoring device as claimed in claim 1, wherein: the terminal host is connected with the wireless signal transmission device in a matching mode, data analysis software is arranged in the terminal host, system analysis processing is carried out, tunnel section line types are drawn, deformation comparison analysis is carried out, and rotation of the laser scanner in the horizontal direction and the vertical direction is remotely controlled.
10. A use method suitable for a tunnel deformation monitoring device in an operation period is characterized by comprising the following steps: the method comprises the following steps:
welding the fixed support piece with a steel bar embedded part of the monitoring section of the inner wall of the tunnel;
after the optical scanning device is installed, starting detection, and remotely controlling the angle adjusting device through the terminal host to scan in a vertical section;
the laser scanner is controlled to rotate in the horizontal direction through the automatic rotating base, and the operation is repeated continuously, so that the deformation monitoring of the whole tunnel section is completed, and the tunnel deformation work measurement is completed once;
and uploading the monitoring data to a terminal host, and drawing a tunnel section line type through data analysis by the terminal host so as to perform deformation comparative analysis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910987238.0A CN110823180A (en) | 2019-10-17 | 2019-10-17 | Intelligent tunnel full-section convergence monitoring device and using method |
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| CN201910987238.0A CN110823180A (en) | 2019-10-17 | 2019-10-17 | Intelligent tunnel full-section convergence monitoring device and using method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111828096A (en) * | 2020-08-24 | 2020-10-27 | 湖南致力工程科技有限公司 | Tunnel section deformation automatic monitoring and early warning method and system |
| CN111964590A (en) * | 2020-08-24 | 2020-11-20 | 湖南致力工程科技有限公司 | Method for installing laser scanner in tunnel automatic monitoring and early warning process |
| CN112129346A (en) * | 2020-09-14 | 2020-12-25 | 湖南致力工程科技有限公司 | Tunnel automatic monitoring and early warning method and system |
| CN112857255A (en) * | 2021-03-01 | 2021-05-28 | 江苏中设集团股份有限公司 | Intelligent monitoring system and method based on three-dimensional laser scanning technology |
| CN113188589A (en) * | 2021-04-01 | 2021-07-30 | 山东大学 | Full-time intelligent monitoring equipment and method for subway tunnel |
| CN113267140A (en) * | 2021-05-10 | 2021-08-17 | 贵州大学 | Device and method for detecting overexcavation and underexcavation of tunnel |
| CN113404541A (en) * | 2021-06-29 | 2021-09-17 | 陕西工业职业技术学院 | Tunnel surrounding rock deformation on-line monitoring and early warning system |
| CN113701638A (en) * | 2021-09-30 | 2021-11-26 | 北京锐达仪表有限公司 | Material three-dimensional form high-speed multi-angle scanning detection device and scanning detection system |
| CN114136213A (en) * | 2021-12-16 | 2022-03-04 | 浙江宁海抽水蓄能有限公司 | Three-dimensional laser scanning system and method for monitoring unstable cavern body |
| 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 |
| CN114705128A (en) * | 2022-03-25 | 2022-07-05 | 贵州省交通规划勘察设计研究院股份有限公司 | Tunnel automatic monitoring and measuring equipment and method based on fixed-point itinerant measurement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111964590A (en) * | 2020-08-24 | 2020-11-20 | 湖南致力工程科技有限公司 | Method for installing laser scanner in tunnel automatic monitoring and early warning process |
| CN111828096A (en) * | 2020-08-24 | 2020-10-27 | 湖南致力工程科技有限公司 | Tunnel section deformation automatic monitoring and early warning method and system |
| CN112129346A (en) * | 2020-09-14 | 2020-12-25 | 湖南致力工程科技有限公司 | Tunnel automatic monitoring and early warning method and system |
| CN112857255A (en) * | 2021-03-01 | 2021-05-28 | 江苏中设集团股份有限公司 | Intelligent monitoring system and method based on three-dimensional laser scanning technology |
| CN113188589B (en) * | 2021-04-01 | 2023-02-03 | 山东大学 | Full-time intelligent monitoring equipment and method for subway tunnel |
| CN113188589A (en) * | 2021-04-01 | 2021-07-30 | 山东大学 | Full-time intelligent monitoring equipment and method for subway tunnel |
| CN113267140A (en) * | 2021-05-10 | 2021-08-17 | 贵州大学 | Device and method for detecting overexcavation and underexcavation of tunnel |
| CN113404541A (en) * | 2021-06-29 | 2021-09-17 | 陕西工业职业技术学院 | Tunnel surrounding rock deformation on-line monitoring and early warning system |
| CN113701638A (en) * | 2021-09-30 | 2021-11-26 | 北京锐达仪表有限公司 | Material three-dimensional form high-speed multi-angle scanning detection device and scanning detection system |
| 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 |
| CN114136213A (en) * | 2021-12-16 | 2022-03-04 | 浙江宁海抽水蓄能有限公司 | Three-dimensional laser scanning system and method for monitoring unstable cavern body |
| CN114136213B (en) * | 2021-12-16 | 2024-02-13 | 浙江宁海抽水蓄能有限公司 | Three-dimensional laser scanning system and method for monitoring unstable body of cavern |
| CN114705128A (en) * | 2022-03-25 | 2022-07-05 | 贵州省交通规划勘察设计研究院股份有限公司 | Tunnel automatic monitoring and measuring equipment and method based on fixed-point itinerant measurement |
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