CN206291859U - A kind of laser ranging railway tunnel based on gyroscope positioning detects car - Google Patents
A kind of laser ranging railway tunnel based on gyroscope positioning detects car Download PDFInfo
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- CN206291859U CN206291859U CN201621358132.2U CN201621358132U CN206291859U CN 206291859 U CN206291859 U CN 206291859U CN 201621358132 U CN201621358132 U CN 201621358132U CN 206291859 U CN206291859 U CN 206291859U
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Abstract
Car is detected the utility model discloses a kind of laser ranging railway tunnel based on gyroscope positioning.The detection car includes vehicle body and the wheel angle sensors, gyroscope, first laser rangefinder, second laser rangefinder and the 3rd laser range finder that are installed on vehicle body；First laser rangefinder, second laser rangefinder and the 3rd laser range finder are respectively arranged in the left side of vehicle body, right side and top, are respectively used to the distance between measuring vehicle body and tunnel left side, right side and top inner wall；Wheel angle sensors are used to detect the rotational angle of wheel, and described gyroscope is used for measuring vehicle body traveling angle in three dimensions；Vehicle body is railroad vehicle.The utility model, as the carrying platform of each sensor, realizes the deformation information detection in tunnel in flat three aspects in length and breadth using railroad vehicle.
Description
Technical field
The utility model is related to railway tunnel work detection means field, and in particular to a kind of swashing based on gyroscope positioning
Ligh-ranging railway tunnel detects car.
Background technology
The railway tunnel disease that increasing tunnel differential settlement is caused causes the very big concern of operation department.
Tunnel will likely produce larger linear deformation in the operation for a long time of soft clay area, and linear deformation is very unfavorable to tunnel structure, when
When the deflection or longitudinal curvature that tunnel has excess reach a certain amount value, it will cause circumferential weld to open excessive and cause leakage
Water leaks mud, or section of jurisdiction tensile failure, causes underground railway track to produce torsional deformation；When tunnel longitudinal direction, differential settlement amount is excessive
When, it will cause track to produce longitudinal bias and difference of height, influence comfortableness and security during train operation, and then also can ripple
And used to the normal of all kinds of structures of surrounding.When the longitudinal bias and difference of height of track are above standard, railway roadbed cracking, track
Increased wear between wheel, causes regular maintenance and maintenance task to aggravate, and causes huge economic loss.Meanwhile, tunnel
Linear deformation and it is lateral stressed be also undivided, when linear deformation is excessive, will inevitably cause Lining Ring in transverse direction
On deformation, tunnel interannular seam opens, so as to cause leak to leak mud and section of jurisdiction tensile failure.New line construction, excavation of foundation pit etc.
Underground engineering has broken the stress balance of existing subway tunnel, and the tunnel that level passes through river course is subject to current laterally to make for a long time
With so as to cause the deformation of tunnel horizontal direction, equally causing tunnel slot.Therefore subway tunnel is in construction and builds up
Afterwards, because of the combined influence of each side such as geology, underground water, neighbouring construction and structural load itself, tunnel structure may be made
Produce the change of the harm tunnel safety such as crack, deformation, it is necessary to which the long-term deformation monitoring that carries out promptly and accurately is sent out so as to timely
Now with forecast dangerous situation, it is ensured that the safety of construction and the operation in tunnel.
And existing tunnel manual detection method is not, it is necessary to testing staff runs or the convoy spacing time in night railway
It is long do not interfere with the case of when could detect, pointwise determines the deformation of tunnel cross sectional.This method has many
Shortcoming, such as detection efficiency are low, the time is long, the problems such as tunnel environment may be damaged to testing staff.Due to manual detection effect
Rate is low, simply selects Longitudinal Settlement, clearance convergence and Vault settlement project, ignores project of the tunnel level to detection, causes
Tunnel overall deformation information cannot be obtained.In addition, also there is researcher to propose using vehicle to travel in tunnel and gather at present
Various modifications information simultaneously realizes the conception that automatically processes, if but imagination when putting into actually used, its sensor for carrying it is flat
Platform is automobile, therefore sensor position in the horizontal plane in itself moves left and right, and still the level in tunnel cannot be become
Shape is detected.Further, current sensing station detection generally using locating modules such as GPS, but in tunnel due to
Physical barrier, even if there is the presence of trunk module, its precision is not also high.And the detection of tunnel deformation need to rely on accurately
Spatial positional information, therefore prior art cannot also meet the demand.
Utility model content
The purpose of this utility model is to overcome that traditional detection method speed is slow, precision is low and can only detect vertical section, cut
The shortcoming of facial disfigurement, and a kind of laser ranging railway tunnel detection car based on gyroscope positioning is provided.The utility model is solved
The technical scheme that its technical problem is used is：
Laser ranging railway tunnel based on gyroscope positioning detects car, including vehicle body and is installed on vehicle body
On wheel angle sensors, gyroscope, first laser rangefinder, second laser rangefinder and the 3rd laser range finder；It is described
First laser rangefinder, second laser rangefinder and the 3rd laser range finder be respectively arranged in the left side of vehicle body, right side
And top, it is respectively used to the distance between measuring vehicle body and tunnel left side, right side and top inner wall；Described wheel angle
Sensor is used to detect the rotational angle of wheel, and described gyroscope is used for measuring vehicle body traveling angle in three dimensions
Degree；Described vehicle body is railroad vehicle.
Preferably, the pedestal of described first laser rangefinder and second laser rangefinder bottom is provided with angular adjustment
Device, for adjusting the radiating laser beams angle of first laser rangefinder and second laser rangefinder in tunnel cross sectional.
Further, the laser beam of described first laser rangefinder, second laser rangefinder and the 3rd laser range finder
The total adjustable range of launch angle can cover whole tunnel section.
The utility model in terms of existing technologies, with advantages below：
1) the utility model makes detection car during traveling using railroad vehicle as the carrying platform of each sensor,
Tunnel to be detected locus in the horizontal plane can be positioned by data reduction, thus achieve tunnel in horizontal direction
Deformation information detection.
2) combination that the utility model passes through wheel angle sensors and gyroscope, there is provided one kind being capable of detection and localization car
The new method of three-dimensional space position in tunnel, and the method without the systems such as signal relaying, GPS coordinate, can be applied to
The complexity landform such as mountain area.
3) the utility model is in detection process, without making railway tunnel stop transport or selection situation vacant for a long time, only
Detection order of classes or grades at school need to be added in normal columns vehicle shift time or is directly fixed on conventional train and be detected, with preferably convenient
Property.
Brief description of the drawings
Fig. 1 is the schematic diagram that a kind of laser ranging railway tunnel based on gyroscope positioning detects car.
Fig. 2 is that a kind of laser ranging railway tunnel based on gyroscope positioning detects car overhaul flow chart.
Fig. 3 is that a kind of laser ranging railway tunnel detection car three-dimensional coordinate localization method based on gyroscope positioning is illustrated
Figure.
In figure：Wheel angle sensors 1, gyroscope 2, laser range finder 3, vehicle body 4.
Specific embodiment
The utility model is further elaborated and is illustrated with reference to the accompanying drawings and detailed description.In the utility model
The technical characteristic of each implementation method can carry out respective combination on the premise of not colliding with each other.
As shown in figure 1, detecting the implementation of car, detection for a kind of laser ranging railway tunnel based on gyroscope positioning
Car is navigated in tunnel.In the present embodiment, the vehicle body 4 for detecting car is railway carriage, naturally it is also possible to use other rails
Vehicle, as long as can be travelled along rail.Railway carriage outside is provided with three laser range finders 3 by pedestal, and first swashs
Optar is arranged on the left side in compartment, and second laser rangefinder is arranged on the right side in compartment, and the 3rd laser range finder is arranged on
The top in compartment.Under normal circumstances, the Laser emission angle of the 3rd laser range finder be set as vertically upward, mainly for detection of
The distance between vehicle body 4 and tunnel top inwall, the then altitude conversion according to compartment is the height of tunnel vault, and then
Calculate Vault settlement.And first laser rangefinder and second laser rangefinder are mainly for detection of the both sides and tunnel of vehicle body
The distance between side wall, the width then in conjunction with compartment is scaled the span length of tunnel horizontal direction, and then calculates tunnel two
The clearance convergence of side.In addition, being also equipped with wheel angle sensors 1 and gyroscope 2 on vehicle body 4.Wheel angle sensors 1
The power output shaft of wheel is connected, for the rotational angle of real-time detection wheel.According to the wheel external diameter of vehicle, can be according to circle
All calculating formula of length obtain the travel distance of vehicle.The diverse location in tunnel, the deformation that it can have level is heavy with longitudinal direction
Drop, when railroad vehicle is advanced along rail, the gait of march direction of vehicle body 4 also can occurred level or longitudinal direction change, and
Change in the three dimensions needs to be detected by the gyroscope of the fixed position installed in vehicle interior.
Can only measure a distance for angle every time due to common laser range finder, thus first laser rangefinder and
The pedestal of second laser rangefinder can be positioned below angle regulator.The effect of angle regulator is two Laser Measurings of regulation
Radiating laser beams angle of the distance meter in tunnel cross sectional, is believed with the deformation of varying cross-section in comprehensively scanning-tunnelling cross section
Breath.Angle regulator can be by the way of ball pivot be set, so as to adjust the angle of pedestal below pedestal, certain angular adjustment
Device can also use other structures of the prior art, the connecting rod being such as hinged, rotating disk.But in order to ensure radiating laser beams angle
Only adjusted in tunnel cross sectional without producing the skew along tunnel bearing of trend, the limited angular that should try one's best adjusting means turn
Dynamic automatic degree, makes it only can be in rotation with surface residing for tunnel cross sectional.In order to the launch angle for ensureing laser can be covered
Whole tunnel cross sectional, first laser rangefinder and second laser rangefinder are tried one's best the position for being installed on compartment side near top
Put, and the corner of the angle regulator of both sides is also sufficiently large, the laser detection angle energy under three cooperations of laser range finders 3
Enough cover the whole girth of tunnel cross sectional.Meanwhile, three laser induced positions of laser range finder 3, i.e., its launch respectively
Three laser, should be located on the same cross section transverse in tunnel.
Certainly, if being not provided with angle regulator, also can set multiple with different radiating laser beams by side
The laser range finder of angle realizes the detection of different angular distortions in tunnel cross sectional；Or use can carry out section horizontal stroke
The rangefinder swept, will certainly so increase the cost of detection car but the time needed for can reducing complete detection.In addition, in vehicle
Corresponding data processing equipment (such as PC, single-chip microcomputer, MCU) can also be set, the data of each sensor are constantly received, entered
The treatment of row System；Data can certainly be stored, it is to be detected after the completion of derive carry out integrated treatment again.
Above-mentioned detection car is to the detection method of railway tunnel deformation information, and its general principle is as shown in Figure 2.It is given below one
Plant and implement step：
First, a coordinate basis point is chosen, three-dimensional coordinate system is set up.Rail at general optional tunnel portal
Traveling initial point as coordinate basis point, with horizontal plane on tunnel overall bearing of trend as y-axis, it is vertical with y-axis on horizontal plane
Direction is x-axis, is z-axis with the plumb line direction with horizontal plane, sets up coordinate system.Certainly, coordinate system can also be according to reality
Border is adjusted, and the detection of deformation after unloading information is not influenceed.In addition, it is necessary to be required according to detection, regulation both sides before starting vehicle
Laser range finder laser launch angle, make its alignment position to be detected.
Then, start detection car, it is travelled in railway tunnel along rail.During traveling, set at a certain distance
Test point is put, whole piece tunnel is divided into some segments, the three dimensional space coordinate in whole piece tunnel is obtained in the method for being similar to integration
Information and deformation information.Because the utility model is that operating range is determined by angular transducer, therefore car is kept as far as possible
Wheel does not skid on rail, if skidding frequently, it is necessary to carry out corresponding data correction or carry out anti-skidding treatment to wheel.
Specific practice is that wheel angle sensors 1, gyroscope 2 and three laser range finders constantly work in the process of moving, determines phase
The information answered：
Wheel angle sensors 1 constantly measure the rotational angle of wheel, and the operating range of vehicle is scaled according to wheel footpath；
The continuous measuring vehicle body 4 of gyroscope 2 traveling angle in three dimensions.Whenever detection car run it is certain away from
From, will pass through calculating the segment distance in vehicle body average traveling angle in three dimensions.As shown in figure 3, the row of reality
The direction of motion for sailing angle, i.e. vehicle is a space vector, and it is with YZ, XZ and X/Y plane form respectively angle.Based on this
The starting point P of segment distancetCoordinate and three angles, the terminal P of the segment distance can be calculated by space geometry relationt+1In three-dimensional
Three-dimensional coordinate information in space.Specific formula for calculation is as follows：
In formula：T+1 and t are respectively the every section of end of time of range ability (corresponding points Pt+1) and initial time (corresponding points
Pt)；(Xt+1, Yt+1, Zt+1) and (Xt, Yt, Zt) it is respectively t+1 and t detection car three-dimensional coordinate in three dimensions；L is
Every section of distance of traveling of detection car；α, β and γ are respectively vehicle traveling angle and YZ, XZ and X/Y plane in this section of operating range
Angle.
In every section of range ability of detection car, also by first laser rangefinder, second laser rangefinder and the 3rd laser
Rangefinder is received the laser beam of reflection by photoelectric cell simultaneously to tunnel both sides and top-emission pulse laser beam, and timer is surveyed
Determine laser beam from the time for being transmitted into reception, calculate the distance from launch point to tunnel inner wall under corresponding launch angle, and
It is scaled the Vault settlement and clearance convergence in tunnel.
Finally, after detection garage finishes tunnel to be measured, every section of range ability on the whole piece driving trace of detection car is obtained
Corresponding three-dimensional coordinate information and this section of cross-sectional deformation information in tunnel, and the construction final acceptance of construction drawing of integrating tunnel or
Person's initial deformation situation, obtains current tunnel in flat three deformation informations of aspect in length and breadth.
Tunnel bulk settling information and horizontal distortion situation are mainly by the three-dimensional coordinate information of whole piece driving trace come really
It is fixed, after the data of gyroscope 2 and laser range finder 3 are integrated, processed and analyzed, every section of coordinate of range ability terminal
Couple together, you can obtain the extension track of rail, thereby is achieved each section of tunnel three-dimensional localization information in three dimensions,
The deformation that the construction final acceptance of construction drawing of integrating tunnel or preceding one-shot measurement are obtained, so as to detect present whole in tunnel
Body settles information and horizontal distortion situation.The deformation information of tunnel lateral direction mainly passes through integrating three-dimensional location information and laser ranging
The information acquisition of instrument.Laser range finder measures the Vault settlement and clearance convergence of each distance segment in tunnel, so as to obtain tunnel
Every section of deformation information in section；The construction final acceptance of construction drawing or initial deformation situation of integrating tunnel, can obtain tunnel horizontal
To deformation information.Hereby it is achieved that the flat three comprehensive measurements of aspect deformation information in length and breadth in tunnel.
If desired when the clearance convergence to tunnel cross sectional difference angle is measured, detection car can be driven in tunnel to be measured
In travel multiple back and forth, and every time before traveling regulation first laser rangefinder and second laser rangefinder in tunnel cross sectional
Radiating laser beams angle.As traveling detects tunnel section lowermost position for the first time, before each traveling afterwards, by launch angle
With the gradually lifting of 15 ° of angle, until being in 75 ° of upward angles with horizontal direction, the complete of tunnel cross sectional is thus gradually covered
Surface scan.
In addition, detecting being fixed apart from L for every section of traveling of car, it is also possible to do not fix.It is larger especially for deforming
Tunnel construction sections, can improve the accuracy of measurement by reducing L values.
Embodiment described above is a kind of preferably scheme of the present utility model, so itself and be not used to limit this practicality
It is new.About the those of ordinary skill of technical field, in the case where spirit and scope of the present utility model are not departed from, can be with
Make a variety of changes and modification.For example, laser range finder can also be realized using other distance-measuring devices, it falls within this
Utility model protection scope.Therefore the technical scheme that all modes for taking equivalent or equivalent transformation are obtained, all falls within this
In the protection domain of utility model.
Claims (3)
1. a kind of laser ranging railway tunnel based on gyroscope positioning detects car, it is characterised in that including vehicle body and
Wheel angle sensors on vehicle body, gyroscope, first laser rangefinder, second laser rangefinder and the 3rd is installed on to swash
Optar；Described first laser rangefinder, second laser rangefinder and the 3rd laser range finder are respectively arranged in vehicle sheet
The left side of body, right side and top, are respectively used to the distance between measuring vehicle body and tunnel left side, right side and top inner wall；
Described wheel angle sensors are used to detect the rotational angle of wheel, and described gyroscope is used for measuring vehicle body in three-dimensional
Traveling angle in space；Described vehicle body is railroad vehicle.
2. the laser ranging railway tunnel based on gyroscope positioning as claimed in claim 1 detects car, it is characterised in that described
First laser rangefinder and the pedestal of second laser rangefinder bottom be provided with angle regulator, for adjusting first laser
The radiating laser beams angle of rangefinder and second laser rangefinder in tunnel cross sectional.
3. the laser ranging railway tunnel based on gyroscope positioning as claimed in claim 2 detects car, it is characterised in that described
The total adjustable range of radiating laser beams angle of first laser rangefinder, second laser rangefinder and the 3rd laser range finder can cover
Cover whole tunnel section.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621358132.2U CN206291859U (en) | 2016-12-12 | 2016-12-12 | A kind of laser ranging railway tunnel based on gyroscope positioning detects car |
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| CN201621358132.2U CN206291859U (en) | 2016-12-12 | 2016-12-12 | A kind of laser ranging railway tunnel based on gyroscope positioning detects car |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705876A (en) * | 2016-12-12 | 2017-05-24 | 浙江大学 | Laser ranging railway tunnel detection vehicle based on gyroscope positioning and detection method |
| CN108225208A (en) * | 2018-04-11 | 2018-06-29 | 辽宁工程技术大学 | Three-dimensional Intelligent Laser tunnel deformation monitoring device and method |
| CN109080649A (en) * | 2018-08-15 | 2018-12-25 | 深圳市粤通建设工程有限公司 | Tunnel testing vehicle |
| CN111089544A (en) * | 2020-03-19 | 2020-05-01 | 浙江交工集团股份有限公司 | Tunnel monitoring measurement data analysis method based on maximum entropy method reliability theory |
| CN112461122A (en) * | 2020-09-21 | 2021-03-09 | 浙江大学 | Tunnel surface feature detection device and method |
| TWI762924B (en) * | 2019-09-11 | 2022-05-01 | 美商惠普發展公司有限責任合夥企業 | Measurement devices |
-
2016
- 2016-12-12 CN CN201621358132.2U patent/CN206291859U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705876A (en) * | 2016-12-12 | 2017-05-24 | 浙江大学 | Laser ranging railway tunnel detection vehicle based on gyroscope positioning and detection method |
| CN108225208A (en) * | 2018-04-11 | 2018-06-29 | 辽宁工程技术大学 | Three-dimensional Intelligent Laser tunnel deformation monitoring device and method |
| CN109080649A (en) * | 2018-08-15 | 2018-12-25 | 深圳市粤通建设工程有限公司 | Tunnel testing vehicle |
| CN109080649B (en) * | 2018-08-15 | 2019-12-20 | 深圳市粤通建设工程有限公司 | Tunnel detection vehicle |
| TWI762924B (en) * | 2019-09-11 | 2022-05-01 | 美商惠普發展公司有限責任合夥企業 | Measurement devices |
| CN111089544A (en) * | 2020-03-19 | 2020-05-01 | 浙江交工集团股份有限公司 | Tunnel monitoring measurement data analysis method based on maximum entropy method reliability theory |
| CN112461122A (en) * | 2020-09-21 | 2021-03-09 | 浙江大学 | Tunnel surface feature detection device and method |
| CN112461122B (en) * | 2020-09-21 | 2022-04-19 | 浙江大学 | Tunnel surface feature detection device and method |
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