CN206709784U - A kind of device of detection CRTS II type fragment-free track slab space geometry morphemes - Google Patents
A kind of device of detection CRTS II type fragment-free track slab space geometry morphemes Download PDFInfo
- Publication number
- CN206709784U CN206709784U CN201720434654.4U CN201720434654U CN206709784U CN 206709784 U CN206709784 U CN 206709784U CN 201720434654 U CN201720434654 U CN 201720434654U CN 206709784 U CN206709784 U CN 206709784U
- Authority
- CN
- China
- Prior art keywords
- track plates
- track
- test point
- pedestal
- crts
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses a kind of device of detection CRTS II type fragment-free track slab space geometry morphemes, it includes laser tracker, laser tracking ball target, pedestal and the multiple measuring points mark pad for being fixed on each track plates test point position, the top of the pedestal is provided with the groove for being used for placing laser tracking ball target, the magnetic part for magnetic-adsorption fixed laser tracking ball target is provided with the bottom of the groove, the clamping joint with measuring point mark pad phase clamping is provided with the bottom of the pedestal, the buckling groove being adapted with the clamping joint is provided with measuring point mark pad.The utility model realizes the on-line checking of the space geometry morpheme in commission CRTS II type fragment-free track slabs using laser tracking technology first, not only measurement accuracy is high, it is and simple to operate, be advantageous to find the geometric deformation situation that in commission fragment-free track slab is occurred in time, can be train smooth, safe operation provides safeguard and scientific basis.
Description
Technical field
The utility model is to be related to a kind of device of detection CRTS II type fragment-free track slab space geometry morphemes, belongs to nothing
Tiny fragments of stone, coal, etc. track plates safety detection technology field.
Background technology
CRTS II plate-type non-fragment orbits are that precast track plate is mixed by what the laying of cement asphalt mortar layer paved at the scene
Coagulate the continuous non-fragment orbit on native supporting course or the reinforced concrete footing plate of cast in situs.With the hair of China Railway High-speed
Exhibition, CRTS II type ballastless track structures are widely applied.Track plates for CRTS II type ballastless track systems are referred to as
CRTS II type fragment-free track slabs.In track traffic, track is carrying and the guiding facility of bullet train, and good track is
Ensure the premise of train high-speed cruising.But because China is vast in territory, environment complexity is various, and in commission fragment-free track slab is always
Under the atmospheric environment of complexity, and in the presence of the factors such as train load, environmental condition are born for a long time, it is difficult to avoid
Produce the change of space geometry morpheme.And track plates are used as an important factor for influenceing rail smooth, it is necessary to the in commission no tiny fragments of stone, coal, etc.
Track plates often carry out space geometry morpheme detection, to find that in commission fragment-free track slab is sent out because being influenceed by interior external force in time
Raw subtle flow and misalignment, to reduce unnecessary security incident.And in the prior art on fragment-free track slab outward appearance
The detection method of dimensional discrepancy is the quality testing made for fragment-free track slab when processing and not yet using, and on
The detection of the physical dimension of CRTS II type fragment-free track slabs is needed using measuring table, observation pier, total powerstation, flat board prism etc.
Instrument and equipment is (reference can be made to document：Railway is reconnoitred, the 2nd the 8-9 pages of the phase in 2010), complex operation is not only measured, and measure
Environment is larger by restricting, it is impossible to which, suitable for carrying out on-line checking in commission CRTS II types fragment-free track slab, this area Kei needs
Study it is a kind of it is simple to operate, not examined environment influence and accuracy of detection is high can be used for detecting in commission CRTS II types without
The technology of the space geometry morpheme of tiny fragments of stone, coal, etc. track plates, to find geometric deformation feelings that in commission fragment-free track slab is occurred in time
Condition, avoid influenceing stationarity, comfortableness and the security of train operation, but so far there are no correlation technique report.
Utility model content
In view of the above-mentioned problems existing in the prior art and demand, the purpose of this utility model be to provide it is a kind of it is simple to operate,
The space geometry that can be used for detecting in commission CRTS II type fragment-free track slabs that not examined environment influences and accuracy of detection is high
The device of morpheme, it is train operation in favor of finding geometric deformation situation that in commission fragment-free track slab is occurred in time
Stationarity, comfortableness and security provide safeguard and scientific basis.
To achieve the above object, the technical solution adopted in the utility model is as follows：
A kind of device of detection CRTS II type fragment-free track slab space geometry morphemes, including the tracking of laser tracker, laser
Ball target, pedestal and the multiple measuring points mark pad for being fixed on each track plates test point position, the top of the pedestal is provided with
For placing the groove of laser tracking ball target, it is provided with the bottom of the groove for magnetic-adsorption fixed laser tracking ball target
Magnetic part, the clamping joint with measuring point mark pad phase clamping is provided with the bottom of the pedestal, in the measuring point label pad
Piece is provided with the buckling groove being adapted with the clamping joint.
Preferably, the measuring point mark pad uses sheet metal.
Preferably, the magnetic part is magnetite.
Preferably, the center of measuring point mark pad be secured to the track plates test point of connection center,
The center of base central and laser tracking ball target is on same axis.
Preferably, the track plates test point is uniformly laid in the top surface of track plates by array and positioned at train row
Enter the left and right side of the track plates in direction.
As further preferred scheme, by train direct of travel, every a line track plates detection on track plate top surface
Point and the track plates test point of the same number of rows on track plates left and right side are on same cross section.
As further preferred scheme, by train direct of travel, the track plates detection on the left and right side of track plates
Point is 3 row, is sequentially located at track plates top side side, track plates bottom side and the branch being in contact with screed of homonymy from top to bottom
Support the upper surface of layer or bedplate.
Described device is used for the method for detecting CRTS II type fragment-free track slab space geometry morphemes, comprises the following steps：
A) SURVEYING CONTROL NETWORK is established based on adjacent CP III control points；
B) on the premise of CP III control points and the track plates test point phase intervisibility laid is ensured, laser tracker is utilized
Any point freely sets survey station in SURVEYING CONTROL NETWORK, and sets measuring coordinate system；
C) using the combination of laser tracking ball target and pedestal, continuous survey of the laser tracker to track plates test point is implemented
Amount；
D) three-dimensional coordinate according to the track plates test point obtained, the space bit of the resulting track plates of this measurement is determined
Put and geometry, and analyzed compared with initial measurement or last time measurement result, so that it is determined that the space bit for guidance tape of overstepping the limit
Shifting amount and deformation.
Preferably, SURVEYING CONTROL NETWORK is established based on four adjacent CP III control points, to ensure measurement accuracy.
Preferably, the position of the survey station is between two adjacent CP III control points, to ensure CP
III control points and the track plates test point phase intervisibility laid, with more convenient, effective gathered data.
As further preferred scheme, the position of the survey station can read two CP adjacent thereto by resection
The three-dimensional coordinate at III control points.
Preferably, before testing, net is controlled to carry out repetition measurement CP III, to ensure the accurate of SURVEYING CONTROL NETWORK
Property.
Compared to prior art, advantageous effects of the present utility model are：
The utility model realizes the sky in commission CRTS II type fragment-free track slabs using laser tracking technology first
Between track geometry on-line checking, by Reasonable Arrangement track plates test point, enable geometry of the track plates test point with track plates
Form and position produces corresponding three-dimensional coordinate change, then gathers the track plates laid in different time points using laser tracker
The three-dimensional coordinate of test point, according to analysis different time points three-dimensional coordinate, so that it is determined that overstep the limit guidance tape space displacement amount and
Deformation；Not only measurement accuracy is high (can reach 15 μm+6 μm/m) for described device, and simple to operate, not examined environment shadow
Ring, compared to existing total powerstation detection technique, can not only be carried out to processing still untapped CRTS II types fragment-free track slab
Quality testing, can also especially preservation ＆ testing be carried out in commission CRTS II types fragment-free track slab, be advantageous to find clothes in time
The geometric deformation situation that fragment-free track slab in labour is occurred, guarantor is provided for the stationarity, comfortableness and security of train operation
Barrier and scientific basis；Therefore, the utility model has conspicuousness progress and application value relative to prior art.
Brief description of the drawings
Fig. 1 is a kind of detection CRTS II types fragment-free track slab space geometry morpheme that the utility model embodiment provides
The structural representation of device；
Fig. 2 is the structural representation of pedestal described in the utility model embodiment；
Fig. 3 is schematic diagram of the utility model embodiment described device when establishing SURVEYING CONTROL NETWORK；
Fig. 4 is schematic diagram of the utility model embodiment described device when detecting test point on the left of train direct of travel；
Fig. 5 is schematic diagram of the utility model embodiment described device when detecting test point on the right side of train direct of travel；
Fig. 6 is the similar triangle that laser tracker observation sight is formed to track plates, rail in the utility model embodiment
Shape model；
Fig. 7 is the simulation model figure using device analysis track plates geometric distortion described in the utility model.
Label is schematically as follows in figure：1st, laser tracker；2nd, laser tracking ball target；3rd, pedestal；31st, groove；32nd, magnetic
Part；33rd, clamping joint；4th, measuring point mark pad；41st, buckling groove；5th, track plates test point；6th, track plates；61st, the top of track plates
Face；62nd, a left side (right side) side of track plates；63rd, track plates top side side；64th, track plates bottom side；7th, screed；8th, supporting layer
(or bedplate).
Embodiment
The technical solution of the utility model is described in further detail below in conjunction with drawings and examples.
Embodiment
With reference to shown in Fig. 1 and Fig. 2：A kind of detection CRTS II types fragment-free track slab that the utility model embodiment provides is empty
Between track geometry device, including laser tracker 1, laser tracking ball target 2, pedestal 3 and be fixed on each track plates detection
Multiple measuring points mark pad 4 of 5 positions of point, the top of the pedestal 3 are provided with the groove 31 for being used for placing laser tracking ball target 2,
The magnetic part 32 for magnetic-adsorption fixed laser tracking ball target 2 is provided with the bottom of the groove 31, at the bottom of the pedestal 3
Portion is provided with the clamping joint 33 with the measuring point mark phase clamping of pad 4, is provided with and the clamping on measuring point mark pad 4
First 33 buckling grooves 41 being adapted, the laser tracking ball target 2 are placed on groove 31 and consolidated by the magnetic absorption of magnetic part 32
It is scheduled on pedestal 3, the pedestal 3 carries out clamping with measuring point mark pad 4.The magnetic part 32 can be magnetite.
The measuring point mark pad 4 is with preferable using sheet metal, to ensure service life.
The method for being used to detect CRTS II type fragment-free track slab space geometry morphemes using said apparatus, including following step
Suddenly：
A) SURVEYING CONTROL NETWORK is established based on adjacent CP III control points；
The laying of SURVEYING CONTROL NETWORK be based on CP III control net on the basis of, realize non-fragment orbit exploration control net,
Accurate adjustment control net of constructing controls the unification of three nets of net with operation；Before testing, net is controlled to carry out repetition measurement CP III, to ensure
The accuracy of SURVEYING CONTROL NETWORK；In order to ensure measurement accuracy, to establish measurement control based on four adjacent CP III control points
Net (as shown in Figure 3).
Laying mode on track plates test point is versatile and flexible, now provides a kind of layout scheme, referring to Fig. 4 and Fig. 5 institutes
Show：
Track plates are uniformly laid in top surface 61 in track plates 6 and the left and right side 62 positioned at train direct of travel by array
Test point 5, it is to lay track plates inspection by the column array of 5 row 3 in the top surfaces 61 of track plates 6 by train direct of travel in the present embodiment
Measuring point 5, track plates test point 5 also is laid by the column array of 5 row 3 on track plates left and right side 62, makes to be located at track plate top surface 61
On every a line track plates test point 5 with the track plates test point 5 of the same number of rows on the track plates left and right side 62
In on same cross section.Also, the track plates test point 5 on track plates left and right side 62 is equal by train direct of travel
For 3 row, the track plates top side side 63 of homonymy, track plates bottom side 64 are sequentially located at from top to bottom and is in contact with screed 7
The upper surface of supporting layer (or bedplate) 8.
, can be consistent for the installation position of the test point of each piece of track plates in order to facilitate operating and improving detection efficiency.
After being laid in the position of track plates test point 5, measuring point mark pad 4 is fixed on each track plates test point
5, the center of measuring point mark pad 4 need to be made to be secured to the center of track plates test point 5 of connection and be on same axis.
B) on the premise of CP III control points and the track plates test point phase intervisibility laid is ensured, laser tracker is utilized
Any point freely sets survey station in SURVEYING CONTROL NETWORK, and sets measuring coordinate system；
It is shown in Figure 3：The position of the survey station is between two adjacent CP III control points, to ensure CP III
Control point and the track plates test point phase intervisibility laid, with more convenient, effective gathered data.As further preferred scheme,
The position of the survey station can read the three-dimensional coordinate at two CP III control points adjacent thereto by resection.
C) using the combination of laser tracking ball target and pedestal, continuous survey of the laser tracker to track plates test point is implemented
Amount；
First, the antenna height of laser tracker is calculated according to similar triangle theory, to meet laser tracker and CP
Phase intervisibility between III control points, track plates test point.Such as：
By taking the sight of the straight line of laser tracker to track plates test point and rail angle in 90 ° as an example, if laser tracks
Instrument height of sighting line AB is y2, the leave the right or normal track height CD of plate top surface of rail apex distance is y1, the width C E of track plates is x1, laser tracking
Instrument is x apart from the vertical range BE of track plates center line2(shown in Figure 6), it is known that y1Length be 0.2566m, x1Length be
1.275m, by triangle correspondence theorem, formula (1) can be obtained：
Illustrate smoothly to observe when height of sighting line is more than 0.604m, similarly the height of sighting line of the other points of calculating observation；
The antenna height of laser tracker is more than observation station height of sighting line needed for track plates test point.
After the completion of laser tracker erection, it is set to connect appliance computer and arrange parameter, and in two neighboring CP
Laser tracking ball target is placed on III control points respectively, and gathers the space coordinates M at the two control points1(X1,Y1,Z1), M2(X2,
Y2,Z2), the decorating position coordinate of laser tracker is can obtain after being calculated by this two spaces of points coordinate through computer software
(XP,YP,ZP)。
Then by marking pad 4 to carry out clamping the measuring point of pedestal 3 and tested point position, make laser tracking ball target 2 solid
(shown in Figure 1) is scheduled on pedestal 3, and by making laser tracking ball target 2 be fixed on pedestal 3, while it is solid to be connected to pedestal 3
It is scheduled on the measuring point mark pad 4 of tested point position, and marks the center of laser tracking ball target 2 and the center of pedestal 3, measuring point
The center of pad 4 and the center of track plates test point 5 are on same axis, so as to utilize laser tracker 1 to laying
Track plates test point 5 is continuously measured one by one.
Due to by taking train direct of travel as an example, when measuring the test point on the left of train direct of travel, laser tracker 1 with
The relative positions of track plates 6 as shown in figure 4, now, the test point period that laser tracker 1 can observe is 2,3,5,6,8,
9th, 11,12,14,15 and the side in this section of measurement range all test points；Similarly, on the right side of measurement train direct of travel
Test point when, the relative positions of laser tracker and track plates is as shown in figure 5, now, the inspection that laser tracker 1 can observe
Measuring point period is all test points of 1,2,4,5,7,8,10,11,13,14 and the side in this section of measurement range；Therefore, measure
During track plates test point in same mileage, laser tracker 1 need to set up the inspection that can have all observed in the range of this twice
Measuring point.All test point data acquisitions in the range of the station shift to next section after terminating, and are detected by the above process, until institute
The km segment that need to be detected terminates.
D) three-dimensional coordinate according to the track plates test point obtained, the space bit of the resulting track plates of this measurement is determined
Put and geometry；And compared with the locus of the track plates obtained by initial measurement or last time measurement and geometry
Analysis, so that it is determined that the space displacement amount and deformation of guidance tape of overstepping the limit, such as：
Using away from train direction of advance, perpendicular to track plates plane upward direction, perpendicular to track plates side right direction as
Positive direction, establish three-dimensional coordinate system XOYZ (as shown in Figure 7).
By taking the point 1 in track plates plane as an example, the coordinate for 1 initial measurement that sets up an office is (X0,Y0,Z0), when measuring for the second time
1 ' coordinate of point is (X1,Y1,Z1), then the phasor difference in 1 tri- directions of X, Y, Z is put, i.e., the change in displacement in three directions is respectively Δ
X=X1-X0, Δ Y=Y1-Y0, Δ Z=Z1-Z0If the Δ X obtained, Δ Y, Δ Z if on the occasion of, then it represents that the test point be along
Coordinate positive direction is subjected to displacement change, if conversely, the Δ X obtained, Δ Y, Δ Z are if negative value, then it represents that the test point be along
Coordinate negative direction is subjected to displacement change, can similarly obtain the displacement variable of other test points in track plates plane, and each
The space displacement amount Δ of test point can be by formula：It is calculated.
Done a little in the coordinate measured at different moments with each test point again and draw track plates plane, it can be seen that track plates plane
Geometric distortion situation (shown in Figure 7)；Similarly, the side of track plates can be analyzed.
It is visible in summary：The utility model is realized in commission CRTS II types first using laser tracking technology
The on-line checking of the space geometry morpheme of fragment-free track slab, the rail laid is gathered in different time points by using laser tracker
The three-dimensional coordinate of guidance tape test point, according to the three-dimensional coordinate of analysis different time points, so as to can determine that the space bit of track plates
Shifting amount and deformation；Not only measurement accuracy is high (can reach 15 μm+6 μm/m) and simple to operate for described device, not examined
Environment influences, not only can be to processing still untapped CRTS II type non-fragment orbits compared to existing total powerstation detection technique
Plate carries out quality testing, especially can also carry out preservation ＆ testing in commission CRTS II types fragment-free track slab, be advantageous in time
It was found that the geometric deformation situation that in commission fragment-free track slab is occurred, for stationarity, comfortableness and the security of train operation
Provide safeguard and scientific basis；Therefore, the utility model has conspicuousness progress and application value relative to prior art.
It is last it is necessarily pointed out that：It the foregoing is only the preferable embodiment of the utility model, but this
The protection domain of utility model is not limited thereto, and any one skilled in the art discloses in the utility model
In technical scope, the change or replacement that can readily occur in should all be covered within the scope of protection of the utility model.
Claims (7)
- A kind of 1. device of detection CRTS II type fragment-free track slab space geometry morphemes, it is characterised in that：Tracked including laser Instrument, laser tracking ball target, pedestal and the multiple measuring points mark pad for being fixed on each track plates test point position, the pedestal Top be provided with and be used to place the groove of laser tracking ball target, be provided with the bottom of the groove and be used for magnetic-adsorption fixed laser The magnetic part of tracking ball target, the clamping joint with measuring point mark pad phase clamping is provided with the bottom of the pedestal, described Measuring point mark pad is provided with the buckling groove being adapted with the clamping joint.
- 2. device according to claim 1, it is characterised in that：The measuring point mark pad uses sheet metal.
- 3. device according to claim 1, it is characterised in that：The magnetic part is magnetite.
- 4. device according to claim 1, it is characterised in that：The center of the measuring point mark pad is secured to connection The center at the center of track plates test point, base central and laser tracking ball target is on same axis.
- 5. device according to claim 4, it is characterised in that：The track plates test point is uniformly laid in track by array The left and right side of the top surface of plate and track plates positioned at train direct of travel.
- 6. device according to claim 5, it is characterised in that：It is every on track plate top surface by train direct of travel A line track plates test point and the track plates test point of the same number of rows on track plates left and right side are in same transversal On face.
- 7. device according to claim 6, it is characterised in that：By train direct of travel, positioned at the left and right side of track plates On track plates test point be 3 row, be sequentially located at track plates top side side, track plates bottom side and and the sand of homonymy from top to bottom The supporting layer or the upper surface of bedplate that pulp layer is in contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434654.4U CN206709784U (en) | 2017-04-24 | 2017-04-24 | A kind of device of detection CRTS II type fragment-free track slab space geometry morphemes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434654.4U CN206709784U (en) | 2017-04-24 | 2017-04-24 | A kind of device of detection CRTS II type fragment-free track slab space geometry morphemes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206709784U true CN206709784U (en) | 2017-12-05 |
Family
ID=60456831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720434654.4U Active CN206709784U (en) | 2017-04-24 | 2017-04-24 | A kind of device of detection CRTS II type fragment-free track slab space geometry morphemes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206709784U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107101586A (en) * | 2017-04-24 | 2017-08-29 | 沪杭铁路客运专线股份有限公司 | A kind of method and device for being used to detect CRTS II type fragment-free track slab space geometry morphemes |
| CN111442724A (en) * | 2020-04-30 | 2020-07-24 | 中国科学院西安光学精密机械研究所 | Large-scale precise annular guide rail operation precision detection device and detection method thereof |
| CN113124756A (en) * | 2021-05-07 | 2021-07-16 | 江南造船(集团)有限责任公司 | Cabin size measuring method based on laser tracker |
| CN115595837A (en) * | 2022-12-16 | 2023-01-13 | 中铁三局集团有限公司（Cn） | Tool for reducing intelligent fine adjustment error of track slab and adjustment method |
-
2017
- 2017-04-24 CN CN201720434654.4U patent/CN206709784U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107101586A (en) * | 2017-04-24 | 2017-08-29 | 沪杭铁路客运专线股份有限公司 | A kind of method and device for being used to detect CRTS II type fragment-free track slab space geometry morphemes |
| CN111442724A (en) * | 2020-04-30 | 2020-07-24 | 中国科学院西安光学精密机械研究所 | Large-scale precise annular guide rail operation precision detection device and detection method thereof |
| CN113124756A (en) * | 2021-05-07 | 2021-07-16 | 江南造船(集团)有限责任公司 | Cabin size measuring method based on laser tracker |
| CN115595837A (en) * | 2022-12-16 | 2023-01-13 | 中铁三局集团有限公司（Cn） | Tool for reducing intelligent fine adjustment error of track slab and adjustment method |
| CN115595837B (en) * | 2022-12-16 | 2023-03-31 | 中铁三局集团有限公司 | Tool for reducing intelligent fine adjustment error of track slab and adjustment method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206709784U (en) | A kind of device of detection CRTS II type fragment-free track slab space geometry morphemes | |
| CN107101586A (en) | A kind of method and device for being used to detect CRTS II type fragment-free track slab space geometry morphemes | |
| CN107167790B (en) | A kind of two step scaling method of laser radar based on Calibration Field | |
| CN103344396B (en) | Based on the bridge deflection measurement system and method for close-range photogrammetry | |
| CN103292748B (en) | A kind of split of many substrates based on laser measurement detection method | |
| CN102155940B (en) | Solid target for binocular vision positioning and tracking system | |
| CN103528520B (en) | Based on pick-up unit and the method for the synchronous operation jack-up system of binocular vision | |
| CN101865690B (en) | Three-dimensional topographical feature observation method | |
| CN107121123A (en) | Satellite precision unit measuring method | |
| CN105526908A (en) | Three dimensional laser scanning-GPS-combined side slope monitoring method | |
| CN108487216A (en) | Closed-loop camera series network for monitoring foundation settlement | |
| CN110186383B (en) | Monocular camera deflection measuring method based on target point elevation angle change | |
| CN104848845A (en) | Underground tunnel virtual double-lead control measurement method | |
| CN108253930A (en) | One kind has runed more river subway tunnel TERM DEFORMATION monitoring method | |
| CN203824548U (en) | Bridge structure concrete surface observation area measuring instrument | |
| CN106996758A (en) | A kind of Large Precast Members surface defects detection and indication device | |
| CN110487195B (en) | Vehicle-mounted tunnel detection method and device based on directional linear array technology | |
| CN114332402A (en) | Ground-based and handheld laser scanning-fused steel bridge simulation pre-assembly method | |
| CN109297426A (en) | A kind of large-scale precision industrial equipment deflection and servo angle detecting method | |
| CN110111421A (en) | A kind of method and device of mobile mapping point cloud | |
| CN105241434A (en) | Mobile launch station rapid orientation method based on wMPS | |
| CN106092069A (en) | Guiding in a kind of underground engineering construction and the device of displacement monitoring | |
| CN106323335B (en) | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof | |
| Ren et al. | Height deviation detection of rail bearing platform on high-speed railway track slab based on digital image correlation | |
| CN206177260U (en) | A laser scanner device for detecting tunnel construction roughness |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |