WO2017107334A1 - 一种地铁隧道结构断面变形快速检测装置 - Google Patents

一种地铁隧道结构断面变形快速检测装置 Download PDF

Info

Publication number
WO2017107334A1
WO2017107334A1 PCT/CN2016/077854 CN2016077854W WO2017107334A1 WO 2017107334 A1 WO2017107334 A1 WO 2017107334A1 CN 2016077854 W CN2016077854 W CN 2016077854W WO 2017107334 A1 WO2017107334 A1 WO 2017107334A1
Authority
WO
WIPO (PCT)
Prior art keywords
deformation
focus camera
section
subway tunnel
subway
Prior art date
Application number
PCT/CN2016/077854
Other languages
English (en)
French (fr)
Inventor
袁勇
艾青
Original Assignee
同济大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 同济大学 filed Critical 同济大学
Publication of WO2017107334A1 publication Critical patent/WO2017107334A1/zh
Priority to US15/787,259 priority Critical patent/US10731967B2/en

Links

Images

Classifications

    • 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
    • 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
    • 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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means

Definitions

  • the invention relates to the technical field of civil engineering, in particular to a device for quickly detecting deformation of a section of a subway tunnel structure, in particular to a rapid detection device for deformation of a section of a subway tunnel structure using a lattice laser as an auxiliary structure light source.
  • the deformation of the section is an unavoidable disease phenomenon, and the long-term development of the disease has an irreversible negative impact on the safety of the tunnel.
  • the subway project in a soft land environment Therefore, the maintenance of the tunnel structure in the operation of the subway is regarded as a necessary means to ensure the long-term operational safety of the tunnel.
  • the detection of tunnel diseases is the basis for tunnel maintenance decisions and technical means.
  • the detection of the deformation of the traditional tunnel structure is usually done by the total station method.
  • the total station method In actual operation, there is a manual installation of the total station, after leveling and then measuring, it takes about 25 minutes to complete the deformation detection of a tunnel structure. Therefore, in a subway tunnel, it is usually performed once every 5 sections. At a time interval of only 2 hours of subway operation per day, the effectiveness of the work is extremely limited. Under the demand of small-scale mileage detection, this method can still meet the demand, and it seems to be unable to cope with a large number of engineering inspections. Even with a large number of people and equipment involved, it takes more than half a year for the entire metro network to complete one inspection cycle. Such an approach simply cannot meet the needs of future metro network operation security guarantees.
  • SPACETEC of Germany has developed the SPACETEC TS3 tunnel rapid scanning inspection system, according to the company According to the data, the system can be installed on any inspection vehicle to detect tunnel lining water seepage diseases; researchers at Berg Bygg Konsult (BBK) AB in Sweden use three-dimensional ground laser scanning system to detect tunnel leakage water diseases; France HGH Infrared Systems has developed the ATLAS 70 multi-sensor tunnel non-destructive testing system, which can also detect tunnel seepage problems.
  • a comprehensive rapid detection device for the operation of subway tunnel structures (201410495172.0, ZL201420554338.7) developed by Tongji University can detect leaky water diseases and deformation of sections.
  • the section deformation detection uses a circular single-line laser as a structural light source and camera.
  • the object of the present invention is to provide a rapid detection device for cross-section deformation of a subway tunnel structure in order to overcome the defects of the prior art described above, and effectively overcome the problem that the data of the cross-section deformation detection result are mutually referenced and the detection data is unstable due to motion.
  • a rapid detecting device for deformation of a section of a subway tunnel structure comprising:
  • the track walking mechanism is set on the subway track.
  • the collection center is disposed on the track walking mechanism
  • the track running mechanism is a T-shaped walking platform, comprising a horizontal axis, a vertical axis and a vertical column, wherein the horizontal axis and the vertical axis are connected to form a T-shaped platform, and the bottom of the T-shaped platform is provided with a tread wheel, and one end of the column Vertically connected to the horizontal axis, and the other end is used to set the operation platform of the collection center.
  • the collection center includes a lattice laser structure light source, an industrial fixed focus camera, and a computer, and the computer is connected to an industrial fixed focus camera;
  • the industrial fixed focus camera collects the imaging data of the subway track under the dot matrix laser structure light source and transmits it to the computer, and the computer receives and processes the image data to obtain the deformation of the subway tunnel structure section.
  • the horizontal axis and the vertical axis are connected by a chute to form a T-shaped platform, and the horizontal axis and the upper surface of the vertical axis are on the same plane.
  • the upper end surfaces of the three end portions of the T-shaped platform are respectively provided with associated coordinate marks for establishing an associated coordinate plane.
  • the lattice laser structure light source is a dot matrix laser.
  • the coordinate conversion is realized by the following methods:
  • the local three-dimensional coordinate system of the section deformation of the subway tunnel structure is constructed.
  • the associated coordinate system is constructed according to the track walking mechanism and the associated coordinate marks thereon, and the local coordinate system is used in the local three-dimensional coordinate system.
  • the point is transformed into a global three-dimensional coordinate system, and the deformation detection of the cross section of the subway tunnel structure is realized in a global three-dimensional coordinate system.
  • the collection center further includes an annular support frame, a control card, a power supply, a data transfer machine and an encoder.
  • the annular support is mounted on the operation platform, and the lattice laser structure light source, the industrial fixed focus camera and the control card are fixed on the ring.
  • the power source and the encoder are disposed in a horizontal axis, and the power source is respectively connected to an encoder, an industrial fixed focus camera, a control card and a data transfer machine, and the control card is respectively connected to the encoder and the industrial fixed focus camera.
  • the industrial fixed focus camera is connected to a computer through a data transfer machine;
  • the control card activates the industrial fixed focus camera according to the electronic pulse of the encoder, and the industrial fixed focus camera captures the imaging data of the subway track under the lattice laser structure light source, and the data transfer machine transmits the collected imaging data to the computer.
  • the industrial fixed focus camera is provided with a plurality of, arranged in order along the annular edge of the annular support frame, and the fixed position of the industrial fixed focus camera corresponds to the circumferential angle of the image information in the tunnel captured by the industrial fixed focus camera.
  • a groove for placing a power source and an encoder is disposed on the horizontal axis, and a power line of the power source and a signal line of the encoder are concealed in the groove and in the column.
  • the column is connected to the horizontal axis by a slot, and the annular support frame is connected to the operating platform by a slot.
  • An implementation handle is provided on the horizontal axis.
  • the present invention has the following beneficial effects:
  • the present invention completes the detection index of the section deformation by the motion activation detecting device of the vehicle platform Shooting, calculation and analysis of section deformation with proprietary processing software developed for this device.
  • Each cycle of shooting, calculation and analysis can obtain single-section deformation information represented by three-dimensional coordinates, which is represented by a local three-dimensional coordinate system composed of an industrial fixed-focus camera and a lattice laser structure light source.
  • the single-section deformation information is converted to the global coordinate system (usually the geodetic coordinate system) by the associated coordinate plane formed by the coordinate association identifier on the T-shaped track walking platform.
  • the conversion relationship between the local three-dimensional coordinate system and the coordinate association identifier formed by the industrial fixed focus camera and the lattice laser structure light source to form the associated coordinate plane and the global coordinate system (usually the geodetic coordinate system) can be obtained by calibration.
  • the device can greatly accelerate the detection speed and data processing speed of the structural section deformation of the subway tunnel, and can not only solve the problem of low manual spread efficiency and long information feedback period, but also overcome the problem that the relative deformation of the section is incomparable.
  • the detection of structural damage of subway tunnels provides new detection technology, which more effectively guarantees the decision-making speed of subway operation and maintenance and the safety of subway structure.
  • the present invention constructs a local three-dimensional coordinate system for deformation of a section of a subway tunnel structure by using an industrial fixed focus camera and a lattice laser structured light source, and establishes an associated coordinate plane by using a T-shaped track walking platform and associated coordinate marks disposed on the surface thereof.
  • the present invention adopts a T-shaped track walking platform, and has three tread wheels, which can also be regarded as three point contact tracks, so that when the walking platform is running, three points will not be off track; "T" type It can be ensured that the three points of the contact track must be on the same plane, because geometrically, three points determine a plane, which is the best way to achieve coordinate transformation of the device.
  • the existing "work" type rail walking platform also has four contact points. When the walking platform is running, there may be one wheel that does not touch the track, and geometrically, the four points are not necessarily in the same plane. Inside, it is not easy to convert the coordinate system.
  • the present invention uses a dot matrix laser as a structural light source to better acquire imaging data in a subway tunnel to improve the accuracy of deformation detection.
  • Figure 1 is a schematic view of the structure of the present invention
  • FIG. 2 is a schematic view showing the arrangement of an industrial fixed focus camera of the present invention
  • FIG. 3 is a schematic view showing the arrangement of a dot matrix laser according to the present invention.
  • the label 1, track walking mechanism, 2, collection center, 11, horizontal axis, 12, vertical axis, 13, column, 14, operating platform, 15, associated coordinate mark, 16, tread wheel, 17, push handle, 18, groove, 21, dot matrix laser structure light source, 22, industrial fixed focus camera, 23, ring support frame, 24, control card, 25, power supply, 26, data transfer machine.
  • a rapid detection device for cross-section deformation of a subway tunnel structure includes a track walking mechanism 1 and a collection center 2 .
  • the track running mechanism 1 is disposed on a subway track.
  • the track running mechanism 1 is a T-shaped walking platform, and includes a horizontal axis 11, a vertical axis 12, and a column 13.
  • the horizontal axis 11 and the vertical axis 12 are connected by a chute to form a T-shaped platform.
  • the horizontal axis 11 is located on the same plane as the upper surface of the longitudinal axis 12.
  • the bottom of the T-shaped platform is provided with three tread wheels 16, and one end of the column 13 is vertically connected to the horizontal axis 11 through the slot, and the other end is used for setting and collecting.
  • the operating platform 14 of the center 2 the upper end surfaces of the three ends of the T-shaped platform are respectively provided with associated coordinate marks 15 for establishing an associated coordinate plane.
  • a push handle 17 is provided on the horizontal axis 11.
  • the collection center 2 includes a lattice laser structure light source 21, an industrial fixed focus camera 22, a computer, a ring support frame 23, a control card 24, a power source 25, a data handoff machine 26, and an encoder.
  • the ring support frame 23 is disposed on the operation platform 14,
  • the dot matrix laser structure light source 21, the industrial fixed focus camera 22 and the control card 24 are fixed on the annular support frame 23, the power source 25 and the encoder are disposed in the horizontal axis 11, and the power source 25 is respectively connected to the encoder, the industrial fixed focus camera 22, and the control
  • the card 24 and the data transfer machine 26 are powered, the control card 24 is connected to an encoder and an industrial fixed focus camera 22, respectively, and the industrial fixed focus camera 22 is connected to the computer via a data transfer machine 26.
  • the annular support frame 23 functions to fix various components in the collection center; the industrial fixed focus camera 22 mainly captures image information that the dot matrix laser illuminates on the tunnel structure; the function of the encoder is to generate electronic pulses by rotation and transmit the electronic pulses.
  • the control card 24 internally writes a control program, collects the electronic pulse sent by the encoder and judges, if the determination criterion set by the control program is reached, then The control card will send a trigger pulse signal to the industrial fixed focus camera to provide a trigger signal for the industrial fixed focus camera 22; the data switch 26 collects and transmits image information acquired from the industrial fixed focus camera 22; the power supply 25 provides the control card 24 and encoder
  • the working power source stores the tunnel image information collected by the industrial fixed focus camera 22 transmitted by the data exchange 26.
  • the industrial fixed focus camera 22 must be fixed in the hoop distribution of the annular support frame 23, and the fixed position of the industrial fixed focus camera 22 is to be able to accurately locate the hoop angle of the image information in the tunnel captured by the industrial fixed focus camera 22.
  • the lattice laser structure light source 21 is a dot matrix laser and is provided with one.
  • the horizontal axis 11 is provided with a recess 18 for placing the power source 25 and the encoder.
  • the power line of the power source 25 and the signal line of the encoder are arranged in the recess 18 and in the column 13, and the encoder is placed at the end of the horizontal axis 11.
  • the tread wheel 16 on the horizontal axis 11 is connected without a differential, and the tread wheel 16 of the horizontal axis 11 rotates.
  • the column 13 is connected to the horizontal shaft 11 in a slot manner, and the annular support frame 23 is connected to the platform of the operating platform 14 in a slot manner.
  • a plug is disposed in the slot of the horizontal shaft 11 , a plug is disposed at both ends of the column 13 , and a plug is disposed at the bottom of the ring support frame 23 .
  • the column 13 is internally provided with a wire connecting plugs at both ends, and the horizontal shaft 11, the column 13 and the ring support frame 23 plugs each include a power cord jack for connecting the power source 25 and a signal line jack for connecting the encoder 5.
  • the horizontal axis 11 and the column 13 are connected through the slots, the power source 25 and the encoder are connected.
  • the operating platform 14 communicates with the power source 25 and the encoder when the annular support frame 23 is connected through the slot.
  • the dimensions of the components in the above device are as follows: the length of the horizontal axis is 1460 mm, the shape of the cross section is 146 x 150 mm, and the wheel with the tread surface is mounted at one end; the length of the longitudinal axis is 600 mm, and the shape of the cross section is 146 x 150 mm high, two The wheel is equipped with a shaft tread wheel, the wheel center distance is 450mm; the column height column height is 815mm, the section shape is 140 ⁇ 140mm square, the two ends of the column are respectively provided with the plug chute length of 50mm, and the opposite side chutes are single and double Distribution; annular support frame outer diameter 400mm.
  • the working principle of the device is that when the track running mechanism 1 advances along the subway track, the control card 24 activates the industrial fixed focus camera 22 according to the electronic pulse of the encoder, and the industrial fixed focus camera 22 collects the subway track under the lattice laser structure light source 21. Imaging data, the data transfer machine 26 transmits the acquired imaging data to a computer, and the computer acquires and processes the imaging data to obtain a deformation of the cross section of the subway tunnel structure.
  • the coordinate transformation is realized by the following methods: constructing the deformation of the subway tunnel structure according to the lattice laser structure light source 21 and the industrial fixed focus camera 22.
  • the local three-dimensional coordinate system is constructed according to the track walking mechanism 1 and the associated coordinate mark 15 thereon, and the points in the local three-dimensional coordinate system are converted to the global three-dimensional coordinate system by the associated coordinate system, in the global three-dimensional coordinate system. Realize the deformation detection of the section of the subway tunnel structure.
  • the logical relationship of the specific coordinate transformation is shown in Figure 4:
  • O is the point of the global coordinate system (usually the geodetic coordinate system) in the subway tunnel
  • G1 is the coordinate-related identifier fixed to the tread wheel end of the horizontal axis 11
  • G2 and G3 are the coordinate-related identifications fixed to the two ends of the tread wheel of the vertical axis 12
  • O1 It is a virtual origin of a local three-dimensional coordinate system composed of an industrial fixed focus camera 22 and a lattice laser structured light source.
  • O is a known coordinate point.
  • the length relationship and spatial relationship between G1G2, G2G3, and G1G32 are known as the device is completed, and the three lines formed by G1, G2, and G3 are on the same plane.
  • the spatial coordinates of G1, G2 and G3 can be determined by measuring the length and angle between OG1, OG2 and OG3.
  • the conversion relationship between the global coordinate points O to the spatial coordinates of G1, G2, and G3 is only related to the length and the angle between OG1, OG2, and OG3, and a fixed conversion relationship can be formed.
  • O1 is the virtual origin of the local three-dimensional coordinate system.
  • a fixed coordinate transformation relationship can be obtained. Therefore, before each use of the device to measure the deformation of the tunnel structure section, select the point O of the known global coordinate system (usually the geodetic coordinate system) in the subway tunnel, and measure the length and the clamp between OG1, OG2, and OG3.
  • the angular relationship knows the spatial coordinates of G1, G2, and G3, so that O1 and the global space coordinates of the tunnel structure with O1 as the local coordinate origin can be known.
  • the present invention is currently directed to solving the problem of rapid detection of deformation of a section of a subway tunnel structure.
  • the inventor can not only realize the function of rapid detection, but also solve the problem of different section data association and continuous coordinate transformation to the global coordinate system (usually the geodetic coordinate system).
  • the device of the present invention and the basic ideas behind it can also be used in other fields of testing work and device development.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Lining And Supports For Tunnels (AREA)

Abstract

一种地铁隧道结构断面变形快速检测装置，包括：轨道行走机构（1）和设置于轨道行走机构（1）上的采集中心（2），轨道行走机构（1）为T字型行走平台，包括横轴（11）、纵轴（12）和立柱（13），横轴（11）和纵轴（12）连接形成T字型平台，立柱（13）一端与横轴（11）垂直连接，另一端上用于设置采集中心（2）的操作平台（14），采集中心（2）包括点阵激光结构光源（21）、工业定焦相机（22）和电脑；轨道行走机构（1）沿地铁轨道前进时，工业定焦相机（22）采集地铁轨道在点阵激光结构光源（21）下的成像数据传输给电脑。该装置能有效克服断面变形检测结果数据之间彼此参照、因为运动造成检测数据不稳定的问题。

Description

一种地铁隧道结构断面变形快速检测装置 技术领域
本发明涉及土木工程技术领域，具体涉及一种用于地铁隧道结构断面变形快速检测的装置，尤其涉及采用点阵激光作为辅助结构光源的一种地铁隧道结构断面变形快速检测装置。
背景技术
为了缓解城市交通，国内许多城市都在进行地铁建设，尤其是在北京，上海、广州和深圳这样的人口稠密、经济发达的大型城市中。据统计，到2020年，国内城市轨道交通总里程预计将达到约6100公里。
地铁隧道在使用过程中，断面变形是无法避免的病害现象，而且随着病害的长期发展对隧道的安全性造成不可逆转的负面影响。尤其是在软土地质环境中的地铁工程。因此，在地铁运营中对隧道结构的维护视为保障隧道长期运营安全性的必要手段。而隧道病害的检测则是隧道维护决策和技术手段开展的基础。
传统的隧道结构断面变形的检测通常是采用全站仪的方法。实际操作中，有人工安装全站仪，经过调平而后量测，完成一个隧道结构断面变形检测工作需要大约25分钟时间。因此，地铁隧道中，通常是每5个断面才进行1次检测。在每天只有2个小时的地铁运营间隔时间内，工作开展成效极为有限。在小规模里程检测需求下，该方法尚能满足需求，在应对大量工程检测之时就显得力不从心。即使在大量人员和设备参与的情况下，整个地铁网络完成1个检测循环需要半年以上的时间。这样的方法根本无法满足未来地铁网络运营安全保障的需求。
近年来，国内外对隧道结构维护日渐重视起来，相继研发基于不同原理的隧道检测设备。瑞士AMBERG公司开发了GRR5000和TunnelMap系列隧道检测系统，该系统采用车载式激光扫描仪对隧道进行检测，能够得到隧道断面变形的图像，结果文件极大容量，不能够给出断面变形的几何参数，需要人工判读；德国SPACETEC公司开发了SPACETEC TS3隧道快速扫描检测系统，据该公司宣 传资料称该系统可安装在任何检测车上，用来检测隧道衬砌渗水病害；瑞典Berg Bygg Konsult(BBK)AB公司的研究人员利用三维地面激光扫描系统对隧道渗漏水病害进行探测；法国HGH红外系统公司研制了ATLAS 70多传感器隧道无损检测系统，也可进行隧道渗水病害检测。同济大学研发的一种用于运营地铁隧道结构病害综合快速检测装置(201410495172.0，ZL201420554338.7)能够检测包括渗漏水病害和断面变形的，其中断面变形检测采用环向单线激光作为结构光源与摄像机配合完成检测工作。但是，采用该装置获取的每环断面变形的几何参数之间是单一的、独立的和相对的，没有形成关联坐标系。从该装置整个工作过程来看，运动状态对于结果还是有影响的。
总的来说，国外的设备首先是价格极其昂贵，而且功能都不够全面，性价比较低。国内的检测设备在检测项目、检测精度，总体工效以及技术成熟度上，都尚有的欠缺，因此目前尚未见到市场上完善成型国产设备推出。
发明内容
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种地铁隧道结构断面变形快速检测装置，有效克服断面变形检测结果数据之间彼此参照、因为运动造成检测数据不稳定的问题。
本发明的目的可以通过以下技术方案来实现：
一种地铁隧道结构断面变形快速检测装置，包括：
轨道行走机构，设置于地铁轨道上，
采集中心，设置于轨道行走机构上；
所述轨道行走机构为T字型行走平台，包括横轴、纵轴和立柱，所述横轴与纵轴连接形成T字型平台，该T字型平台底部设有踏面车轮，所述立柱一端与横轴垂直连接，另一端上用于设置采集中心的操作平台，
所述采集中心包括点阵激光结构光源、工业定焦相机和电脑，所述电脑与工业定焦相机连接；
所述轨道行走机构沿地铁轨道前进时，工业定焦相机采集地铁轨道在点阵激光结构光源下的成像数据传输给电脑，电脑接收并处理成像数据获得地铁隧道结构断面的变形。
所述横轴与纵轴通过滑槽相连接形成T字型平台，且横轴与纵轴的上表面位于同一平面上。
所述T字型平台的三个端部上表面分别设有用于建立关联坐标平面的关联坐标标记。
所述点阵激光结构光源为点阵激光器。
处理成像数据获得地铁隧道结构断面的变形时，通过以下方式实现坐标转换：
根据点阵激光结构光源和工业定焦相机构建地铁隧道结构断面变形的局部三维坐标系，同时根据轨道行走机构及其上的关联坐标标记构建关联坐标系，通过关联坐标系将局部三维坐标系中的点转换至全局三维坐标系，在全局三维坐标系下实现地铁隧道结构断面的变形检测。
所述采集中心还包括环形支撑架、控制卡、电源、数据交接机和编码器，所述环形支撑架设于操作平台上，所述点阵激光结构光源、工业定焦相机和控制卡固定于环形支撑架上，所述电源和编码器设于横轴中，所述电源分别连接编码器、工业定焦相机、控制卡和数据交接机，所述控制卡分别连接编码器和工业定焦相机，所述工业定焦相机通过数据交接机与电脑连接；
控制卡根据编码器的电子脉冲激活工业定焦相机，工业定焦相机采集地铁轨道在点阵激光结构光源下的成像数据，数据交接机将所采集的成像数据传输给电脑。
所述工业定焦相机设有多个，沿环形支撑架的环形边缘依次排列设置，所述工业定焦相机的固定位置与工业定焦相机拍摄的隧道内图像信息的环向角度相对应。
所述横轴上设有用于放置电源和编码器的凹槽，所述电源的电源线及编码器的信号线隐蔽布置于凹槽内和立柱内。
所述立柱采用插槽方式与横轴连接，所述环形支撑架采用插槽方式与操作平台连接。
所述横轴上设有推行手柄。
与现有技术相比，本发明具有以下有益效果：
(1)本发明通过车载平台的运动激活检测装置完成对断面变形检测指标的 拍摄，配以针对本装置开发的专有的处理软件进行断面变形的计算和分析。每次拍摄、计算和分析的循环过程可获取以三维坐标表示的单断面变形信息，此单断面变形信息是以工业定焦相机和点阵激光结构光源构成的局部三维坐标系表示的。单断面变形信息通过T字型轨道行走平台上的坐标关联标识构成的关联坐标平面转换到全局坐标系(通常是大地坐标系)。以工业定焦相机和点阵激光结构光源构成的局部三维坐标系与坐标关联标识构成关联坐标平面以及全局坐标系(通常是大地坐标系)之间的转换关系则可通过标定获取。该装置能够极大的加快运营地铁隧道结构断面变形的检测速度和数据处理速度，不但能够解决了人工价差效率低和信息反馈周期长的问题，同时还能够克服断面相对变形不可比较的问题，为地铁隧道结构病害的检测提供新的检测技术，更加有效的保障了地铁运维的决策速度和地铁结构的安全。
(2)本发明通过采用工业定焦相机和点阵激光结构光源构建地铁隧道结构断面变形的局部三维坐标系，采用T字型轨道行走平台以及设置于其表面上的关联坐标标识建立关联坐标平面，克服断面变形检测结果数据之间彼此参照的问题，并通过关联坐标平面转换到全局坐标系(通常是大地坐标系)，同时，断面变形在三维坐标体系下可使检测数据脱离运动状态，克服因为运动造成检测数据不稳定的问题。
(3)本发明采用T字型轨道行走平台，有三个踏面车轮，也可以认为是三个点接触轨道，这样在行走平台运行的时候，三个点都不会脱离轨道；“T”字型可以保证接触轨道的三个点一定会在同一平面上，因为，在几何上，三点确定一个平面，是该装置坐标系转换能够实现的最佳方法。而现有的“工”字型轨道行走平台也四个个接触点，在行走平台运行的时候，有可能会有一个轮不接触轨道的，而且，在几何上，四个点未必在同一平面内，不易实现坐标系的转换。
(4)本发明采用点阵激光器作为结构光源，能更好地获取地铁隧道内的成像数据，以提高变形检测的精确度。
附图说明
图1为本发明的结构示意图；
图2为本发明工业定焦相机的设置示意图；
图3为本发明点阵激光器的设置示意图；
图4为本发明坐标转换示意图。
图中标号：1、轨道行走机构，2、采集中心，11、横轴，12、纵轴，13、立柱，14、操作平台，15、关联坐标标记，16、踏面车轮，17、推行手柄，18、凹槽，21、点阵激光结构光源，22、工业定焦相机，23、环形支撑架，24、控制卡，25、电源，26、数据交接机。
具体实施方式
下面结合附图和具体实施例对本发明进行详细说明。本实施例以本发明技术方案为前提进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。
如图1所示，一种地铁隧道结构断面变形快速检测装置，包括轨道行走机构1和采集中心2。轨道行走机构1设置于地铁轨道上，轨道行走机构1为T字型行走平台，包括横轴11、纵轴12和立柱13，横轴11与纵轴12通过滑槽相连接形成T字型平台，且横轴11与纵轴12的上表面位于同一平面上，该T字型平台底部设有三个踏面车轮16，立柱13一端通过插槽与横轴11垂直连接，另一端上用于设置采集中心2的操作平台14，T字型平台的三个端部上表面分别设有用于建立关联坐标平面的关联坐标标记15。横轴11上设有推行手柄17。
采集中心2包括点阵激光结构光源21、工业定焦相机22、电脑、环形支撑架23、控制卡24、电源25、数据交接机26和编码器，环形支撑架23设于操作平台14上，点阵激光结构光源21、工业定焦相机22和控制卡24固定于环形支撑架23上，电源25和编码器设于横轴11中，电源25分别连接编码器、工业定焦相机22、控制卡24和数据交接机26，实现供电，控制卡24分别连接编码器和工业定焦相机22，工业定焦相机22通过数据交接机26与电脑连接。
环形支撑架23在采集中心起固定各个部件的功能；工业定焦相机22主要是拍摄点阵激光器照射在隧道结构上的图像信息；编码器的功能是通过转动生成电子脉冲，并把电子脉冲传递给控制卡24；控制卡24内部写入有控制程序，收集编码器发出的电子脉冲并判断，如果达到了控制程序设定的判定标准，那 么控制卡将向工业定焦相机发送触发脉冲信号，提供工业定焦相机22的触发信号；数据交换机26收集和传输来自工业定焦相机22采集的图像信息；电源25提供控制卡24和编码器工作电源，存储数据交换机26传递的工业定焦相机22采集的隧道图像信息。
如图2所示，本实施例中，工业定焦相机22设有4个，沿环形支撑架23的环形边缘依次排列设置。工业定焦相机22在环形支撑架23的环向分布必须是固定，工业定焦相机22的固定位置是为了能够准确定位工业定焦相机22拍摄的隧道内图像信息的环向角度。点阵激光结构光源21为点阵激光器，设有1个。
横轴11上设有用于放置电源25和编码器的凹槽18，电源25的电源线及编码器的信号线布置于凹槽18内和立柱13内，编码器是放置在横轴11的端部，同时与横轴11上的踏面车轮16是无差动连接，随横轴11的踏面车轮16转动。
立柱13采用插槽方式与横轴11连接，环形支撑架23采用插槽方式与操作平台14平台连接。横轴11插槽内设置有插头，立柱13两端设置有插头，环形支撑架23底部设置有插头。立柱13内部设置有导线连接两端插头，横轴11、立柱13和环形支撑架23插头均含有连接电源25的电源线插孔和连接编码器5的信号线插孔。横轴11与立柱13通过插槽连接时连通电源25和编码器。操作平台14与环形支撑架23通过插槽连接时连通电源25和编码器。
本实施例中，上述装置中各部件的尺寸如下：横轴长度1460mm，断面形状为宽146×高150mm，一端安装带轴踏面车轮；纵轴长度600mm，断面形状为宽146×高150mm，两端安装带轴踏面车轮，轮中心距为450mm；立柱高度立柱高815mm，断面形状为140×140mm正方形，立柱两端分别设置有插头滑槽长度为50mm，而且在相对面滑槽分别为单双分布；环形支撑架外径400mm。
本装置的工作原理是：轨道行走机构1沿地铁轨道前进时，控制卡24根据编码器的电子脉冲激活工业定焦相机22，工业定焦相机22采集地铁轨道在点阵激光结构光源21下的成像数据，数据交接机26将所采集的成像数据传输给电脑，电脑获取并处理成像数据获得地铁隧道结构断面的变形。
处理成像数据获得地铁隧道结构断面的变形时，通过以下方式实现坐标转换：根据点阵激光结构光源21和工业定焦相机22构建地铁隧道结构断面变形 的局部三维坐标系，同时根据轨道行走机构1及其上的关联坐标标记15构建关联坐标系，通过关联坐标系将局部三维坐标系中的点转换至全局三维坐标系，在全局三维坐标系下实现地铁隧道结构断面的变形检测。具体坐标转换的逻辑关系如图4所示：
O为地铁隧道中全局坐标系(通常是大地坐标系)的点，G1为固定于横轴11踏面轮端的坐标关联标识，G2、G3为固定于纵轴12踏面轮两端的坐标关联标识，O1为以工业定焦相机22和点阵激光结构光源构成的局部三维坐标系的虚拟原点。O为已知的坐标点。G1G2、G2G3和G1G32之间的长度关系和空间关系在装置制作完成为即为已知，而且通过G1、G2、G3构成的三条线在同一平面。通过量测OG1、OG2、OG3之间的长度和夹角关系即可确定G1、G2和G3的空间坐标。从全局坐标点O到G1、G2和G3的空间坐标之间的换算关系仅与OG1、OG2、OG3之间的长度和夹角有关，可形成固定的换算关系。O1为局部三维坐标系的虚拟原点，通过标定O1、G1、G2和G3的之间关系，就能够得出固定的坐标转换关系。因此，在每次采用该装置进行隧道结构断面变形量测前，选取地铁隧道中已知全局坐标系(通常是大地坐标系)的点O，量取OG1、OG2、OG3之间的长度和夹角关系即可知道G1、G2和G3的空间坐标，从而可得知O1以及以O1为局部坐标原点的隧道结构的全局空间坐标。
本发明目前针对的是解决地铁隧道结构断面变形的快速检测问题。通过发明人对该装置及其工作原理的系统研究，不但能够实现快速检测的功能，同时还解决了连续检测时不同断面数据关联，以及向全局坐标系(通常是大地坐标系)坐标转换的问题。实际上，本发明装置及其背后的基本思路也可用于其他领域的检测工作及其装置研发中。
因此，熟悉本领域技术的人员显然可以容易地对该装置做出各种修改，并把在此说明的一般原理应用到其他实施例中而不必经过创造性的劳动。因此，本发明不限于这里的说明例，本领域技术人员根据本发明的揭示，对于本发明做出的改进和修改都应该在本发明的保护范围之内。

Claims (10)

  1. 一种地铁隧道结构断面变形快速检测装置，包括：
    轨道行走机构(1)，设置于地铁轨道上，
    采集中心(2)，设置于轨道行走机构(1)上；
    其特征在于，
    所述轨道行走机构(1)为T字型行走平台，包括横轴(11)、纵轴(12)和立柱(13)，所述横轴(11)与纵轴(12)连接形成T字型平台，该T字型平台底部设有踏面车轮(16)，所述立柱(13)一端与横轴(11)垂直连接，另一端上用于设置采集中心(2)的操作平台(14)，
    所述采集中心(2)包括点阵激光结构光源(21)、工业定焦相机(22)和电脑，所述电脑与工业定焦相机(22)连接；
    所述轨道行走机构(1)沿地铁轨道前进时，工业定焦相机(22)采集地铁轨道在点阵激光结构光源(21)下的成像数据传输给电脑，电脑接收并处理成像数据获得地铁隧道结构断面的变形。
  2. 根据权利要求1所述的地铁隧道结构断面变形快速检测装置，其特征在于，所述横轴(11)与纵轴(12)通过滑槽相连接形成T字型平台，且横轴(11)与纵轴(12)的上表面位于同一平面上。
  3. 根据权利要求1所述的地铁隧道结构断面变形快速检测装置，其特征在于，所述T字型平台的三个端部上表面分别设有用于建立关联坐标平面的关联坐标标记(15)。
  4. 根据权利要求1所述的地铁隧道结构断面变形快速检测装置，其特征在于，所述点阵激光结构光源(21)为点阵激光器。
  5. 根据权利要求3所述的地铁隧道结构断面变形快速检测装置，其特征在于，处理成像数据获得地铁隧道结构断面的变形时，通过以下方式实现坐标转换：
    根据点阵激光结构光源(21)和工业定焦相机(22)构建地铁隧道结构断面变形的局部三维坐标系，同时根据轨道行走机构(1)及其上的关联坐标标记(15)构建关联坐标系，通过关联坐标系将局部三维坐标系中的点转换至全局 三维坐标系，在全局三维坐标系下实现地铁隧道结构断面的变形检测。
  6. 根据权利要求1所述的地铁隧道结构断面变形快速检测装置，其特征在于，所述采集中心(2)还包括环形支撑架(23)、控制卡(24)、电源(25)、数据交接机(26)和编码器，所述环形支撑架(23)设于操作平台(14)上，所述点阵激光结构光源(21)、工业定焦相机(22)和控制卡(24)固定于环形支撑架(23)上，所述电源(25)和编码器设于横轴(11)中，所述电源(25)分别连接编码器、工业定焦相机(22)、控制卡(24)和数据交接机(26)，所述控制卡(24)分别连接编码器和工业定焦相机(22)，所述工业定焦相机(22)通过数据交接机(26)与电脑连接；
    控制卡(24)根据编码器的电子脉冲激活工业定焦相机(22)，工业定焦相机(22)采集地铁轨道在点阵激光结构光源(21)下的成像数据，数据交接机(26)将所采集的成像数据传输给电脑。
  7. 根据权利要求6所述的地铁隧道结构断面变形快速检测装置，其特征在于，所述工业定焦相机(22)设有多个，沿环形支撑架(23)的环形边缘依次排列设置，所述工业定焦相机(22)的固定位置与工业定焦相机(22)拍摄的隧道内图像信息的环向角度相对应。
  8. 根据权利要求6所述的地铁隧道结构断面变形快速检测装置，其特征在于，所述横轴(11)上设有用于放置电源(25)和编码器的凹槽(18)，所述电源(25)的电源线及编码器的信号线隐蔽布置于凹槽(18)内和立柱(13)内。
  9. 根据权利要求6所述的地铁隧道结构断面变形快速检测装置，其特征在于，所述立柱(13)采用插槽方式与横轴(11)连接，所述环形支撑架(23)采用插槽方式与操作平台(14)连接。
  10. 根据权利要求1所述的地铁隧道结构断面变形快速检测装置，其特征在于，所述横轴(11)上设有推行手柄(17)。
PCT/CN2016/077854 2015-12-25 2016-03-30 一种地铁隧道结构断面变形快速检测装置 WO2017107334A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US15/787,259 US10731967B2 (en) 2015-12-25 2017-10-18 System for quickly detecting tunnel deformation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510992813.8A CN105423940B (zh) 2015-12-25 2015-12-25 一种地铁隧道结构断面变形快速检测装置
CN201510992813.8 2015-12-25

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/787,259 Continuation US10731967B2 (en) 2015-12-25 2017-10-18 System for quickly detecting tunnel deformation

Publications (1)

Publication Number Publication Date
WO2017107334A1 true WO2017107334A1 (zh) 2017-06-29

Family

ID=55502321

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/077854 WO2017107334A1 (zh) 2015-12-25 2016-03-30 一种地铁隧道结构断面变形快速检测装置

Country Status (3)

Country Link
US (1) US10731967B2 (zh)
CN (1) CN105423940B (zh)
WO (1) WO2017107334A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107957248A (zh) * 2017-12-20 2018-04-24 中铁二院工程集团有限责任公司 一种基于影像-数字交互技术的桥墩变形测试装置和测试方法
CN112729111A (zh) * 2020-12-23 2021-04-30 南京康泰建筑灌浆科技有限公司 一种公路隧道病害集成检测车
CN112990237A (zh) * 2019-12-02 2021-06-18 上海交通大学 基于深度学习的地铁隧道图像渗漏检测的方法
CN114414590A (zh) * 2018-07-16 2022-04-29 同济大学 一种车载式集群视觉检测装置
CN114705128A (zh) * 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 一种基于定点巡回测量的隧道自动化监控测量设备及方法
CN116678377A (zh) * 2023-08-03 2023-09-01 中国水利水电第七工程局有限公司 一种基于自动全站仪的隧道净空自动检测方法

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105423940B (zh) * 2015-12-25 2017-12-26 同济大学 一种地铁隧道结构断面变形快速检测装置
CN106546190B (zh) * 2016-11-30 2019-04-16 山西省交通科学研究院 一种用于表面缺陷检测的机械手装置及方法
CN107246848A (zh) * 2017-04-21 2017-10-13 江西省高速公路投资集团有限责任公司 一种隧道施工断面形态快速检测系统及其检测方法
CN107976449A (zh) * 2018-01-10 2018-05-01 南京火眼猴信息科技有限公司 用于隧道检测图像捕获装置的补光装置
TWI709939B (zh) * 2018-05-31 2020-11-11 國立臺北科技大學 變位偵測方法及其系統
CN108801170B (zh) * 2018-06-29 2021-10-15 深圳市市政设计研究院有限公司 一种隧道变形监测系统
CN109115119B (zh) * 2018-11-01 2020-10-02 山东科技大学 一种煤矿巷道变形监测装置及其使用方法
CN110161043B (zh) 2019-05-10 2021-03-26 同济大学 一种地铁隧道结构综合检测车
CN110560758B (zh) * 2019-08-26 2021-02-19 上海拓璞数控科技股份有限公司 双五轴镜像同步加工系统及镜像同步补偿铣削方法
CN110542886B (zh) * 2019-09-06 2023-01-24 上海市基础工程集团有限公司 用于盾构隧道壁后注浆检测的探地雷达专用机具
CN111536897A (zh) * 2020-04-15 2020-08-14 成都飞机工业（集团）有限责任公司 一种空腔类零部件内壁自动化测量装置及其测量方法
CN111845809A (zh) * 2020-07-13 2020-10-30 桂林电子科技大学 一种悬挂式单轨箱型轨道梁内部结构的检测装置及其方法
CN111898192B (zh) * 2020-08-19 2023-09-22 中铁十六局集团有限公司 隧道横截面变形数据确定方法、装置、设备及可存储介质
CN112254636A (zh) * 2020-10-13 2021-01-22 成都天佑智隧科技有限公司 一种同时采集衬砌图像和三维空间信息的隧道检测设备
CN112345537B (zh) * 2020-11-02 2024-03-15 上海交大海科检测技术有限公司 适用于隧洞的外观检测平台
CN112710288A (zh) * 2020-12-21 2021-04-27 南昌航空大学 一种线路工程中交点桩不通视条件下方向转点桩的测设方法
CN112862879B (zh) * 2021-02-18 2023-07-07 中国矿业大学(北京) 一种基于tin模型的地铁隧道三维模型构建方法
CN112556600B (zh) * 2021-02-22 2021-05-18 南京派光智慧感知信息技术有限公司 一种隧道形变实时监测方法及装置
CN113074651B (zh) * 2021-03-31 2022-10-11 中煤科工集团重庆研究院有限公司 单路激光测距隧道变形监测系统及方法
CN113074694B (zh) * 2021-03-31 2022-11-04 中煤科工集团重庆研究院有限公司 用于隧道断面变形的自动监测装置
CN117268278A (zh) * 2021-08-11 2023-12-22 金钱猫科技股份有限公司 一种基坑变形检测方法
CN113685189B (zh) * 2021-08-25 2023-02-17 同济大学 隧道掌子面开挖变形自动化测量方法
CN114136268A (zh) * 2021-11-24 2022-03-04 长安大学 一种试验隧道内部收敛变形及破坏状态监测装置及工作方法
CN114152625B (zh) * 2021-12-14 2023-08-04 中电建路桥集团有限公司 一种地铁隧道的变形和渗漏监测装置
CN116147522B (zh) * 2023-04-24 2023-07-07 四川省公路规划勘察设计研究院有限公司 一种隧道基底变形的自动监测系统
CN117968608B (zh) * 2024-04-01 2024-06-07 中铁电气化局集团有限公司 一种地铁疏散平台安装定位测量仪

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0672774B2 (ja) * 1988-10-20 1994-09-14 株式会社フジタ トンネル断面変位測定装置
CN102538763A (zh) * 2012-02-14 2012-07-04 清华大学 一种河工模型试验三维地形的量测方法
CN102768022A (zh) * 2012-07-20 2012-11-07 长安大学 采用数码照相技术的隧道围岩变形检测方法
KR101308987B1 (ko) * 2012-09-12 2013-10-04 나우이엔씨(주) 레이져 센서를 이용한 시설물의 2, 3차원 계측 및 안전진단관리 시스템
CN104567708A (zh) * 2015-01-06 2015-04-29 浙江工业大学 基于主动式全景视觉的隧道全断面高速动态健康检测装置与方法
CN204495733U (zh) * 2015-04-10 2015-07-22 北京力铁轨道交通设备有限公司 隧道状态检测装置
CN104792790A (zh) * 2015-04-10 2015-07-22 北京力铁轨道交通设备有限公司 隧道状态检测装置和检测方法
CN105423940A (zh) * 2015-12-25 2016-03-23 同济大学 一种地铁隧道结构断面变形快速检测装置
CN205448985U (zh) * 2015-12-25 2016-08-10 同济大学 一种地铁隧道结构断面变形快速检测装置

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA1275490C (en) * 1986-10-14 1990-10-23 Alan G. Hayward Method and apparatus for determining the profile of a subterranean passage
AT398491B (de) * 1991-02-27 1994-12-27 Hornyik Andreas Dipl Ing Verfahren zur vermessung des querschnittes eines hohlraums
CN1116703A (zh) * 1994-08-08 1996-02-14 陈明彻 非接触式三维轮廓实时测量方法和系统
EP1677098A4 (en) * 2003-10-21 2010-07-21 Daihatsu Motor Co Ltd DEVICE AND METHOD FOR INSPECTING DEFECTS IN A SURFACE
WO2006084385A1 (en) * 2005-02-11 2006-08-17 Macdonald Dettwiler & Associates Inc. 3d imaging system
CN102003938B (zh) * 2010-10-11 2013-07-10 中国人民解放军信息工程大学 大型高温锻件热态在位检测方法
CN103292697B (zh) * 2013-05-27 2016-02-03 深圳先进技术研究院 一种三维扫描系统
CN104344814B (zh) * 2013-07-29 2016-08-10 北京航天计量测试技术研究所 一种光点疏密可调的激光投点器阵列机构
CN103559708B (zh) * 2013-10-30 2016-08-17 同济大学 基于方靶模型的工业定焦相机参数标定装置
CN103712572A (zh) * 2013-12-18 2014-04-09 同济大学 结构光源与相机结合的物体轮廓三维坐标测量装置
CN104237257B (zh) * 2014-09-25 2018-05-08 同济大学 一种用于运营地铁隧道结构病害的检测装置
CN204116247U (zh) 2014-09-25 2015-01-21 同济大学 一种用于运营地铁隧道结构病害综合快速检测装置
CN104677308B (zh) * 2015-01-30 2017-08-29 宋展 一种高频二值条纹的三维扫描方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0672774B2 (ja) * 1988-10-20 1994-09-14 株式会社フジタ トンネル断面変位測定装置
CN102538763A (zh) * 2012-02-14 2012-07-04 清华大学 一种河工模型试验三维地形的量测方法
CN102768022A (zh) * 2012-07-20 2012-11-07 长安大学 采用数码照相技术的隧道围岩变形检测方法
KR101308987B1 (ko) * 2012-09-12 2013-10-04 나우이엔씨(주) 레이져 센서를 이용한 시설물의 2, 3차원 계측 및 안전진단관리 시스템
CN104567708A (zh) * 2015-01-06 2015-04-29 浙江工业大学 基于主动式全景视觉的隧道全断面高速动态健康检测装置与方法
CN204495733U (zh) * 2015-04-10 2015-07-22 北京力铁轨道交通设备有限公司 隧道状态检测装置
CN104792790A (zh) * 2015-04-10 2015-07-22 北京力铁轨道交通设备有限公司 隧道状态检测装置和检测方法
CN105423940A (zh) * 2015-12-25 2016-03-23 同济大学 一种地铁隧道结构断面变形快速检测装置
CN205448985U (zh) * 2015-12-25 2016-08-10 同济大学 一种地铁隧道结构断面变形快速检测装置

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107957248A (zh) * 2017-12-20 2018-04-24 中铁二院工程集团有限责任公司 一种基于影像-数字交互技术的桥墩变形测试装置和测试方法
CN114414590A (zh) * 2018-07-16 2022-04-29 同济大学 一种车载式集群视觉检测装置
CN112990237A (zh) * 2019-12-02 2021-06-18 上海交通大学 基于深度学习的地铁隧道图像渗漏检测的方法
CN112990237B (zh) * 2019-12-02 2023-04-07 上海交通大学 基于深度学习的地铁隧道图像渗漏检测的方法
CN112729111A (zh) * 2020-12-23 2021-04-30 南京康泰建筑灌浆科技有限公司 一种公路隧道病害集成检测车
CN114705128A (zh) * 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 一种基于定点巡回测量的隧道自动化监控测量设备及方法
CN116678377A (zh) * 2023-08-03 2023-09-01 中国水利水电第七工程局有限公司 一种基于自动全站仪的隧道净空自动检测方法
CN116678377B (zh) * 2023-08-03 2023-11-03 中国水利水电第七工程局有限公司 一种基于自动全站仪的隧道净空自动检测方法

Also Published As

Publication number Publication date
CN105423940A (zh) 2016-03-23
CN105423940B (zh) 2017-12-26
US10731967B2 (en) 2020-08-04
US20180038683A1 (en) 2018-02-08

Similar Documents

Publication Publication Date Title
WO2017107334A1 (zh) 一种地铁隧道结构断面变形快速检测装置
CN205327082U (zh) 一种基于多传感器集成同步控制的城市轨道检测装置
US11673587B2 (en) Comprehensive inspection vehicle for subway tunnel
CN104359459B (zh) 采用三维激光扫描反射率信息生成隧道内壁影像的方法
CN104228875A (zh) 一种城轨列车轮对尺寸在线检测方法及装置
CN206057201U (zh) 一种基于视觉传感的轨道扣件弹条裂缝检测装置
CN104237257B (zh) 一种用于运营地铁隧道结构病害的检测装置
CN104748685A (zh) 一种接触网几何参数动态测量方法
CN204674616U (zh) 一种列车轮对尺寸动态检测装置
CN204514361U (zh) 一种弓网运行状态监测系统
CN104236484A (zh) 一种实时监测顶管机机头偏位的装置及方法
CN103411530A (zh) 大型自由锻件尺寸在线测量装置及方法
CN206327389U (zh) 一种基于接触网杆号图像识别的铁路定位系统
TW201936431A (zh) 軌道立體檢測系統
CN203310400U (zh) 限界检测系统
CN110926417B (zh) 基于机器视觉的车载铁路隧道检测系统
CN103018255A (zh) 一种地铁隧道病害数据自动化采集方法
CN208854620U (zh) 一种新型轨道巡检机器人
CN205448985U (zh) 一种地铁隧道结构断面变形快速检测装置
CN204944427U (zh) 一种接触网几何参数动态检测小车
CN103552570B (zh) 一种铁路轨道平顺性检测的车载近景摄影测量方法
CN110703784A (zh) 一种适用于变电站巡检机器人的自动循迹避障方法
CN112630223B (zh) 一种基于隧道裂纹检测系统及方法
CN204165529U (zh) 一种实时监测顶管机机头偏位的装置
CN204576779U (zh) 一种弓网运行状态监测系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16877148

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16877148

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 16877148

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 04/01/2019)

122 Ep: pct application non-entry in european phase

Ref document number: 16877148

Country of ref document: EP

Kind code of ref document: A1