阅读说明：本技术 隧道断面的激光扫描测量装置及方法 (The laser scanner and method of tunnel cross-section ) 是由 王耀东 朱力强 余祖俊 于 2019-08-28 设计创作，主要内容包括：本发明提供了一种隧道断面的激光扫描测量装置及方法,包括：4个激光扫描传感器和数据采集存储器；4个激光扫描传感器安装于检测车上,两个激光扫描传感器作为第一对激光扫描传感器背向安装,分别用于从垂直于隧道方向横向扫描隧道两侧至顶部的轮廓；另外两个激光扫描传感器作为第二对激光扫描传感器背向安装,分别用于倾斜扫描隧道两侧至顶部的轮廓；数据采集存储器与激光扫描传感器通过数据线连接,用于存储所述激光扫描传感器的激光扫描结果。本装置可以增加小截面物体的断面检测概率,从而解决了高速检测中的漏检现象。(The present invention provides a kind of laser scanner of tunnel cross-section and methods, comprising: 4 scanning laser sensors and data acquisition memory；4 scanning laser sensors are installed on detection vehicle, and two scanning laser sensors, backwards to installing, are respectively used to from the profile perpendicular to tunnel direction transversal scanning tunnel two sides to top as first pair of scanning laser sensor；Other two scanning laser sensor, backwards to installing, is respectively used to the profile at dip sweeping tunnel two sides to top as second pair of scanning laser sensor；Data acquisition memory is connect with scanning laser sensor by data line, for storing the laser scanning result of the scanning laser sensor.The present apparatus can increase the section detection probability of small bore object, to solve the detection leakage phenomenon in high speed detection.)

1. a kind of laser scanner of tunnel cross-section characterized by comprising 4 scanning laser sensors and data Acquisition memory；

4 scanning laser sensors are installed on detection vehicle, and two scanning laser sensors are swept as first pair of laser Sensor is retouched backwards to installing, is respectively used to from the profile perpendicular to tunnel direction transversal scanning tunnel two sides to top；Other two A scanning laser sensor, backwards to installing, is respectively used to dip sweeping tunnel two sides to top as second pair of scanning laser sensor The profile in portion；

The deposit data acquisition memory is connect with scanning laser sensor by data line, is passed for storing the laser scanning The laser scanning result of sensor.

2. the laser scanner of tunnel cross-section according to claim 1, which is characterized in that the dip sweeping The profile at tunnel two sides to top includes that the angle in second pair of scanning laser sensor and tunnel is 30 ° -60 °.

3. the laser scanner of tunnel cross-section according to claim 1, which is characterized in that the device also wraps Pedestal is included, the pedestal includes vertical plane and horizontal plane, and the vertical plane and horizontal plane one, vertical plane are used for pedestal It is fixed on the front or tail portion of detection vehicle, horizontal plane is used to that 4 scanning laser sensors to be fixedly mounted.

4. the laser scanner of tunnel cross-section according to claim 3, which is characterized in that the device also wraps Sensor stand is included, the sensor stand is fixed by bolts on the pedestal, 4 scanning laser sensors It is fixed by bolts on the sensor stand.

5. the laser scanner of tunnel cross-section according to claim 2, which is characterized in that described second pair swashs The angle in optical scanning sensor and tunnel is 45 °.

6. the laser scanner of tunnel cross-section according to claim 4, which is characterized in that the laser scanning passes Sensor and pedestal are provided with angle, for making scanning laser sensor scanning to rail, and it is every in scanning to tunnel top Two beam laser in a pair of of scanning laser sensor have at least 5 degree of coincidence.

7. the method according to claim 1, wherein the scanning optical path of 4 scanning laser sensors is mutual Do not interfere.

It is swept 8. a kind of laser scanner of tunnel cross-section according to claim 1-7 carries out tunnel cross-section Retouch measurement method characterized by comprising

Step 1, will be equipped with the tunnel cross-section laser scanner detection vehicle at a predetermined velocity in tunnel expert It sails, and opens 4 scanning laser sensors of the laser scanner of the tunnel cross-section；

Step 2, by first pair of scanning laser sensor in 4 scanning laser sensors respectively from perpendicular to tunnel The profile at two sides to the top in direction transversal scanning tunnel；Pass through second pair of scanning laser sensor dip sweeping tunnel two The profile at side to top；

Step 3 records the scan data of each scanning laser sensor by the data acquisition memory and works as forward pass The location information of sensor；

Step 4 is coordinately transformed according to the location information of the scan data and current sensor, obtains two groups of laser scannings Tunnel cross-section size.

9. according to the method described in claim 8, it is characterized in that, second pair of scanning laser sensor respectively with tunnel The profile at 45 ° of angle of direction scanning-tunnelling two sides to top.

10. according to the method described in claim 8, it is characterized in that, 4 scanning laser sensors in the step 2 Scanning optical path is non-interference.

Technical field

The present invention relates to the laser scanners and side of Tunnel testing technical field more particularly to a kind of tunnel cross-section Method.

Background technique

Subway tunnel will appear the disease conditions such as deformation, crack, percolating water during military service, be to influence traffic safety Key factor, if do not detected in time to the safe condition in tunnel, early warning and maintenance can cause once accident occurs Serious consequence.Currently, tunnel contour detection mainly using scanning laser sensor measure tunnel contour size, generate two dimension or Three-dimensional point cloud carries out parameter detecting and shape changing detection；Tunnel surface Defect inspection forms tunnel using visual sensors such as cameras Image acquisition system acquires tunnel surface image, and studies image procossing and Target Recognition Algorithms, automatic to detect disease region.

The three-dimensional measurement and tunnel surface image panorama of current tunnel profile acquire, the system typically to work independently. In large-scale vehicular detection system, the measurement of tunnel contour three-dimensional point cloud is generally attached to headstock or compartment tail portion, vertical scanning Tunnel surface；Tunnel surface image capturing system, is generally attached to around compartment, is spliced using multiple cameras, collection surface image. In small-sized detection vehicle, the usually tunnel contour three-dimensional point cloud measurement centre that is installed on trolley forms dedicated detection system； Tunnel surface image capturing system forms a circle according to round or square structure and acquires image.Tunnel three dimensional detection is adopted with image Collecting system, it is relatively independent, do not have correlation.

" the subway tunnel section Clearance Detection " of the Beijing Jiaotong University College of Mechanical Engineering Zhu Li designs such as by force, uses base In the non-contact detection scheme of laser distance measuring principle, system uses high-speed data acquisition card, completes adopting for high-rate laser data Collect synchronous with clock.The vibration compensation algorithm based on displacement meter is designed for body oscillating bring measurement error simultaneously.Benefit With VC++6.0 develop environment, develop data acquisition software, using the acquisition of multithreading and database technique data, storage, Inquiry and analytic function.Maximum 30 meters of distance of measurement installs laser range sensor at 70 ° of angle, it can be achieved that 180 ° of scannings, It may be implemented the complete scan vertical to line section, but its disadvantage are as follows: in high speed dynamic detection, section interval increases, The point cloud data rarefaction of tunnel cross-section, there are missing inspections for the object for causing object and cross sectional dimensions for elongated shape small Situation；Scanning laser sensor vertical scanning tunnel contour, can only measure this cross section place, the object wheel nearest apart from laser Exterior feature is unable to measure the dimensional parameters of tunnel surface due to blocking for foremost object for the size of tunnel surface.Patent of invention (CN201610347483.1) a kind of full section of tunnel high speed dynamical health detection dress based on active panoramic vision is disclosed It sets, using laser photography mensuration, laser light source projects to tunnel surface form tunnel laser contour line, utilize multiple cameras The vision collecting system of composition, the panoramic picture for carrying out subrange to tunnel acquire, and take laser wheel profile.By with swash The theoretical algorithm of light photogrammetry calculates the corresponding geometric dimension parameter of tunnel contour pixel, to form tunnel wheel Wide three-dimensional point cloud.It can use the three-dimensional point cloud of profile scanning simultaneously, be fitted sectional curve and form simulation cylindrical surface, thus Three-dimensional Display tunnel three-dimensional dimension parameter, for detecting Tunnel Displacement and deformation.But the disadvantage is that: this technology is merely with panorama Visual sensor and laser scanning, higher cost；When visual sensor acquires the laser profile information of tunnel surface, light will receive The influence of line leads to the decline of measurement accuracy；Simultaneously for the dark object of tunnel surface, the light spot profile of laser scanning is strong Degree not enough, will lead to local leak detection situation；Also due to vertical scanning tunnel surface, can only measure this cross section place, The contour of object nearest apart from laser is unable to measure tunnel surface due to blocking for objects in front for the size of tunnel surface Dimensional parameters.

It is right since helically line is distributed two-dimentional fast laser scanning element in actual tunnel section survey and limit detection It is run in faster situation in speed, section interval becomes larger, and point cloud density becomes smaller, and leads to the object elongated for section, occurs Detection leakage phenomenon seriously affects tunnel contour measurement and limit detection, and detection vehicle speed is faster, then missing inspection possibility is bigger.

Summary of the invention

The present invention provides a kind of laser scanner of tunnel cross-section and methods, to solve in the prior art lack It falls into.

To achieve the goals above, this invention takes following technical solutions.

An aspect of of the present present invention provides a kind of laser scanner of tunnel cross-section characterized by comprising 4 A scanning laser sensor and data acquisition memory；

4 scanning laser sensors are installed on detection vehicle, and two scanning laser sensors swash as first Dui Optical scanning sensor is respectively used to backwards to installing from the profile perpendicular to tunnel direction transversal scanning tunnel two sides to top；Separately Outer two scanning laser sensors, backwards to installing, are respectively used to dip sweeping tunnel two sides as second pair of scanning laser sensor To the profile at top；

The deposit data acquisition memory is connect with scanning laser sensor by data line, is swept for storing the laser Retouch the laser scanning result of sensor.

Preferably, the profile at dip sweeping tunnel two sides to top includes the folder of second pair of scanning laser sensor and tunnel Angle is 30 ° -60 °.

Preferably, which further includes pedestal, and the pedestal includes vertical plane and horizontal plane, the vertical plane and water Plane one, vertical plane are used to for pedestal being fixed on the front or tail portion of detection vehicle, and horizontal plane is used to that described 4 to be fixedly mounted Scanning laser sensor.

Preferably, which further includes sensor stand, and the sensor stand is fixed by bolts in the pedestal On, 4 scanning laser sensors are fixed by bolts on the sensor stand.

Preferably, the angle in second pair of scanning laser sensor and tunnel is 45 °.

Preferably, scanning laser sensor and pedestal are provided with angle, for scanning scanning laser sensor to rail, And the two beam laser in scanning to tunnel top in every a pair of of scanning laser sensor have at least 5 degree of coincidence.

Preferably, the scanning optical path of 4 scanning laser sensors is non-interference.

Tunnel is carried out according to the laser scanner of above-mentioned tunnel cross-section another aspect provides a kind of Profile scanning measurement method characterized by comprising

Step 1, will be equipped with the tunnel cross-section laser scanner detection vehicle at a predetermined velocity in tunnel Interior traveling, and open 4 scanning laser sensors of the laser scanner of the tunnel cross-section；

Step 2, by first pair of scanning laser sensor in 4 scanning laser sensors respectively from perpendicular to The profile at two sides to the top in tunnel direction transversal scanning tunnel；Pass through second pair of scanning laser sensor dip sweeping tunnel The profile at road two sides to top；

Step 3 records the scan data of each scanning laser sensor by the data acquisition memory and works as The location information of front sensor；

Step 4 is coordinately transformed according to the location information of the scan data and current sensor, obtains two groups of laser The tunnel cross-section size of scanning.

Preferably, second pair of scanning laser sensor direction scanning-tunnelling two sides to top with 45 ° of tunnel angle respectively Profile.

Preferably, the scanning optical path of 4 scanning laser sensors in step 2 is non-interference.

It can be seen from the technical solution that the laser scanner and method of the tunnel cross-section of aforementioned present invention provide The present invention passes through the profile at direction scanning-tunnelling two sides to the top of two scanning laser sensors and tunnel cross in a device, Complementary scan is carried out to tunnel two sides, the section detection probability of small bore object can be increased, small bore object is along section The section in direction is smaller, and the point of laser direct projection scanning is also fewer, causes detection leakage phenomenon.But perpendicular to section direction, This object may be plate or strip or other shapes, laser dip sweeping, and the point of scanning to object is relatively more, can be with Detection leakage phenomenon is avoided, to solve the detection leakage phenomenon in high speed detection, improves the accuracy of object scanning survey in tunnel, it is right In the object of intrusion tunnel clearance size, there is higher early warning accuracy, it is ensured that the safe operation of electric car in tunnel.

The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description Obviously, or practice through the invention is recognized.

Detailed description of the invention

In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only one embodiment of the present of invention, for this For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others Attached drawing.

Fig. 1 is a kind of laser scanner schematic diagram of tunnel cross-section of embodiment；

Fig. 2 is base schematic diagram；

Fig. 3 is sensor stand schematic diagram；

Fig. 4 is the scanning mode schematic diagram of first pair of scanning laser sensor；

Fig. 5 is the tunnel cross-section scanning survey method schematic diagram that embodiment provides；

Fig. 6 is the schematic diagram of a scenario that emulation experiment is carried out by the device of embodiment；

Fig. 7 is the scanning result schematic diagram obtained by the device of traditional vertical scanning；

Fig. 8 is the scanning result schematic diagram obtained by embodiment device.

Specific embodiment

Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.

Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Wording used herein "and/or" includes one or more associated any cells for listing item and all combinations.

Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.

In order to facilitate understanding of embodiments of the present invention, explanation is further explained below in conjunction with attached drawing.