發(fā)布時間：2018-01-10 11:21

  本文關(guān)鍵詞：地鐵隧道激光掃描檢測小車的研究與開發(fā)　出處：《武漢大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 激光掃描檢測小車 地鐵隧道 變形監(jiān)測 RANSAC算法

【摘要】：隨著城市軌道交通的快速發(fā)展,全國各地都有大量人群選擇地鐵出行,地鐵隧道的安全問題也變得更加嚴(yán)峻。隧道收斂變形監(jiān)測也是地鐵隧道變形監(jiān)測的一個重要部分。傳統(tǒng)的鋼尺收斂計測量方法測量效率較低,外業(yè)工作量大;使用測量機(jī)器人進(jìn)行隧道斷面收斂測量雖然較為方便,但成本較高,且僅能測量到斷面上部分點位的坐標(biāo),監(jiān)測時間長,測量精度易受環(huán)境因素影響。使用地面三維激光掃描技術(shù)對地鐵隧道進(jìn)行掃描只能在一定程度上提高效率,雖然測量精度較高,但數(shù)據(jù)采集的重復(fù)率太高,數(shù)據(jù)處理流程也較為繁瑣。針對以上缺陷,本文提出將三維激光掃描儀和軌道小車組合在一起,并搭載里程計、距離傳感器、傾斜傳感器和內(nèi)置計算機(jī),配合使用掃描標(biāo)靶,組成激光掃描檢測小車,采用線掃描模式,讓軌道小車沿隧道中的鐵軌前進(jìn)的同時就能對隧道壁進(jìn)行掃描,極大地提高了外業(yè)測量效率。掃描儀在掃描隧道的同時,里程計、距離傳感器和傾斜傳感器實時記錄激光掃描檢測小車的前進(jìn)距離、小車中心和線路中線的偏差和小車的橫滾角、俯仰角。內(nèi)業(yè)對數(shù)據(jù)進(jìn)行處理時根據(jù)里程計數(shù)據(jù)和隧道線路設(shè)計文件計算小車的位置和方位角,再根據(jù)掃描儀和軌道小車的相對位置關(guān)系和小車的位置、姿態(tài),初步計算掃描點在測量坐標(biāo)系下的坐標(biāo),從點云中提取掃描標(biāo)靶的中心點的掃描時間和坐標(biāo),進(jìn)而對里程計進(jìn)行約束。處理完成之后即可根據(jù)里程直接提取出對應(yīng)的斷面點,使用RANSAC算法提取噪聲點和雜物點,并擬合斷面曲線,計算斷面收斂值。本文主要研究了激光掃描檢測小車的測量原理,和測量數(shù)據(jù)的采集、存儲、處理方法。針對線掃描模式提出了利用里程計和隧道設(shè)計文件對激光掃描檢測小車進(jìn)行初步定位、利用掃描標(biāo)靶和CPⅢ點坐標(biāo)對里程計和小車位置做進(jìn)一步約束、使用RANSAC算法對隧道斷面點云進(jìn)行去噪和擬合等方法,最后計算地鐵隧道的收斂值。為驗證這一變形監(jiān)測方法的可行性,本文在武漢地鐵隧道中進(jìn)行了掃描實驗,并對采集的數(shù)據(jù)進(jìn)行了處理和計算。結(jié)果表明激光掃描檢測小車使用的測量方法能夠滿足地鐵隧道變形監(jiān)測的要求。對比與傳統(tǒng)的隧道收斂測量方法和地面三維激光掃描技術(shù),外業(yè)的數(shù)據(jù)采集效率更高。
[Abstract]:With the rapid development of city rail transit, there are a large number of people choose subway travel around the country, the security problem of subway tunnel has become more serious. An important part of tunnel convergence deformation monitoring is the deformation of metro tunnel monitoring. Monitoring the convergence of the traditional measuring method of measuring low efficiency, field work; measuring robot although the measurement of tunnel section convergence is more convenient, but the cost is higher, and only can be measured by the coordinate point monitoring section, a long time, the measurement accuracy is susceptible to environmental factors. Using the ground three dimensional laser scanning technology to scan only to the subway tunnel to improve the efficiency to a certain extent, although the measuring accuracy is high, but repeated the data acquisition rate is too high, the data processing process is more complicated. To solve the above problems, this paper put forward a 3D laser scanner and the small car combination in orbit Together, and equipped with odometer, distance sensor, tilt sensor and built-in computer, with the use of scanning target, composed of laser scanning detection car, using the line scan mode, let the rail car along the tunnel in rails on tunnel wall can also scan, greatly improves the measurement efficiency. Field scanner in scanning tunneling at the same time, odometer, distance sensor and forward tilt sensor real-time recording laser scanning inspection trolley distance, roll center and the center line deviation of the car and the car angle, pitching angle. Within the industry for data processing based on odometry data and tunnel line design documents calculation of the position and orientation of car horns, according to the car and the relative position between the scanner and the track car position, attitude, preliminary calculation of coordinate scanning in the measurement coordinate system, scanning target extraction from point cloud The scan time and the coordinates of the center point, and then on the odometer constraints. After the completion of treatment can be directly extracted according to the mileage section points corresponding to the noise and debris extraction using RANSAC algorithm, and the fitting curve, the calculation convergence value. This paper mainly studies the measuring principle of laser scanning detection and measurement data of the car, the acquisition, storage, processing method for line scan mode put forward the preliminary positioning of the laser scanning detection car using odometry and tunnel design documents, standard coordinates of the target and CP III do further constraints on the odometer and cart position scanning, using RANSAC algorithm for denoising and fitting methods of tunnel section point cloud finally, the convergence of subway tunnel was calculated value. In order to verify the feasibility of this method of deformation monitoring, this paper carried out scanning experiments in Wuhan subway tunnel, and the collection number According to the treatment and calculation, the results show that the method of laser scanning can satisfy the requirements of subway tunnel deformation monitoring. Compared with the traditional tunnel convergence method and the ground 3D laser scanning technology, the data acquisition efficiency of the field is higher.

【學(xué)位授予單位】：武漢大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：U456.3;U231

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本文編號：1405076