基于多维度数据转换的隧道检测机器人变形识别方法

By converting two-dimensional point cloud data into high-precision three-dimensional point cloud data, and combining point cloud data stitching, filtering, and the RANSAC algorithm, the tunnel's central axis and cross-sectional information are extracted. This solves the problems of low recognition accuracy and high cost in tunnel inspection robots, and enables efficient deformation recognition and early warning of tunnel structures.

CN120510101BActive Publication Date: 2026-07-17JINAN URBAN CONSTRUCTION GROUP CO LTD +2
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
JINAN URBAN CONSTRUCTION GROUP CO LTD
Filing Date
2025-04-30
Publication Date
2026-07-17

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Abstract

本发明公开了一种基于多维度数据转换的隧道检测机器人变形识别方法，所述方法利用坐标修正算法和三维点云数据恢复算法获取隧道三维点云数据，采用点云数据拼接技术和统计滤波方法得到隧道三维点云数据，采用双投影法获取隧道二维中轴线，并进一步转换为三维中轴线，利用三维中轴线方向向量和改进的RANSAC算法提取并精细化隧道横断面，基于隧道横断面椭圆拟合方法计算截面的基本参数，并构造变形指标，实现对隧道结构变形的识别，适用于隧道结构变形病害的识别、检测与预警。本发明解决了使用隧道检测机器人识别变形时，直接使用二维点云数据识别精度低，使用三维点云数据数据量大、数据处理困难，且相关设备成本高、经济性差的问题。
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