Tunnel bending area point cloud acquisition device and coordinate correction method

By combining a two-dimensional cross-sectional laser scanner, an incremental ranging encoder, and a surface array lidar with the SLAM algorithm, the three-dimensional point cloud data of the tunnel's curved area is corrected, solving the positional error problem caused by the offset of the scanning device on the inspection vehicle and improving the accuracy of tunnel defect detection.

CN121878718APending Publication Date: 2026-04-17CHINA UNIV OF MINING & TECH (BEIJING)
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Patent Information

Application Number
CN202411441967.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-10-16
Publication Date
2026-04-17

AI Technical Summary

Technical Problem

In the curved areas of subway tunnels, the positional error caused by the offset between the detection vehicle's laser radar scanning device and the tunnel center affects the accuracy of the 3D laser scanning point cloud, making it difficult to achieve precise detection.

Method used

By employing a two-dimensional cross-sectional laser scanner, an incremental ranging encoder, an area array lidar, and a mobile terminal, combined with the SLAM algorithm, the three-dimensional point cloud data is corrected and positional errors are eliminated through centerline extraction and B-spline interpolation fitting.

Benefits of technology

It improved the detection accuracy of defects in curved areas of tunnels, and enabled precise positioning of target objects and construction of three-dimensional models within the tunnel.

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Abstract

The invention discloses a tunnel bending area point cloud acquisition device and a coordinate correction method, and the method is characterized in that the method comprises the following steps: 1, tunnel point cloud data acquisition: employing a tunnel detection vehicle as a mobile platform, and obtaining the tunnel point cloud data through a two-dimensional section scanner and an area array laser radar; (2) acquiring curvature parameters of a tunnel bending area, acquiring tunnel space point cloud coordinate data through a central axis extraction algorithm, fitting the data into a tunnel central axis, quickly identifying the tunnel bending area and acquiring curvature radius parameters of the tunnel bending area; (3) correcting the track of the central axis, and carrying out data correction on point cloud axis information obtained by three-dimensional laser scanning by utilizing a tunnel curvature parameter obtained by SLAM (simultaneous localization and mapping) through a point cloud difference mapping algorithm; and (4) point cloud data correction: correcting the two-dimensional section point cloud data through a point cloud correction algorithm so as to obtain accurate section point cloud coordinates of the tunnel bending area. According to the invention, position errors of point cloud acquisition data caused by deviation of the area array laser radar scanning device of the tunnel detection vehicle and the center of the tunnel can be eliminated, and the detection precision of tunnel bending area disease information is improved.
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