A tunnel three-dimensional panoramic model generation device and method

Abstract

The application belongs to the technical field of tunnel detection, and particularly discloses a tunnel three-dimensional panoramic model generation device and method, which comprises two side columns, a center cable and a shaft rod are arranged between the two side columns, the two ends of the center cable and the shaft rod are fixed on the two side columns, the shaft rod is located above the center cable, a plurality of support rods are arranged between the shaft rod and the center cable, a plurality of swing rods capable of rotating around the shaft rod are arranged on the shaft rod, the swing rods are controlled to rotate by servo motors, and cameras are arranged on the swing rods. The application has a long-span support structure, images can be collected at a plurality of set angle positions by the cameras, and stable and rapid generation of a three-dimensional panoramic model in a long-span tunnel is realized.

Description

Technical Field

[0001] This invention belongs to the field of tunnel detection technology, and more specifically, relates to a device and method for generating a three-dimensional panoramic model of a tunnel. Background Technology

[0002] The newly excavated tunnel has an unstable roof structure, posing a safety hazard. Therefore, scanning and monitoring of the tunnel roof and sidewalls are necessary. Currently, data collection inside tunnels is typically done manually, such as by using handheld cameras or driving a vehicle into the tunnel to collect data via camera or laser scanning. This process involves repeated data collection, which is labor-intensive.

[0003] Existing long-span flexible support frames typically employ two side columns connected by multiple flexible steel cables across the middle span, offering advantages such as a large middle span and a simple overall structure. The central cable on these existing flexible support frames can be supported by load-bearing cables, primarily using a clamp and tripod support structure. The clamps fix the central cable, and the tripod connects to the load-bearing cables to form a stable support system. Compared to traditional two-dimensional planar supports, this clamp-fixed central cable and tripod-load-bearing cable connection structure achieves three-dimensional multi-point support for the central cable within the triangular prism space, improving the overall stiffness and stability of the support structure. However, since the central cable and load-bearing cables are flexible support structures, their rigidity needs further strengthening, making it difficult to achieve stable support over long spans under dynamic conditions. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a device and method for generating a three-dimensional panoramic model of a tunnel, the purpose of which is to achieve stable and rapid generation of a three-dimensional panoramic model inside the tunnel.

[0005] To achieve the above objectives, according to one aspect of the present invention, a tunnel three-dimensional panoramic model generation device is proposed, comprising two side columns, a central cable and a shaft arranged between the two side columns, the two ends of the central cable and the shaft being fixed on the two side columns, and the shaft being located above the central cable, and a plurality of support rods arranged between the shaft and the central cable; The shaft is equipped with several swing arms that can rotate around it. The swing arms are controlled by a servo motor to rotate, and cameras are mounted on the swing arms.

[0006] As a further preferred embodiment, the swing arms are connected together by a rotating cable, with one end of the swing arm fixedly connected to the rotating cable and the other end rotatably connected to the shaft; the servo motor is used to drive the rotating cable to rotate around the shaft.

[0007] As a further preferred embodiment, each of the two columns is provided with a support base on the opposite side, the servo motor is mounted on the support base, the output shaft of the servo motor is connected to the rotating arm through a coupling, the rotation center of the rotating arm is coaxial with the center of the shaft, and the rotating cable is installed between a pair of rotating arms on the opposite side; the servo motor drives the rotating cable to rotate through the rotating arm.

[0008] As a further preferred embodiment, the two columns are provided with support seats on opposite sides. The support seats are equipped with bearing seats and servo motors. A rotating shaft is rotatably connected to the bearing seats through bearings. One end of the rotating shaft is connected to the output shaft of the servo motor through a coupling, and the other end of the rotating shaft is integrated with the rotating arm. Multiple rotating cables are arranged between the pair of rotating arms on opposite sides. These multiple rotating cables are arranged in parallel, and one end of the swing arm is fixedly connected to each of the multiple rotating cables.

[0009] As a further preferred embodiment, one end of the swing arm is provided with a locking hole, and one side of the locking hole is provided with an opening for the rotating cable to be pressed into the locking hole. The rotating cable is locked in the locking hole. The other end of the swing arm is provided with a bushing, which is movably fitted onto the shaft. Both ends of the support rod are provided with locking grooves, one end of which is locked with the shaft, and the other end of which is locked with the center cable. The shaft is formed by connecting multiple hollow stainless steel tubes sequentially with threads.

[0010] As a further preferred embodiment, a crossbeam is fixed in the middle of the side column; a central cable and two load-bearing cables are provided between the two side columns, wherein the two ends of the central cable are respectively connected to the middle of the crossbeam of the two side columns, the two ends of the load-bearing cable are respectively connected to the left side of the crossbeam of the two side columns, and the two ends of the load-bearing cable are respectively connected to the right side of the crossbeam of the two side columns; several tripods are provided between the central cable and the two load-bearing cables.

[0011] As a further preferred embodiment, a middle column is provided between the two side columns, and a crossbeam is fixed in the middle of the middle column; a central cable passes through the middle column, and two load-bearing cables are installed on both sides of the crossbeam of the middle column; servo motors are provided on both sides of the middle column, which are used to drive the corresponding side rotating cables to rotate.

[0012] As a further preferred embodiment, the swing arm is provided with a protruding arc portion, which is a circular ring with the rotation center of the swing arm as the center; a depth camera and a color camera are arranged at intervals on the arc portion.

[0013] As a further preferred option, both side columns are equipped with ground-stayed cables, with one end of the cable fixed to the side column and the other end fixed to the ground.

[0014] According to another aspect of the present invention, a method for generating a three-dimensional panoramic model of a tunnel is provided, comprising the following steps: The aforementioned tunnel 3D panoramic model generation device is installed inside the tunnel; each swing arm is controlled by a servo motor to rotate synchronously around the axis, stopping each time it rotates to a preset angle, and images are simultaneously captured by cameras on each swing arm; a 3D panoramic model of the tunnel is generated based on the captured images.

[0015] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages: 1. This invention utilizes an improved support structure to achieve stable and rapid image acquisition and 3D model generation over long spans within tunnels. Specifically, a central cable is used to fix the columns over a large span, facilitating the addition and installation of long-span axles. Support rods connected to the central cable enhance its rigidity. Furthermore, multiple swing arms are installed on the axles, and the rotation angle of the swing arms is controlled by a servo motor, allowing the acquisition of images from different angles over long spans within the tunnel, thereby generating a 3D panoramic model of the tunnel. This invention is suitable for long-distance use within tunnels, has a simple structure, and is easy to use.

[0016] 2. This invention uses a rotating cable to drive several pendulum rods to rotate synchronously, facilitating subsequent processing of image data acquired by the camera and resulting in high data acquisition gain. Multiple rotating cables can be further added to enhance connection stability, and bearing seats can be incorporated for load-bearing, enabling the rotating arm to withstand greater tensile strength.

[0017] 3. This invention enhances the stiffness of the axle by using a support rod. The support rod bears the weight on the central cable, and the flexible support structure formed by the central cable and the load-bearing cable has high stiffness and stability, which makes the long-span axle have stiffness and stability far exceeding its own, greatly enhancing the stability around the long-span axle. In addition, the axle is a rigid rod, which further enhances the stability of the pendulum's rotation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the tunnel three-dimensional panoramic model generation device provided in an embodiment of the present invention.

[0019] Figure 2 This is a front view of the tunnel 3D panoramic model generation device provided in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of the pendulum rod, the central cable, and the rotating cable assembly provided in an embodiment of the present invention.

[0021] Figure 4 This is a cross-sectional view of the assembly structure of the support rod, central cable, and long-span shaft provided in an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the initial position of the camera provided in an embodiment of the present invention.

[0023] Figure 6This is a schematic diagram of the camera's endpoint position provided in an embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of the anchor point structure of the central cable and load-bearing cable on the side column of the present invention.

[0025] Figure 8 This is a schematic diagram of the assembly structure of a single rotating cable provided in an embodiment of the present invention.

[0026] Figure 9 This is a schematic diagram of the assembly structure of multiple rotating cables provided in an embodiment of the present invention.

[0027] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-side column, 2-center cable, 5-triangle frame, 6-rotating cable, 7-swing rod, 8-shaft, 9-load-bearing cable, 12-crossbeam, 21-support rod, 41-rotating arm, 42-servo motor, 70-arc section, 71-depth camera, 72-color camera, 73-shoulder sleeve, 74-slot, 75-opening, 91-stayed cable, 100-support seat, 101-coupling, 102-bearing seat, 211-slot. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0029] This invention provides a device for generating a three-dimensional panoramic model of a tunnel, such as... Figure 1 and Figure 2 As shown, it includes a long-span flexible support, which includes two side columns 1, a central cable 2 and two load-bearing cables 9 connected between the two side columns 1 respectively, and several tripods 5 connected between the central cable 2 and the two load-bearing cables 9 along the height direction.

[0030] A shaft 8 is provided between the two side columns 1. The two ends of the shaft 8 are supported by the side columns 1. The shaft 8 is horizontal and suspended. The shaft 8 is located directly above the central cable 2. Several support rods 21 that support the shaft 8 along the height direction are locked to the central cable 2.

[0031] Two side columns 1 are each equipped with a rotating arm 41 and a servo motor 42 that drives the rotating arm 41 to swing back and forth in a circumferential direction. The rotation center of the rotating arm 41 is coaxial with the center of the shaft 8. A rotating cable 6 connects the two rotating arms 41. Several swing rods 7 are located between the shaft 8 and the rotating cable 6. The swing rods 7 are spaced at a set interval along the length of the shaft. One end of the swing rod 7 is rotatably connected to the shaft 8, and the other end of the swing rod 7 is snapped and fixed to the rotating cable 6. A camera is installed on the swing rod 7. The center cable 2, the rotating cable 6, and the load-bearing cable 9 are all flexible cables.

[0032] Specifically, such as Figure 7 As shown, a crossbeam 12 is fixedly installed on the inner side of the middle of the two side columns 1. The anchor points of the central cable 2 and the load-bearing cable 9 are at different positions on the same horizontal plane of the crossbeam 12. The anchor points at both ends of the central cable 2 are at the middle position of the upper end of the crossbeam 12, and the anchor points at both ends of the two load-bearing cables 9 are on the left and right sides of the upper end of the crossbeam 12. The central cable 2 is set horizontally at the anchor point, and the load-bearing cable 9 is set inclined at the anchor point. The two ends of the central cable 2 are locked to the anchor points on the crossbeam 12 by clamp anchors.

[0033] Specifically, the servo motor 42 adopts a through-shaft design. The servo motor shaft is designed as a hollow structure, allowing the external shaft 8 to pass through it, so that the shaft 8 and the servo motor 42 can be driven coaxially. The two ends of the shaft 8 pass through the shaft holes on the two side columns 1 and extend outward. The extended ends are clamped by upper and lower clamps, and then the upper and lower clamps are locked with bolts and nuts.

[0034] In some embodiments, such as Figure 8 As shown, a rotating cable 6 is provided between the two rotating arms 41, and horizontally extending support seats 100 are provided on opposite sides of the two side columns 1. The servo motor 42 is mounted on the support seats 100. The lower end of the rotating arm 41 is connected to the output shaft of the servo motor 42 through a coupling 101. The coupling 101 is a pair of connecting flanges, and the two flanges are respectively connected to the lower end of the rotating arm 41 and the output shaft of the servo motor 42 as a whole. The two flanges are locked together with bolts and nuts.

[0035] In some embodiments, such as Figure 9 As shown, there can be multiple rotating cables 6 between a pair of rotating arms 41. The multiple rotating cables 6 are arranged in parallel, and several swing rods 7 are respectively engaged with each of the rotating cables 6. The multiple rotating cables 6 are used to enhance the stability of the connection between the rotating cables 6 and the swing rods 7, and to ensure that the swing rods 7 rotate synchronously with the rotating arms 41.

[0036] At this time, a bearing housing 102 is also provided on the support base 100. A rotating shaft 103 is rotatably connected to the bearing housing 102 via a bearing. One end of the rotating shaft 103 is connected to the output shaft of the servo motor 42 via a coupling 101, and the other end of the rotating shaft 103 is integrally connected to the lower end of the rotating arm 41. The coupling 101 consists of a pair of connecting flanges, each integrally connected to the lower end of the rotating arm 41 and the output shaft of the servo motor 42, respectively. The two flanges are locked together with bolts and nuts. The bearing housing 102 serves to bear weight, allowing the rotating arm 41 to withstand greater tensile strength. This enables the use of multiple rotating cables 6 between a pair of rotating arms 41, which is beneficial to the stability of the device operation.

[0037] Furthermore, the shaft 8 is composed of multiple hollow stainless steel tubes connected sequentially. Adjacent stainless steel tubes are connected by threads; one end of each tube has an internal thread, and the other end has an external thread. The threaded end can be inserted into the threaded end of another tube. The overall structure is simple, convenient for assembly and construction within tunnels, and easy to use. The shaft 8 can also be made of rigid plastic, wood, or other composite materials, using a rigid material with sufficient rigidity.

[0038] The main load-bearing component on shaft 8 is the plastic rocker arm 7, which has a small load capacity and does not require a thick solid metal rod. For example... Figure 3 As shown, a stainless steel bushing 73 is provided between the swing arm 7 and the shaft 8. The bushing 73 is movably fitted around the shaft 8 and rotates. The bushing 73 and one end of the swing arm 7 are injection molded together. The other end of the swing arm 7 has a locking hole 74, and one side of the locking hole 74 has an opening 75 for the rotating cable 6 to be pressed into the locking hole 74. The rotating cable 6 is locked in the locking hole 74. The function of the stainless steel bushing 73 is to improve the stability of the swing arm's rotation, reduce the rotational frictional resistance between the swing arm 7 and the shaft 8, and has a simple structure, which is convenient for mass assembly and use.

[0039] like Figure 4 As shown, the support rod 21 has slots 211 at its upper and lower ends, respectively. The shaft 8 is engaged in the slot 211 at the upper end of the support rod 21, and the center cable 2 is engaged in the slot 211 at the lower end of the support rod 21. The support rod 21 can be made of hollow plastic, which has the advantages of being easy to manufacture, lightweight, and having sufficient support strength; the support rod 21 can also be made of metal or other composite rods, as long as it can provide sufficient support in the height direction.

[0040] Furthermore, each swing arm 7 has two cameras: a depth camera 71 and a color camera 72. The depth camera 71 and the color camera 72 are spaced at an angle along their circumference. Specifically, each swing arm 7 also has an arc-shaped portion 70 at its outer end. The arc-shaped portion 70 is a ring centered on the rotation center of the swing arm 7. The depth camera 71 and the color camera 72 are spaced apart on the arc-shaped portion 70, so that the depth camera 71 and the color camera 72 are located on the same circumference, and the angle between the radius of the depth camera 71 and the radius of the color camera 72 is a non-zero angle.

[0041] Furthermore, the side columns 1 of the long-span flexible support are fixed to the ground-based inclined cables 91, which help enhance the stability of the entire device.

[0042] Furthermore, the device also includes a processor for acquiring images captured by the camera and generating a 3D model based on the images.

[0043] In some embodiments, an intermediate column can be further provided between the two side columns 1 to divide the long tunnel with a large span into sections. At this time, the shaft 8 is suspended from the top of the intermediate column, and servo motors and rotating arms are respectively provided on both sides of the intermediate column. The pair of servo motors and rotating arms on both sides of the intermediate column correspond to the servo motors and rotating arms on the two side columns 1, and are respectively connected by rotating cables 6. That is, each rotating cable works independently between the side column and the intermediate column, thereby dividing the long tunnel with a large span into two independent sections. An intermediate crossbeam is also provided on the intermediate column. The middle part of the central cable 2 passes through the radial through hole on the intermediate column and is suspended on the intermediate column. The middle part of the load-bearing cable 9 passes through the through holes at both ends of the intermediate crossbeam and is suspended in the through holes, so that the two independent sections share the central cable and the load-bearing cable, and avoid large swings due to the excessive length of the load-bearing cable.

[0044] This invention provides a method for generating a three-dimensional panoramic model of a tunnel, implemented based on the aforementioned three-dimensional panoramic model generation device, and includes the following steps: A tunnel 3D panoramic model generation device is set up inside the tunnel. The servo motor 42 drives the swing arm 7 to rotate, controls the rotation direction of the servo motor 42, and collects the rotation angle of the servo motor 42 to determine the angular position of the camera in the circumferential direction. The camera is controlled to collect images inside the tunnel at multiple set angular positions. Based on the images collected by the camera, a 3D model is generated.

[0045] Specifically, several cameras are spaced apart along the length of the axis, and each camera is connected to a swing arm 7 by a rotating cable. A servo motor drives the rotating cable to rotate around a long-span axis, enabling the cameras to rotate synchronously in the same direction. For example... Figure 5 and Figure 6As shown, the rotation range of the rotating cable 6 is nearly 360 degrees. The thickness of the support rod 21 occupies a small circumferential angle, and has little impact on the 360° circumferential swing angle of the rotating cable 6.

[0046] Specifically, a depth camera 71 and a color camera 72 with a non-zero included angle are mounted on the same lever 7. During operation, the depth camera 71 and color camera 72 are driven to rotate in the same direction along the circumference, while the depth camera 71 continuously acquires depth data, and the color camera 72 acquires color images at a set angular position. The processor processes the depth data acquired by the depth camera 71 into a depth model, and then combines the color image captured by the color camera 72 with the depth model corresponding to the depth data captured by the depth camera 71 at the same angular position to generate a three-dimensional color model.

[0047] In some embodiments, the angle between the radius of the depth camera 71 and the radius of the color camera 72 is 60 degrees. The color camera 72 can be a fisheye camera, taking a color image every 60 degrees of rotation, while the depth camera 71 takes continuous pictures during rotation to stitch and process them to form a depth model.

[0048] For example, such as Figure 5 and Figure 6 As shown, with the vertical line perpendicular to the horizontal line as 0 degrees, the processor receives servo motor angle data 42 in real time. During this process, the color camera 72 can capture a color image at 10 degrees, 70 degrees, 130 degrees, 190 degrees, 250 degrees, and 310 degrees. These color images can form color images of the tunnel's side walls and ceiling. Then, these color images are respectively pasted onto the depth model formed by the depth camera 71, specifically, aligned and pasted onto the corresponding positions on the depth model corresponding to the depth data captured by the depth camera 71 at 10 degrees, 70 degrees, 130 degrees, 190 degrees, 250 degrees, and 310 degrees, thereby generating a three-dimensional color model.

[0049] The methods of image processing and image bonding by the processor are existing technologies and will not be described in detail here. The color camera 72 and depth camera 71 on a single pendulum generate a 3D color model with the best effect, and the method of image bonding of data collected by depth cameras 71 and color cameras 72 on multiple pendulums is existing technology and will not be described in detail here.

[0050] The following are specific examples: A subway tunnel in a certain city is undergoing structural health monitoring and 3D digital archiving. The tunnel is approximately 2.9 kilometers long with an inner diameter of 5.8 meters and is at slight risk of settlement. The device of this invention utilizes multiple cameras to achieve efficient and high-precision acquisition of tunnel surface images, which are then used for subsequent 3D reconstruction and stitching to identify defects (such as cracks and leaks) and analyze deformation.

[0051] 1) Construct a 2.9-kilometer-long flexible support structure. A long-span axle is fixedly supported by this structure, and the axle is horizontally suspended and parallel to the tunnel axis. Several cameras are selected and evenly distributed along the axle axis, with the overlap of adjacent camera views controlled to within 20% to ensure continuous feature coverage.

[0052] 2) Set up ring-shaped coding markers to assist in feature matching, and set up a checkerboard calibration board to assist in the calibration of camera intrinsic and extrinsic parameters.

[0053] 3) Set at least three control points with accurate coordinate information for later point cloud accuracy verification. Randomly measure the coordinates of several points on the tunnel surface, plot these points onto the point cloud model, and observe the adhesion between the measured points and the model surface to examine the uniformity of error distribution and the presence of gross errors.

[0054] 4) The controller controls multiple servo motors to rotate synchronously. When the servo motors reach the set angle, they stop rotating simultaneously. The controller controls several cameras to take pictures at the same time, achieving millisecond-level time synchronization of multiple cameras. The controller records auxiliary information such as camera posture and position.

[0055] 5) Repeat step 4) Take photos at multiple set angles in the circumferential direction in sequence. A total of hundreds of thousands of images are collected in the process to generate a three-dimensional panoramic model.

[0056] By comparing 3D models from different periods, tunnel settlement and convergence deformation can be monitored, providing data support for structural safety assessment. Integrating the 3D model into the tunnel operation and maintenance platform enables functions such as visualized management of defects and automatic generation of inspection reports, improving operation and maintenance efficiency. Furthermore, for newly excavated highway or water conservancy tunnels with poor vehicular access, the long-span flexible support system demonstrates excellent adaptability to the tunnel surface and internal space during its construction, making it convenient to use.

[0057] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A device for generating a three-dimensional panoramic model of a tunnel, characterized in that, It includes two side columns (1), a central cable (2) and a shaft (8) are provided between the two side columns (1), the two ends of the central cable (2) and the shaft (8) are fixed on the two side columns (1), and the shaft (8) is located above the central cable (2). Multiple support rods (21) are provided between the shaft (8) and the central cable (2). The shaft (8) is provided with several swing arms (7) that can rotate around it. The swing arms (7) are controlled to rotate by a servo motor (42), and cameras are provided on the swing arms (7).

2. The tunnel three-dimensional panoramic model generation device as described in claim 1, characterized in that, Each swing arm (7) is connected together by a rotating cable (6). One end of the swing arm (7) is fixedly connected to the rotating cable (6), and the other end is rotatably connected to the shaft (8). The servo motor (42) is used to drive the rotating cable (6) to rotate around the shaft (8).

3. The tunnel three-dimensional panoramic model generation device as described in claim 2, characterized in that, Both sides of the column (1) are provided with support bases (100). The servo motor (42) is installed on the support base (100). The output shaft of the servo motor (42) is connected to the rotating arm (41) through the coupling (101). The rotation center of the rotating arm (41) is coaxial with the center of the shaft (8). The rotating cable (6) is installed between a pair of rotating arms (41) on opposite sides. The servo motor (42) drives the rotating cable (6) to rotate through the rotating arm (41).

4. The tunnel three-dimensional panoramic model generation device as described in claim 2, characterized in that, The two columns (1) are provided with support seats (100) on opposite sides. The support seats (100) are equipped with bearing seats (102) and servo motors (42). The bearing seats (102) are connected to a rotating shaft (103) through bearings. One end of the rotating shaft (103) is connected to the output shaft of the servo motor (42) through a coupling (101), and the other end of the rotating shaft (103) is connected to the rotating arm (41). Multiple rotating cables (6) are provided between the pair of rotating arms (41) on opposite sides. The multiple rotating cables (6) are arranged in parallel, and one end of the swing arm (7) is fixedly connected to the multiple rotating cables (6).

5. The tunnel three-dimensional panoramic model generation device as described in claim 2, characterized in that, The swing rod (7) has a locking hole at one end, and an opening on one side of the locking hole for the rotating cable (6) to be pressed into the locking hole. The rotating cable (6) is locked in the locking hole. The swing rod (7) has a bushing (73) at the other end, which is movably fitted on the shaft (8). The support rod (21) has a locking groove at both ends. One end of the locking groove is locked with the shaft (8), and the other end of the locking groove is locked with the center cable (2). The shaft (8) is formed by connecting multiple hollow stainless steel tubes sequentially with threads.

6. The tunnel three-dimensional panoramic model generation device as described in claim 2, characterized in that, A crossbeam (12) is fixed in the middle of the side column (1); a central cable (2) and two load-bearing cables (9) are provided between the two side columns (1), wherein the two ends of the central cable (2) are respectively connected to the middle of the crossbeam (12) of the two side columns (1), the two ends of one load-bearing cable (9) are respectively connected to the left side of the crossbeam (12) of the two side columns (1), and the two ends of the other load-bearing cable (9) are respectively connected to the right side of the crossbeam (12) of the two side columns (1); several tripods (5) are provided between the central cable (2) and the two load-bearing cables (9).

7. The tunnel three-dimensional panoramic model generation device as described in claim 6, characterized in that, A middle column is set between the two side columns (1), and a crossbeam is fixed in the middle of the middle column; the central cable (2) passes through the middle column, and the two load-bearing cables (9) are installed on both sides of the crossbeam of the middle column; servo motors (42) are set on both sides of the middle column, which are used to drive the corresponding side rotating cables (6) to rotate.

8. The tunnel three-dimensional panoramic model generation device as described in claim 1, characterized in that, The swing arm (7) is provided with a protruding arc part (70), which is a ring with the rotation center of the swing arm (7) as the center; a depth camera (71) and a color camera (72) are provided at intervals on the arc part (70).

9. The tunnel three-dimensional panoramic model generation device according to any one of claims 1-8, characterized in that, Both side columns (1) are equipped with ground cable (91), one end of which is fixed to the side column (1) and the other end is fixed to the ground.

10. A method for generating a three-dimensional panoramic model of a tunnel, characterized in that, Includes the following steps: The tunnel three-dimensional panoramic model generation device as described in any one of claims 1-9 is set inside the tunnel; each swing arm (7) is controlled by a servo motor (42) to rotate synchronously around the shaft (8), and stops when it rotates to a preset angle, and images are simultaneously collected by the camera on each swing arm (7); a three-dimensional panoramic model inside the tunnel is generated based on the collected images.

Images