Automatic monitoring system for the entire tunnel cross-section based on drones

Abstract

An automatic monitoring system for the entire tunnel cross-section based on drones, characterized in that it comprises a drone flight platform, a lidar scan module, a reference control grid, an onboard control and positioning unit, and a ground-based data processing center; wherein the drone flight platform constitutes the basic body of the drone; the lidar scan module is permanently installed below the drone flight platform and serves for 360° scanning of the tunnel interior walls to acquire three-dimensional point cloud data; the reference control grid consists of a series of target markers that are embedded or glued to the tunnel side walls at fixed intervals, each target marker having known accurate three-dimensional coordinates in the tunnel design coordinate system;the onboard control and positioning unit is integrated inside the drone and serves to position the drone and to correct the point cloud coordinates in tunnel-related environments without a GPS signal; and the ground-based data processing center is in communication link with the onboard control and positioning unit and serves to receive data and to carry out task planning, point cloud processing and the evaluation of the tunnel convergence deformation.