The present invention relates to a system for quickly detecting tunnel deformation, comprising a rail walking mechanism (1) disposed on a subway rail, and an acquisition system (2) disposed on the rail walking mechanism (1); wherein the rail walking mechanism (1) is a T-shaped walking platform, comprising a cross shaft (11), a longitudinal shaft (12) and a stand column (13); the cross shaft (11) and the longitudinal shaft (12) are connected to form the T-shaped platform; tread wheels (16) are disposed at the bottom of the T-shaped platform; one end of the stand column (13) is vertically connected with the cross shaft (11), and the other end of the stand column is used for configuring an operating platform (14) of the acquisition system (2); the acquisition system (2) comprises a fractional laser structured light source (21), industrial focus-fixed cameras (22) and a computer; and the computer is connected with the industrial focus-fixed cameras (22). Compared with the prior art, the quick detection device can effectively solve the problem of detecting cross section deformation of tunnels, the problem of transforming many different local coordinate systems to a global coordinate system, and the problem of unstable test data caused by movements.

The present invention relates to a system for quickly detecting tunnel deformation, comprising a rail walking mechanism (1) disposed on a subway rail, and an acquisition system (2) disposed on the rail walking mechanism (1); wherein the rail walking mechanism (1) is a T-shaped walking platform, comprising a cross shaft (11), a longitudinal shaft (12) and a stand column (13); the cross shaft (11) and the longitudinal shaft (12) are connected to form the T-shaped platform; tread wheels (16) are disposed at the bottom of the T-shaped platform; one end of the stand column (13) is vertically connected with the cross shaft (11), and the other end of the stand column is used for configuring an operating platform (14) of the acquisition system (2); the acquisition system (2) comprises a fractional laser structured light source (21), industrial focus-fixed cameras (22) and a computer; and the computer is connected with the industrial focus-fixed cameras (22). Compared with the prior art, the quick detection device can effectively solve the problem of detecting cross section deformation of tunnels, the problem of transforming many different local coordinate systems to a global coordinate system, and the problem of unstable test data caused by movements.

Camera heads and associated systems, methods, and devices for inspecting and/or mapping pipes or cavities are disclosed. A camera head may be coupled to a push-cable and may include one or more image sensors to capture images and/or videos from interior of the pipe or cavity. One or more multi-axis sensors may be disposed in the camera head to sense data corresponding to movement of the camera head within the pipe or cavity. The images and/or videos captured by the image sensors may be used in conjunction with the data sensed by the multi-axis sensors to generate information pertaining to the pipe or cavity may be generated.

The interior of a first measurement surface and the interior of a second measurement surface traveling together with a measuring vehicle are scanned to acquire first measurement coordinate points and second measurement coordinate points, respectively. A first comparison point cloud representing a comparison part on a surface of a structure is extracted from the first measurement coordinate points. A second comparison point cloud representing a comparison part on the surface of the structure is extracted from the second measurement coordinate points. A difference between the first comparison point cloud and the second comparison point cloud corresponding to measurement of a common comparison part on the surface of the structure is calculated. Error having time dependence included in the first measurement coordinate points and the second measurement coordinate points is calculated on the basis of the calculated difference. The measurement coordinate points are corrected on the basis of the calculated error.

The underground inclinometer system includes a probe having a displacement measurement sensor measuring displacement of the ground, a cable controller controlling the length of a cable inserted into the ground to move the probe within an inclinometer pipe, and a ground displacement calculator calculating the displacement of the ground by using displacement measurement information measured by the probe and information on the length of the cable controlled by the cable controller.

A method for determining trajectory of a mobile object, including: provision of an object including sensors; displacement of the sensors along one and the same trajectory, the sensors maintaining one and the same distance between themselves and each measuring one and the same physical quantity; determination of instants for which the object has travelled an aggregate curvilinear distance which is equal to an integer multiple of the distance and calculation of a direction tangent to the trajectory of the object, for each of the instants determined; automatic reconstruction of the trajectory followed by the mobile object during its displacement by an interpolation, based on, for each reference instant determined, the measured tangent calculated for the reference instant.

A process for constructing highly accurate three-dimensional mappings of objects along a rail tunnel in which GPS signal information is not available includes providing a vehicle for traversing the tunnel on the rails, locating on the vehicle a LiDAR unit, a mobile GPS unit, an inertial navigation system, and a speed sensor to determine the speed of said vehicle. A stationary GPS, whose geolocation is well-defined, is located near the entrance of the tunnel. Image-identifiable targets having a well-defined geodetic locations are located at preselected locations within the tunnel. The vehicle traverses the tunnel, producing mass point cloud datasets along said tunnel. Precise measurements of 3D rail coordinates are also obtained. The datasets are adjusted based on the mobile GPS unit, the inertial navigation system, the speed sensor, the location of the image-identifiable targets, and the precise measurements of 3D rail coordinates, to thereby produce highly accurate, and substantially geodetically correct, three-dimensional mappings of objects along the tunnel.

An advanced monitoring device and an implementation method for a whole-process deformation curve of a surrounding rock during tunnel excavation is disclosed, comprising a steel pipe elastic body, a cathetometer structure and an embedded optical fiber, and an implementation step; the cathetometer is an equidistant series structure, and fixed in the steel pipe; the embedded optical fiber is encapsulated in the surface slot of the steel pipe; the cathetometer and the embedded optical fiber and the steel pipe form a deformation coordination structure, and the deformation of the surrounding rock can be deduced by calculating the variation of the cathetometer and the deformation of the optical fiber. The invention can test and calculate the deformation curve of the surrounding rock in front of the excavation face during tunnel excavation, and provide support for engineering dynamic design, construction and safety.

An advanced monitoring device and an implementation method for a whole-process deformation curve of a surrounding rock during tunnel excavation is disclosed, comprising a steel pipe elastic body, a cathetometer structure and an embedded optical fiber, and an implementation step; the cathetometer is an equidistant series structure, and fixed in the steel pipe; the embedded optical fiber is encapsulated in the surface slot of the steel pipe; the cathetometer and the embedded optical fiber and the steel pipe form a deformation coordination structure, and the deformation of the surrounding rock can be deduced by calculating the variation of the cathetometer and the deformation of the optical fiber. The invention can test and calculate the deformation curve of the surrounding rock in front of the excavation face during tunnel excavation, and provide support for engineering dynamic design, construction and safety.

The technology relates to a system and method for monitoring an environment. The method comprises receiving first and second sets of data from a plurality of mobile units, wherein the first set of data is associated with a first temporal indicator, the second set of data is associated with a second temporal indicator and each mobile unit comprises: a position determining device configured to generate position data associated with a position of the mobile unit within the environment, and a laser scanning device configured to generate scan data based on a scan of at least part of the environment; determining a first parameter associated with the first set of data; determining a second parameter corresponding to the first parameter and associated with the second set of data; and determining a difference between the first and second parameters.