Study On Tunnel 3D Modeling And Deformation Detection System Based On SLAM

In the long service process of subway tunnels,structural deformation often occurs,threatening the health of the tunnel structure and the safety of subway operation.Therefore,it is necessary to carry out deformation detection on the tunnels regularly.Existing tunnel deformation detection mainly artificial static testing,which is low efficiency and long test cycle.This paper puts forward a kind of 3D tunnel clearance and deformation high-speed vehicle detection system which based on 3D laser scanning.The system uses SLAM algorithm to realize the 3D modeling and automatic analysis of the shape variables of the subway tunnel,which provides technical support for the guidance of maintenance and the guarantee of driving safety.Firstly,a 3D point cloud modeling method based on SLAM algorithm is proposed in this paper.Because the system involves a variety of sensor data types and the amount of data is huge,the pre-processing algorithm is needed to process the data and simplify the calculation;Then,the Fast SLAM algorithm was used for tunnel modeling;Finally,the accurate 3D point cloud model of the tunnel was obtained.The historical data and the current data of the tunnel were modeled respectively,and the deformation results were obtained by comparing the two models.Then a 3D tunnel modeling and deformation detection system based on laser dynamic scanning is designed.In order to meet the requirements of simultaneous acquisition,real-time processing and reliable storage of multiple sensors,the system is designed in a hierarchical way.The real-time data acquisition and processing software of the bottom layer,NAS network storage server and background data processing service software of the middle layer,and the terminal monitoring software of the top layer based on WEB were developed respectively,which realized data collection,processing,storage,display and deformation analysis.In order to verify the effectiveness of the system,the tunnel deformation detection system was applied to the subway tunnel model and the field test of guangzhou subway tunnel.By comparing the current experimental data with the historical tunnel model collected many times,the measurement accuracy and effectiveness of the system are verified,and the deformation detection error is about 10 mm.Finally,the system error is analyzed and the improvement scheme is proposed.The 3D tunnel clearance and deformation high-speed vehicle detection system is designed in this paper,which realizes the synchronous acquisition and dynamiccompensation of vehicle dynamic detection data,solves the problem of 3d tunnel clearance measurement and deformation automatic analysis based on laser scanning point cloud data.It plays an important role in improving the safety of subway operation and has high application value.