研究目的
To design a low-cost metro tunnel mobile scanning system (MDS-TJ-1) for detecting metro gauge, ensuring the safe operation of the subway by integrating a laser profile scanner with an inertial measure unit and an odometer.
研究成果
The MDS-TJ-1 system successfully integrates multiple sensors to obtain a 3D continuous point cloud in the track centreline, achieving spatial and time synchronisation. The system provides a practical solution for metro tunnel inspection with efficiency and accuracy.
研究不足
The system is only capable of vehicle gauge inspection of the tunnel and cannot discriminate narrow cracks or detect tunnel crack, water leakage, and other faults due to the low resolution of the used scanner.
1：Experimental Design and Method Selection
Integration of a laser profile scanner with an inertial measure unit and an odometer for positioning and attitude parameters. Use of Lagrange interpolation for time unification of different sensors.
2：Sample Selection and Data Sources
Data collected from a part of the Shanghai Metro Line 10 near Laoximen Station.
3：List of Experimental Equipment and Materials
SICK LMS111-10100 laser profile scanner, XD300A-DGI IMU, DFS60B high resolution incremental rotary encoder, OMRON CH1P programmable logic controller, GH magnetostrictive displacement sensor, STM32F103RB microcontroller unit.
4：Experimental Procedures and Operational Workflow
Mobile scanning car acquired point cloud data. Reflector targets used for alignment and data processing. Total station measured coordinates for alignment verification.
5：Data Analysis Methods
Use of Random Sample Consensus (RANSAC) algorithm for circle fitting, Inverse Distance Weighted (IDW) interpolation method for grid generation, and gradient statistics for longitudinal joint recognition.
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