Rapid mobile inspection equipment for metro tunnels based on multi-sensor integration
The acquisition of tunnel inspection data is fundamental to tunnel operation and maintenance. Existing inspection equipment is either based on laser scanning or CCD cameras. Laser scanning-based devices often struggle to detect cracks, while equipment based on CCD cameras is unable to acquire point...
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| Veröffentlicht in: | Scientific reports Jg. 15; H. 1; S. 34943 - 21 |
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| Sprache: | Englisch |
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07.10.2025
Nature Publishing Group Nature Portfolio |
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| Abstract | The acquisition of tunnel inspection data is fundamental to tunnel operation and maintenance. Existing inspection equipment is either based on laser scanning or CCD cameras. Laser scanning-based devices often struggle to detect cracks, while equipment based on CCD cameras is unable to acquire point cloud to assess tunnel deformations. In order to obtain high-quality, comprehensive data, this paper develops a mobile three-dimensional inspection device CKY-200, integrated with multiple sensors. The CKY-200 addresses the temporal and spatial synchronization issues of CCD cameras and laser scanners. Considering the convenience of inspection, the device progresses on the track powered by electricity. Moreover. This article proposes a tunnel deformation detection algorithm and a crack width measurement method, and verifies the accuracy of the data collected by the equipment. Through on-site experiments and comparison, the CKY-200 provides the advantages of more comprehensive data acquisition while ensuring high precision and speed. |
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| AbstractList | The acquisition of tunnel inspection data is fundamental to tunnel operation and maintenance. Existing inspection equipment is either based on laser scanning or CCD cameras. Laser scanning-based devices often struggle to detect cracks, while equipment based on CCD cameras is unable to acquire point cloud to assess tunnel deformations. In order to obtain high-quality, comprehensive data, this paper develops a mobile three-dimensional inspection device CKY-200, integrated with multiple sensors. The CKY-200 addresses the temporal and spatial synchronization issues of CCD cameras and laser scanners. Considering the convenience of inspection, the device progresses on the track powered by electricity. Moreover. This article proposes a tunnel deformation detection algorithm and a crack width measurement method, and verifies the accuracy of the data collected by the equipment. Through on-site experiments and comparison, the CKY-200 provides the advantages of more comprehensive data acquisition while ensuring high precision and speed. Abstract The acquisition of tunnel inspection data is fundamental to tunnel operation and maintenance. Existing inspection equipment is either based on laser scanning or CCD cameras. Laser scanning-based devices often struggle to detect cracks, while equipment based on CCD cameras is unable to acquire point cloud to assess tunnel deformations. In order to obtain high-quality, comprehensive data, this paper develops a mobile three-dimensional inspection device CKY-200, integrated with multiple sensors. The CKY-200 addresses the temporal and spatial synchronization issues of CCD cameras and laser scanners. Considering the convenience of inspection, the device progresses on the track powered by electricity. Moreover. This article proposes a tunnel deformation detection algorithm and a crack width measurement method, and verifies the accuracy of the data collected by the equipment. Through on-site experiments and comparison, the CKY-200 provides the advantages of more comprehensive data acquisition while ensuring high precision and speed. The acquisition of tunnel inspection data is fundamental to tunnel operation and maintenance. Existing inspection equipment is either based on laser scanning or CCD cameras. Laser scanning-based devices often struggle to detect cracks, while equipment based on CCD cameras is unable to acquire point cloud to assess tunnel deformations. In order to obtain high-quality, comprehensive data, this paper develops a mobile three-dimensional inspection device CKY-200, integrated with multiple sensors. The CKY-200 addresses the temporal and spatial synchronization issues of CCD cameras and laser scanners. Considering the convenience of inspection, the device progresses on the track powered by electricity. Moreover. This article proposes a tunnel deformation detection algorithm and a crack width measurement method, and verifies the accuracy of the data collected by the equipment. Through on-site experiments and comparison, the CKY-200 provides the advantages of more comprehensive data acquisition while ensuring high precision and speed.The acquisition of tunnel inspection data is fundamental to tunnel operation and maintenance. Existing inspection equipment is either based on laser scanning or CCD cameras. Laser scanning-based devices often struggle to detect cracks, while equipment based on CCD cameras is unable to acquire point cloud to assess tunnel deformations. In order to obtain high-quality, comprehensive data, this paper develops a mobile three-dimensional inspection device CKY-200, integrated with multiple sensors. The CKY-200 addresses the temporal and spatial synchronization issues of CCD cameras and laser scanners. Considering the convenience of inspection, the device progresses on the track powered by electricity. Moreover. This article proposes a tunnel deformation detection algorithm and a crack width measurement method, and verifies the accuracy of the data collected by the equipment. Through on-site experiments and comparison, the CKY-200 provides the advantages of more comprehensive data acquisition while ensuring high precision and speed. |
| ArticleNumber | 34943 |
| Author | Mao, Qingzhou Zhang, Dongliang Fan, Tingli Wang, Li Li, Jiulin Pei, Lejun Gao, Tao Bao, Yan Wang, Yong Tang, Chao |
| Author_xml | – sequence: 1 givenname: Tingli surname: Fan fullname: Fan, Tingli organization: School of Remote Sensing Information Engineering, Wuhan University – sequence: 2 givenname: Qingzhou surname: Mao fullname: Mao, Qingzhou email: qzhmao@whu.edu.cn organization: School of Remote Sensing Information Engineering, Wuhan University, Engineering Research Center for Spatial-Temporal Data Smart Acquisition and Application, Ministry of Education of China – sequence: 3 givenname: Chao surname: Tang fullname: Tang, Chao email: tangchao0312@126.com organization: Beijing Urban Construction Exploration & Surveying Design Research Institute CO, LTD – sequence: 4 givenname: Li surname: Wang fullname: Wang, Li organization: The Key Laboratory of Urban Security and Disaster Engineering of China, Ministry of Education, Beijing University of Technology – sequence: 5 givenname: Jiulin surname: Li fullname: Li, Jiulin organization: Beijing Urban Construction Group Co., Ltd – sequence: 6 givenname: Yan surname: Bao fullname: Bao, Yan organization: The Key Laboratory of Urban Security and Disaster Engineering of China, Ministry of Education, Beijing University of Technology – sequence: 7 givenname: Tao surname: Gao fullname: Gao, Tao organization: Beijing Urban Construction Exploration & Surveying Design Research Institute CO, LTD, School of Future cities, University of Science and Technology Beijing – sequence: 8 givenname: Lejun surname: Pei fullname: Pei, Lejun organization: The Key Laboratory of Urban Security and Disaster Engineering of China, Ministry of Education, Beijing University of Technology – sequence: 9 givenname: Dongliang surname: Zhang fullname: Zhang, Dongliang organization: The Key Laboratory of Urban Security and Disaster Engineering of China, Ministry of Education, Beijing University of Technology – sequence: 10 givenname: Yong surname: Wang fullname: Wang, Yong organization: Beijing Urban Construction Exploration & Surveying Design Research Institute CO, LTD |
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| SubjectTerms | 3D modeling 639/166/986 639/166/987 Accuracy Cameras CCD cameras Cracks Data acquisition Data processing Defects detection Design Humanities and Social Sciences Inspection Laser scanning system Lasers Metro tunnel multidisciplinary Scanners Science Science (multidisciplinary) Sensors Synchronization Vehicles Vision systems |
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| Title | Rapid mobile inspection equipment for metro tunnels based on multi-sensor integration |
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