Abstract
In recent years, mobile laser measurement systems have markedly enhanced the capabilities of deformation detection and defect identification within metro tunnels, attributed to their superior efficiency, precision, and versatility. Nevertheless, challenges persist, including substantial equipment costs, inadequate after-sales support, technological barriers, and limitations in customization. This paper develops a mobile laser measurement system that has been specifically developed for the purpose of detecting deformation in metro tunnels. The system integrates multiple modules, comprising a rail inspection vehicle, a three-dimensional laser scanner, an odometer, and an inclinometer, to facilitate multi-sensor temporal synchronization. By leveraging data from the inclinometer and odometer, the system performs point cloud coordinate corrections and three-dimensional linear reconstructions. Experiments conducted on the Xuzhou Metro validate the reliability and stability of the system, demonstrating its capability to meet routine deformation detection requirements. To improve deformation detection utilizing point cloud data, a pre-processing algorithm has been proposed, which incorporates point cloud denoising, centerline calculation, roadbed removal, and relative positioning based on mileage. Disturbed points are systematically identified and eliminated, while the convergence of tunnel sections and inter-ring misalignment are evaluated through ellipse fitting. Furthermore, to address encroachments upon tunnel locomotive limits, encroachment points and associated information are identified using the ray method. In conclusion, the proposed mobile laser measurement system offers an efficient and reliable solution for metro tunnel deformation detection, with significant potential for broader applications and future advancements.