CN111811420B - Tunnel three-dimensional contour integral absolute deformation monitoring method and system - Google Patents
Tunnel three-dimensional contour integral absolute deformation monitoring method and system Download PDFInfo
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Abstract
The invention provides a method and a system for monitoring integral absolute deformation of a three-dimensional profile of a tunnel, wherein control network reference mesh points are distributed in a region to be scanned; carrying out three-dimensional laser scanning observation on the reference mesh points to obtain three-dimensional laser scanning point cloud data of each point; optimizing the three-dimensional point cloud data, and converting and preprocessing the data format of the three-dimensional point cloud data; establishing a three-dimensional laser point cloud model, coloring each characteristic coordinate point of the tunnel to obtain a primary rendering model structure diagram, and automatically deleting discrete points in the model by using an in-vitro arc point to obtain an optimized model; and comparing the point cloud modeling with the actual tunnel condition, acquiring model deviation data, determining the position of the tunnel where the tunnel is deformed, and early warning to obtain an accurate monitoring result.
Description
Technical Field
The disclosure belongs to the technical field of deformation monitoring of underground tunnels, and relates to a method and a system for monitoring integral absolute deformation of a three-dimensional profile of a tunnel.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the rapid development of economy in China, the demand on traffic is increasing day by day, the infrastructure construction of railways, highways, municipal works and the like is continuously carried out, and tunnel engineering is facing a new development era. Monitoring of tunnel deformation is crucial to tunnel safety control.
According to the knowledge of the inventor, the traditional tunnel deformation monitoring method is carried out by using a surveying and mapping instrument, a geodetic measurement method is used, the deformation monitoring position is determined according to the design file of the tunnel by combining the type, the structure, the geology and the hydrology of the tunnel, and the regular or irregular continuous monitoring is carried out, so that the actual deformation condition of the tunnel is obtained. The method is difficult to timely and effectively carry out early warning on the deformation condition of the tunnel and is greatly interfered by human factors, so that a complete tunnel three-dimensional contour overall deformation risk assessment system cannot be established.
Disclosure of Invention
The invention provides a method and a system for monitoring the integral absolute deformation of a three-dimensional profile of a tunnel, aiming at solving the problems.
According to some embodiments, the following technical scheme is adopted in the disclosure:
a tunnel three-dimensional contour integral absolute deformation monitoring method comprises the following steps:
laying control net reference mesh points in an area to be scanned;
carrying out three-dimensional laser scanning observation on the reference mesh points to obtain three-dimensional laser scanning point cloud data of each point;
optimizing the three-dimensional point cloud data, and converting and preprocessing the data format of the three-dimensional point cloud data;
establishing a three-dimensional laser point cloud model, coloring each characteristic coordinate point of the tunnel to obtain a primary rendering model structure diagram, and automatically deleting discrete points in the model by using an in-vitro arc point to obtain an optimized model;
and comparing the point cloud modeling with the actual tunnel condition, acquiring model deviation data, determining the position of the tunnel where the tunnel is deformed, and early warning.
As an alternative embodiment, when laying the control net reference dots in the area to be scanned, the reference points marked by the tunnel surveying and mapping work are used as the control points of the laser scanning work, and each laser scanning operation needs to ensure that at least more than 5 reference points are scanned.
As an alternative implementation, after the three-dimensional laser point cloud model is established, the absolute coordinates of the scanner are calculated corresponding to the reference points on the model and the absolute coordinate values of each point, a coordinate rotation matrix is obtained, the three-dimensional laser point cloud model is subjected to coordinate conversion, and the relative coordinates are accessed into an absolute coordinate system.
As an alternative embodiment, after each station is set up, a coincidence scanning process is performed on a part of the tunnel structure, and the accuracy of the reference point position is determined by comparing the coincident common planes and verifying cloud data of the monitoring point position.
In an alternative embodiment, a paper target is respectively arranged at the top and the bottom of the tunnel, and the position of the paper target is scanned in a targeted manner during three-dimensional laser scanning.
As an alternative embodiment, the preprocessing includes smoothing data, point cloud data splicing, data denoising, and data distortion removal; after the target point cloud data is extracted, other redundant point cloud data are deleted, and the target point cloud data are exported in a blocking mode.
As an alternative embodiment, after the optimized model is obtained, the point cloud data is subjected to rarefaction processing, a proper sampling interval is set, and the point cloud model image is displayed by using a visualization technology.
A tunnel three-dimensional contour integral absolute deformation monitoring system comprises:
the inspection robot is configured to perform three-dimensional laser scanning observation on a preset reference network point to obtain three-dimensional laser scanning point cloud data of each point;
the data preprocessing module is configured to optimize the three-dimensional point cloud data and convert and preprocess the data format of the three-dimensional point cloud data;
the point cloud model building module is configured to build a three-dimensional laser point cloud model, color each characteristic coordinate point of the tunnel to obtain a primary rendering model structure diagram, and automatically delete discrete points in the model by using an in-vitro isolated point to obtain an optimized model;
and the early warning module is configured to compare the point cloud modeling with the actual tunnel condition, acquire model deviation data, determine the position of the tunnel where the tunnel deforms and perform early warning.
A computer readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor of terminal equipment and executing the tunnel three-dimensional contour overall absolute deformation monitoring method.
A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; the computer readable storage medium is used for storing a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the tunnel three-dimensional contour overall absolute deformation monitoring method.
Compared with the prior art, the beneficial effect of this disclosure is:
this is disclosed through establishing point cloud model, get rid of redundant point cloud data wherein, thereby promote point cloud model's smoothness degree, carry out the rarefaction processing to point cloud data again, set up suitable sampling interval, utilize visualization technique to accomplish the display to point cloud model image, the circumstances in the show tunnel that can be three-dimensional, also can be according to the data change condition of specific position simultaneously, find out the position that the tunnel appears out of shape, through the comparison to data find out the tunnel and produce the concrete reason that warp, and conjecture its subsequent deformation condition, thereby accomplish the early warning to the tunnel deformation condition.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a schematic diagram of a data preprocessing process;
FIG. 2 is a schematic diagram of a point cloud modeling process;
FIG. 3 is a schematic diagram of the results of monitoring and analyzing tunnel three-dimensional vector deformation;
FIG. 4 is a schematic flow chart of the present embodiment;
the specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The method provides a vector monitoring scheme for carrying out integral absolute deformation of a three-dimensional profile of a tunnel by obtaining a three-dimensional model of the tunnel according to three-dimensional laser scanning based on a three-dimensional laser scanning technology.
As shown in fig. 4, the method specifically includes the following steps:
1. control net surveying
Before three-dimensional laser scanning operation, control net reference mesh points are firstly distributed in an area to be scanned. And using the reference points marked by the tunnel mapping work as control points of the laser scanning work. The laser scanning engineering is required to ensure that more than 5 reference points are clearly scanned in each time, after a three-dimensional laser point cloud model is established, the absolute coordinates of a scanner are calculated corresponding to the reference points on the model and the absolute coordinate value of each point, a coordinate rotation matrix is obtained, the three-dimensional laser point cloud model is further subjected to coordinate conversion, and the relative coordinates are accessed into an absolute coordinate system. The control point layout parameters are detailed in table 1.
TABLE 1 control point layout parameter table
2. Data acquisition
And (3) according to the topographic conditions of the engineering site, using a tunnel inspection robot, and setting stations on two sides of the tunnel to perform three-dimensional laser scanning observation. In order to facilitate subsequent checking and splicing operations, after a station is set up each time, overlapping scanning processing is carried out on a part of tunnel structures, and the accuracy of the position of the reference point is determined by comparing the overlapped common planes and verifying cloud data of the position of a monitoring point. The top and the bottom of the tunnel are respectively provided with a paper target, and the position of the paper target is scanned in a targeted manner when three-dimensional laser scanning is carried out. The distance between the set reference point and the target is not more than 200 m, and during post-processing, the position of the center of the target is automatically identified through software equipment and corresponding three-dimensional coordinates are calculated.
3. Data pre-processing
The amount of point cloud data scanned by using the three-dimensional laser is too large, and because the equipment is influenced by the equipment and the external environment, a large amount of redundant or invalid data exists in the point cloud data. In the process of processing the acquired point cloud data, firstly, the three-dimensional point cloud data is optimized, the data format of the three-dimensional point cloud data is converted, the data is processed, the processed data is converted into a general format, and then, the optimization is carried out, as shown in fig. 1, due to the influences of factors such as light, temperature and humidity in the engineering environment and the fact that equipment vibration occurs in the measurement process, the point cloud data has certain influence, the data needs to be preprocessed, and the preprocessing process comprises smoothing, point cloud data splicing, data denoising, data distortion removing and the like. And automatically splicing the three-dimensional point cloud data information on each station by using corresponding processing software scanned by the three-dimensional laser, obtaining an error value through automatic calculation of a system, and inspecting the splicing precision of each station. After the target point cloud data is extracted, other redundant point cloud data are deleted, and the target point cloud data are exported in a blocking mode.
4. Point cloud modeling
After the data are preprocessed, the acquired tunnel three-dimensional coordinate point data are input into software for constructing a mathematical model, and point cloud data modeling is completed (see fig. 2). And after a series of operations are finished, noise reduction processing is carried out on the whole mathematical model, redundant point cloud data is removed, and therefore the smoothness of the point cloud model is improved. And then, thinning the point cloud data, setting a proper sampling interval, and finishing the display of the point cloud model image by using a visualization technology.
5. Deformation analysis
And analyzing the actual deformation condition of the tunnel according to the measured tunnel deformation measurement result. And comparing the point cloud modeling with the actual tunnel condition by using a three-dimensional data comparison tool, and acquiring model deviation data (see figure 3). And finding out the position of the tunnel where the tunnel is deformed according to the data change condition of the specific position, finding out the specific reason of the tunnel deformation through comparing the data, and conjecturing the subsequent deformation condition of the tunnel, thereby realizing the early warning of the tunnel deformation condition. The deformation of the tunnel within the allowed range, which occurs in different periods of time, due to the influence of temperature and load, is a normal phenomenon. When deformation occurs, if the related data change conditions are all within a reasonable range, the tunnel is judged to be in a stable state at the moment, and if the related data change conditions exceed the reasonable range, corresponding maintenance measures are required to be carried out, so that smooth proceeding of the project is ensured.
The following product examples are also provided:
a tunnel three-dimensional contour integral absolute deformation monitoring system comprises:
the inspection robot is configured to perform three-dimensional laser scanning observation on a preset reference network point to obtain three-dimensional laser scanning point cloud data of each point;
the data preprocessing module is configured to optimize the three-dimensional point cloud data and convert and preprocess the data format of the three-dimensional point cloud data;
the point cloud model building module is configured to build a three-dimensional laser point cloud model, color each characteristic coordinate point of the tunnel to obtain a primary rendering model structure diagram, and automatically delete discrete points in the model by using an in-vitro isolated point to obtain an optimized model;
and the early warning module is configured to compare the point cloud modeling with the actual tunnel condition, acquire model deviation data, determine the position of the tunnel where the tunnel deforms and perform early warning.
A computer readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor of terminal equipment and executing the tunnel three-dimensional contour overall absolute deformation monitoring method.
A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; the computer readable storage medium is used for storing a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the tunnel three-dimensional contour overall absolute deformation monitoring method.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (6)
1. A tunnel three-dimensional contour integral absolute deformation monitoring method is characterized by comprising the following steps: the method comprises the following steps:
laying control net reference dots in an area to be scanned, using reference points marked by tunnel surveying and mapping as control points of laser scanning operation, wherein each laser scanning operation needs to ensure that at least more than 5 reference points are scanned;
after a three-dimensional laser point cloud model is established, calculating absolute coordinates of a scanner corresponding to a reference point on the model and an absolute coordinate value of each point, acquiring a coordinate rotation matrix, performing coordinate conversion on the three-dimensional laser point cloud model, and accessing a relative coordinate into an absolute coordinate system;
carrying out three-dimensional laser scanning observation on the reference mesh points to obtain three-dimensional laser scanning point cloud data of each point; the method comprises the following steps that a paper target is arranged at the top and the bottom of a tunnel respectively, and the position of the paper target is scanned in a targeted manner when three-dimensional laser scanning is carried out;
optimizing the three-dimensional point cloud data, and converting and preprocessing the data format of the three-dimensional point cloud data;
establishing a three-dimensional laser point cloud model, coloring each characteristic coordinate point of the tunnel to obtain a primary rendering model structure diagram, and automatically deleting discrete points in the model by using an in-vitro arc point to obtain an optimized model;
and comparing the point cloud modeling with the actual tunnel condition, acquiring model deviation data, determining the position of the tunnel where the tunnel is deformed, and early warning.
2. The method for monitoring the integral absolute deformation of the three-dimensional profile of the tunnel according to claim 1, which is characterized in that: after the station is set up each time, the coincidence scanning processing is carried out on part of the tunnel structure, and the accuracy of the position of the reference point is determined by comparing the coincident common plane and verifying the cloud data of the position of the monitoring point.
3. The method for monitoring the integral absolute deformation of the three-dimensional profile of the tunnel according to claim 1, which is characterized in that: the preprocessing comprises the steps of carrying out smoothing processing on data, point cloud data splicing, data denoising and data distortion removal; after the target point cloud data is extracted, other redundant point cloud data are deleted, and the target point cloud data are exported in a blocking mode.
4. The method for monitoring the integral absolute deformation of the three-dimensional profile of the tunnel according to claim 1, which is characterized in that: and after the optimized model is obtained, performing thinning treatment on the point cloud data, setting a proper sampling interval, and finishing the display of the point cloud model image by using a visualization technology.
5. A computer-readable storage medium characterized by: the method comprises the steps of storing a plurality of instructions, wherein the instructions are suitable for being loaded by a processor of a terminal device and executing the tunnel three-dimensional contour overall absolute deformation monitoring method according to any one of claims 1-4.
6. A terminal device is characterized in that: the system comprises a processor and a computer readable storage medium, wherein the processor is used for realizing instructions; the computer readable storage medium is used for storing a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the tunnel three-dimensional contour overall absolute deformation monitoring method according to any one of claims 1-4.
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