CN113223168B - Method for rapidly modeling three-dimensional shape of tunnel - Google Patents
Method for rapidly modeling three-dimensional shape of tunnel Download PDFInfo
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Abstract
The invention discloses a method for rapidly modeling a three-dimensional shape of a tunnel, which comprises the steps of 1) data acquisition, 2) data processing, 3) filtering, 4) data supplementing and 5) data reconstruction; the invention provides a method for rapidly realizing three-dimensional morphology modeling, which provides tunnel condition detailed data for interior designers and exterior constructors, comprises limit invasion conditions, and is beneficial to smoothly developing post-contact net anchor bolt engineering.
Description
Technical Field
The invention relates to the technical field of tunnel modeling, in particular to a method for rapidly modeling a three-dimensional shape of a tunnel.
Background
The construction method is very important for ensuring that a construction operation vehicle runs without barriers and detecting and confirming the non-invasive conditions of the inner wall, the support and the like of the tunnel before construction when the construction operation vehicle runs without barriers after the construction of the overhead contact system and the track laying operation are completed in the railway tunnel. The work can reduce or avoid the risk of obstacle collision of the working vehicle, pre-judge some limit invasion conditions in advance, and timely take remedial measures to ensure the construction progress and the construction quality. However, because the time available for detection is generally short and the task is heavy due to the construction period, it is critical to seek a simple and feasible detection method to improve the working efficiency.
The detection method for completing the tasks mainly comprises a method for combining manual visual inspection and total station three-dimensional coordinate measurement and a three-dimensional laser scanning method. The manual visual inspection is used for preliminarily removing obstacles on rails and around the rails in the tunnel for preventing the operation vehicle from running and obviously limiting the surrounding wall, the total station three-dimensional coordinate method is to manually draw the shape of the section through actually measuring the three-dimensional coordinates of the upper limiting point of a certain section, and then compare the shape with the designed section to check whether the section has limiting problems. This combined approach suffers from several drawbacks: firstly, manual visual inspection is high in labor intensity and high in missed detection possibility; secondly, the total station three-dimensional coordinate method adopts a section to represent the tunnel contour with a certain length range, which is not consistent with the actual situation; thirdly, the total station three-dimensional coordinate method has the advantages of large workload of operators, long operation time and great influence on the result of the operation experience of the operators. The three-dimensional laser scanning method has the advantages of large data volume, good effect and capability of finely reflecting the current situation of a tunnel, but the current instrument and post-processing software have high price, are difficult to bear in common units and have no universality.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides a method for rapidly realizing three-dimensional morphology modeling, provides detailed tunnel condition data for interior designers and field constructors, comprises limit intrusion conditions, and is beneficial to smoothly developing post-contact net anchor bolt engineering.
The technical scheme of the invention is as follows:
a method for rapidly modeling the three-dimensional shape of a tunnel comprises the steps of detecting a vehicle, arranging a rotary encoder at the corresponding position of a wheel bearing of the detecting vehicle, and arranging a two-dimensional laser radar and an inclination sensor at the corresponding position of a vehicle body of the detecting vehicle; the rotary encoder is connected with the controller PLC, and transmits the data after corresponding conversion calculation to the upper computer, the two-dimensional laser radar transmits the acquired corresponding information to the upper computer in a communication mode of a TCP/IP protocol, and the inclination sensor transmits the acquired inclination angles of the X axis and the Y axis to the upper computer in a serial port communication mode;
the specific modeling steps are as follows:
1) And a data acquisition step: the method comprises the steps that corresponding data are collected by a rotary encoder, a two-dimensional laser radar and an inclination sensor, the rotary encoder directly converts measured angular displacement into a digital signal, namely a pulse signal, the digital signal is directly transmitted to a controller PLC, the pulse signal is counted through a high-speed counter of the controller PLC to obtain a measurement result, the controller PLC can obtain a running distance corresponding to the minimum angular displacement of the rotary encoder according to a preset wheel radius of a detection vehicle, and accordingly a total running mileage is obtained, and mileage data are transmitted to an upper computer in a communication mode of a TCP/IP protocol;
the two-dimensional laser radar detects a tunnel section perpendicular to the rail direction, obtains section distance data with a laser radar transmitting device point as an origin, and transmits the detected section data to the upper computer in a TCP/IP protocol communication mode;
the inclination angle sensor detects the inclination angles of the X axis and the Y axis, and transmits the detected inclination angle data of the two axes to the upper computer in a serial port communication mode;
2) And a data processing step: the upper computer simultaneously starts three threads, respectively polls the three receiving ports in the step 1), and respectively stores mileage data, section data sent by the two-dimensional laser radar and inclination angle data of X, Y shafts sent by the inclination angle sensor;
removing mileage data with mileage change value smaller than a set value from the upper computer; selecting and storing corresponding section data and inclination angle data according to the time stamp of the stored data; the upper computer takes the mileage data stored after screening as Z-axis data, traverses the inclination angle data, judges whether the two-axis inclination angle data are zero, if yes, the stored corresponding section data are directly utilized by the timestamp, and the distance data obtained by measuring the two-dimensional laser radar are converted into X-axis data and Y-axis data through trigonometric function conversion;
if the inclination angles of the X axis and the Y axis are not zero, two-dimensional coordinate point (X, Y) data are obtained according to the corresponding section data, then the offset angle of the current mileage point relative to the X axis of the nearest mileage point which is stored and corresponds to the X axis inclination angle of 0 is calculated, the offset angle of the current mileage point relative to the Y axis of the nearest mileage point which is stored and corresponds to the Y axis inclination angle of 0 is calculated, and the two-dimensional coordinate point (X, Y) data are corrected by utilizing the two-axis offset angle obtained by the calculation and the difference between the current mileage point and the nearest mileage point distance meeting the condition; if the inclination angle of only one axis is not zero, the data are processed in the same way, and the coordinate point of the axis is corrected;
3) And a filtering treatment step: the upper computer stores the three-dimensional coordinate point data into a database, and reads the corresponding three-dimensional coordinate point data of the three-dimensional modeling from the database according to the mileage range; filtering the corresponding three-dimensional coordinate point data to remove outliers; the filtering process is to perform outlier filtering on the set (X, Y) of two-dimensional coordinate point data corresponding to each piece of Z-axis data, and the outlier filtering process is specifically as follows:
firstly traversing the two-dimensional coordinate point set of the group (X, Y), and solving the average value of the distance between each point in the point set and the adjacent point; then solving the standard deviation of the distances between each point in the point set and the adjacent points; finally, determining a range by the average value mu and the standard deviation sigma, defining an outlier as a point of which the average distance between the outlier and the adjacent point is not in the range, recording the adjacent points corresponding to the outliers, and deleting the outliers from the data point set;
4) Data supplementing step: performing repair treatment and densification treatment on the data processed in the step 3); the repairing treatment is to repair each group of recorded adjacent points, and the specific treatment steps are as follows:
4.1.1 Sequentially calculating two coordinate points (X1, Y1) and (X2, Y2) with shortest distances for each group of recorded adjacent points;
4.1.2 Judging whether the shortest distance calculated by each group is more than mu+3 sigma and less than 2 (mu+3 sigma), if yes, adding the corresponding coordinate point ((X1 +X2)/2, (Y1 +Y 2)/2) into the point set;
the densification process is to interpolate the new point set after the repair process so that the data density becomes relatively uniform, and the specific process steps are as follows:
4.2.1 Traversing the new point set to obtain the nearest point of each point, and adding the middle point of the two points into the point set if the distance between the nearest point and the point is larger than the set distance 1 and smaller than the set distance 2;
4.2.2 Repeating the traversing step 4.2.1) until the distance between all the points in the point set and the nearest point is in the range from the set distance 1 to the set distance 2, and processing the point set;
5) And (3) data reconstruction: and (3) reconstructing a tunnel curved surface of the data processed in the step (4), wherein the method comprises the following specific steps:
5.1 Projecting the data processed in the step 4) into a two-dimensional coordinate plane through a normal;
5.2 Triangularizing the projected data in a plane to obtain the topological connection relation of each point; a spatial region growing algorithm based on Delaunay triangulation is used in the plane triangulation process;
5.3 And (3) determining the topological connection among the original three-dimensional points according to the topological connection relation of the projection points in the plane, and reconstructing the obtained triangular mesh to obtain the tunnel curved surface model.
Further, the installation height of the two-dimensional laser radar is 1m away from the rail surface, the highest speed per hour set in the detection process of the detection vehicle is 2.5 km/h, the two-dimensional laser radar can scan a target object at a distance of 5m, and the one-time scanning transmission time of a section of the two-dimensional laser radar is 20 ms; when the two-dimensional laser radar finishes one-time scanning of a section and finishes data transmission, the maximum driving distance of the detection vehicle per 20ms time is 1.39cm, so that the upper computer sets the mileage change value to be 2cm;
in order to acquire arc-shaped sections of a plurality of continuous tunnels, the initial measurement angle of the two-dimensional laser radar is set to be-45 degrees, the final measurement angle is set to be 225 degrees, one measurement is performed at each 0.25 degree, and 1081 measurement data are obtained at each section.
Further, the distance between adjacent measuring points is
And the three-dimensional point data with the point spacing of 2cm can be formed for acquiring a plurality of continuous arc-shaped sections with the same radius, which is similar to the mileage change value set value, namely, the accuracy of the acquired original point data reaches 2cm.
Further, the inclination angle data correction in step 2) specifically includes the following:
in case 1, the tunnel has an ascending road section, the slope angle is alpha degrees, namely the Y axis is inclined by alpha degrees, the current mileage point is relatively stored, and the distance of the nearest mileage point corresponding to the Y axis inclination angle of 0 is M, the corrected coordinate point Y' =Y+M×sin (alpha degrees);
in case 2, the tunnel has a downhill road section, the slope angle is alpha degrees, namely Y-axis inclination-alpha degrees, the current mileage point is relatively stored, and the distance between the nearest mileage points corresponding to the Y-axis inclination angle of 0 is M, then the corrected coordinate point Y' =Y-M x sin (alpha degrees);
in case 3, the tunnel has a left turning section, the corner is alpha degrees, namely the X axis is inclined by alpha degrees, the current mileage point is relatively stored, and the distance of the nearest mileage point corresponding to the X axis inclination angle of 0 is M, so that the corrected coordinate point X' =X-M X sin (alpha degrees);
in case 4, the tunnel has a right turn section, the corner is α °, i.e. the X axis is inclined by α °, the current mileage point is relatively stored, and the distance between the nearest mileage points corresponding to the X axis inclination angle of 0 is M, and the corrected coordinate point X' =x+m×sin (α °).
Further, the database in step 3) specifically operates as follows:
3.1 Executing database connection functions according to the host address, the user name and the password of the database server, wherein the database connection results comprise successful database connection, abnormal database connection and database connection failure;
3.2 Judging whether the database is successfully connected, if so, executing whether the database has a command according to the name of the database; if the database connection is abnormal or fails, writing the database connection result into a log and returning the connection result;
3.3 If the database exists, sequentially executing whether the data table has a command according to the name of the data table; if the corresponding data table exists, executing a data saving or reading command; if the corresponding data table does not exist, creating the data table, and writing default parameter operation into the data table; if the database does not exist, executing a database creation command to create the database, creating a parameter table and writing default parameters;
3.4 Display result information in the interface according to the database operation result.
The invention has the advantages that:
the method adopts a tunnel three-dimensional shape rapid modeling method to detect the tunnel condition before the construction of the post-anchor bolt planting engineering of the overhead contact system after the track laying completion. Under the premise of low cost, three-dimensional point cloud data are automatically collected through a designed detection vehicle, filtering, repairing, densifying and the like are carried out on the point cloud data, curved surface reconstruction is carried out, three-dimensional morphology modeling is rapidly achieved, tunnel condition detailed data are provided for interior designers and field constructors, including limit intrusion conditions, and smooth development of post-contact net anchor bolt planting engineering is facilitated.
The detection vehicle can automatically run on a track, a rotary encoder and a controller which are arranged at the proper positions of wheel bearings record the running mileage and send mileage data to an upper computer, a two-dimensional laser radar arranged at the proper positions of a vehicle body records section data and sends the section data to the upper computer, an inclination sensor arranged at the proper positions of the vehicle body detects the inclination angles of an X axis and a Y axis and sends the two-axis inclination angle data to the upper computer, the upper computer receives and temporarily stores the mileage data, the section data and the two-axis inclination angle data, screens effective mileage data, selects corresponding section data and two-axis inclination angle data according to a time stamp, corrects the corresponding section data according to the two-axis inclination angle, synthesizes the mileage data and the corrected section data into three-dimensional coordinate point data, and stores the three-dimensional coordinate point data into a database; the upper computer point cloud data processing module reads three-dimensional coordinate point data stored in the database, performs filtering processing on the data, repairs the filtered data, densifies the repaired data, and then colors the data in a section plane with different distances from an origin (laser radar transmitting device point) to the data so as to intuitively distinguish the distances of objects from a rail. And finally, reconstructing a curved surface of the point cloud data synthesized by the three-dimensional coordinate point data, and realizing rapid three-dimensional morphology modeling.
Drawings
FIG. 1 is a general design flow diagram of the present invention;
FIG. 2 is a schematic cross-sectional view of a two-dimensional lidar scan of the present invention;
FIG. 3 is a schematic diagram of the planar triangulated hollow-circle feature of the present invention;
fig. 4 is a schematic view of the maximized minimum angle characteristic of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
As shown in fig. 1 and 2, the method for rapidly modeling the three-dimensional shape of the tunnel comprises a detection vehicle, wherein a rotary encoder is arranged at the corresponding position of a wheel bearing of the detection vehicle, and a two-dimensional laser radar and an inclination sensor are arranged at the corresponding position of a vehicle body of the detection vehicle.
The rotary encoder arranged at the proper position of the wheel bearing of the detection vehicle directly converts the detected angular displacement into a digital signal (high-speed pulse signal), the digital signal is directly input into the controller PLC, the pulse signal is counted by the high-speed counter of the PLC to obtain a measurement result, the PLC can calculate the running distance corresponding to the minimum angular displacement (corresponding to the pulse number) of the encoder according to the preset radius of the wheel of the detection vehicle, further calculate the total running mileage, and the mileage data is sent to an upper computer (industrial personal computer) in a communication mode of a TCP/IP protocol.
The two-dimensional laser radar (two-dimensional laser scanner) arranged at the proper position of the detection vehicle body detects the tunnel section vertical to the rail direction, obtains section distance data taking the laser radar transmitting device point as an origin, and transmits the detected section data to the upper computer in a communication mode of TCP/IP protocol.
And the inclination angle sensor is arranged at a proper position of the detection vehicle body, detects the inclination angles of the X axis and the Y axis, and transmits the detected inclination angle data of the two axes to the upper computer in a serial port communication mode.
The installation height of the two-dimensional laser radar is 1m away from the rail surface, the highest speed per hour set in the detection process of the detection vehicle is 2.5 km, the one-time scanning transmission time of the two-dimensional laser radar for one section is 20ms, and when the two-dimensional laser radar completes one-time scanning of one section and completes data transmission, the maximum driving distance of the detection vehicle per 20ms time is 2500/260/50 is approximately equal to 0.0139m, namely 1.39cm, so that the change value of the mileage needed to be stored by the upper computer compared with the mileage adjacent to the upper computer before and after the mileage is larger than 1.39cm, and the mileage change value is set to be 2cm in consideration of a certain margin. Because the widest part of the single-track railway tunnel is 4880mm, the widest part of the double-track railway tunnel is 8880mm, and the height from the track surface of the vault of the tunnel is about 6000mm; therefore, the installed two-dimensional laser radar can at least scan a target object at a distance of 5m, and in view of the fact that the mileage change value set value is 2cm, the processing efficiency of the three-dimensional point cloud data synthesized later is reduced due to the fact that the cross section acquisition data are too dense, and in addition, the conditions of the detection of the side of a track, the detection of the upper area of a vehicle and the inner wall of a tunnel are considered, the initial measurement angle of the two-dimensional laser radar is set to be-45 degrees, the end measurement angle is set to be 225 degrees, and one measurement is performed every 0.25 degrees, so that 1081 measurement data are obtained in total. If the distance between two-dimensional laser radar and the measuring point is 5m for one arc-shaped section, the distance between adjacent measuring points is
And the method is similar to the mileage change value set value, and for acquiring arc-shaped sections with a plurality of continuous sections and the same radius (the radius value is 5 m), under ideal conditions, three-dimensional point cloud data with the point spacing of 2cm can be formed, that is to say, the accuracy of the acquired original point cloud data can reach 2cm, and the method can properly control the data quantity while meeting the condition of detecting the intrusion in a railway tunnel so as to improve the subsequent data processing speed.
The specific modeling steps are as follows:
1) And a data acquisition step: the rotary encoder, the two-dimensional laser radar and the inclination sensor acquire corresponding data, the rotary encoder directly converts the measured angular displacement into a digital signal, namely a pulse signal, and directly transmits the digital signal to the controller PLC, the pulse signal is counted through a high-speed counter of the controller PLC to obtain a measurement result, and the controller PLC can acquire the running distance corresponding to the minimum angular displacement of the rotary encoder according to the preset wheel radius of the detection vehicle, so that the total running mileage is obtained, and the mileage data is transmitted to the upper computer in a communication mode of a TCP/IP protocol.
The two-dimensional laser radar detects a tunnel section perpendicular to the rail direction, obtains section distance data with a laser radar transmitting device point as an origin, and transmits the measured section data to the upper computer in a TCP/IP protocol communication mode.
The inclination angle sensor detects the inclination angles of the X axis and the Y axis, and transmits the detected inclination angle data of the two axes to the upper computer in a serial port communication mode.
2) And a data processing step: and (3) simultaneously starting three threads by the upper computer, respectively polling the three receiving ports in the step (1), and respectively storing mileage data, section data sent by the two-dimensional laser radar and inclination angle data of X, Y shafts sent by the inclination sensor.
And eliminating mileage data with mileage change value smaller than the set value from the upper computer, and reserving the rest data. And selecting and storing the corresponding section data and the inclination angle data according to the time stamp of the stored data. The processing is to eliminate redundant mileage data generated when the detection vehicle stops running, does acceleration motion before reaching a set speed and does deceleration motion after reaching the set speed, and in addition, the mileage data is simplified according to a set value to improve the processing efficiency of the follow-up three-dimensional point cloud data. And selecting and storing the corresponding section data and the inclination angle data according to the time stamp of the stored data.
And then, the upper computer uses the mileage data stored after screening as Z-axis data, traverses the inclination angle data, judges whether the two-axis inclination angle data are zero, if so, directly uses the stored corresponding section data according to the time stamp, and converts the distance data obtained by measuring the two-dimensional laser radar into X-axis data and Y-axis data through trigonometric function conversion.
For example, for a scan of a section, which is schematically shown in fig. 2, a first distance data D 1 Corresponding angle is-45 DEG, X is 1 ＝-sin(45°)×D 1 ，Y 1 ＝-cos(45°)×D 1 Second distance data D 2 The corresponding angle is (-45 + 0.25), then X 2 ＝-sin(44.75°)×D 2 ，Y 2 ＝-cos(44.75°)×D 2 Third distance data D 3 The corresponding angle is (-44.75 deg. +0.25 deg.), then X 3 ＝-sin(44.5°)×D 3 ，Y 3 ＝-cos(44.5°)×D 3 By analogy, the last distance D1081 corresponds to an angle of 225, X 1081 ＝-sin(225°)×D 1081 ，Y 1081 ＝cos(225°)×D 1081 The method comprises the steps of carrying out a first treatment on the surface of the For the X axis, a negative value indicates the left side of the track surface center line in the single-line tunnel traveling direction, a positive value indicates the right side of the track surface center line in the single-line tunnel traveling direction, for the Y axis, a negative value indicates the lower 1 meter height above the track surface of the single-line tunnel, a positive value indicates the upper 1 meter height above the track surface of the single-line tunnel, and three-dimensional coordinate point (X, Y, Z) data are synthesized.
If the inclination angles of the X axis and the Y axis are not zero, two-dimensional coordinate point (X, Y) data are obtained according to the corresponding section data, then the offset angle of the current mileage point relative to the X axis of the nearest mileage point which is stored and corresponds to the X axis inclination angle of 0 is calculated, then the offset angle of the current mileage point relative to the Y axis of the nearest mileage point which is stored and corresponds to the Y axis inclination angle of 0 is calculated, and the two-dimensional coordinate point (X, Y) data are corrected by utilizing the two-axis offset angle obtained by the calculation and the difference between the current mileage point and the nearest mileage point distance meeting the condition. The method specifically comprises the following steps:
in case 1, the tunnel has an ascending road section, the slope angle is alpha degrees, namely the Y axis is inclined by alpha degrees, the current mileage point is relatively stored, and the distance of the nearest mileage point corresponding to the Y axis inclination angle of 0 is M, the corrected coordinate point Y' =Y+M×sin (alpha degrees);
in case 2, the tunnel has a downhill road section, the slope angle is alpha degrees, namely Y-axis inclination-alpha degrees, the current mileage point is relatively stored, and the distance between the nearest mileage points corresponding to the Y-axis inclination angle of 0 is M, then the corrected coordinate point Y' =Y-M x sin (alpha degrees);
in case 3, the tunnel has a left turning section, the corner is alpha degrees, namely the X axis is inclined by alpha degrees, the current mileage point is relatively stored, and the distance of the nearest mileage point corresponding to the X axis inclination angle of 0 is M, so that the corrected coordinate point X' =X-M X sin (alpha degrees);
in case 4, the tunnel has a right turn section, the corner is α °, i.e. the X axis is inclined by α °, the current mileage point is relatively stored, and the distance between the nearest mileage points corresponding to the X axis inclination angle of 0 is M, and the corrected coordinate point X' =x+m×sin (α °). Wherein α > 0.
If only one of the axes is inclined at a non-zero angle, the data is processed in the same manner as described above to correct the axis coordinate point.
3) And a filtering treatment step: and the upper computer stores the three-dimensional coordinate point data into a database, and reads the corresponding three-dimensional coordinate point data of the three-dimensional modeling from the database according to the mileage range. The database specifically operates as follows:
3.1 Executing database connection functions according to the host address, the user name and the password of the database server, wherein the database connection results comprise successful database connection, abnormal database connection and database connection failure;
3.2 Judging whether the database is successfully connected, if so, executing whether the database has a command according to the name of the database; if the database connection is abnormal or fails, writing the database connection result into a log and returning the connection result;
3.3 If the database exists, sequentially executing whether the data table has a command according to the name of the data table; if the corresponding data table exists, executing a data saving or reading command; if the corresponding data table does not exist, creating the data table, and writing default parameter operation into the data table; if the database does not exist, executing a database creation command to create the database, creating a parameter table and writing default parameters;
3.4 Display result information in the interface according to the database operation result.
And filtering the corresponding three-dimensional coordinate point data to remove outliers. The filtering process is to perform outlier filtering on the set (X, Y) of two-dimensional coordinate point data corresponding to each piece of Z-axis data, and the outlier filtering process is specifically as follows:
the set of two-dimensional coordinate points is first traversed (X, Y), and the average of the distances of each point in the set of points and the neighboring points is solved. And then solving the standard deviation of the distances between each point in the point set and the adjacent points. And finally, determining a range by the average value mu and the standard deviation sigma, defining an outlier as a point of which the average distance between the outlier and the adjacent point is not in the range, recording the adjacent points corresponding to the outliers, and deleting the outliers from the data point set.
4) Data supplementing step: and (3) performing repair treatment and densification treatment on the data processed in the step (3). The number of the searched neighboring points is set as 10 cases, and the set range is mu + -3X sigma.
The repairing treatment is to repair each group of recorded adjacent points, and the specific treatment steps are as follows:
4.1.1 Sequentially obtaining two coordinate points (X1, Y1) and (X2, Y2) with shortest distance for each group of recorded adjacent points.
4.1.2 Judging whether the shortest distance calculated by each group is more than mu+3 and less than 2 (mu+3), if yes, adding the corresponding coordinate point ((X1 +X2)/2, (Y1 +Y 2)/2) into the point set.
The densification process is to interpolate the new point set after the repair process so that the data density becomes relatively uniform, and the specific process steps are as follows:
4.2.1 Traversing the new point set to obtain the nearest point of each point, and adding the intermediate point of the two points into the point set if the distance between the nearest point and the point is larger than the set distance 1 and smaller than the set distance 2.
4.2.2 Repeating the traversing step 4.2.1) until the distance between all points in the point set and the nearest point is in the range from the set distance 1 to the set distance 2.
The specific set distance 1 is the same as the mileage change value set value, namely 2cm, and the set distance 2 is twice the mileage change value set value, namely 4cm.
The fact that the data are colored in different colors in the distance from the original point in the (X, Y) coordinate plane refers to the fact that the obtained data are colored in different colors (without red) in the distance from the laser radar transmitting device point in the cross-section plane scanned by the two-dimensional laser radar, the distance of the object to the center of the railway surface by 1m can be intuitively distinguished, and the data of an intrusion area can be given by combining with the design requirements of railway construction industry, and red is marked.
5) And (3) data reconstruction: and (3) reconstructing a tunnel curved surface of the data processed in the step (4), wherein the method comprises the following specific steps:
5.1 Projecting the data processed in the step 4) into a two-dimensional coordinate plane through a normal line.
5.2 Triangularizing the projected data in a plane to obtain the topological connection relation of each point. The process of plane triangulation uses a spatial region growing algorithm based on Delaunay triangulation.
5.3 And (3) determining the topological connection among the original three-dimensional points according to the topological connection relation of the projection points in the plane, and reconstructing the obtained triangular mesh to obtain the tunnel curved surface model.
The normal vector estimation in which the normal is projected into a two-dimensional coordinate plane is adopted as follows, because the data point to be processed is three-dimensional, the plane to be estimated is two-dimensional, two-dimensional data is estimated by three-dimensional data, the maximum direction of variance is mainly used as a main characteristic, the information quantity loss after dimension reduction is minimized, and the information quantity loss is irrelevant in different orthogonal directions. The specific implementation mode is as follows:
and analyzing eigenvectors and eigenvalues of a covariance matrix generated by the nearest neighbor of the point to be estimated. For a point set P formed by a certain point and a field point thereof, P= { P i |p i ＝(x i ,y i ,z i ) T },i＝0,1,2,3...,k.，
Representing the coordinate mean value of the point set, wherein k represents the number of data in the point set; p is p i Representing three-dimensional points with the sequence number i in the point set; i represents the sequence number of the point set, and the range is greater than or equal to zero and less than or equal to k; x is x i X-axis coordinate value, y representing three-dimensional point with serial number i in point set i A Y-axis coordinate value representing a three-dimensional point of the point set with a sequence number i; z i Z-axis coordinate values representing three-dimensional points with the sequence number i in the point set; t denotes "transpose", i.e. changing the row vector into a column vector. The covariance matrix is:
eigenvalues of covariance matrix cov _P are respectively lambda 1 、λ 2 、λ 3 The corresponding feature vectors are respectively a 1 、a 2 、a 3 And satisfies: lambda (lambda) 1 >λ 2 >λ 3 . Wherein the minimum eigenvalue lambda 3 Corresponding feature vector a 3 Is the normal vector of the tangent plane at that point.
The spatial region growing algorithm based on Delaunay triangulation adopts a specific point-by-point insertion process as follows:
(1) A minimum convex polygon is constructed, which may be a triangle or other type of polygon, containing all the data points that need to be processed.
(2) An initial triangle mesh is determined. The method comprises the following steps: any point is selected on the center of the convex shell, and the point is connected with other points in the convex shell to form a Delaunay triangle network.
(3) The rest points are inserted one by one according to the construction criteria of the grid. The construction criteria of the Delaunay triangle mesh meets the following two conditions:
1. hollow round characteristics: the Delaunay triangle net is unique (any four points cannot be co-rounded), and no other points exist within the circumcircle range of any triangle in the Delaunay triangle net. As shown in fig. 3.
2. Maximizing minimum angular characteristics: of the triangulation that may be formed by the set of points, delaunay triangulation forms the triangle with the largest minimum angle. In this sense, the Delaunay triangle is the closest regularized "triangle". Specifically, two adjacent triangles form diagonal lines of a convex polygon, and after the two adjacent triangles are interchanged, the minimum angle of six inner angles is not increased. As shown in fig. 4, the convex polygon on the left is not satisfactory and the convex polygon on the right is satisfactory.
(4) Optimizing the Delaunay triangle network in the process of creating the grid, namely generating a new triangle each time, and judging whether the newly generated triangle and the previous triangle meet the Delaunay triangle network construction criterion; repeating, the building is completed by the mark that all data points participate in the triangle mesh building.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the concept of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (6)
1. The method for rapidly modeling the three-dimensional shape of the tunnel is characterized by comprising a detection vehicle, wherein a rotary encoder is arranged at the corresponding position of a wheel bearing of the detection vehicle, and a two-dimensional laser radar and an inclination sensor are arranged at the corresponding position of a vehicle body of the detection vehicle; the rotary encoder is connected with the controller PLC, and transmits the data after corresponding conversion calculation to the upper computer, the two-dimensional laser radar transmits the acquired corresponding information to the upper computer in a communication mode of a TCP/IP protocol, and the inclination sensor transmits the acquired inclination angles of the X axis and the Y axis to the upper computer in a serial port communication mode;
the specific modeling steps are as follows:
1) And a data acquisition step: the rotary encoder, the two-dimensional laser radar and the inclination sensor collect corresponding data;
2) And a data processing step: the upper computer simultaneously starts three threads, respectively polls the three receiving ports in the step 1), and respectively stores mileage data, section data sent by the two-dimensional laser radar and inclination angle data of X, Y shafts sent by the inclination angle sensor;
removing mileage data with mileage change value smaller than a set value from the upper computer; selecting and storing corresponding section data and inclination angle data according to the time stamp of the stored data to form corresponding three-dimensional data;
3) And a filtering treatment step: the upper computer stores the three-dimensional coordinate point data into a database, and reads the corresponding three-dimensional coordinate point data of the three-dimensional modeling from the database according to the mileage range; filtering the corresponding three-dimensional coordinate point data to remove outliers;
the filtering process is to perform outlier filtering on the set (X, Y) of two-dimensional coordinate point data corresponding to each piece of Z-axis data, and specifically includes the following steps:
firstly traversing the two-dimensional coordinate point set of the group (X, Y), and solving the average value of the distance between each point in the point set and the adjacent point; then solving the standard deviation of the distances between each point in the point set and the adjacent points; finally, determining a range by the average value mu and the standard deviation sigma, defining an outlier as a point of which the average distance between the outlier and the adjacent point is not in the range, recording the adjacent points corresponding to the outliers, and deleting the outliers from the data point set;
4) Data supplementing step: performing repair treatment and densification treatment on the data processed in the step 3); the repairing treatment is to repair each group of recorded adjacent points, and the specific treatment steps are as follows:
4.1.1 Sequentially calculating two coordinate points (X1, Y1) and (X2, Y2) with shortest distances for each group of recorded adjacent points;
4.1.2 Judging whether the shortest distance calculated by each group is more than mu+3 sigma and less than 2 (mu+3 sigma), if yes, adding the corresponding coordinate point ((X1 +X2)/2, (Y1 +Y 2)/2) into the point set;
the densification process is to interpolate the new point set after the repair process so that the data density becomes relatively uniform, and the specific process steps are as follows:
4.2.1 Traversing the new point set to obtain the nearest point of each point, and adding the middle point of the two points into the point set if the distance between the nearest point and the point is larger than the set distance 1 and smaller than the set distance 2;
4.2.2 Repeating the traversing step 4.2.1) until the distance between all the points in the point set and the nearest point is in the range from the set distance 1 to the set distance 2, and processing the point set;
5) And (3) data reconstruction: and (3) reconstructing a tunnel curved surface of the data processed in the step (4), wherein the method comprises the following specific steps:
5.1 Projecting the data processed in the step 4) into a two-dimensional coordinate plane through a normal;
5.2 Triangularizing the projected data in a plane to obtain the topological connection relation of each point; a spatial region growing algorithm based on Delaunay triangulation is used in the plane triangulation process;
5.3 And (3) determining the topological connection among the original three-dimensional points according to the topological connection relation of the projection points in the plane, and reconstructing the obtained triangular mesh to obtain the tunnel curved surface model.
2. The method for rapidly modeling the three-dimensional morphology of the tunnel according to claim 1, wherein the method comprises the following steps: the installation height of the two-dimensional laser radar is 1m away from the rail surface, the highest speed per hour set in the detection process of the detection vehicle is 2.5 km/h, the two-dimensional laser radar can scan a target object at a distance of 5m, and the two-dimensional laser radar adopts a section with one-time scanning transmission time of 20 ms; when the two-dimensional laser radar finishes one-time scanning of a section and finishes data transmission, the maximum driving distance of the detection vehicle per 20ms time is 1.39cm, so that the upper computer sets the mileage change value to be 2cm;
in order to acquire arc-shaped sections of a plurality of continuous tunnels, the initial measurement angle of the two-dimensional laser radar is set to be-45 degrees, the final measurement angle is set to be 225 degrees, one measurement is performed at each 0.25 degree, and 1081 measurement data are obtained at each section.
3. The method for rapidly modeling the three-dimensional morphology of the tunnel according to claim 2, wherein the method comprises the following steps: the distance between adjacent measuring points is
And the three-dimensional point data with the point spacing of 2cm can be formed for acquiring a plurality of continuous arc-shaped sections with the same radius, which is similar to the mileage change value set value, namely, the accuracy of the acquired original point data reaches 2cm.
4. The method for rapidly modeling the three-dimensional morphology of the tunnel according to claim 1, wherein the method comprises the following steps: the inclination angle data correction in step 2) specifically includes the following:
in case 1, the tunnel has an ascending road section, the slope angle is alpha degrees, namely the Y-axis is inclined by alpha degrees, the current mileage point is relatively stored, and the nearest mileage point corresponding to the Y-axis inclination angle of 0The distance is M, the corrected coordinate point Y ′ ＝Y+M*sin(α°)；
In case 2, the tunnel has a downhill section, the slope angle is alpha degrees, namely Y-axis inclination-alpha degrees, the current mileage point is relatively stored, and the nearest mileage point distance corresponding to the Y-axis inclination angle of 0 is M, the corrected coordinate point Y ′ ＝Y-M*sin(α°)；
In case 3, the tunnel has a left turning section, the corner is alpha degrees, namely the X axis is inclined by alpha degrees, the current mileage point is relatively stored, and the nearest mileage point distance corresponding to the X axis inclination angle of 0 is M, the corrected coordinate point X ′ ＝X-M*sin(α°)；
In case 4, the tunnel has a right turn section, the corner is alpha degrees, namely the X axis is inclined by alpha degrees, the current mileage point is relatively stored, and the nearest mileage point distance corresponding to the X axis inclination angle of 0 is M, the corrected coordinate point X ′ ＝X+M*sin(α°)。
5. The method for rapidly modeling the three-dimensional morphology of the tunnel according to claim 1, wherein the method comprises the following steps: the database in step 3) is specifically operated as follows:
3.1 Executing database connection functions according to the host address, the user name and the password of the database server, wherein the database connection results comprise successful database connection, abnormal database connection and database connection failure;
3.2 Judging whether the database is successfully connected, if so, executing whether the database has a command according to the name of the database; if the database connection is abnormal or fails, writing the database connection result into a log and returning the connection result;
3.3 If the database exists, sequentially executing whether the data table has a command according to the name of the data table; if the corresponding data table exists, executing a data saving or reading command; if the corresponding data table does not exist, creating the data table, and writing default parameter operation into the data table; if the database does not exist, executing a database creation command to create the database, creating a parameter table and writing default parameters;
3.4 Display result information in the interface according to the database operation result.
6. The method for rapidly modeling the three-dimensional morphology of the tunnel according to claim 1, wherein the method comprises the following steps: the three-dimensional data in the step 2) is to take the mileage data stored after screening as Z-axis data by an upper computer, traverse the inclination angle data, judge whether the inclination angle data of two axes are zero, if yes, directly utilize the stored corresponding section data according to time stamps, and convert the distance data obtained by measuring the two-dimensional laser radar into X-axis data and Y-axis data through trigonometric function conversion;
if the inclination angles of the X axis and the Y axis are not zero, two-dimensional coordinate point (X, Y) data are obtained according to the corresponding section data, then the offset angle of the current mileage point relative to the X axis of the nearest mileage point which is stored and corresponds to the X axis inclination angle of 0 is calculated, the offset angle of the current mileage point relative to the Y axis of the nearest mileage point which is stored and corresponds to the Y axis inclination angle of 0 is calculated, and the two-dimensional coordinate point (X, Y) data are corrected by utilizing the two-axis offset angle obtained by the calculation and the difference between the current mileage point and the nearest mileage point distance meeting the condition; if only one of the axes is inclined at a non-zero angle, the data is processed in the same manner as described above to correct the axis coordinate point.
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