CN105526908A - Three dimensional laser scanning-GPS-combined side slope monitoring method - Google Patents
Three dimensional laser scanning-GPS-combined side slope monitoring method Download PDFInfo
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- CN105526908A CN105526908A CN201510586033.3A CN201510586033A CN105526908A CN 105526908 A CN105526908 A CN 105526908A CN 201510586033 A CN201510586033 A CN 201510586033A CN 105526908 A CN105526908 A CN 105526908A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Pit Excavations, Shoring, Fill Or Stabilisation Of Slopes (AREA)
Abstract
The invention relates to a three dimensional laser scanning-GPS-combined side slope monitoring method. The monitoring method is characterized in that a three dimensional laser scanner system and a GPS monitoring positioning system are combined and are used for accurate monitoring of side slope geologic hazard. The method can accurately detect and forecast mine side slope geologic hazard, improve side slope monitoring intelligence and prediction effects, realize real-time monitoring of side slope deformation, accurate prediction of side slope deformation trend and precaution of geologic hazards such as side slope displacement and falling and guarantee mine production safety.
Description
Technical field
Patent of the present invention relates to monitoring technology for geological hazards field, particularly relates to a kind of Mine Monitoring method that 3 D laser scanning and GPS combine.
Background technology
Slope monitoring is the important measures ensureing the engineering safety constructions such as highway, railway, surface mine, storehouse bank, and open-pit slope is in Dynamic Excavation process for a long time, how carrying out and carry out slope monitoring for a long time, effectively, accurately, is the difficult problem that bargh is badly in need of solving.
The method of carrying out slope displacement monitoring is at present a lot, as the earth observation, instrument observation, GPS observation, close-range photogrammetry etc.By equipment, acquisition mode is installed and can be divided into two classes: contact measurement method and contactless measurement.
GPS mensuration belongs to contact measuring method, this method arranges fixing gps antenna, send navigator fix signal by gps satellite and carry out space resection's measurement, thus displacement monitoring is carried out to antenna point, this method energy all weather operations, do not limit by intervisibility between measuring point, accurately can measure the three-dimensional coordinate of each control point simultaneously, the displacement of what GPS as described in patent 201310568264.2 " Deformation Monitoring of Open Pit Mine early warning system and method for early warning thereof " monitored the collection of mine slope subsystem the is each deform detection point of Highwall mining layer homonymy, the displacement of point exceeds preset range and reports to the police, GPS monitoring is applicable to a position deformation monitoring, be not suitable for a varied topography, the monitoring target of difficulty of layouting.
Three dimension laser scanning surreying is owned by France in non-contact measurement method, as patent 201210059014.1 " a kind of method utilizing the deformation of terrestrial three-dimensional laser scanner fast monitored ", is used to monitor middle-size and small-size landslide.The method first arranges suitable fixed station, fixed point target, and reflecting body is set on monitoring objective, laser scanner is fixed on fixed point pier, connect computer, power supply, the equipment such as camera, start image data, scanning document relatively under different time sequence, change according to the different timing coordination in object of observation relative reflection center completes monitoring task, but require that the reflecting body arranged maintains static in whole observation process, for complicated landform, point of fixity, the difficult arrangement of reflecting body, be difficult to keep motionless, if reflecting body moves, deformation monitoring precision reduces.
Summary of the invention
The object of this invention is to provide a kind of large for difficulty of construction, slope monitoring with a varied topography, can reduce construction workload, the slope monitoring method that the 3 D laser scanning of raising monitoring efficiency and measuring accuracy and GPS combine.
The object of the present invention is achieved like this.
The mine slope monitoring method that a kind of 3 D laser scanning of the present invention and GPS combine, it is characterized in that: three-dimensional laser scanner system organically combined with GPS monitoring and positioning system, carry out accurate measurements to slope geological, concrete steps are as follows:
(1) on the axis of monitored side slope, first arrange monitoring stake I, described monitoring stake I, as reference stake, lays multiple monitoring stake II in the surrounding of reference stake;
(2) GPS receiving instrument or three-dimensional laser scanner are installed on reference stake, each monitoring stake II is laid a side slope surface GPS receiving instrument or hollow reflective ball, GPS receiving instrument on reference stake is connected successively with multiple side slope surfaces GPS receiving instrument, carry out GPS static monitoring techniques, monitoring period of time is greater than 50 minutes, obtain the three-dimensional coordinate of monitoring point, monitoring point three-dimensional coordinate Real-time Monitoring Data is transferred to remote monitoring server and data handling machine, carry out data processing in real time, obtain the three-dimensional coordinate change in displacement situation at any time of monitoring point, side slope surface;
(3) on reference stake, three-dimensional laser scanner will be installed every 10-30 days, if desired arranging in monitoring scanning side slope follows the trail of the objective a little, then need to change hollow reflective ball into by monitoring multiple side slope surfaces GPS receiving instrument that stake is installed in monitoring sweep limit, then side slope is scanned, obtain side slope each point deformation values;
The computing method of described acquisition side slope each point deformation values are:
A, the GPS monitored in sweep limit in stake obtain the coordinate of three-dimensional coordinate as reference object (hollow ball) the hollow reflective ball center of three-dimensional laser scanner of monitoring point, the cloud data obtained by 3 D laser scanning as reference point imports in three-dimensional system of coordinate, obtain the initial value (L10 of side slope each point, L20, L30 ... Ln0);
B, interval 10-30 days, repeat the work of step (2) and (3), and spatial digitizer parameters keeps monitoring consistent with last time, obtains side slope each point three-dimensional coordinate (L11, L21, L31 during monitoring ... Ln1);
C, side slope each point three-dimensional coordinate step (2) obtained deduct step (3) and obtain each point coordinate initial value of side slope, can obtain the deformation values (V1=L11-L10 of side slope each point in this period; V2=L21-L20), the deformation values of side slope each point in this period is.
Described monitoring stake I comprises firm banking, be arranged on the centering hollow stem of firm banking middle and upper part, be arranged on the back up pad of firm banking surrounding, weld between two in the orthogonal carrying bolt bar of cruciform respectively in upper, middle and lower three positions of described centering hollow stem, described back up pad is provided with bolt hole, described back up pad is fixedly connected with carrying bolt bar by bolt, at the top internal thread connecting hole of described centering hollow stem, the top internal thread connecting hole of its centering hollow stem is for connecting 3 D laser scanning, GPS monitoring device or hollow reflective ball, the structure of monitoring stake in described sweep limit is identical with the structure of monitoring stake I.
Upper, middle and lower three positions of described centering hollow stem lay respectively at 50cm, 90cm, 130cm place of centering hollow stem.
The invention has the beneficial effects as follows:
Three-dimensional laser scanner system organically combines with GPS monitoring and positioning system by the present invention, obtain the three-dimensional coordinate of monitoring point, accurate measurements is carried out to slope geological, monitoring point three-dimensional coordinate Real-time Monitoring Data is transferred to remote monitoring server and data handling machine, carry out data processing in real time, obtain the three-dimensional coordinate change in displacement situation at any time of monitoring point, side slope surface.Application the present invention can make related personnel take preventive measures in time according to early warning information, improves simultaneously and is in personnel safety near mine slope,
It is large that the present invention is used for difficulty of construction, and slope monitoring work with a varied topography is very practical, can reduce construction workload, improves monitoring efficiency, ensures measuring accuracy.
Mine slope geologic hazard is accurately detected and forecasts, monitoring side slope intelligence and prediction effect can be improved, slope deforming is monitored in real time, Accurate Prediction slope deforming trend and carry out the geologic hazard such as slope displacement and landing in advance, ensure mining production safety.
Accompanying drawing explanation
Fig. 1 is Monitoring Data flow process figure of the present invention.
Fig. 2 is that the present invention arranges the schematic diagram of monitoring stake in monitored side slope.
Fig. 3 the present invention monitors the structural representation structural drawing of stake.
Fig. 4 the present invention monitors the plan structure figure of stake.
Fig. 5 the present invention monitors a GPS and hollow ball scheme of installation.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As Figure 1-5, the mine slope monitoring method that a kind of 3 D laser scanning of the present invention and GPS combine, it is characterized in that: three-dimensional laser scanner system organically combined with GPS monitoring and positioning system, carry out accurate measurements to slope geological, concrete steps are as follows:
(1) first monitoring stake I 1 is set on the axis of monitored side slope, described monitoring stake I 1 comprises firm banking 1-1, be arranged on the centering hollow stem 1-2 of firm banking 1-1 middle and upper part, be arranged on the back up pad 1-3 of firm banking surrounding, weld between two in cruciform orthogonal carrying bolt bar 1-4 respectively in upper, middle and lower three positions of described centering hollow stem 1-2, described back up pad 1-3 is provided with bolt hole, described back up pad 1-3 is fixedly connected with carrying bolt bar 1-4 by bolt, at the top internal thread connecting hole 1-5 of described centering hollow stem, the top internal thread connecting hole 1-5 of its centering hollow stem is for connecting 3 D laser scanning, GPS monitoring device 1-6 or hollow reflective ball 1-7.As shown in Fig. 3,4,5.
The concrete grammar arranging monitoring stake I 1 is:
1) on side slope surface, excavate the foundation ditch of length of side 25cm, degree of depth 50cm, foundation ditch bottom surface requires smooth, puts into wherein by the firm banking 1-1 welded;
2) centering hollow stem 1-2 is vertically welded in firm banking middle and upper part, adjusts the degree of tilt of firm banking 1 and centering hollow stem 1-2 with level measurement; The top of centering hollow stem 1-2 is provided with internal thread connecting hole 1-5;
3) arranging back up pad 1-3 in firm banking 1-1 surrounding, is cruciform orthogonal carrying bolt bar 1-4 in 50cm, 90cm, 130cm place welding of centering hollow stem 1-2 height between two;
4) also have at back up pad 1-3 height 50cm, 90cm, 130cm place the bolt hole matched with carrying bolt bar 1-4, back up pad 1-3 is fixedly connected with carrying bolt bar 4 by bolt.
The top internal thread connecting hole 1-5 of centering hollow stem 1-2 is for connecting 3 D laser scanning, GPS monitoring device or hollow reflective ball, and the structure of monitoring stake in described sweep limit is identical with the structure of monitoring stake I.
Monitoring stake I 1 of the present invention, as reference stake, lays multiple monitoring stake II 2 in the surrounding of reference stake; The structure of described multiple monitoring stakes II 2 is identical with the structure of monitoring stake I 1.
(2) GPS receiving instrument is installed on reference stake, multiple monitoring stake II is laid multiple side slope surface GPS receiving instrument and total powerstation, GPS receiving instrument and multiple side slope surface GPS receiving instrument wired connection successively, carry out GPS static monitoring techniques, receiving satellite is greater than 4, monitoring period of time is greater than 50 minutes, obtain the three-dimensional coordinate of monitoring point, monitoring point three-dimensional coordinate Real-time Monitoring Data is transferred to remote monitoring server and data handling machine, carry out data processing in real time, obtain the three-dimensional coordinate change in displacement situation at any time of monitoring point, side slope surface;
(3) on reference stake, three-dimensional laser scanner will be installed every 10-30 days, if desired arranging in monitoring scanning side slope follows the trail of the objective a little, then need to change hollow reflective ball into by monitoring multiple side slope surfaces GPS receiving instrument that stake is installed in monitoring sweep limit, require GPS device central point and hollow ball point coincides, then side slope is scanned, adopt in three-dimensional laser scanner scanning process, hollow ball position will keep maintaining static, and quantity is no less than 3, obtain side slope each point deformation values;
The computing method of described acquisition side slope each point deformation values are:
A, the GPS monitoring stake in sweep limit obtain the three-dimensional coordinate of monitoring point as the coordinate of reference object (hollow ball) the hollow reflective ball center of three-dimensional laser scanner, the cloud data obtained by 3 D laser scanning as reference point imports in three-dimensional system of coordinate, obtain the initial value (L10 of side slope each point, L20, L30 ... Ln0);
B, interval 10-30 days, repeat the work of step (2) and (3), and spatial digitizer parameters keeps monitoring consistent with last time, obtains side slope each point three-dimensional coordinate (L11, L21, L31 during monitoring ... Ln1);
C, side slope each point three-dimensional coordinate step (2) obtained deduct step (3) and obtain each point coordinate initial value of side slope, can obtain the deformation values (V1=L11-L10 of side slope each point in this period; V2=L21-L20), the deformation values of side slope each point in this period is.
We lay 18 points at Qidashan iron ore stope and mining junkyard, retain 16 points.
Through 6 observation and 6 scanning comparisons, two period monitor values:
Obtain elevation changing value between 0.1 ~ 0.8 ㎜; Sea level changes value is between 0.1 ~ 1.2 ㎜.
Perpendicular displacement monitoring and horizontal shift detect: the mean square error of height (accuracy requirement) of deformation observation point is less than 0.3 ㎜; Calculated value is 0.142 ㎜; The discrepancy in elevation medial error (accuracy requirement) of adjacent deformations observation station is less than 0.1 ㎜; Calculated value is 0.043 ㎜; The mean square error of a point (accuracy requirement) of deformation observation point is less than 1.5 ㎜; Calculated value is 0.778 ㎜.Precision reaches 0.5mm.
Table 1 is 6 observation and 6 scanning comparisons, two period monitor values.
Can be found out by above-mentioned observed reading, adopt the slope monitoring method that 3 D laser scanning of the present invention and GPS combine, meet deformation monitoring grade and accuracy requirement that existing national standards " Code for engineering surveying " (GB50026-2007) specify completely.
Of the present invention be applied in geography complicated and changeable, topographic condition under, for reducing the disaster accidents such as slope and land slide, sedimentation, displacement to greatest extent, each measured data are carried out analysis and the demonstration of science, and pass through computer programming, be inserted in Survey and map software and be depicted as cycle sedimentation, displacement changing curve figure, guarantee that the safety and steady of the large gliding mass in mine and refuse dump is controlled.
Claims (3)
1. the mine slope monitoring method that combines of 3 D laser scanning and GPS, it is characterized in that: three-dimensional laser scanner system organically combined with GPS monitoring and positioning system, carry out accurate measurements to slope geological, concrete steps are as follows:
(1) on the axis of monitored side slope, first arrange monitoring stake I, described monitoring stake I, as reference stake, lays multiple monitoring stake II in the surrounding of reference stake;
(2) GPS receiving instrument or three-dimensional laser scanner are installed on reference stake, each monitoring stake II is laid a side slope surface GPS receiving instrument or hollow reflective ball, GPS receiving instrument on reference stake is connected successively with multiple side slope surfaces GPS receiving instrument, carry out GPS static monitoring techniques, monitoring period of time is greater than 50 minutes, obtain the three-dimensional coordinate of monitoring point, monitoring point three-dimensional coordinate Real-time Monitoring Data is transferred to remote monitoring server and data handling machine, carry out data processing in real time, obtain the three-dimensional coordinate change in displacement situation at any time of monitoring point, side slope surface;
(3) on reference stake, three-dimensional laser scanner will be installed every 10-30 days, if desired arranging in monitoring scanning side slope follows the trail of the objective a little, then need to change hollow reflective ball into by monitoring the side slope surface GPS receiving instrument that stake is installed in monitoring sweep limit, then side slope is scanned, obtain side slope each point deformation values;
The computing method of described acquisition side slope each point deformation values are:
A, in sweep limit, monitor the coordinate of three-dimensional coordinate as the reference object hollow reflective ball center of three-dimensional laser scanner that GPS in stake obtains monitoring point, the cloud data obtained by 3 D laser scanning as reference point imports in three-dimensional system of coordinate, obtain the initial value (L10 of side slope each point, L20, L30 ... Ln0);
B, interval 10-30 days, repeat the work of step (2) and (3), and spatial digitizer parameters keeps monitoring consistent with last time, obtains side slope each point three-dimensional coordinate (L11, L21, L31 during monitoring ... Ln1);
C, side slope each point three-dimensional coordinate step (2) obtained deduct step (3) and obtain each point coordinate initial value of side slope, can obtain the deformation values (V1=L11-L10 of side slope each point in this period; V2=L21-L20), the deformation values of side slope each point in this period is.
2. the mine slope monitoring method that combines of 3 D laser scanning according to claim 1 and GPS, it is characterized in that described monitoring stake I comprises firm banking, be arranged on the centering hollow stem of firm banking middle and upper part, be arranged on the back up pad of firm banking surrounding, weld between two in the orthogonal carrying bolt bar of cruciform respectively in upper, middle and lower three positions of described centering hollow stem, described back up pad is provided with bolt hole, described back up pad is fixedly connected with support bar bolt by bolt, at the top internal thread connecting hole of described centering hollow stem, the top internal thread connecting hole of its centering hollow stem is for connecting 3 D laser scanning, GPS monitoring device or hollow reflective ball, the structure of monitoring stake in described sweep limit is identical with the structure of monitoring stake I.
3. the mine slope monitoring method that combines of 3 D laser scanning according to claim 2 and GPS, is characterized in that upper, middle and lower three positions of described centering hollow stem lay respectively at 50cm, 90cm, 130cm place of centering hollow stem.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106679579A (en) * | 2016-12-02 | 2017-05-17 | 中国电建集团昆明勘测设计研究院有限公司 | Mobile landslide body deformation monitoring apparatus and method |
| CN106767438A (en) * | 2017-02-04 | 2017-05-31 | 北京工业大学 | Landslide amount acquisition methods and device based on Three Dimensional Ground laser scanner technique |
| CN108280970A (en) * | 2018-01-29 | 2018-07-13 | 重庆交通大学 | A kind of intelligence Stability for High Slope remote three-dimensional digital early warning system |
| CN109737918A (en) * | 2019-02-28 | 2019-05-10 | 国网河南省电力公司检修公司 | A kind of substation equipment foundation settlement detection method |
| CN110763147A (en) * | 2019-10-31 | 2020-02-07 | 中交三航局第三工程有限公司 | Cofferdam deformation monitoring method based on three-dimensional laser scanning technology |
| CN111429575A (en) * | 2020-04-01 | 2020-07-17 | 中冶建筑研究总院（深圳）有限公司 | Three-dimensional visual monitoring method, system, equipment and storage medium |
| CN111561908A (en) * | 2020-05-14 | 2020-08-21 | 中国矿业大学 | Combined measurement method of three-dimensional laser scanning and GPS-PPK |
| CN111561917A (en) * | 2020-03-30 | 2020-08-21 | 同济大学 | Road side slope monitoring system |
| CN111811386A (en) * | 2020-08-13 | 2020-10-23 | 北京大成国测科技有限公司 | Slope horizontal displacement monitoring system and method based on Beidou positioning |
| CN112146586A (en) * | 2020-09-23 | 2020-12-29 | 招商局重庆交通科研设计院有限公司 | Slope deformation monitoring system |
| CN112880639A (en) * | 2021-04-28 | 2021-06-01 | 中国科学院武汉岩土力学研究所 | Method for monitoring ground settlement of mining subsidence area based on three-dimensional laser scanning |
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| CN113932727A (en) * | 2021-11-29 | 2022-01-14 | 中国电建集团成都勘测设计研究院有限公司 | Slope deformation monitoring method and system based on scanning total station and GNSS |
| CN114577134A (en) * | 2022-03-01 | 2022-06-03 | 长江水利委员会长江科学院 | Wide-range all-weather landslide body inclination deformation monitoring device and method |
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| CN106767438A (en) * | 2017-02-04 | 2017-05-31 | 北京工业大学 | Landslide amount acquisition methods and device based on Three Dimensional Ground laser scanner technique |
| CN106767438B (en) * | 2017-02-04 | 2019-02-01 | 北京工业大学 | Landslide amount acquisition methods and device based on Three Dimensional Ground laser scanner technique |
| CN108280970A (en) * | 2018-01-29 | 2018-07-13 | 重庆交通大学 | A kind of intelligence Stability for High Slope remote three-dimensional digital early warning system |
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| CN111561917B (en) * | 2020-03-30 | 2021-10-26 | 同济大学 | Road side slope monitoring system |
| CN111429575A (en) * | 2020-04-01 | 2020-07-17 | 中冶建筑研究总院（深圳）有限公司 | Three-dimensional visual monitoring method, system, equipment and storage medium |
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| CN111561908A (en) * | 2020-05-14 | 2020-08-21 | 中国矿业大学 | Combined measurement method of three-dimensional laser scanning and GPS-PPK |
| CN111561908B (en) * | 2020-05-14 | 2021-09-17 | 中国矿业大学 | Combined measurement method of three-dimensional laser scanning and GPS-PPK |
| CN111811386A (en) * | 2020-08-13 | 2020-10-23 | 北京大成国测科技有限公司 | Slope horizontal displacement monitoring system and method based on Beidou positioning |
| CN112146586A (en) * | 2020-09-23 | 2020-12-29 | 招商局重庆交通科研设计院有限公司 | Slope deformation monitoring system |
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