CN105526908B - The slope monitoring method that a kind of 3 D laser scanning and GPS are combined - Google Patents
The slope monitoring method that a kind of 3 D laser scanning and GPS are combined Download PDFInfo
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- CN105526908B CN105526908B CN201510586033.3A CN201510586033A CN105526908B CN 105526908 B CN105526908 B CN 105526908B CN 201510586033 A CN201510586033 A CN 201510586033A CN 105526908 B CN105526908 B CN 105526908B
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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 present invention relates to the mine slope monitoring method that a kind of 3 D laser scanning and GPS are combined, it is characterised in that：Three-dimensional laser scanner system is organically combined with GPS monitoring and positioning systems, side slope geological disaster carries out accurate measurements.Its advantage is that mine slope geological disaster is carried out accurately to detect and forecast, monitoring side slope intelligence and prediction effect can be improved, side slope deformation is monitored in real time, Accurate Prediction slope deforming trend and carries out the geological disasters such as slope displacement and landing in advance, it is ensured that mining production is safe.
Description
Technical field
Patent of the present invention is related to monitoring technology for geological hazards field, more particularly to a kind of 3 D laser scanning is tied with GPS phases
The Mine Monitoring method of conjunction.
Background technology
Slope monitoring is the important measures for ensureing the construction of the engineering safeties such as highway, railway, opencut, storehouse bank, and opencut
Long-term slope be in Dynamic Excavation process, how to carry out it is long-term, effective, accurately carry out slope monitoring, be bargh be badly in need of
The problem solved.
The method for carrying out slope displacement monitoring at present is a lot, such as observes greatly, instrument observation, GPS observations, up short are surveyed
Amount etc..Two classes can be divided into by installing acquisition mode by equipment：Contact measurement method and contactless measurement.
GPS mensurations belong to contact measuring method, and the method is that fixed gps antenna is arranged at each monitoring point of side slope, passes through GPS
Satellite sends navigator fix signal and carries out space resection's measurement, so as to carry out displacement monitoring, the method energy to antenna point
All weather operations, is not limited by intervisibility between measuring point, and the three-dimensional coordinate of each control point, such as patent can be accurately measured simultaneously
The GPS monitoring mine slope subsystems described in " 201310568264.2 mine side slope deformation monitoring and early warning system and early warning method thereof "
What system was gathered is the displacement that Highwall mining layer homonymy respectively deforms measuring point, and the displacement of point is alarmed beyond preset range, and GPS monitorings are applicable
In a position deformation monitoring, the monitoring object of difficulty with a varied topography of layouting is not suitable for
Three dimension laser scanning surreying is owned by France in non-contact measurement method, and such as patent 201210059014.1, " one kind is using
The method of the fast slowdown monitoring deformation of face type three-dimensional laser scanner ", be used to monitor middle-size and small-size landslide.This method is to set to close first
Suitable fixed station, motionless point target, and reflector is set on monitoring objective, laser scanner is fixed on fixed point pier,
The equipment such as computer, power supply, camera are connected, starts gathered data, compares the scanning file under different time sequence, according to observation pair
As the change completion monitoring task of the different timing coordinations in relative reflection center, but require that the reflector set was monitored entirely
It is fixed in journey, for complicated landform, fixing point, the difficult arrangement of reflector, it is difficult to remain stationary as, if reflector is moved
It is dynamic, the reduction of deformation monitoring precision.
The content of the invention
It is used for difficulty of construction greatly it is an object of the invention to provide one kind, slope monitoring with a varied topography can reduce construction work
Measure, improve the slope monitoring method that the 3 D laser scanning and GPS of monitoring efficiency and measurement accuracy are combined.
The object of the present invention is achieved like this.
The mine slope monitoring method that a kind of 3 D laser scanning and GPS of the present invention is combined, it is characterised in that：By three
Dimension laser scanning instrument system organically combines with GPS monitoring and positioning systems, and side slope geological disaster carries out accurate measurements, tool
Body step is as follows：
（1）Monitoring stake I is set on the axis of monitored side slope first, described monitoring stake I as reference stake,
The surrounding of reference stake lays multiple monitoring stakes II；
（2）GPS receiving instruments or three-dimensional laser scanner are installed on reference stake, one is laid in each monitoring stake II
GPS receiver instrument on side slope surface GPS receiving instruments or hollow reflective ball, reference stake and multiple side slope surface GPS receiving instruments according to
Secondary connection, carries out GPS static monitoring techniques, and monitoring period of time is more than 50 minutes, obtains the three-dimensional coordinate of monitoring point, and monitoring point three-dimensional is sat
Mark Real-time Monitoring Data is transferred to remote monitoring server and data handling machine, and data processing is carried out in real time, obtains side slope
The three-dimensional coordinate of surface monitoring point change in displacement situation at any time；
（3）Three-dimensional laser scanner will be installed on reference stake every 10-30 days, if desired set in monitoring scanning side slope
Tracking target point is put, then needs to change into the multiple side slope surface GPS receiving instruments installed in monitoring stake in monitoring scanning range
Hollow reflective ball, then side slope be scanned, obtain side slope each point deformation values；
It is described obtain side slope each point deformation values computational methods be：
The three-dimensional coordinate that a, the GPS receiver instrument using in scanning range in monitoring stake obtain monitoring point is used as 3 D laser scanning
The reference object of instrument（Hollow ball）The coordinate of hollow reflective ball center, the point for being obtained 3 D laser scanning as datum mark
Cloud data are imported in three-dimensional system of coordinate, obtain the initial value (L10, L20, L30 ... Ln0) of side slope each point；
B, interval 10-30 days, repeat step（2）With（3）Work, spatial digitizer arrange parameter keep with last time monitor
Unanimously, the side slope each point three-dimensional coordinate (L11, L21, L31 ... Ln1) during monitoring is obtained；
C, by step（b）The side slope each point three-dimensional coordinate of acquisition subtracts step（a）Each point coordinates initial value of side slope is obtained, i.e.,
Deformation values (V1=L11- L10 of side slope each point in this time can be obtained；V2=L21- L20), it is this section of time inner edge
The deformation values of slope each point.
Described monitoring stake I includes firm banking, is arranged on the centering hollow stem of firm banking middle and upper part, is arranged on fixation
The supporting plate of base surrounding, is respectively welded in described three positions of upper, middle and lower to middle hollow stem and is mutually hung down in cross two-by-two
Straight carrying bolt bar, is provided with bolt hole in described supporting plate, and described supporting plate is consolidated by bolt and carrying bolt bar
Fixed connection, the internal thread connection at the top of internal thread connecting hole, its centering hollow stem is provided with the top to middle hollow stem
Hole is used for the structure for connecting monitoring stake in three-dimensional laser scanner, GPS monitoring devices or hollow reflective ball, described scanning range
It is identical with the structure of monitoring stake I.
Three positions of upper, middle and lower of described centering hollow stem are located at 50cm, 90cm, 130cm of centering hollow stem respectively
Place.
The beneficial effects of the invention are as follows：
The present invention organically combines three-dimensional laser scanner system with GPS monitoring and positioning systems, obtains monitoring point
Three-dimensional coordinate, side slope geological disaster carry out accurate measurements, monitoring point three-dimensional coordinate Real-time Monitoring Data is transferred to remotely
Server and data handling machine are monitored, data processing is carried out in real time, the three-dimensional coordinate of side slope surface monitoring point is obtained at any time
Change in displacement situation.Using the present invention related personnel can be made to be taken preventive measures in time according to warning information, while improving place
The personnel safety near mine slope,
The present invention is used for difficulty of construction greatly, and slope monitoring work with a varied topography is very practical, can reduce construction workload,
Monitoring efficiency is improved, measurement accuracy is ensured.
Mine slope geological disaster is carried out accurately to detect and forecast, monitoring side slope intelligence and prediction effect can be improved,
Side slope deformation is monitored in real time, Accurate Prediction slope deforming trend and carries out the geology calamity such as slope displacement and landing in advance
Evil, it is ensured that mining production safety.
Brief description of the drawings
Fig. 1 is Monitoring Data flow figure of the present invention.
Fig. 2 sets the schematic diagram of monitoring stake for the present invention in monitored side slope.
The structural representation structure chart of Fig. 3 monitoring stakes of the present invention.
The overlooking structure figure of Fig. 4 monitoring stakes of the present invention.
Fig. 5 monitoring stake GPS of the present invention and hollow ball scheme of installation.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As Figure 1-5, the mine slope monitoring method that a kind of 3 D laser scanning of the invention and GPS are combined, its
It is characterised by：Three-dimensional laser scanner system is organically combined with GPS monitoring and positioning systems, side slope geological disaster is entered
Row accurate measurements, are comprised the following steps that：
（1）Monitoring stake I 1 is set on the axis of monitored side slope first, and described monitoring stake I 1 includes firm banking
1-1, is arranged on the centering hollow stem 1-2 of firm banking 1-1 middle and upper parts, the supporting plate 1-3 of firm banking surrounding is arranged on, in institute
It is in the orthogonal carrying bolt bar 1-4 of cross two-by-two that the centering hollow stem 1-2 stated three positions of upper, middle and lower, which are respectively welded,
Bolt hole is provided with described supporting plate 1-3, described supporting plate 1-3 is fixedly connected by bolt with carrying bolt bar 1-4,
In the top internal thread connecting hole 1-5 to middle hollow stem, the top internal thread connecting hole 1-5 of its centering hollow stem is used for
Connect three-dimensional laser scanner, GPS monitoring devices 1-6 or hollow reflective ball 1-7.As shown in Fig. 3,4,5.
Setting the specific method of monitoring stake I 1 is：
1）Length of side 25cm, depth 50cm foundation ditch are excavated on side slope surface, foundation ditch bottom surface requires smooth, by what is be welded
Firm banking 1-1 is put into wherein；
2）Centering hollow stem 1-2 is vertically welded in firm banking middle and upper part, with level measurement adjust firm banking 1 and
Centering hollow stem 1-2 gradient；Centering hollow stem 1-2 top is provided with internal thread connecting hole 1-5；
3）Supporting plate 1-3 is set in firm banking 1-1 surroundings, in 50cm, 90cm, 130cm to middle hollow stem 1-2 height
Place's welding is in the orthogonal carrying bolt bar 1-4 of cross two-by-two；
4）The bolt matched with carrying bolt bar 1-4 is also provided with supporting plate 1-3 height 50cm, 90cm, 130cm
Hole, supporting plate 1-3 is fixedly connected by bolt with carrying bolt bar 4.
Centering hollow stem 1-2 top is used to connect three-dimensional laser scanner, GPS monitorings provided with internal thread connecting hole 1-5
The structure of monitoring stake is identical with the structure of monitoring stake I in device or hollow reflective ball, described scanning range.
Monitoring stake I 1 of the present invention lays multiple monitoring stakes II 2 as reference stake in the surrounding of reference stake；It is described
Multiple monitoring stakes II 2 structure it is identical with the structure of monitoring stake I 1.
（2）GPS receiving instruments are installed on reference stake, multiple side slope surface GPS are laid in multiple monitoring stakes II and are received
Instrument and total powerstation, GPS receiver instrument and multiple side slope surface GPS receiving instruments successively wired connection, carry out GPS static monitoring techniques, receive
Satellite number is more than 4, and monitoring period of time is more than 50 minutes, obtains the three-dimensional coordinate of monitoring point, monitoring point three-dimensional coordinate is supervised in real time
Data transfer is surveyed to remote monitoring server and data handling machine, data processing is carried out in real time, side slope surface monitoring is obtained
The three-dimensional coordinate change in displacement situation at any time of point；
（3）Three-dimensional laser scanner will be installed on reference stake every 10-30 days, if desired set in monitoring scanning side slope
Tracking target point is put, then needs to change into the multiple side slope surface GPS receiving instruments installed in monitoring stake in monitoring scanning range
Hollow reflective ball, it is desirable to which GPS device central point is overlapped with hollow ball's dead center, and then side slope is scanned, is swashed using three-dimensional
In photoscanner scanning process, hollow ball position will be remained stationary, and quantity is no less than 3, obtain each point deformation of side slope
Value；
It is described obtain side slope each point deformation values computational methods be：
A, using in scanning range monitoring stake GPS receiver instrument obtain monitoring point three-dimensional coordinate be used as three-dimensional laser scanner
Reference object（Hollow ball）The coordinate of hollow reflective ball center, the point cloud for being obtained 3 D laser scanning as datum mark
Data are imported in three-dimensional system of coordinate, obtain the initial value (L10, L20, L30 ... Ln0) of side slope each point；
B, interval 10-30 days, repeat step（2）With（3）Work, spatial digitizer arrange parameter keep with last time monitor
Unanimously, the side slope each point three-dimensional coordinate (L11, L21, L31 ... Ln1) during monitoring is obtained；
C, by step（b）The side slope each point three-dimensional coordinate of acquisition subtracts step（a）Each point coordinates initial value of side slope is obtained, i.e.,
Deformation values (V1=L11- L10 of side slope each point in this time can be obtained；V2=L21- L20), it is this section of time inner edge
The deformation values of slope each point.
We lay 18 points in Qidashan iron ore stope and mining junkyard, retain 16 points.
Two period monitor values are compared by 6 observation and 6 scanning:
Elevation changing value is obtained between 0.1~0.8 ㎜；Sea level changes value is between 0.1~1.2 ㎜.
Vertical displacement monitoring and horizontal displacement detection：The mean square error of height (required precision) of deformation observation point is less than 0.3 ㎜；
Calculated value is 0.142 ㎜；Error (required precision) is less than 0.1 ㎜ in the discrepancy in elevation of adjacent deformations observation station；Calculated value is 0.043
㎜；The mean square error of a point (required precision) of deformation observation point is less than 1.5 ㎜；Calculated value is 0.778 ㎜.Precision reaches 0.5mm.
Table 1 is that 6 observation and 6 scanning compare two period monitor values.
The slope monitoring being combined using the 3 D laser scanning and GPS of the present invention can be seen that by above-mentioned observation
Method, fully meets existing national standards《Code for engineering surveying》（GB50026-2007）Defined deformation monitoring grade and essence
Degree is required.
The present invention's applies under geography complicated and changeable, orographic condition, is to reduce slope and land slide to greatest extent, sink
The natural calamity accident such as drop, displacement, each measured data has been carried out analysis and the demonstration of science, and by calculating
Machine is programmed, and is inserted in Survey and map software and is depicted as cycle sedimentation, displacement changing curve figure, it is ensured that the peace of the big gliding mass in mine and refuse dump
It is complete steady controlled.
Claims (3)
1. the mine slope monitoring method that a kind of 3 D laser scanning and GPS are combined, it is characterised in that：By 3 D laser scanning
Instrument system organically combines with GPS monitoring and positioning systems, and side slope geological disaster carries out accurate measurements, and specific steps are such as
Under：
（1）Monitoring stake I is set on the axis of monitored side slope first, described monitoring stake I is as reference stake, in benchmark
The surrounding of stake lays multiple monitoring stakes II；
（2）GPS receiving instruments are installed on reference stake, a side slope surface GPS receiving instrument, base are laid in each monitoring stake II
GPS receiver instrument in quasi- stake is sequentially connected with multiple side slope surface GPS receiving instruments, carries out GPS static monitoring techniques, and monitoring period of time is big
In 50 minutes, the three-dimensional coordinate of monitoring point is obtained, monitoring point three-dimensional coordinate Real-time Monitoring Data is transferred into long-range monitoring services
Device and data handling machine, carry out data processing in real time, obtain the three-dimensional coordinate of side slope surface monitoring point change in displacement at any time
Situation；
（3）Three-dimensional laser scanner was installed every 10-30 days on reference stake, if desired sets and follows the trail of in monitoring scanning side slope
Target point, then need to change the side slope surface GPS receiving instruments installed in monitoring stake in monitoring scanning range into hollow reflective
Ball, then side slope be scanned, obtain side slope each point deformation values；
It is described obtain side slope each point deformation values computational methods be：
A, using in scanning range in monitoring stake GPS receiver instrument obtain monitoring point three-dimensional coordinate as three-dimensional laser scanner ginseng
According to the coordinate of target hollow reflective ball center, imported as the cloud data that datum mark is obtained 3 D laser scanning three-dimensional
In coordinate system, the initial value (L10, L20, L30 ... Ln0) of side slope each point is obtained；
B, interval 10-30 days, repeat step（2）With（3）Work, spatial digitizer arrange parameter keep with last time monitoring one
Cause, obtain the side slope each point three-dimensional coordinate (L11, L21, L31 ... Ln1) during monitoring；
C, by step（b）The side slope each point three-dimensional coordinate of acquisition subtracts step（a）Obtain each point coordinates initial value of side slope, you can obtain
Must in this time side slope each point deformation values (V1=L11- L10；V2=L21- L20), be this time in side slope it is each
The deformation values of point.
2. the mine slope monitoring method that 3 D laser scanning according to claim 1 and GPS are combined, it is characterised in that
Described monitoring stake I includes firm banking, is arranged on the centering hollow stem of firm banking middle and upper part, is arranged on firm banking surrounding
Supporting plate, be respectively welded in described three positions of upper, middle and lower to middle hollow stem two-by-two be in the orthogonal support of cross
Shank of bolt, is provided with bolt hole in described supporting plate, and described supporting plate is fixedly connected by bolt with carrying bolt bar,
The internal thread connecting hole that the top of described centering hollow stem is provided with the top of internal thread connecting hole, its centering hollow stem is used to connect
The structure of monitoring stake and monitoring stake I in three-dimensional laser scanner, GPS monitoring devices or hollow reflective ball, described scanning range
Structure it is identical.
3. the mine slope monitoring method that the 3 D laser scanning and GPS according to claim 2 are combined, its feature exists
It is located at respectively at 50cm, 90cm, 130cm of centering hollow stem in three positions of upper, middle and lower of described centering hollow stem.
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| CN201510586033.3A CN105526908B (en) | 2015-09-16 | 2015-09-16 | The slope monitoring method that a kind of 3 D laser scanning and GPS are combined |
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| CN201510586033.3A CN105526908B (en) | 2015-09-16 | 2015-09-16 | The slope monitoring method that a kind of 3 D laser scanning and GPS are combined |
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| CN105526908B true CN105526908B (en) | 2017-10-13 |
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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 mass deformation monitoring device and method |
| 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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| 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 |
| CN111811386B (en) * | 2020-08-13 | 2022-03-29 | 北京大成国测科技有限公司 | Slope horizontal displacement monitoring system and method based on Beidou positioning |
| CN112146586B (en) * | 2020-09-23 | 2022-04-19 | 招商局重庆交通科研设计院有限公司 | Slope deformation monitoring system |
| CN112880639B (en) * | 2021-04-28 | 2021-07-13 | 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 |
| CN113251913A (en) * | 2021-05-08 | 2021-08-13 | 中国长江三峡集团有限公司 | Comprehensive monitoring method for surface deformation of bank side slope |
| CN113701707A (en) * | 2021-08-27 | 2021-11-26 | 叶富建 | Automatic monitoring system and method for collapse geological disaster |
| CN113932727B (en) * | 2021-11-29 | 2023-05-05 | 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 |
| CN114577134B (en) * | 2022-03-01 | 2023-08-15 | 长江水利委员会长江科学院 | Device and method for monitoring inclination deformation of wide-range all-weather landslide body |
| CN116596381A (en) * | 2023-05-18 | 2023-08-15 | 中国自然资源航空物探遥感中心 | Underground mining mine environment evaluation system based on remote sensing image |
| CN117073764B (en) * | 2023-08-27 | 2024-04-09 | 新疆交通建设集团股份有限公司 | Mountain area highway subgrade slope state monitoring system and method |
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