CN108253925A - A kind of tunnel deformation monitoring method, equipment and storage device based on cloud section - Google Patents
A kind of tunnel deformation monitoring method, equipment and storage device based on cloud section Download PDFInfo
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- CN108253925A CN108253925A CN201810013186.2A CN201810013186A CN108253925A CN 108253925 A CN108253925 A CN 108253925A CN 201810013186 A CN201810013186 A CN 201810013186A CN 108253925 A CN108253925 A CN 108253925A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
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Abstract
The present invention devises a kind of tunnel deformation monitoring method, equipment and storage device based on cloud section, the asynchronous point cloud data in tunnel is obtained by laser scanner, denoising, splicing are carried out to the data of each phase, and different times data are registrated, then according to certain spacing Pick up Profile point cloud data, deformation monitoring is carried out to tunnel using the method for point to model on this basis.A kind of tunnel deformation monitoring device and storage device based on cloud section, are used to implement the tunnel deformation monitoring method based on cloud section.The obtained negligible amounts of section point cloud data of present invention extraction, improve the efficiency of data processing, at the same also avoid due to the fitting of cloud section and caused by error of fitting, highly practical, precision is high.
Description
Technical field
The present invention relates to exploration ground building field more particularly to a kind of tunnel deformation monitoring sides based on cloud section
Method, equipment and storage device.
Background technology
Traditional tunnel deformation monitoring is insufficient although precision is higher generally using monitoring means such as total powerstation, convergence gauges
Part is that working efficiency is low, it is impossible to which real-time carries out deformation monitoring to entire tunnel.With the continuous hair of laser technology
Exhibition, laser precision are also improved constantly so that become a kind of new using laser scanner in degree of precision deformation monitoring field
Method.Being changed detection currently with point cloud data, there are two major class methods, and a kind of method is by obtaining tunnel point cloud axis
Line, fitting cross-section data are changed monitoring, and another kind of method is directly changed monitoring to whole tunnel point cloud.The first side
Method chooses the section of certain intervals, improves the efficiency of monitoring, but there are errors during being fitted to section；Second
Method is compared whole point cloud, and data volume is larger, less efficient.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of tunnel deformation monitoring method, equipment based on cloud section
And storage device.A kind of tunnel deformation monitoring method based on cloud section, it is characterised in that：Include the following steps：
S1：Using scanner scanning, the asynchronous point cloud data in tunnel is acquired；
S2：According to the difference of asynchronous point cloud data type, the point cloud data is filtered using different methods
Wave denoising；
S3：According to the control target that the convergence part distribution between tunnel neighboring stations is set, between the point same phase neighboring stations
Cloud data are spliced；
S4：Using the control target, the point cloud data of two phase of difference spliced is registrated according to registration model,
In conversion to the same coordinate system；
S5：According to the point cloud data in the same coordinate system, global fitting is carried out to tunnel, is determined parallel with tunnel axis
Pick up Profile baseline；
S6：According to the Pick up Profile baseline, the section that orthogonal direction is carried out to the point cloud data of tunnel trend is intercepted, is obtained
To a cloud section；
S7：Described cloud section is handled using the method for point to grid；
S8：Compare the point in point cloud data to the distance of the plane of reference according to obtained from point to the method for grid, that is, monitor
The tunnel deformation amount arrived.
Further, in step sl, the scanner is laser scanner, the collection point cloud in a manner that substation formula scans
Data.
Further, in step s 2, the difference of the point cloud data type is filtered denoising using different methods
Including：Orderly point cloud data is filtered denoising using the method including standard gaussian, the method for average value；Point at random
Cloud data are on the basis of grid screen topology rebuilding, using the K of discrete point mainly comprising bulk noise and isolated spot noise
The method of neighborhood is filtered denoising.
Further, in step s3, the uniformly distributed quantity of the control target is 4~5；Using first survey station as
Base station, the survey station splicing with adjacent previous survey station progress point cloud data respectively thereafter.
Further, in step s 4, the step of registration includes：Point cloud coordinate based on control target is sat with engineering
Mark obtains the transformational relation between different spaces coordinate system；On the basis of engineering coordinate system, closed according to the conversion between the coordinate system
System, the point cloud data under different coordinates is transformed into the engineering coordinate system.
Further, in step s 5, it is described to determine that the Pick up Profile baseline parallel with tunnel axis refers to：Pass through rotation
Matrix is based on corresponding angle component and carries out pose adjustment, the Pick up Profile base converted in local coordinate system to baseline
Line；The local coordinate system refers to：Y-axis is in the direction advanced using tunnel, and the direction of tunnel section is X-axis, vertical direction Z
Axis, the coordinate system of foundation.
Further, in step s 6, the spacing of the section height of extraction and adjacent sections is all fixed value.
Further, in the step s 7, the method for point to the grid refers to：It is provided with the point cloud section of a wherein phase
Point cloud data, as comparing point cloud data, Points cloud Fitting that the point cloud section of another phase provides is into curved surface, as reference
Face, calculating compare the point in point cloud data to the distance of the plane of reference.
A kind of storage device, it is characterised in that：The storage device store instruction and data are used to implement a kind of based on point
The tunnel deformation monitoring method of cloud section.
A kind of tunnel deformation monitoring device based on cloud section, it is characterised in that：Including：Processor and the storage are set
It is standby；The processor load and perform instruction and data in the storage device be used to implement it is a kind of based on a tunnel for cloud section
Road deformation monitoring method.
Description of the drawings
Below in conjunction with accompanying drawings and embodiments, the invention will be further described, in attached drawing：
Fig. 1 is a kind of flow chart of tunnel deformation monitoring method based on cloud section in the embodiment of the present invention；
Fig. 2 is the Point-clouds Registration schematic diagram in the embodiment of the present invention；
Fig. 3 is the baseline local coordinate system transformation schematic diagram in the embodiment of the present invention；
Fig. 4 is the point cloud section extraction schematic diagram in the embodiment of the present invention；
Fig. 5 is the diagrammatic cross-section in the embodiment of the present invention；
Fig. 6 is illustraton of model of the point in the embodiment of the present invention to grid method；
Fig. 7 is the schematic diagram that hardware device works in the embodiment of the present invention.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
The specific embodiment of the present invention.
The embodiment provides a kind of tunnel deformation monitoring method based on cloud section, equipment and storages to set
It is standby, tunnel not same period point cloud data is obtained by laser scanner, to each issue according to denoising, splicing is carried out, to different times number
According to being registrated, then according to certain spacing Pick up Profile point cloud data, the method pair of model is arrived using point on this basis
Tunnel carries out deformation monitoring, obtains the deflection in tunnel；A kind of tunnel deformation monitoring device and storage based on cloud section are set
It is standby, it is used to implement a kind of tunnel deformation monitoring method based on cloud section.
It please refers to Fig.1, Fig. 1 is a kind of stream of tunnel deformation monitoring method based on cloud section in the embodiment of the present invention
Cheng Tu, key step include：
S1：Using scanner scanning, the asynchronous point cloud data in tunnel is acquired；The scanner is laser scanner, with
The mode of substation formula scanning acquires point cloud data；
S2：According to the difference of asynchronous point cloud data type, the point cloud data is filtered using different methods
Wave denoising；The difference according to point cloud data type is filtered denoising using different methods and includes：Orderly point cloud number
According to being filtered denoising using the method including standard gaussian, the method for average value；Point cloud data at random, it is main to include group
Shape noise and isolated spot noise are on the basis of grid screen topology rebuilding, are filtered using the method for the K neighborhoods of discrete point
Denoising；
S3：According to the control target that the convergence part distribution between tunnel neighboring stations is set, between the point same phase neighboring stations
Cloud data are spliced；The uniformly distributed quantity of the control target is 4~5；It is stood on the basis of first survey station, thereafter
One survey station carries out the splicing of point cloud data with adjacent previous survey station respectively；
S4：Using the control target, the point cloud data of two phase of difference spliced is registrated according to registration model,
In conversion to the same coordinate system；The step of registration, includes：Point cloud coordinate based on control target obtains not with engineering coordinate
Transformational relation between isospace coordinate system；It, will be different according to the transformational relation between the coordinate system on the basis of engineering coordinate system
Point cloud data under coordinate system is transformed into the engineering coordinate system；Shown in registration model such as formula (1)：
Wherein, Pc=(xc,yc,zc) it is to obtain the independent coordinate of the control target, P using the scannera=(xa,
ya,za) be using total powerstation obtain it is described control target engineering coordinate, Δ x, Δ y, Δ z be translation parameters, φ, ω, κ two
Angle and coordinate rotation parameter between a cloud coordinate vector and reference axis, R (φ, ω, κ) be spin matrix, R (φ,
ω, κ) formula such as formula (2) shown in：
Resolve 7 parameters in coordinate transformation relation：Coordinate zoom factor translates three parameters, and coordinate rotates three parameters, because
The lenth ratio given tacit consent in two different coordinates is the same, so coordinate zoom factor value is 1, in the registration model, deposits
In 6 parameters to be askedThree parameter, Δ x, Δ y, Δ z are translated, coordinate rotates three parameter phis, and ω, κ exist by orthogonal matrix
The relationship as shown in formula (3), (4)：
According to registration model, with reference to formula (1)~(4), parameter to be asked is obtained error equation such as formula by series expansion
(5) shown in：
Wherein, V is the correction matrix number after engineering coordinate adjustment, and B is factor arrays,For parameter to be asked, L is constant, and
According to the principle of least square, in formula (5)Meet VTThe requirement of PV values minimum obtains formula (8)：
Wherein, V is the correction matrix number after engineering coordinate adjustment, and B is factor arrays,For parameter to be asked, P is power battle array.
Formula (8) transposition, obtains formula (9)：
BTPV=0 (9)
Formula (5) is substituted into formula (9), obtains formula (10)：
According to formula (10), parameter to be asked is obtainedAs shown in formula (11)：
From formula (12)：
Wherein, l is constant, and P is power battle array,For parameter to be asked, B is factor arrays, and n is the number of observation, and t is seen to be necessary
Survey number.
According to the evaluation formula (13) of precision, the valuation of parameter variance to be asked can be calculated, to weigh the essence of parameter to be asked
Degree：
Wherein,For the valuation of parameter variance to be asked, r is redundant observation number, and P is power battle array, and V is after engineering coordinate adjustment
Correction matrix number.
S5：According to the point cloud data in the same coordinate system, global fitting is carried out to tunnel, is determined parallel with tunnel axis
Pick up Profile baseline；It is described to determine that the Pick up Profile baseline parallel with tunnel axis refers to：It is based on by spin matrix corresponding
Angle component to baseline carry out pose adjustment, the Pick up Profile baseline converted in local coordinate system；The part is sat
Mark system refers to：As Y-axis, the direction of tunnel section is X-axis in the direction advanced using tunnel, and vertical direction is Z axis, the coordinate of foundation
System；
S6：According to the Pick up Profile baseline, the section that orthogonal direction is carried out to the point cloud data of tunnel trend is intercepted, is obtained
To a cloud section；The section height of extraction and the spacing of adjacent sections are all fixed value；
S7：Described cloud section is handled using the method for point to grid；The method of point to the grid refers to：With wherein one
The point cloud data that the point cloud section of phase provides, as point cloud data is compared, the point cloud data that the point cloud section of another phase provides is intended
Composite surface, as with reference to face, calculating compares the point in point cloud data to the distance of the plane of reference；
S8：Compare the point in data to the distance of the plane of reference according to obtained from point to the method for grid, that is, monitor
Tunnel deformation amount.
Refer to Fig. 2, Fig. 2 is the Point-clouds Registration schematic diagram in the embodiment of the present invention, according to survey station 1 and survey station 2 it
Between linking part it is uniformly distributed have 4 control targets, the point cloud data between neighboring stations splices, and ensures to provide enough
Point cloud data be used for tunnel deformation information extraction.
Fig. 3 is referred to, Fig. 3 is the baseline local coordinate system transformation schematic diagram in the embodiment of the present invention, is advanced with tunnel
Direction is Y-axis, and the direction of tunnel section is X-axis, and vertical direction is Z axis, establishes local coordinate system, the direction of tunnel point cloud axis
It is parallel with Y-axis.In order to intercept the orthogonal direction that tunnel moves towards, need to be based on corresponding angle component by spin matrix
The adjustment of posture is carried out to baseline, to baseline 2 rotating around Z coordinate axis and X-coordinate axle rotation angle valueIt rotates to baseline 3,
The normal direction for making interception position is consistent with the orthogonal direction of Y-coordinate axle.
Referring to Fig. 4, Fig. 4 is the point cloud section extraction schematic diagram in the embodiment of the present invention, and 5 be the spacing of adjacent sections, 6
For the height of Pick up Profile, the section height of extraction and the spacing of adjacent sections are all fixed value, to tunnel point cloud data [xi
yi zi]TWith intercept point [x0 y0 z0]TIn respective coordinate value [x ' after converting as follows0 y′0 z′0]TPlace cuts section：
[xi yi zi]T=AB [xi yi zi]T (8)
[x′0 y′0 z′0]T=AB [x0 y0 z0]T (9)
Wherein,And acquire section coordinate value [x '
y′ z′]TAs shown in formula (10)：
[x′ y′ z′]T=[x '0 y′0 z′0]T+R[cosθ 0 sinθ]T (10)
Wherein, θ ∈ [0,2 π] is angle value of the section point corresponding to intercept point line on axis.
Fig. 5 is referred to, Fig. 5 is the diagrammatic cross-section in the embodiment of the present invention, and 7 be a cloud section of extraction.
Referring to Fig. 6, Fig. 6 is illustraton of model of the point in the embodiment of the present invention to grid method, and 8 be reference point clouds data, 9
To compare point cloud data, 10 be the distance that side ridge is locally found along grid, and 11 be the curved surface being fitted to by reference point clouds data 8,
That is the plane of reference, 12 be the deflection for comparing any point in point cloud data 9 to the distance, i.e. tunnel of the plane of reference 11.
Fig. 7 is referred to, Fig. 7 is the hardware device operating diagram of the embodiment of the present invention, and the hardware device specifically includes：
A kind of tunnel deformation monitoring device 701 based on cloud section, processor 702 and storage device 703.
A kind of tunnel deformation monitoring device 701 based on cloud section：It is described a kind of based on a tunnel deformation for cloud section
Monitoring device 701 realizes a kind of tunnel deformation monitoring method based on cloud section.
Processor 702：The processor 702 loads and performs the instruction in the storage device 703 and data are for real
A kind of existing tunnel deformation monitoring method based on cloud section.
Storage device 703：703 store instruction of storage device and data；The storage device 703 is used to implement described
A kind of tunnel deformation monitoring method based on cloud section.
The beneficial effects of the invention are as follows：The section point cloud negligible amounts that method provided by the invention is extracted, improve
The efficiency of data processing, at the same also avoid fitting due to section point cloud and caused by error of fitting, highly practical, precision
It is high.
The embodiment of the present invention is described above in conjunction with attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned specific embodiment is only schematical rather than restricted, those of ordinary skill in the art
Under the enlightenment of the present invention, present inventive concept and scope of the claimed protection are not being departed from, can also made very much
Form, these are belonged within the protection of the present invention.
Claims (10)
1. a kind of tunnel deformation monitoring method based on cloud section, it is characterised in that：Include the following steps：
S1：Using scanner scanning, the asynchronous point cloud data in tunnel is acquired；
S2：According to the difference of asynchronous point cloud data type, the point cloud data is filtered using different methods
It makes an uproar；
S3：According to the control target that the convergence part distribution between tunnel neighboring stations is set, the point cloud number between same phase neighboring stations
According to being spliced；
S4：Using the control target, the point cloud data of two phase of difference spliced according to registration model is registrated, is converted
Into the same coordinate system；
S5：According to the point cloud data in the same coordinate system, global fitting is carried out to tunnel, determines parallel with tunnel axis carry
Take section baseline；
S6：According to the Pick up Profile baseline, the section that orthogonal direction is carried out to the point cloud data of tunnel trend is intercepted, is obtained a little
Cloud section；
S7：Described cloud section is handled using the method for point to grid；
S8：Compare the point in point cloud data to the distance of the plane of reference according to obtained from point to the method for grid, that is, monitor
Tunnel deformation amount.
2. a kind of tunnel deformation monitoring method based on cloud section as described in claim 1, it is characterised in that：In step S1
In, the scanner is laser scanner, and point cloud data is acquired in a manner that substation formula scans.
3. a kind of tunnel deformation monitoring method based on cloud section as described in claim 1, it is characterised in that：In step S2
In, the difference of the point cloud data type is filtered denoising using different methods and includes：Orderly point cloud data uses
The method of method, average value including standard gaussian is filtered denoising；Point cloud data at random, mainly comprising bulk noise and
Isolated spot noise, on the basis of grid screen topology rebuilding, denoising is filtered using the method for the K neighborhoods of discrete point.
4. a kind of tunnel deformation monitoring method based on cloud section as described in claim 1, it is characterised in that：In step S3
In, the uniformly distributed quantity of the control target is 4~5；It is stood on the basis of first survey station, survey station difference thereafter
The splicing of point cloud data is carried out with adjacent previous survey station.
5. a kind of tunnel deformation monitoring method based on cloud section as described in claim 1, it is characterised in that：In step S4
In, the step of registration, includes：Point cloud coordinate and engineering coordinate based on control target are obtained between different spaces coordinate system
Transformational relation；On the basis of engineering coordinate system, according to the transformational relation between the coordinate system, by the point cloud number under different coordinates
According to being transformed into the engineering coordinate system.
6. a kind of tunnel deformation monitoring method based on cloud section as described in claim 1, it is characterised in that：In step S5
In, it is described to determine that the Pick up Profile baseline parallel with tunnel axis refers to：Corresponding angle component pair is based on by spin matrix
Baseline carries out pose adjustment, the Pick up Profile baseline converted in local coordinate system；The local coordinate system refers to：With tunnel
For Y-axis, the direction of tunnel section is X-axis in the direction that road advances, and vertical direction is Z axis, the coordinate system of foundation.
7. a kind of tunnel deformation monitoring method based on cloud section as described in claim 1, it is characterised in that：In step S6
In, the section height of extraction and the spacing of adjacent sections are all fixed value.
8. a kind of tunnel deformation monitoring method based on cloud section as described in claim 1, it is characterised in that：In step S7
In, the method for point to the grid refers to：With the point cloud data that the point cloud section of a wherein phase provides, as comparison point cloud number
According to the Points cloud Fitting of the point cloud section offer of another phase, as with reference to face, calculates the point compared in point cloud data into curved surface
To the distance of the plane of reference.
9. a kind of storage device, it is characterised in that：The storage device store instruction and data are used to implement claim 1~8
Tunnel deformation monitoring method of any one described based on cloud section.
10. a kind of equipment of determining rock crack initiation stress, it is characterised in that：Including：Processor and the storage device；The place
Reason device, which loads and performs instruction and data in the storage device, is used to implement any one base described in claim 1~8
In the tunnel deformation monitoring method of cloud section.
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