CN108844522A - A kind of shield tunnel section center extraction method based on 3 D laser scanning - Google Patents
A kind of shield tunnel section center extraction method based on 3 D laser scanning Download PDFInfo
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Abstract
A kind of shield tunnel section center extraction method based on 3 D laser scanning, belongs to technical field of civil engineering.Present invention proposition, in this way can be to avoid the error occurred in section conversion process based on the method for directly cutting section under absolute coordinate and carrying out space circle fitting to section point cloud under absolute coordinate system.Section interception is determined based on the distance put to the plane under absolute coordinate system, the fitting of space circle is then that the fitting Combination based on the fitting and space plane that carry out space spherical shell to section point cloud forms, obtain the central coordinate of circle of space circle by space spherical shell equation and plane equation, so with design value comparative analysis.
Description
Technical field
The invention belongs to technical field of civil engineering, are related to a kind of shield tunnel section center based on 3 D laser scanning
Extracting method.
Background technique
In recent years to solve bring traffic problems in urbanization process, each province and city are all accelerated based on subway, light rail
Quickly, the construction and planning of large conveying quantity, public efficiently railway and highway system.Subway engineering investment is huge, and the completion time of project is long, belongs to hundred
Year engineering, the quality requirement of links are all very strict.Important component of the shield tunnel as subway engineering, in shield
During structure metro tunnel excavation, shield duct piece installation, completion, it is necessary to tunnel cross-section measurement is carried out, to section center position
Be determined, can guiding construction go on smoothly and tunnel be completed smoothly check and accept.
Traditional tunnel cross-section measurement mainly using total station or profiler one by one section, measuring point measures one by one, then
By treated, measurement result is compared with design value, checks tunnel construction and completion situation.In publication in 2017
《Shield method tunnel construction and acceptance specification》Middle regulation：During pipe sheet assembling, need to measure tunnel midline plane position by ring
And elevation；In the molding tunnel course of receiving, every 10 ring measurement tunnel midline plane position and elevation are needed.Shield tunnel construction
Time required for observing with completion process interrupt planar survey heavy workload and conventional monitoring methods is long, and labor intensity is high, sees
Survey precision influenced by observation condition it is more, automate it is poor.Therefore a kind of high-precision, high efficiency, intelligentized survey are needed
Amount mode.Three-dimensional laser scanning technique precision is high, measuring speed is fast and does not require light condition, even if pitch-dark
It can still be worked normally in tunnel, and can disposably acquire the data of tunnel internal quickly, completely, in all directions, through locating
The section of the available any number of rings in tunnel and the coordinate of section centerline after reason.
Current many scholars have carried out a large amount of research to application of the 3 D laser scanning in tunnel, but primarily directed to
The deformation in tunnel is studied during constructing tunnel and O&M.For in section during constructing tunnel and completion and section
The extraction research of the heart is less, and there is no the extracting methods for proposing detailed system.Set forth herein one kind to be adapted to shield tunnel construction
And during being completed section center extraction method, propose based on carrying out space circle fitting to point cloud data under absolute coordinate
Method is fast and accurately extracted the three-dimensional coordinate at section center, is used for and the design coordinate comparative analysis at the section center, to refer to
It leads construction and completes final acceptance of construction.
Summary of the invention
The present invention is intended to provide a kind of shield tunnel section central three-dimensional that fast and accurately extracts sits calibration method, i.e., it is a kind of
Shield tunnel section center extraction method based on 3 D laser scanning, for instructing shield tunnel construction and final acceptance of construction.
In order to achieve the above object, the present invention is directed to propose a kind of shield tunnel section center based on 3 D laser scanning
Extracting method, this approach includes the following steps：
The first step：Acquisition based on the point cloud data under absolute coordinate system
To obtain more accurate point cloud data, the survey station spacing and scanning resolution that need to reasonably choose.
After survey station spacing and scanning resolution determine, field scan is carried out；While scanning, with total station to scanning
The position of instrument and target measures, and determines the absolute coordinate of survey station and target.
It is only according to establishing that the point cloud data that three-dimensional laser scanner obtains every time, which is all with three-dimensional laser scanner center,
Intrinsic coordinates system is found to obtain a cloud coordinate information, only passes through the precision between each coordinate system for multistation point cloud data and turns
It changes, can just obtain entire tunnel and uniformly put cloud coordinate information；Tunnel point cloud is generally basede on target splicing, in adjacent two station weight
Multiple targets are laid in folded region, and guarantee the overlapping region there are three the target on the above non-same straight line between two stations.
The coordinate system for completing whole point cloud by public target point parameter conversion is unified；It after reunification, is needed in integrally point cloud coordinate system
To the absolute coordinate of target and survey station point imparting total station survey, it is in whole point cloud data under absolute coordinate system.
Second step：Tunnel axis detection based on bidirectional projection's method
After the whole point cloud data in tunnel is under absolute coordinate system, in order to extract different mileages, different number of rings
Section, need to extract the posture in expression tunnel and the space curve of tendency, the i.e. central axes in tunnel.By tunnel point cloud data point
Respective central axes are not extracted to the face XOY and the projection of the face YOZ, by the central axes expression formula simultaneous on the face XOY and the face YOZ, then table
Show to be the central axes of the tunnel in space；
Since tunnel duct piece wall is rough or is influenced by auxiliary device, it will exist on the tunnel boundary after leading to projection
Many noises, therefore use preferable stochastical sampling consistency (RANSAC) algorithm of anti-noise effect and least square method to having in tunnel
Axis extracts.
Third step：It is extracted based on the tunnel cross-section under absolute coordinate
Three-dimensional point cloud is imported in processing software, the section of a certain mileage in order to obtain, conventional method is by quasi- extraction
Section is rotated according to the tangent vector of central axes to perpendicular to a certain reference axis, but due in rotating through, the coordinate of point cloud data
It will change, the coordinate at obtained section center cannot compare (section center with the centre coordinate of design section
Design coordinate be typically all under absolute coordinate system), cannot guiding construction and final acceptance of construction.Therefore, the present invention proposes
Section interception is directly carried out according to the tangent vector of section central axes on the point cloud data under based on absolute coordinate, is obtained absolute
Section under coordinate, ensure that in this way cut section be under absolute coordinate, and then can with design coordinate carry out
Comparative analysis.
4th step：Based on the section central point fitting under absolute coordinate
It obtains needing to extract the central point of the section after the section under absolute coordinate, in the past using handle
The section is converted into the circle on two-dimensional space, is fitted to it, inevitable in this way and physical presence error, and can not be with design
Value is compared.Therefore the present invention proposes the approximating method for carrying out space circle to the section point cloud under absolute coordinate, obtains
The center point coordinate of the section.
Space circle, which can be regarded as, to be intersected by a space spherical shell with a plane, therefore will be to the section point of interception
Cloud carries out the fitting of space ball and plane fitting, is intended by carrying out conversion process and least square adjustment to section point cloud data
It is round to close space.
The central coordinate of circle of space circle is acquired by space spherical shell equation and Plane Equation.The central coordinate of circle of space circle is
It is the center point coordinate under absolute coordinate where the section, which is compared with the design coordinate of section can obtain three
Difference DELTA X, Δ Y and Δ Z in a axial direction, and then be compared with specification specified value, it verifies whether to meet code requirement.
Beneficial effect
This method of the present invention can be based on shield tunnel section and section central point be extracted under absolute coordinate, can
To be used to instruct shield tunnel construction and final acceptance of construction.
1) applicability of algorithm.It is directed to shield tunnel tunnel, bidirectional projection's method is applied to the extraction of central axes, by point
Cloud data are based on absolute coordinate and have carried out profile extraction, the fitting algorithm of space circle are applied to the extraction of section central point, most
It is achieved eventually by section central point and high precision total station the measurement result comparison extracted more satisfied as a result, to verify
Applicabilities of these algorithms for shield tunnel.
2) the advantages of method.With the tunnel used time of scanner scanning about 100m less than one hour, later data processing passes through
Program is realized, and the section and center point coordinate of available any mileage points, relatively simple convenience, compares conventional method,
The present invention has high efficiency, high-precision, intelligentized advantage.
Detailed description of the invention：
Fig. 1：Technology Roadmap；
Fig. 2：The face XOY axis detection procedure chart；
(a) original point cloud to the projection of the face XOY, the face (b) XOY boundary data reduction, the boundary (c) curves on point cloud be quasi-, (d) XOY
The fitting of face central axes；
Fig. 3：Profile extraction procedure chart under absolute coordinate；
Fig. 4：Spatial Sphere is fitted schematic diagram；
Fig. 5：Space circle fit procedure figure；
(a) section, the space spherical shell of (b) fitting, the plane of (c) fitting, (d) extracted under absolute coordinate cuts section
With the center of circle.
Fig. 6：The centerline points difference comparison diagram that scanner and total station obtain；
Specific embodiment：
In order to better understand the technical content of the present invention, spy as example and cooperates Detailed description of the invention using Beijing shield subway tunnel
It is as follows, but the present invention is not limited to following embodiments.
Embodiment 1
The first step：Acquisition based on the point cloud data under absolute coordinate system
To obtain more accurate point cloud data, the survey station spacing and scanning resolution that need to reasonably choose.
After survey station spacing and scanning resolution determine, field scan is carried out；While scanning, with total station to scanning
The position of instrument and target measures, and determines the absolute coordinate of survey station and target.
The point cloud data that three-dimensional laser scanner obtains every time is all to establish separate internal coordinate with centre for foundation
System only passes through the accurate conversion between each coordinate system to obtain a cloud coordinate information, for multistation point cloud data, can just obtain
Uniformly put cloud coordinate information in entire tunnel.Tunnel point cloud is generally basede on target splicing, lays in adjacent two station overlapping region
Multiple targets, and guarantee the overlapping region there are three the target on the above non-same straight line between two stations.By public
The coordinate system that whole point cloud is completed in the conversion of target point parameter is unified.It after reunification, is needed to target and survey in integrally point cloud coordinate system
The absolute coordinate that website imparting is measured with high precision total station is in whole point cloud data under absolute coordinate system.
Embodiment shield tunnel, radius 2.7m, long test section is about 60m.Survey station is spaced about 12m, during resolution ratio uses
Etc. resolution ratio, scan 5 stations altogether, by adjacent two station lay three targets spliced.Pass through target and survey station point after splicing
Absolute coordinate whole point cloud data is under absolute coordinate system.
Second step：Tunnel axis detection based on bidirectional projection's method
After the whole point cloud data in tunnel is under absolute coordinate system, in order to extract different mileages, different number of rings
Section, need to extract the posture in expression tunnel and the space curve of tendency, the i.e. central axes in tunnel.By tunnel point cloud data point
Respective central axes are not extracted to the face XOY and the projection of the face YOZ, by the central axes expression formula simultaneous on the face XOY and the face YOZ, then table
Show to be the central axes of the tunnel in space.Since tunnel duct piece wall is rough or is influenced by auxiliary device, it will cause
There are many noises on tunnel boundary after projection, therefore use preferable stochastical sampling consistency (RANSAC) algorithm of anti-noise effect
With least square method to there is tunnel central axes to extract.
Three dimensional point cloud is imported into MATLAB, is fitted the central axes of XOY plane and YOZ plane respectively.Detailed process is such as
Fig. 2.
Third step：It is extracted based on the tunnel cross-section under absolute coordinate
Three-dimensional point cloud is imported in processing software, the section of a certain mileage in order to obtain, conventional method is by quasi- extraction
Section is rotated according to the tangent vector of central axes to perpendicular to a certain reference axis, but due in rotating through, the coordinate of point cloud data
It will change, the coordinate at obtained section center cannot compare (section center with the centre coordinate of design section
Design coordinate be typically all under absolute coordinate system), cannot guiding construction and final acceptance of construction.Therefore, the design proposes
Section interception is directly carried out according to the central axes tangent vector of section position on the point cloud data under based on absolute coordinate,
Ensure that in this way cut section be under absolute coordinate, and then can with design coordinate compare and analyze.
According to tunnel axis detection section, the specific steps are：
1. the tangent vector by the tunnel central axes extracted, at available mileage (number of rings) point P (Xi, Yi, Zi)Then it is by the normal plane equation that mileage (number of rings) is put：
A (x-Xi)+b (y-Yi)+c (z-Zi)=0 (1)
2. section thickness 2D (D can freely be set, undesirable excessively big, generally take 0.005m or 0.0025m) is arranged, such as
The distance of fruit dot to normal plane is less than setting value D, then it is assumed that the point is on cutting section, i.e.,：
The set for meeting the point composition of above formula is point cloud data cutting section at mileage (number of rings) point P.Fig. 3
For profile extraction procedure chart under absolute coordinate.
4th step：Based on the section central point fitting under absolute coordinate
It obtains needing to extract the central point of the section after the section under absolute coordinate, in the past using handle
The section is converted into the circle on two-dimensional space, is fitted to it, inevitable in this way and physical presence error, and can not be with design
Value is compared.Therefore the design proposes the approximating method for carrying out space circle to the section point under absolute coordinate, and what is obtained should
The center point coordinate of section and the design centre point coordinate pair ratio of the section.
Space circle, which can be regarded as, to be intersected by a space spherical shell with a plane, therefore will be to the section point of interception
Cloud carries out the fitting of space ball and plane fitting.Space circle is fitted by carrying out conversion process and least square adjustment to data
Shape.
The fitting that space circle is carried out by the point cloud data to cut section, obtains the central coordinate of circle of space circle.The specific steps are：
1. carrying out space spherical shell fitting (sky by least square adjustment to 2. section point cloud that the step of third step intercepts
Between circle the center of circle and the centre of sphere of ball might not be overlapped), space spherical shell equation is：
(x-A)2+(y-B)2+(z-C)2=R2 (3)
Wherein, point (A, B, C) is fitting sphere centre coordinate.
2. carrying out space plane fitting, space by least square adjustment to 2. section point cloud that the step of third step intercepts
Plane Equation is：
Dx+Ey+Fz+G=0 (4)
Simultaneous equations (3) and (4) can acquire the central coordinate of circle of space circle, and the central coordinate of circle for being fitted space circle is the section
Center point coordinate under the absolute coordinate of place.The coordinate is compared with the design coordinate of section can obtain in three axial directions
Difference DELTA X, Δ Y and Δ Z, and then be compared with specification specified value, verify whether to meet code requirement.Fig. 4 is Spatial Sphere
It is fitted schematic diagram；Fig. 5 is space circle fit procedure figure.
The section center point coordinate that Point Cloud Processing obtains will be obtained with through high precision total station by above procedure
Section center point coordinate comparison, table 1 be center line point coordinate contrast table；Fig. 6 is the center line that scanner and total station obtain
Point difference comparison diagram.
1 centerline points coordinate pair ratio of table
Unit：Rice
In conclusion the present invention proposes a kind of shield tunnel section center extraction method based on 3 D laser scanning, lead to
Cross that the method obtains as a result, can be instructed shield tunnel construction process, be carried out an acceptance inspection to shield tunnel completion.
Claims (4)
1. a kind of shield tunnel section center extraction method based on 3 D laser scanning, which is characterized in that include the following steps：
The first step：Acquisition based on the point cloud data under absolute coordinate system
Choose reasonable survey station spacing and scanning resolution；After survey station spacing and scanning resolution determine, carry out scene is swept
It retouches；While scanning, is measured with position of the total station to scanner and target, determine the absolute seat of survey station and target
Mark；
Scanner is three-dimensional laser scanner, and the point cloud data that three-dimensional laser scanner obtains every time is all with 3 D laser scanning
Instrument center is only to pass through each seat for multistation point cloud data according to separate internal coordinate system is established to obtain a cloud coordinate information
Accurate conversion between mark system, can just obtain entire tunnel and uniformly put cloud coordinate information；Tunnel point cloud is generally basede on target
Splicing lays multiple targets in adjacent two station overlapping region, and guarantees that there are three the targets on the above non-same straight line to be located at two
Overlapping region between standing；The coordinate system for completing whole point cloud by public target point parameter conversion is unified；Integrally putting cloud
Coordinate system after reunification, needs to make whole point cloud data be in exhausted to the absolute coordinate of survey station and target imparting total station survey
To under coordinate system；
Second step：Tunnel axis detection based on bidirectional projection's method
After the whole point cloud data in tunnel is under absolute coordinate system, in order to extract the section of different mileages, different number of rings, just
Need to extract the space curve of expression tunnel posture and tendency in space, the i.e. central axes in tunnel；By by tunnel point cloud number
According to extracting respective central axes to the face XOY and the projection of the face YOZ respectively, by the central axes expression formula simultaneous on the face XOY and the face YOZ,
Then indicate be the tunnel central axes；
Third step：It is extracted based on the tunnel cross-section under absolute coordinate
Three-dimensional point cloud is imported in processing software, in order to obtain the section of a certain mileage, the point cloud number under based on absolute coordinate
Section interception is directly carried out according to the tangent vector of section central axes according to upper, obtains the section under absolute coordinate；
4th step：Based on the section central point fitting under absolute coordinate
It obtains after the section under absolute coordinate, the central point of the section is extracted, to the section point under absolute coordinate
Cloud carries out the fitting of space circle, and the central coordinate of circle of space circle, space circle are acquired by space spherical shell equation and Plane Equation
Central coordinate of circle be center point coordinate under absolute coordinate where the section.
2. a kind of shield tunnel section center extraction method based on 3 D laser scanning described in accordance with the claim 1, special
Sign is, second step, since tunnel duct piece wall is rough or is influenced by auxiliary device, it will the tunnel boundary after leading to projection
On there are many noises, therefore use preferable stochastical sampling consistency (RANSAC) algorithm of anti-noise effect and least square method to tunnel
Road central axes extract.
3. a kind of shield tunnel section center extraction method based on 3 D laser scanning described in accordance with the claim 1, special
Sign is, the third step, the specific steps are：
1. the tangent vector by the tunnel central axes extracted, at available mileage points P (Xi, Yi, Zi)Then pass through mileage points
Normal plane equation be：
A (x-Xi)+b (y-Yi)+c (z-Zi)=0 (1)
Its midpoint (Xi, Yi, Zi) is the coordinate of point P,For the tangent vector of central axes at this point；
2. section thickness 2D is arranged, wherein the value of D is generally 0.005m or 0.0025m, such as the distance of fruit dot to normal plane
Less than setting value D, then it is assumed that the point is on cutting section, i.e.,：
The set for meeting the point composition of above formula is point cloud data cutting section at mileage points P.
4. a kind of shield tunnel section center extraction method based on 3 D laser scanning described in accordance with the claim 1, special
Sign is, the 4th step, the specific steps are：
1. carrying out the fitting of space spherical shell, space spherical shell equation by least square adjustment to the section point cloud that third step obtains
Formula is：
(x-A)2+(y-B)2+(z-C)2=R2 (3)
Wherein, point (A, B, C) is fitting sphere centre coordinate, and R is the radius for being fitted ball；
2. carrying out space plane fitting, spatial plane equation formula by least square adjustment to the section point cloud that third step obtains
For：
Dx+Ey+Fz+G=0 (4)
Wherein, D, E, F, G are the constant coefficient of plane equation；
Simultaneous equations (3) and (4) can acquire the central coordinate of circle of space circle, and the central coordinate of circle for being fitted space circle is section place
Center point coordinate under absolute coordinate.
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| CN110765543B (en) * | 2019-11-26 | 2023-02-28 | 上海勘察设计研究院(集团)有限公司 | Double-circular shield tunnel transverse diameter resolving method based on scanning point cloud |
| CN111322985A (en) * | 2020-03-25 | 2020-06-23 | 南京航空航天大学 | Tunnel clearance analysis method, device and system based on laser point cloud |
| CN111336991A (en) * | 2020-03-27 | 2020-06-26 | 南京航空航天大学 | Tunnel ellipticity analysis method, device and system based on laser point cloud |
| CN111784626A (en) * | 2020-04-08 | 2020-10-16 | 南京慧筑信息技术研究院有限公司 | Method for extracting central axis elevation of circular shield tunnel based on point cloud data |
| CN111524103A (en) * | 2020-04-10 | 2020-08-11 | 山东科技大学 | Circular tunnel central axis extraction method based on three-dimensional laser point cloud |
| CN111524103B (en) * | 2020-04-10 | 2023-10-13 | 山东科技大学 | Round tunnel central axis extraction method based on three-dimensional laser point cloud |
| CN111521139A (en) * | 2020-05-19 | 2020-08-11 | 中铁隧道局集团有限公司 | High-precision measurement method for shield initial state |
| CN111521139B (en) * | 2020-05-19 | 2021-10-22 | 中铁隧道局集团有限公司 | High-precision measurement method for shield initial state |
| CN111710027A (en) * | 2020-05-25 | 2020-09-25 | 南京林业大学 | Tunnel three-dimensional geometric reconstruction method considering data-driven segment segmentation and model-driven segment assembly |
| CN113137952B (en) * | 2021-04-23 | 2021-11-12 | 交通运输部公路科学研究所 | Positioning method for tunnel section measuring point |
| CN113137952A (en) * | 2021-04-23 | 2021-07-20 | 交通运输部公路科学研究所 | Positioning method for tunnel section measuring point |
| CN114742765A (en) * | 2022-03-11 | 2022-07-12 | 中铁第一勘察设计院集团有限公司 | Tunnel section feature point accurate extraction method based on laser point cloud measurement |
| CN116304764A (en) * | 2023-05-22 | 2023-06-23 | 湖南联智科技股份有限公司 | Automatic fitting method for central axis of construction tunnel point cloud |
| CN116304764B (en) * | 2023-05-22 | 2023-09-19 | 湖南联智科技股份有限公司 | Automatic fitting method for central axis of construction tunnel point cloud |
| CN116336953A (en) * | 2023-05-30 | 2023-06-27 | 武汉工程大学 | System and method for measuring radius and depth of perforation model |
| CN116336953B (en) * | 2023-05-30 | 2023-08-11 | 武汉工程大学 | System and method for measuring radius and depth of perforation model |
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