CN110986815A - Tunnel construction monitoring and measuring method based on three-dimensional laser point cloud - Google Patents
Tunnel construction monitoring and measuring method based on three-dimensional laser point cloud Download PDFInfo
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- CN110986815A CN110986815A CN202010147407.2A CN202010147407A CN110986815A CN 110986815 A CN110986815 A CN 110986815A CN 202010147407 A CN202010147407 A CN 202010147407A CN 110986815 A CN110986815 A CN 110986815A
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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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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Abstract
The invention discloses a tunnel construction monitoring and measuring method based on three-dimensional laser point cloud, which is used for monitoring and measuring during tunnel construction. The method can feed back the strain and settlement information of the tunnel in time, can ensure that the tunnel structure is in a safe state in the construction process, and provides an effective means for monitoring and measuring the tunnel construction.
Description
Technical Field
The invention relates to the field of tunnel construction monitoring and measuring, in particular to a tunnel construction monitoring and measuring method based on three-dimensional laser point cloud data.
Background
The monitoring and measuring of the tunnel is an important link in tunnel engineering, the monitoring is continuously carried out from the construction and completion of the tunnel to the whole operation period, the stress deformation condition of the tunnel structure is mastered by acquiring the three-dimensional coordinate data of the same section at different time, the problem is timely found, and the safety of the tunnel is ensured. The measured items include tunnel vault settlement, peripheral displacement and the like.
The three-dimensional laser scanning technology is characterized in that a laser ranging principle is utilized, and a three-dimensional model of a measured object and various drawing data such as lines, surfaces and bodies can be quickly reconstructed by recording information such as three-dimensional coordinates, reflectivity and textures of a large number of dense points on the surface of the measured object. Since the three-dimensional laser scanning system can densely acquire a large number of data points of the target object, the three-dimensional laser scanning technology is also referred to as a revolutionary technical breakthrough that evolves from single-point measurement to surface measurement, compared to the conventional single-point measurement. The three-dimensional laser scanning system comprises a hardware part for data acquisition and a software part for data processing.
Compared with the traditional measurement, the three-dimensional laser measurement has the greatest advantages of high speed, capability of acquiring million-point information per second and great excess of a level gauge and a section gauge used in the traditional measurement; the use is convenient, manual operation is not needed during automatic measurement and scanning, the labor consumption is reduced, and the working efficiency is greatly improved; secondly, visible light is not needed, the measurement distance is long, the requirement on the field environment is low, and the research on the application of the device has practical significance.
Therefore, it is necessary to introduce a three-dimensional laser measurement technique into the tunnel engineering, and provide a specific calculation method to rapidly implement tunnel monitoring measurement by using three-dimensional laser point cloud.
Disclosure of Invention
The invention aims to introduce a three-dimensional laser measurement technology into tunnel monitoring measurement and provides a method for rapidly realizing tunnel monitoring measurement by using three-dimensional laser point cloud.
A tunnel construction monitoring and measuring method based on three-dimensional laser point cloud comprises the following steps:
s1, acquiring point cloud data of the primary support of the tunnel in the tunnel construction process, including:
selecting the tunnel segment to be monitored and measured,
acquiring primary support point cloud data of a continuous time period in a selected tunnel range through three-dimensional laser scanning equipment;
s2, point cloud data processing, including: acquiring point cloud data according to a preset time interval, and fitting to obtain a plurality of point cloud surfaces, wherein the point cloud surfaces represent the tunnel surface conditions of the selected tunnel range within a preset continuous time period;
s3: calculating the distance between corresponding points between point cloud surfaces adjacent in time so as to determine the displacement of the support at the same position of the tunnel within a specific time length;
s4: and judging whether the deformation of the tunnel primary support meets the construction requirements or not according to the displacement obtained in the step S3.
Step S2 further includes:
and preprocessing the point cloud data, including one or more of data noise reduction, thinning and format conversion.
Step S3 further includes:
modeling a design surface of the tunnel based on the design data of the selected tunnel section, and arranging proper monitoring points on the design surface at certain intervals;
two point cloud surfaces which are adjacent in time are respectively marked as a first fitting surface and a second fitting surface, and an actual monitoring point corresponding to the first fitting surface and a deformed monitoring point corresponding to the second fitting surface are determined based on the monitoring point of the design surface;
and calculating the distance between the corresponding monitoring points on the first fitting surface and the second fitting surface, namely the deformation of the monitoring points.
The mode for determining the actual monitoring point and the deformed monitoring point is as follows: taking the design surface as a standard from the design surface monitoring point as a normal, calculating the intersection point of the normal and the first fitting surface, namely determining a corresponding actual monitoring point on the first fitting surface;
and starting from the actual monitoring point of the first fitting surface, making a normal of the first fitting surface, and calculating the intersection point of the normal and the second fitting surface, namely the deformed monitoring point.
The method comprises the steps of obtaining point cloud data of a tunnel face in the tunnel construction process by using three-dimensional laser scanning equipment, exporting the obtained point cloud data for processing, and calculating to obtain the change condition of the tunnel face in a continuous time, so that the deformation of the support is determined.
According to the method, surface measurement is used for replacing traditional point measurement when the structure is monitored and measured, the strain condition of the tunnel can be reflected more visually, and more comprehensive monitoring information can be obtained. The method applies the monitoring and measuring method based on the three-dimensional laser scanning technology to the actual tunnel engineering health monitoring, can feed back the strain and settlement information of the tunnel in time, can ensure that the tunnel structure is in a safe state in the construction process, and provides an effective means for realizing the monitoring and measuring of the tunnel construction. And the three-dimensional laser scanning equipment is used for measurement, so that the workload is less than that of the traditional measurement, the instrument is simple and convenient to operate, the influence on site construction is small, manpower and material resources are saved, and the method has great practical significance on engineering construction.
Drawings
FIG. 1 is a flow chart of one embodiment of the present invention.
FIG. 2 is a schematic diagram of a design plane and a normal.
Fig. 3 is a schematic view of the first fitting surface and the second fitting surface.
Fig. 4 is a schematic diagram of deformation calculation.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
as shown in fig. 1, the tunnel construction monitoring and measuring method based on the three-dimensional laser scanning technology of the present invention includes the following steps:
(1) an analysis preparation phase.
(1a) And determining the tunnel mileage section to be monitored and the project to be monitored according to the actual project progress and requirements.
(1b) And acquiring design parameters of the tunnel, origin-destination mileage of the tunnel, section parameters, tunnel horizontal and vertical curve data and the like.
(2) Data are collected on site, and the method comprises the following specific steps:
(2a) according to the actual situation of the site and the engineering progress, an instrument is erected at a position which is as close to the central line of the tunnel as possible and is provided with a control point on the premise of not influencing the construction.
(2b) Data is collected on site and imported into the computer via a data line. The method comprises the steps of collecting data of a continuous time period, selecting the obtained point cloud data according to a preset time interval, and carrying out three-dimensional laser scanning once according to the preset time interval.
(3) And (6) performing data internal processing.
(3a) The data is preprocessed, and the data comprises point cloud denoising, thinning and format conversion, so that effective data, point cloud spacing and loading format suitable for subsequent calculation are obtained. The derived format is a point cloud data format with xyz three-axis coordinate information so that the position of a point can be determined, typically txt format.
(3b) Fitting the point cloud data to obtain a fitting function S of a point cloud surface
. Can utilize the existing theoretical formula to carry out the quick editing in the existing editing softwareThe fast solving and the obtaining of the fitting surface through the point cloud data calculation are prior art and are not described herein again.
(4) And (4) numerical calculation. The distance between corresponding points between two point cloud fitting surfaces at adjacent time intervals is calculated, and the offset of the support is calculated in an accumulated manner, and the corresponding points on the adjacent fitting surfaces are determined through the normal of the monitoring points, which is shown in fig. 3-4. The specific calculation process is as follows:
(4a) fitting a point cloud fitting equation S obtained by each measurement
. For convenience of calculation, point cloud data is selected according to a preset time interval, and the first time data is set as S1The second time data is S2… … data n is Sn(n is a natural number between 0 and n). The embodiment calculates the fitting surface S of two point cloud surfaces adjacent in timen-1~SnThe distance of the upper corresponding monitoring point is the deformation of the monitoring point, and S is accumulated1~SnAnd the sum of the deformation of the corresponding monitoring points of the adjacent point cloud fitting surfaces between the adjacent point cloud fitting surfaces can be obtained.
(4b) Modeling is carried out by utilizing the obtained tunnel design data, and a tunnel design surface model L is established0And monitoring points a are arranged on the design surface at a certain interval
The set of points is set as matrix a. Wherein:
wherein
、
……
And x, y and z are respectively the abscissa, ordinate and elevation of the monitoring point.
(4c) The normal f of each point a is respectively made on the point set a by taking the design surface as a reference, and the reference is shown in fig. 2.
The specific calculation method is as follows: based on the formula of the partial derivatives of the binary function at point (x)0，y0) The partial derivatives of (a) are:
due to the design surface
For implicit functions, for implicit function F (x, y, z) there are:
then for implicit functions in the design surface
Go over an arbitrary point a (x)0，y0) The normal equation of (a) is:
namely, the normal based on the design surface function at each monitoring point can be obtained.
Is provided with
Corresponding normal equation is
A normal matrix F of the design surface can be obtained1：
Respectively and simultaneously establishing a normal equation and a fitting surface equation S1The normal equation F can be calculated1Equation S with fitting surface1The intersection point B (x, y, z) point B is the actual monitoring point corresponding to the monitoring point a on the design surface, and the matrix B is obtained by the method:
in the same way, the elements in the matrix B are taken as datum points, and the equation S is fitted1The upper line of operation yields a matrix F consisting of the normal equation g (x, y, z)2：
Simultaneous normal F2And fitting surface S2Can be obtained on the fitting surface S2And (3) arranging the intersection points c (x, y, z) in the matrix, wherein the point c is a deformed monitoring point corresponding to the actual monitoring point b:
according to a formula of the distance between two spatial points:
the distance D between the corresponding points of the matrix B and the matrix C can be calculated, namely the variation between two measurements at a certain point.
Repeating the step (4c) to obtain the change condition of the nth measurement and the (n-1) th measurement, and selecting the measurement times n according to the actual condition, wherein n is a natural number between 1 and n.
For example, if the amount of displacement within a specific time period specified in the construction specification cannot exceed a certain value, the value of n may be determined according to the specific time period and the time interval for dividing the point cloud data.
(5) And determining a monitoring measurement result. And judging whether the displacement of each point meets the monitoring and measuring requirements or not according to the railway tunnel monitoring and measuring specifications.
For example, when the construction requirement specifies that the daily support deformation cannot exceed too much or too little, the calculated numerical difference between every two days is the daily displacement, and whether the displacement meets the construction requirement can be determined.
Claims (5)
1. A tunnel construction monitoring and measuring method based on three-dimensional laser point cloud is characterized by comprising the following steps:
s1, acquiring point cloud data of the primary support of the tunnel in the tunnel construction process, including:
selecting the tunnel segment to be monitored and measured,
acquiring primary support point cloud data of a continuous time period in a selected tunnel range through three-dimensional laser scanning equipment;
s2, point cloud data processing, including: acquiring point cloud data according to a preset time interval, and fitting to obtain a plurality of point cloud surfaces, wherein the point cloud surfaces represent the tunnel surface conditions of the selected tunnel range within a preset continuous time period;
s3: calculating the distance between corresponding points between point cloud surfaces adjacent in time so as to determine the displacement of the support at the same position of the tunnel within a specific time length;
s4: and judging whether the deformation of the tunnel primary support meets the construction requirements or not according to the displacement obtained in the step S3.
2. The method as claimed in claim 1, wherein the step S2 further includes:
and preprocessing the point cloud data, including one or more of data noise reduction, thinning and format conversion.
3. The method as claimed in claim 1, wherein the step S3 further includes:
modeling a design surface of the tunnel based on the design data of the selected tunnel section, and arranging proper monitoring points on the design surface at certain intervals;
two point cloud surfaces which are adjacent in time are respectively marked as a first fitting surface and a second fitting surface, and an actual monitoring point corresponding to the first fitting surface and a deformed monitoring point corresponding to the second fitting surface are determined based on the monitoring point of the design surface;
and calculating the distance between the corresponding monitoring points on the first fitting surface and the second fitting surface, namely the deformation of the monitoring points.
4. The method of claim 3, wherein a normal is made from the design surface monitoring points using the design surface as a standard, and the intersection point of the normal of each monitoring point and the first fitting surface is calculated, that is, the corresponding actual monitoring point is determined on the first fitting surface;
and starting from the actual monitoring point of the first fitting surface, making a normal of the first fitting surface, and calculating the intersection point of the normal and the second fitting surface, namely the deformed monitoring point.
5. The method for monitoring and measuring tunnel construction based on three-dimensional laser point cloud as claimed in claim 4, wherein the method for calculating the variation between two measurements at a certain point specifically comprises:
for implicit functions in design
Go over an arbitrary point a (x)0，y0) The normal equation of (a) is:
based on the normal equation, the normal based on the design surface function on each monitoring point can be obtained, and further, a normal equation matrix F of the design surface is obtained1；
Separately simultaneous normal equation F1Equation S with first fitting surface1The normal equation F can be calculated1Equation S with first fitting surface1The actual monitoring points corresponding to the monitoring points a on the intersection points B (x, y, z) of the first simulated surface are obtained, and then a matrix B of the intersection points of the normals of all the monitoring points on the design surface and the first simulated surface is obtained;
in the same way, the elements in the matrix B are taken as datum points, and the equation S is formed in a first fitting surface1Obtaining elements in the matrix B based on the first fitting surface S by the upper line1To obtain a first fitting surface S1Normal equation matrix F2；
Simultaneous normal F2And fitting surface S2Can be obtained on the fitting surface S2Actually monitoring a deformed monitoring point corresponding to the point b by the intersection point c (x, y, z);
the distance D between the corresponding points of the B matrix and the C matrix can be calculated according to a distance formula between two points in space, namely the variable quantity between two measurements of a certain point.
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Cited By (2)
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| CN111811420A (en) * | 2020-07-16 | 2020-10-23 | 山东大学 | Tunnel three-dimensional contour integral absolute deformation monitoring method and system |
| CN115218864A (en) * | 2022-07-19 | 2022-10-21 | 中交第二公路工程局有限公司 | Tunnel primary branch vault settlement monitoring ATR measuring point automatic tracking method free of buried measuring points |
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| CN115218864A (en) * | 2022-07-19 | 2022-10-21 | 中交第二公路工程局有限公司 | Tunnel primary branch vault settlement monitoring ATR measuring point automatic tracking method free of buried measuring points |
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