CN111964599A - Highway high slope surface deformation monitoring and analyzing method based on oblique photogrammetry technology - Google Patents
Highway high slope surface deformation monitoring and analyzing method based on oblique photogrammetry technology Download PDFInfo
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Abstract
The invention discloses a method for monitoring and analyzing the deformation of a high slope surface of a highway based on an oblique photogrammetry technology, which comprises the steps of establishing a three-dimensional geometric scalar field of the slope surface based on the oblique photogrammetry technology; establishing a slope surface deformation vector field through the slope surface three-dimensional geometric scalar fields at different time points; calculating the divergence of the deformation vector field to determine the area of the slope surface where the expansion and collapse deformation occurs and the intensity of the deformation; texture mapping is carried out on the TIN network of the three-dimensional geometric model through a photo image obtained by oblique photogrammetry, a real scene three-dimensional model is established, the number, the crack distribution and the crack development change condition of cracks generated in and around a region where the slope surface is deformed can be analyzed through the model, and the development stage and the change trend of the slope deformation are analyzed and judged through the analysis of the slope surface deformation region, the crack distribution and the development condition.
Description
Technical Field
The invention belongs to the field of geotechnical engineering, and particularly relates to a method for monitoring and analyzing deformation of a road high slope surface based on oblique photogrammetry technology.
Background
At present, a large number of research achievements are obtained for a high slope stability analysis method, slope surface deformation is the most direct and effective basis for judging slope stability, the deformation evolution of landslide caused by slope deformation instability generally undergoes four deformation stages of initial deformation, constant-speed deformation, accelerated deformation and rapid deformation, slope surface deformation and crack distribution in each deformation stage have typical characteristics, and one of important methods for judging the deformation stage and the subsequent development trend of a high slope by utilizing slope surface deformation analysis.
The existing high slope surface deformation testing method mainly comprises the following steps:
(1) precision measuring method for earth
Geodetic precision measurement is the task of horizontal and vertical displacement monitoring by employing high precision optical and electro-optical measuring instruments. A series of technical means are derived aiming at the monitoring of horizontal and vertical displacement, such as a front intersection method, a distance intersection method, a sighting line method, a small angle method, a distance measuring method, a geometric leveling measuring method, a precise triangulation height measuring method and the like. The method has the advantages of capability of determining the deformation range, high wide-range efficiency, high real-time precision, one machine with multiple measuring points and the like, and is popular among landslide engineering monitoring personnel. However, the method has the application range, such as that the method is only suitable for displacement monitoring in different deformation stages, is influenced by terrain and weather, has long working period, and has poor continuous observation capability.
(2) Distributed optical fiber
The distributed optical fiber monitoring system for surface deformation is a distributed modulated optical fiber sensing system, consists of a laser light source, a sensing optical fiber and a detection unit, and is an automatic monitoring system. The principle of the method is that an external signal continuously modulates light waves in an optical fiber in a certain mode along an optical fiber transmission path, so that a modulation information spectral band is formed in the optical fiber, and the size and the spatial distribution of the external signal are obtained by detecting and demodulating the modulation signal spectral band. Its advantages are high precision, high cost and high running cost.
(3) GPS method
The GPS method acquires the three-dimensional coordinates of the monitoring points by continuously recording electromagnetic wave data transmitted to the world by the satellites, and reflects the movement of the target by using the coordinate difference to realize the purpose of monitoring deformation. The GPS is easy to operate, does not require the communication between points, is not influenced by weather and can carry out all-weather observation. The method is widely used for monitoring the surface deformation for a long time. Compared with the conventional mapping method, the GPS can easily realize continuous measurement in a large area, and has great superiority when the long-term trend of landslide is monitored and the landslide range is large. The limitation is that the measurement accuracy is not high enough under the influence of terrain, such as in canyon regions where accurate measurement cannot be performed due to insufficient received satellite signals or severe reflections; the application limitation is a point measurement method, and the situation on the surface is not easy to reflect. The GPS observation is one of point observations, reflects displacement information of a point, and has a limitation on global information on a surface. Even if multipoint networking collection is set, the base line between the point and the point can also concentrate and average the strain between the two points, so that the data is not accurate enough, the cost is too high for increasing the deployment density, and the method is difficult to popularize and use widely.
(4) Measuring robot
The measuring robot is a video imaging system formed by integrating a stepping motor and a CCD (charge coupled device) image sensor on the basis of a total station, and is an intelligent electronic total station which can replace a human to automatically search, track, identify and accurately aim at a target and acquire information such as angles, distances, three-dimensional coordinates, images and the like. The measuring robot is combined with a software system which can make a measuring plan, control a measuring process and analyze measured data, the measuring robot can be used for automatic and rapid monitoring, the system has the characteristics of strong timeliness, high observation precision and the like, the internal and external work workload of measuring personnel is greatly reduced, and the operating efficiency is greatly improved.
The common property of the methods is that the deformation measurement method is carried out through limited monitoring points, the methods have common limitations, the methods can only monitor the change of the limited points, the deformation of the surface of the side slope is often very non-uniform and has large local difference due to the complexity and the non-uniformity of the side slope geologic body, and the displacement and the direction of each point on the side slope geologic body are often greatly different. The method for monitoring the surface deformation by arranging limit points on the surface of the side slope cannot well reflect the overall change rule of the surface deformation of the side slope, including different trends, sizes and the like among all parts, and causes great difficulty and even misjudgment on the judgment of the stability and the development change trend of the side slope due to incomplete data.
The highway high slope engineering is different from mine slopes and naturally formed high slopes, each grade of slope surface of the highway high slope is excavated strictly according to a specified slope rate, and the slope surface is basically in a plane; meanwhile, the side slope is the first stage of excavation construction and the first stage of protection, and characteristic points of the deformation of the surface of the side slope are difficult to set and reserve. The stress state of the side slope geologic body is changed after excavation construction, deformation is generated according to the physical and mechanical characteristics of rock-soil bodies, the deformation of the surface of the side slope is the deformation of expansion or collapse along the normal direction of the slope surface of the side slope, and if the treatment is not proper, the deformation is continuously developed and expanded, and finally the instability and the damage of the geologic body are caused, so that a landslide is formed. The method constructs a three-dimensional geometric field of the high slope of the highway by acquiring high-density point cloud of the high slope of the highway by means of an oblique photogrammetry technology. And further, according to scalar fields of the three-dimensional geometric models of the surface of the side slope formed at different times, obtaining a deformation vector field of the surface of the road side slope formed along with time variation, and analyzing the rule of deformation of the surface of the side slope according to the deformation vector field of the surface of the side slope, so as to provide a basis for judging the stability and the development and change trend of the road side slope.
Disclosure of Invention
In order to overcome the defects of the slope surface deformation monitoring method, the slope surface deformation vector field is formed by the point cloud of the obtained slope surface by utilizing an oblique photogrammetry technology, meanwhile, texture mapping is carried out on a TIN network of the three-dimensional geometric model to establish a real scene three-dimensional model, then, the area of the slope surface where expansion and collapse deformation occur is determined through divergence analysis of the deformation vector field, the deformation area and the peripheral crack distribution and development change conditions are analyzed through the real scene three-dimensional model, so that the monitoring and analysis of the slope surface deformation are realized, and then, the slope surface deformation monitoring method is compared with the macroscopic deformation characteristics (shown in figure 2) of each stage in the whole development and evolution process from high slope deformation to traction type slope instability, and a basis is provided for judging the slope stability. The method comprises the following specific steps:
step A, obtaining a geometric scalar field of the surface of the high slope
High-density point cloud data can be acquired for a high slope through an oblique photogrammetry technology, a three-dimensional geometric field of the surface of the slope is constructed, and the obtained geometric field of the surface of the slope each time belongs to a scalar field.
Step B, obtaining a high slope surface deformation vector field
Through oblique photogrammetry technology, phase 1 (t) of the high slope is obtained1) Each point of the three-dimensional point cloud data has accurate three-dimensional coordinates which are scalar, namely, an initial three-dimensional geometrical field of the high slope engineering is formed and belongs to a scalar field. Obtaining phase 2 (t) along the development of life cycle t of high slope2) A three-dimensional geometric field. When the high slope engineering is subjected to deformation such as expansion and collapse, the two-stage three-dimensional geometric fields are compared, a schematic diagram 4 shows that the deformation vectors of all points of the high slope engineering are obtained, and the deformation vector fields are formed by comparing the two-stage three-dimensional geometric fields. With the acquisition of phase 3, phase 4 …, phase N three-dimensional geometric scalar fields, the comparison with phase 1 three-dimensional geometric scalar fields (or any two comparisons) can form a 'deformation vector field'.
Step B11 point cloud normal vector calculation
The method for solving the normal vector of the point cloud can be roughly divided into three types: Delaunay/Voronoi based methods (Amenta et al, 1998; Wudao et al, 1999; OuYang et al, 2005), robustness based methods (Hoppe et al, 1992; Dey et al, 2006; Li et al, 2010), and local surface fitting based methods (Hoppe et al, 1992, Gross et al, 2007). The method adopts a method based on local surface fitting to calculate the normal vector of each point in the first-stage point cloud of the slope surface, and the normal vector n of each point serving as a reference plane S is (a, b, c) by taking the average value of the normal vectors of each point. And establishing a rectangular coordinate system x ', y' and z 'by using the reference plane S and the normal vector n, wherein x', y 'are in the reference plane S, and z' is consistent with the normal vector n in direction. And converting the point cloud coordinates of each period into the coordinate system.
Step B12 performs mesh partitioning. And constructing a rectangular frame by taking the maximum value and the minimum value of the x ', y' coordinates of the first-stage point cloud and considering a certain expansion amount (taking 1.2 times of the maximum value and the minimum value) as boundary points. And then further divided evenly into a grid of M rows and N columns. And sequentially determining the coordinates of the nodes of each grid, wherein the extreme values of the coordinates of the four nodes of each grid are x 'min, y' min, x 'max and y' max. The two-dimensional coordinate (x ', y') formula of a certain point in the three-dimensional point cloud on the surface of the slope satisfies
And then, the point can be classified into the small grid, so that the point cloud grid division is realized. At the moment, M-N evenly distributed 'equivalent deformation monitoring points' are formed by the grid nodes, the shape change of the point cloud on the surface of the side slope is reflected through the 'equivalent deformation monitoring points', and the deformation vector of the surface of the side slope is calculated.
Step B13 slope surface deformation vector
And taking the grid points after grid division as the reference of slope surface deformation calculation, collecting the shape information of the three-dimensional point cloud of the slope at each stage to the grid points, and taking the scalar difference of the shape of the point cloud at the grid points at the front stage and the back stage as the deformation vector of the slope surface.
Step C divergence calculation of the deformation vector field
And setting time t and a vector D, if D corresponds to t in a determined deformation vector for each value of t in the range G, then D is a vector function of the variable t and is recorded as: d ═ D (t). In the rectangular coordinate system, the end point of the vector is represented by M (x, y.z), and the deformation vector function can also be denoted as d (M).
Divergence is a vector operator in vector analysis, and divergence describes whether a vector in a tiny voxel containing this certain point in the vector field is "outward" or "inward". The divergence of a vector field is the extent to which the vector field flux is imaged onto a source at a given point, and the point at which the flux flows out has a positive divergence-referred to as the "source" of the field. One point inward of the flux has a negative divergence, referred to as the "sink" of the field. The greater the field flux on a small curve around a given point, the greater the divergence value at that point. The divergence is zero at the point where the flux through the closed surface is zero. The rock-soil mass of the high slope deforms and evolves to be the whole process of landslide, and the size of the deformed area and the intensity of deformation can be reflected through the divergence of the three-dimensional vector field of the slope surface deformation. The area where the slope surface expands is an area with divergence greater than zero; the areas where collapse occurs are areas where divergence is less than zero; therefore, the area of the slope surface where the expansion or collapse deformation occurs and the strength of the expansion or collapse are determined through the divergence calculation. In a rectangular coordinate system, the deformation vector is set as:
D＝P(x，y，z)i+Q(x，y，z)j+R(x，y，z)k
then the divergence at any point M is:
step D, obtaining high slope surface texture information according to photogrammetric data
The oblique photography measurement technology can complete texture mapping on the basis of building a three-dimensional model TIN network, and a real scene three-dimensional model can be obtained after texture mapping. The texture information of the real three-dimensional model is obtained through the oblique photogrammetry technology, the distribution condition of each local surface crack of the high slope can be analyzed, and the analysis result of the high slope deformation vector field are mutually supplemented and verified. According to the research result of the high slope stability, the crack of the slope surface is often accompanied in the time-space development process of the high slope deformation instability, and the identification of the crack quantity, the distribution rule and the crack length and width development change is carried out on the part with higher deformation strength in the three-dimensional deformation vector field through photogrammetric model texture information.
Step E, analyzing the slope surface deformation rule according to the high slope surface deformation vector field divergence and the surface texture
Local areas where the slope surface expands or collapses are found through the divergence of the high slope surface deformation vector field, and crack distribution and development rules are analyzed in the areas and the periphery in a targeted manner according to the slope surface texture. And comparing the divergence with the macro-feature of the slope deformation according to the distribution and development change rule of the peripheral cracks and the range of divergence larger than zero or smaller than zero, and judging the deformation stage and the development trend of the slope deformation.
Drawings
FIG. 1 shows the deformation evolution process from slope deformation to unstable landslide.
Fig. 2 shows the macroscopic characteristics of the slope surface deformation and cracks in each deformation stage of the traction-type landslide (2-1 in the figure is an initial deformation stage; 2-2 constant-speed deformation stages in the figure; 2-3 accelerated deformation stages in the figure; and 2-4 rapid deformation stages in the figure).
Fig. 3 is a design drawing of the slope model (in the drawing, (1) is a front view of the slope model, and (2) is a sectional view of the slope model).
Fig. 4 shows a slope model and a control point arrangement site.
Fig. 5 is a schematic illustration of the formation of a surface deformation vector field by a slope surface geometric scalar field.
FIG. 6 is a schematic diagram of grid node scalar calculation.
FIG. 7 shows the distribution of cracks on the slope surface of the three-dimensional model of the real scene under condition 1.
FIG. 8 is a divergence distribution of the slope surface deformation vector field for condition 1.
FIG. 9 shows the distribution of cracks on the slope surface of the three-dimensional model of the real scene under condition 2.
FIG. 10 is the divergence distribution of the slope surface deformation vector field for condition 2.
FIG. 11 shows the slope surface crack distribution of the real scene three-dimensional model under condition 3.
FIG. 12 is the divergence distribution of the slope surface deformation vector field for condition 3.
FIG. 13 shows the slope surface crack distribution of the three-dimensional model of the real scene under condition 4.
FIG. 14 is the divergence distribution of the slope surface deformation vector field for condition 4.
Fig. 15 is a flowchart of the operation.
Detailed Description
In order to better explain the method for monitoring and analyzing the deformation of the surface of the high side slope of the highway based on the photogrammetry technology, the specific embodiment of monitoring and analyzing the deformation of the surface of the side slope by utilizing oblique photogrammetry in the process of simulating the deformation evolution of the traction-type landslide by using a side slope model test with the attached drawings is further described in detail. The whole development evolution process of the slope model deformation until the occurrence of the traction type landslide instability comprises 4 stages as shown in figure 1, and the macroscopic deformation characteristics of each stage are shown in figure 2. The slope model comprises a rock stratum I simulation granite; simulating limestone by using a second rock stratum; the weak interlayer simulates mudstone, the design of a slope model is shown in figure 3, and the specific physical mechanical parameters are shown in the following table 1. The length of the bottom edge of the side slope model is 2000cm, the side slope model is divided into three stages, the height of each stage is 500cm, the slope gradient is 60 degrees, and the platform width is 5 cm. The slope model is positioned on the rigid base, and the traction displacement of the slope foundation is simulated by applying forced displacement to the rigid base. The forced displacement is divided into 4 working conditions from 7mm, 20mm, 35mm to 70 mm. The site arrangement of the slope model and the control points is shown in fig. 4, and the operation steps and the process of the specific implementation scheme are as follows:
TABLE 1 simulation Material physical and mechanical parameters of different lithologies of slope model
Step A, adopting oblique photogrammetry technology to obtain point cloud and texture of the surface of the slope
Step A1 is to obtain the inner orientation element and lens distortion coefficient of the camera through geometric calibration for the camera for oblique photography measurement, and to correct the error.
Step A2, aiming at the slope model, arranging control points, developing oblique photogrammetry to obtain image photos, and simultaneously determining geodetic coordinates of the control points under a CGCS2000 coordinate system by using a total station. And on the basis, carrying out data analysis of oblique photography measurement, and carrying out accurate matching by using control point data to obtain the three-dimensional point cloud data of the surface of the side slope in the CGCS2000 coordinate system.
Step A3 is to use the triangulation mesh algorithm to carry out the surface reconstruction and generate the three-dimensional geometric model. After the TIN grid is built, texture optimization and texture extraction are carried out according to a large number of image photos measured by oblique photography, textures of different Detail Levels are generated, a model structure file is organized by a multi-Detail Level (LOD) technology, LOD display is achieved, and the condition of any local slope crack can be checked and analyzed in Detail. And generating a real scene three-dimensional model comprising fine textures.
Step B generating deformation vector field of side slope surface
And step B1, according to the steps A2 and A3, establishing point cloud data of the slope surface and a real scene three-dimensional model in 5 states for the initial state of the slope model and 5 states of the working condition 1, the working condition 2, the working condition 3, the working condition 4 and the like.
And step B2, calculating an average normal vector n of the point cloud on the surface of the slope according to the point cloud data of the slope photogrammetry in the initial state of the slope, forming a reference plane S for calculating the surface displacement of the slope model, and finishing the mesh division. And establishing a rectangular coordinate system x ', y ', z ' by using the reference plane S and the normal vector n, and converting the point cloud data of the slope surfaces in 5 states into the rectangular coordinate system to form a slope surface geometric scalar field in 5 states.
And step B3, forming a slope surface deformation vector field of each working condition according to the slope initial state and the scalar field of each working condition. Taking the working condition 1 as an example, the slope surface geometric scalar field of the two states forms a slope surface deformation vector field as shown in fig. 5. Taking node a on the grid as an example, as shown in fig. 6, its neighborhood point on the grid is B, C, D, E points, and the scalar value of the slope three-dimensional point cloud at point a is the scalar average value of the points of the point cloud in the four grids where the four sides of BD, BE, CD and CE are located. And obtaining the deformation vector of the point A according to the scalar difference of the geometrical shape of the point A corresponding to a certain two-stage point cloud.
And B4, calculating the divergence of the slope surface deformation vector field of the working condition 1, the working condition 2, the working condition 3 and the working condition 4.
Step C, deformation rule analysis is carried out according to the side slope surface deformation vector field and the side slope surface texture
According to the distribution of the divergence of the deformation vector field of the surface of the side slope and the surface texture of the three-dimensional model of the real scene of the side slope, the specific analysis results of the working condition 1, the working condition 2, the working condition 3 and the working condition 4 are as follows:
the slope surface crack distribution of the real scene three-dimensional model of the working condition 1 is shown in fig. 7, the divergence distribution of the slope surface deformation vector field is shown in fig. 8, and the slope three-dimensional deformation vector field shows that: the grade 3 side slope is integrally dragged and slides, the grade 2 side slope is partially dragged and slides, and the grade 1 side slope is basically not deformed. The bottom of the side slope is initially deformed, and slight tension cracks appear at the local part of the slope angle.
The slope surface crack distribution of the real scene three-dimensional model of the working condition 2 is shown in fig. 9, the divergence distribution of the slope surface deformation vector field is shown in fig. 10, and the slope three-dimensional deformation vector field shows that: the slope toe traction deformation leads to the continuous increase of the integral deformation of the grade 1 side slope, the deformation range and the deformation of the grade 2 side slope are increased to a certain extent, and the grade 3 side slope is not deformed basically. Deformation of the bottom of the whole side slope is obviously developed, the deformation area is enlarged, obvious tensile cracks appear on the surface of the side slope, and shear cracks appear on a weak structural plane between the first-stage side slope and the second-stage side slope.
The slope surface crack distribution of the real scene three-dimensional model of the working condition 3 is shown in fig. 11, the divergence distribution of the slope surface deformation vector field is shown in fig. 12, and the slope three-dimensional deformation vector field shows that: the grade-3 side slope sliding deformation is obvious due to the increase of the traction deformation of the slope toe, the grade-2 side slope traction sliding deformation is also increased to a certain extent, and the grade-1 side slope is basically not deformed. Deformation of the lower portion of the whole side slope is obviously developed, a deformation area is enlarged, and surface tension cracks are continuously developed and enlarged. Shear cracks between the first-stage slope and the second-stage slope are obvious, and shear damage at the shear cracks is obvious.
The slope surface crack distribution of the real scene three-dimensional model of the working condition 4 is shown in fig. 13, the divergence distribution of the slope surface deformation vector field is shown in fig. 14, and the slope three-dimensional deformation vector field shows that: the 3-level side slope overall traction sliding deformation is obvious, and the 2-level side slope traction sliding deformation is obvious. The grade 1 slope is substantially unchanged. The deformation of the lower part of the whole side slope is obviously developed, the deformation is rapidly increased, and the surface crack of the side slope is obviously increased. The shear deformation of the weak structural surface between the first-stage slope and the second-stage slope is increased rapidly, and the shear failure at the position is developed rapidly.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (1)
1. A highway high slope surface deformation monitoring and analyzing method based on oblique photogrammetry technology is characterized by comprising the following steps:
(1) carrying out oblique photogrammetry at certain time intervals in the whole construction process of the highway high slope project to obtain point cloud data of the high slope surface at each time point, and carrying out texture mapping on a TIN network of the three-dimensional geometric model to establish a real scene three-dimensional model;
(2) according to the slope three-dimensional point cloud in the initial state, determining the mean normal vector n of each normal vector as (a, b, c), and establishing a reference plane S taking the vector as the normal vector; establishing a rectangular coordinate system x ', y' and z 'by using the reference plane S and the normal vector n, wherein the x' and the y 'are in the reference plane S, the direction of the z' is consistent with that of the normal vector n, and the subsequent point cloud coordinates of each period are converted into the coordinate system;
(3) constructing a rectangular frame by taking the maximum value and the minimum value of the initial state point cloud x ', y' coordinates and considering a certain expansion amount as boundary points, and further uniformly dividing the rectangular frame into M rows and N columns of grids;
(4) planning the points of the point cloud into each grid, aggregating scalar quantity information of the points of the point cloud in the grid to grid nodes, and determining a slope surface deformation vector field calculated at the moment by taking a difference value of a grid node scalar quantity of any time point cloud data and a grid node scalar quantity of initial state point cloud data as a deformation vector of the grid nodes at the moment; determining the expansion of the slope surface, namely the divergence is larger than zero, or the collapse, namely the area with the divergence smaller than zero deformation, and the intensity of the deformation according to the divergence of the deformation vector field of the slope surface;
(5) aiming at the inner part and the periphery of the area with the deformed side slope surface, analyzing the distribution and the development change condition of the cracks by utilizing the real scene three-dimensional model at the moment;
(6) and judging the stability and the development trend of the side slope at the moment through the comprehensive comparison of the deformation of the surface of the side slope and the macroscopic characteristics of the crack distribution and the deformation of the side slope at different stages of instability.
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