CN103852025A - Method for monitoring vertical deformation in rail way underlying substratum by applying 3D laser scanning technology - Google Patents
Method for monitoring vertical deformation in rail way underlying substratum by applying 3D laser scanning technology Download PDFInfo
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Abstract
The invention relates to a method for monitoring vertical deformation in rail way underlying substratum by applying 3D laser scanning technology and belongs to the technical field of remote sensing monitoring or surveying and mapping. The method for monitoring vertical deformation in rail way underlying substratum by applying 3D laser scanning technology particularly includes the following steps that a 3 D laser scanning device is arranged and fixed and is laid motionlessly; a train starts, receives signals and gives quickly scanning; a reference target reflection center is determined; data are pretreated and matched; a central axis wire is extracted and longitudinal section deformation is compared; analysis, comparison and early warming are carried out. The method for monitoring vertical deformation in rail way underlying substratum by applying 3D laser scanning technology is suitable for spatial data collection of urban rail tunnel lines and other underground architectural structures, quickly detects vertical deformation in rail way underlying substratum during subway operation, and provides early warming for the generated deformation.
Description
Technical field
A kind of method that the present invention relates to the 3D of utilization laser scanner technique monitoring rail subjacent bed longitudinal deformation, belongs to remote sensing monitoring or mapping technical field of mapping.
Background technology
Along with the scale of construction and the complicacy of urban underground space, the general safety of urban underground space is also more and more noticeable, and as large-scale sedimentation, cave in, this has just formed a kind of vicious cycle.Subway tunnel is the wire underground structure that a class is long and narrow, conventional tunnel deformation monitoring method needs several monitoring personnel, be characterized in that monitoring project is many, circuit long, measuring point is many, observation is frequent and data volume is large, bring loaded down with trivial details work to Monitoring Data processing, analysis and data management, cause inefficiency taking craft as main work pattern, can not be in time feedback monitoring information rapidly.In the tunnel of operation, monitoring difficulty especially, is mainly that it is abnormally dangerous that survey crew enters tunneling because operation interval is very short.The worry of giving up the public's " step by step soul-stirring, trap everywhere ", Public Management of Government department more should enhance your vigilance, early prevention.Take Beijing as example, Beijing Metro forms the gauze general layout of " three rings, four horizontal strokes, five vertical, eight radiation " at present, and Beijing is as national capital and the national capital, steady politics and social harmony etc. require more outstanding, once there is great security risk accident, affect widely, lose huge.
At present, the application of 3D laser scanner is also mainly concentrated on topographic mapping, builds the aspects such as 3D model, historical relic's protection and 3D scene reproduction, in the application in deformation monitoring field also in the exploratory stage.In recent years, Chinese scholars has been done some correlative studys, if " the tunnel remote control administrative system " of the refined research and development of Liu state of Tongji University is important component parts of " subway engineering remote control administrative system ".System adopts automatic and artificial mode to gather construction information.The Monitoring Data collecting by aid decision-making system arranges, analyzes, and then provides the analysis result of data by the mode such as chart, curve, whether in a safe condition carrys out analysis project by these results, with and development trend.Earthquakes in Japan is the disaster district that takes place frequently, and within 2005, expert uses 3D laser scanning instrument system to participate in Disaster Assessment.2009, Spain, in to the monitoring of certain slope collapes, adopted ground type 3D laser scanner successfully to predict the avalanche of rock mass, analyzes the reliable deformation values obtaining before rock mass damage and reaches grade degree.2010, Geological Hazards key lab and Institute of Surveying and Mapping of Wuhan University are on the basis of indoor Landslide Model test, to a wherein scanning comparison of carrying out two issue certificates of Certain Landslide in Three Gorges Reservoir Area, adopt gravity model appoach processing mode to obtain desirable measurement result, it is feasible that result of study has shown to utilize ground 3D laser scanner technique to obtain the surperficial distortion in landslide, good precision can be reached, the requirement of facing sliding forecast can be met.Although carried out a large amount of research both at home and abroad aspect tunnel deformation monitoring technology, especially the developed country such as U.S. successfully develops Ba Saite tunnel section convergent deformation monitoring system etc., but the research of China aspect subway tunnel still lags behind, existing monitoring technology and instrument are only applicable to the local deformation monitoring in work progress, tunnel during runing TERM DEFORMATION completely still belongs to blank aspect monitoring automatically, also needs further research.
Summary of the invention
Large for subway flow of the people every day, subway is stopped transport and is obtained the problem of experimental data distortion measurement difficulty unrealistic and that rail subjacent bed is occurred under action of long-term load, the present invention proposes a kind of method of the 3D of utilization laser scanner technique monitoring rail subjacent bed longitudinal deformation.The method is applicable to the space data collection of the hypogee structures such as city rail tunnel line, and fast detecting makes in subway circulation process rail subjacent bed longitudinal deformation amount, provides early warning to the deflection producing simultaneously.
Technical scheme of the present invention is as follows:
A method of utilizing 3D laser scanner technique monitoring rail subjacent bed longitudinal deformation, monitoring method concrete steps are as follows:
(1) first between the adjacent rail sleepers of rail road surface, lay the just cube reflecting body of 2-3 length of side 5cm every 30m, for correction, and guarantee that these reflecting bodys maintain static in whole observation process;
(2) point of fixity is set on subway train, mounting bracket, is placed on portable 3D laser scanner on support, fixes with bolt, and scale mark, settles scanner to aim at scale; Connect computing machine, power supply, these equipment of camera, start image data, the data of collection comprise gamut coarse scan data, monitored area essence total number certificate, follow the trail of the objective the smart total number according to this and proofread and correct reflecting body essence total number certificate;
(3) determine reference object reflection kernel: because reference object reflecting body point cloud intensity is high, the geometric properties distributing according to a cloud is determined reference object reflection kernel; The principle of its Registration of Measuring Data is with first phase data, be that the instrument local Coordinate System of 3D laser scanner while scanning is first as engineering coordinate system, the data of later all phases be all taking data be for the first time first phase data as benchmark carries out registration, incorporate this project coordinate system;
(4) data pre-service and splicing: the first step of data acquisition after complete is exactly that cloud data and image data to obtaining carries out pre-service, by data filtering, noise data is rejected, if think that collected cloud data or local data is too intensive with respect to engineering itself, can also take out gap processing to data; And the method essence that data splicing is Registration of Measuring Data is to proofread and correct the data splicing that reflector plate is common point;
(5) extract rail subjacent bed axis, by intercepting relatively deformation quantity of vertical section: the space curve of the attitude that is used for representing tunnel by one of computer fitting is that truncation surface is chosen in axis, measure the vertical section spatial attitude information at truncation surface place, the deformation quantity that obtains subway tunnel by comparing vertical section spatial attitude information, shows monitoring result by deformation quantity;
(6) situation of change of this deformation quantity under comparison different time sequence, reads desired data, evaluating objects situation;
(7) safety case judges and provides alert or report to the police.
Wherein, described 3D laser scanner is mounted on subway train vehicle body or the tailstock.
Wherein, described step (7) specifically comprises the following steps: whole constructing tunnel state is divided into safe condition, alert status and alarm condition accordingly, and in the time that Monitoring Data is less than early warning value, engineering is in a safe condition; In the time that Monitoring Data exceedes early warning value and is less than alarming value when this region, engineering is in alert status, this region is as the buffer zone of reminding engineering management unit, remind engineering management unit to pay attention to data, under possible condition, take measures simultaneously, prevent that data from continuing to change, avoid entering alarm region; In the time that Monitoring Data exceedes alarming value, engineering just enters alarm region, once and data enter after alarm region, represent these data oneself through in the hole, must take measures to ensure engineering safety.
Further, get deformation quantity warning controlling value 50% as early warning value, get warning controlling value 80% as alarming value.
Beneficial effect: the method has the following advantages:
The method of the long-term vibration load of a kind of 3D laser scanner fast monitored subway that 1, the present invention proposes to rail subjacent bed deformation quantity, this equipment and technology advanced person, train can scan in the process of moving in real time, large for subway flow of the people every day, allow subway stop transport to carry out the reality not that obtains of experimental data, so the method is quick and precisely safe and reliable again, feasibility is high, and maintenance operation is simple.
The method and system of a kind of vehicular 3D laser scanner fast monitored rail subjacent bed deformation that 2, the present invention proposes, realize data site disposal, immediately the target of feedback.Adopt settling amount to characterize ground section situation, more directly perceived, safeguard separately and set up and between safe negative area, evaluate subway circulation security for the larger place of local deformation amount.
3, the present invention can, by setting up early warning mechanism between safe negative area, for subway train provides early warning system, ensure safe train operation.
Brief description of the drawings
Fig. 1 uses vehicular 3D laser scanner fast monitored rail subjacent bed under long-term vibration load, to produce the method schematic diagram of deformation quantity;
Fig. 2 is the method flow diagram that uses the deformation of vehicular 3D laser scanner fast monitored rail subjacent bed;
Fig. 3 is safety case determining program figure.
Wherein: 1, rail 2, reflector plate 3, support 4, subway train 5, computing machine 6,3D laser scanner
Embodiment
Below in conjunction with accompanying drawing 1-3, the method for the 3D of utilization laser scanner technique monitoring rail subjacent bed longitudinal deformation of the present invention is described further, step is as follows:
(1) first between rail 1 road surface adjacent rail sleepers, lay the just cube reflecting body 2 of 2-3 length of side 5cm every 30m, for correction, and guarantee that these reflecting bodys 2 maintain static in whole observation process;
(2) on subway train 4 vehicle bodies or the tailstock, point of fixity is set, mounting bracket 3, is placed on portable 3D laser scanner 6 on support 3, fixes with bolt, and scale mark, settles scanner to aim at scale; Connect computing machine 5, power supply, these equipment of camera, start image data, the data of collection comprise gamut coarse scan data, monitored area essence total number certificate, follow the trail of the objective the smart total number according to this and proofread and correct reflecting body essence total number certificate;
(3) determine reference object reflection kernel: because reference object reflecting body point cloud intensity is high, the geometric properties distributing according to a cloud is determined reference object reflection kernel; The principle of its Registration of Measuring Data is with first phase data, be that the instrument local Coordinate System of 3D laser scanner 6 while scanning is first as engineering coordinate system, the data of later all phases be all taking data be for the first time first phase data as benchmark carries out registration, incorporate this project coordinate system;
(4) data pre-service and splicing: the first step of data acquisition after complete is exactly that cloud data and image data to obtaining carries out pre-service, as processing modes such as wavelet analysises, by data filtering, noise data is rejected, if think that collected cloud data or local data is too intensive with respect to engineering itself, can also take out gap processing to data; And the method essence that data splicing is Registration of Measuring Data is to proofread and correct the data splicing that reflector plate 2 is common point;
(5) extract rail 1 subjacent bed axis, by intercepting relatively deformation quantity of vertical section: the space curve of the attitude that is used for representing tunnel by one of computing machine 5 matching is that truncation surface is chosen in axis, measure the vertical section spatial attitude information at truncation surface place, the deformation quantity that obtains subway 1 tunnel by comparing vertical section spatial attitude information, shows monitoring result by deformation quantity;
(6) situation of change of this deformation quantity under comparison different time sequence, reads desired data, evaluating objects situation;
(7) safety case judges and provides alert or report to the police: get deformation quantity warning controlling value 50% as early warning value, get warning controlling value 80% as alarming value, whole constructing tunnel state is divided into safe condition, alert status and alarm condition accordingly, in the time that Monitoring Data is less than early warning value, engineering is in a safe condition; In the time that Monitoring Data exceedes early warning value and is less than alarming value when this region, engineering is in alert status, this region is as the buffer zone of reminding engineering management unit, remind engineering management unit to pay attention to data, under possible condition, take measures simultaneously, prevent that data from continuing to change, avoid entering alarm region; In the time that Monitoring Data exceedes alarming value, engineering just enters alarm region, once and data enter after alarm region, represent these data oneself through in the hole, must take measures to ensure engineering safety.
Be more than an exemplary embodiments of the present invention, enforcement of the present invention is not limited to this.
Claims (4)
1. a method of utilizing 3D laser scanner technique monitoring rail subjacent bed longitudinal deformation, is characterized in that: monitoring method concrete steps are as follows:
(1) first between the adjacent rail sleepers of rail road surface, lay the just cube reflecting body of 2-3 length of side 5cm every 30m, for correction, and guarantee that these reflecting bodys maintain static in whole observation process;
(2) point of fixity is set on subway train, mounting bracket, is placed on portable 3D laser scanner on support, fixes with bolt, and scale mark, settles scanner to aim at scale; Connect computing machine, power supply, these equipment of camera, start image data, the data of collection comprise gamut coarse scan data, monitored area essence total number certificate, follow the trail of the objective the smart total number according to this and proofread and correct reflecting body essence total number certificate;
(3) determine reference object reflection kernel: because reference object reflecting body point cloud intensity is high, the geometric properties distributing according to a cloud is determined reference object reflection kernel; The principle of its Registration of Measuring Data is with first phase data, be that the instrument local Coordinate System of 3D laser scanner while scanning is first as engineering coordinate system, the data of later all phases be all taking data be for the first time first phase data as benchmark carries out registration, incorporate this project coordinate system;
(4) data pre-service and splicing: the first step of data acquisition after complete is exactly that cloud data and image data to obtaining carries out pre-service, by data filtering, noise data is rejected, if think that collected cloud data or local data is too intensive with respect to engineering itself, can also take out gap processing to data; And the method essence that data splicing is Registration of Measuring Data is to proofread and correct the data splicing that reflector plate is common point;
(5) extract rail subjacent bed axis, by intercepting relatively deformation quantity of vertical section: the space curve of the attitude that is used for representing tunnel by one of computer fitting is that truncation surface is chosen in axis, measure the vertical section spatial attitude information at truncation surface place, the deformation quantity that obtains subway tunnel by comparing vertical section spatial attitude information, shows monitoring result by deformation quantity;
(6) situation of change of this deformation quantity under comparison different time sequence, reads desired data, evaluating objects situation;
(7) safety case judges and provides alert or report to the police.
2. method according to claim 1, is characterized in that: described 3D laser scanner is mounted on subway train vehicle body or the tailstock.
3. method according to claim 1, it is characterized in that: described step (7) specifically comprises the following steps: whole constructing tunnel state is divided into safe condition, alert status and alarm condition accordingly, in the time that Monitoring Data is less than early warning value, engineering is in a safe condition; In the time that Monitoring Data exceedes early warning value and is less than alarming value when this region, engineering is in alert status, this region is as the buffer zone of reminding engineering management unit, remind engineering management unit to pay attention to data, under possible condition, take measures simultaneously, prevent that data from continuing to change, avoid entering alarm region; In the time that Monitoring Data exceedes alarming value, engineering just enters alarm region, once and data enter after alarm region, represent these data oneself through in the hole, must take measures to ensure engineering safety.
4. method according to claim 3, is characterized in that: get deformation quantity warning controlling value 50% as early warning value, get warning controlling value 80% as alarming value.
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| CN104567708A (en) * | 2015-01-06 | 2015-04-29 | 浙江工业大学 | Tunnel full-section high-speed dynamic health detection device and method based on active panoramic vision |
| CN104680579A (en) * | 2015-03-02 | 2015-06-03 | 北京工业大学 | Tunnel construction informatization monitoring system based on three-dimensional scanning point cloud |
| CN106875434A (en) * | 2017-01-05 | 2017-06-20 | 中国电建集团西北勘测设计研究院有限公司 | A kind of light section prospecting adit geological record method based on 3 D laser scanning |
| CN107830839A (en) * | 2017-10-11 | 2018-03-23 | 北京工业大学 | Three Dimensional Ground laser scanning data processing method and processing device |
| CN108007374A (en) * | 2017-12-18 | 2018-05-08 | 武汉市市政建设集团有限公司 | A kind of building deformation laser point cloud data grid deviation analysis method |
| CN108225202A (en) * | 2016-12-10 | 2018-06-29 | 南京理工大学 | Steel rail displacement on-line measurement system and measuring method based on line array CCD |
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| CN110390687A (en) * | 2019-07-29 | 2019-10-29 | 四川大学 | A kind of dry river measurement method based on 3 D laser scanning |
| CN113358070A (en) * | 2021-07-07 | 2021-09-07 | 苏州鑫睿益荣信息技术有限公司 | Automobile brake pad flatness and pin height detection system and detection method thereof |
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Cited By (14)
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| CN104567708B (en) * | 2015-01-06 | 2018-03-16 | 浙江工业大学 | Full section of tunnel high speed dynamical health detection means and method based on active panoramic vision |
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| CN108225202A (en) * | 2016-12-10 | 2018-06-29 | 南京理工大学 | Steel rail displacement on-line measurement system and measuring method based on line array CCD |
| CN106875434A (en) * | 2017-01-05 | 2017-06-20 | 中国电建集团西北勘测设计研究院有限公司 | A kind of light section prospecting adit geological record method based on 3 D laser scanning |
| CN107830839B (en) * | 2017-10-11 | 2020-06-26 | 北京工业大学 | Ground three-dimensional laser scanning data processing method and device |
| CN107830839A (en) * | 2017-10-11 | 2018-03-23 | 北京工业大学 | Three Dimensional Ground laser scanning data processing method and processing device |
| CN108007374A (en) * | 2017-12-18 | 2018-05-08 | 武汉市市政建设集团有限公司 | A kind of building deformation laser point cloud data grid deviation analysis method |
| CN108253925A (en) * | 2018-01-08 | 2018-07-06 | 中煤科工集团武汉设计研究院有限公司 | A kind of tunnel deformation monitoring method, equipment and storage device based on cloud section |
| CN110390687A (en) * | 2019-07-29 | 2019-10-29 | 四川大学 | A kind of dry river measurement method based on 3 D laser scanning |
| CN110390687B (en) * | 2019-07-29 | 2021-06-01 | 四川大学 | Three-dimensional laser scanning-based river channel erosion and deposition measuring method |
| CN113358070A (en) * | 2021-07-07 | 2021-09-07 | 苏州鑫睿益荣信息技术有限公司 | Automobile brake pad flatness and pin height detection system and detection method thereof |
| CN113358070B (en) * | 2021-07-07 | 2023-03-28 | 苏州鑫睿益荣信息技术有限公司 | Automobile brake pad flatness and pin height detection system and detection method thereof |
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