CN104279956B - Determination method for rock structural surface reference plane - Google Patents

Determination method for rock structural surface reference plane Download PDF

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CN104279956B
CN104279956B CN201410532744.8A CN201410532744A CN104279956B CN 104279956 B CN104279956 B CN 104279956B CN 201410532744 A CN201410532744 A CN 201410532744A CN 104279956 B CN104279956 B CN 104279956B
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datum
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median
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江权
宋磊博
龚彦华
杨成祥
崔洁
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Wuhan Institute of Rock and Soil Mechanics of CAS
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Abstract

本发明涉及一种岩石结构面表面基准面的确定方法,属于岩土力学技术领域。本发明采用三维白光扫描仪扫描岩石结构面表面,获得岩石结构面表面的点云数据;然后用MATLAB软件读入岩石结构面表面的点云数据,根据中位基准面的确定原理,识别并确定岩石结构面表面的中位基准面;最后根据基准面方程,确定中位基准面的中心点O、构造平移矩阵M、旋转矩阵R,进一步利用MATLAB软件得到在中位基准面基准下岩石结构面表面的点云数据。本发明可以识别并确定岩石结构面的中位基准面,得到在中位基准面基准下岩石结构面表面的点云数据,有效地解决了三维白光扫描获得的点云数据无法直接对岩石结构面表面进行定量描述的问题。

The invention relates to a method for determining the surface reference plane of a rock structural surface, and belongs to the technical field of rock and soil mechanics. The present invention uses a three-dimensional white light scanner to scan the surface of the rock structure surface to obtain point cloud data on the surface of the rock structure surface; then use MATLAB software to read in the point cloud data on the surface of the rock structure surface, and identify and determine the The median datum on the surface of the rock structure plane; finally, according to the datum equation, determine the center point O ' of the median datum, the structural translation matrix M, and the rotation matrix R, and further use MATLAB software to obtain the rock structure under the median datum datum Point cloud data of the surface. The present invention can identify and determine the median datum of the rock structural plane, and obtain point cloud data on the surface of the rock structural plane under the median datum reference, which effectively solves the problem that the point cloud data obtained by three-dimensional white light scanning cannot be directly compared to the rock structural plane. The problem of quantitative description of surfaces.

Description

一种岩石结构面表面基准面的确定方法A Method for Determining the Surface Datum Level of Rock Fractural Plane

技术领域technical field

本发明涉及一种岩石结构面表面形态描述,更具体涉及一种岩石结构面表面基准面的确定方法,属于岩土力学技术领域。The invention relates to a description of the surface morphology of a rock structural surface, and more specifically relates to a method for determining a reference plane of the surface of a rock structural surface, belonging to the technical field of rock and soil mechanics.

背景技术Background technique

岩石的物理和力学性质主要受岩石结构面的控制,因此对岩石试件结构面表面形态进行精确测定是研究结构面的表面形态与力学性质的关系的先决条件。但由于岩石结构面的表面形态起伏大、变化范围广、形态十分复杂,给精确测量带来很大难度。现在测量岩石结构面三维表面形态的主要测量测试手段是非接触式的光学方法,尤其是三维光学扫描技术近几年的迅速发展,已经成为岩石试件结构面三维表面测量的主要手段。但是利用三维白光扫描技术扫描结构面表面时,我们只能获得在标志点全局坐标系下的结构面表面三维点云数据。但是,现有描述岩石三维结构面参数(如波峰、波谷等)大多数是基于基准面进行的,故扫描获取的点云数据无法直接对岩石结构面表面进行定量描述,进而无法精确地描述结构面特征。因此,开发一种岩石结构面表面基准面的确定方法对于克服三维扫描数据处理难题、对于提高岩石结构面表面特征的定量描述都十分必要。The physical and mechanical properties of rock are mainly controlled by the rock structural plane, so the accurate measurement of the surface morphology of the structural plane of the rock specimen is a prerequisite for studying the relationship between the surface morphology of the structural plane and the mechanical properties. However, due to the large fluctuations, wide range of changes, and very complex shapes of the rock structural plane, it is very difficult to measure accurately. At present, the main measurement method for measuring the three-dimensional surface morphology of rock discontinuities is the non-contact optical method, especially the rapid development of three-dimensional optical scanning technology in recent years, which has become the main method for measuring the three-dimensional surface of rock specimen discontinuities. However, when using the 3D white light scanning technology to scan the surface of the structural surface, we can only obtain the 3D point cloud data of the surface of the structural surface in the global coordinate system of the landmark points. However, most of the existing parameters describing the three-dimensional structural planes of rocks (such as peaks, troughs, etc.) are based on the datum plane, so the point cloud data obtained by scanning cannot directly describe the surface of rock structural planes quantitatively, and thus cannot accurately describe the structure surface features. Therefore, it is necessary to develop a method for determining the surface datum of rock discontinuities to overcome the difficulty of 3D scanning data processing and to improve the quantitative description of the surface characteristics of rock discontinuities.

发明内容Contents of the invention

针对上述存在问题,本发明的目的在于提供一种岩石结构面表面基准面的确定方法,并以中位基准面为岩石结构面的基准面,对三维白光扫描仪所得到的扫描数据进行处理,得到以中位基准面为基准的三维点云数据。In view of the above-mentioned existing problems, the object of the present invention is to provide a method for determining the reference plane of the rock structural surface surface, and use the median reference plane as the reference plane of the rock structural surface to process the scanning data obtained by the three-dimensional white light scanner, The 3D point cloud data based on the median datum plane is obtained.

为了实现上述目的,本发明所采用的技术方案是:In order to achieve the above object, the technical solution adopted in the present invention is:

一种岩石结构面基准面的确定方法,所述测量方法按以下步骤进行;A method for determining the datum level of a rock structure plane, the measurement method is carried out in the following steps;

一种岩石结构面基准面的确定方法,其特征在于,所述测量方法按以下步骤进行:A method for determining the base level of a rock structural plane, characterized in that the measurement method is carried out in the following steps:

①对岩石试件的结构面表面进行处理,利用三维白光扫描仪扫描岩石结构面表面,获得在标志点全局坐标系下岩石结构面表面的三维点云数据,三维点云数据以X、Y、Z三维坐标的形式输出;① Process the surface of the structural surface of the rock specimen, use a 3D white light scanner to scan the surface of the rock structural surface, and obtain the 3D point cloud data of the surface of the rock structural surface in the global coordinate system of the marker points. The 3D point cloud data is represented by X, Y, Output in the form of Z three-dimensional coordinates;

②利用计算机软件将三维点云数据读入,存入一个N行3列的矩阵A中,其中N为点云数量,第一列、第二列、第三列分别存入每一点的X、Y、Z的值;②Use computer software to read in the 3D point cloud data and store it in a matrix A with N rows and 3 columns, where N is the number of point clouds, and the first column, the second column, and the third column are respectively stored in the X, Y, Z values;

③利用计算机软件,识别确定岩石结构面表面的中位基准面;中位基准面用一个平面函数来表示被测量表面的基准面方程,函数形式为z=a+bx+cy,利用计算机软件对函数求偏导,自动求出函数中的a、b、c的值,从而在标志点全局坐标系X-Y-Z中确定结构面表面的中位基准面,并进行显示;③ Utilize computer software to identify and determine the median datum level on the surface of the rock structural plane; the median datum level uses a plane function to represent the datum level equation of the measured surface, and the function form is z=a+bx+cy, using computer software to Calculate the partial derivative of the function, and automatically calculate the values of a, b, and c in the function, so as to determine the median reference plane of the structural surface surface in the global coordinate system X-Y-Z of the marker point, and display it;

④根据求出的基准面方程,确定中位基准面的中心点O’为[0,0,a],构造平移矩阵M、旋转矩阵R;④According to the calculated datum equation, determine the center point O' of the median datum as [0, 0, a], and construct the translation matrix M and rotation matrix R;

公式1 Formula 1

公式2 Formula 2

⑤利用平移矩阵和旋转矩阵,输出岩石结构面中位基准面基准下的岩石结构面表面的数据,构造N行4列的矩阵B,N为点云数量,矩阵的第一列、第二列、第三列分别为X、Y、Z的值,第四列为元素全为数值“1”;利用平移矩阵和旋转矩阵,在计算机上的软件中进行B×M×R运算,对运算结果进行处理后,得到岩石结构面中位基准面基准下的结构面表面的数据,并输出其数据。⑤ Utilize the translation matrix and rotation matrix to output the data on the surface of the rock structure plane under the median datum datum of the rock structure plane, and construct a matrix B with N rows and 4 columns, where N is the number of point clouds, and the first and second columns of the matrix , The third column is the value of X, Y, Z respectively, and the fourth column is the value "1" for all the elements; use the translation matrix and rotation matrix to perform B×M×R calculation in the software on the computer, and calculate the operation result After processing, the data of the structural plane surface under the median datum level of the rock structural plane are obtained, and the data are output.

根据权利要求1所述的一种岩石结构面基准面的确定方法,其特征在于:所述的对岩石试件的结构面表面进行处理,是指先将岩石结构面的表面清扫干净,然后喷上一层薄薄的表面反差增强剂,待其干燥后,再贴上扫描标志点。The method for determining the datum level of a rock structural surface according to claim 1, wherein said treating the surface of the structural surface of the rock test piece refers to cleaning the surface of the rock structural surface first, and then spraying A thin layer of surface contrast enhancer is allowed to dry before applying the scan markers.

根据权利要求1所述的一种岩石结构面基准面的确定方法,其特征在于:所述的计算机软件为MATLAB软件。The method for determining the datum level of a rock structural plane according to claim 1, characterized in that: said computer software is MATLAB software.

根据权利要求1所述的一种岩石结构面基准面的确定方法,其特征在于:所述的步骤五中输出岩石结构面中位基准面基准下的岩石结构面表面的数据的具体步骤为:A method for determining the rock structure plane datum level according to claim 1, characterized in that: the specific steps of outputting the data of the rock structure plane surface under the rock structure plane median datum level benchmark in the step 5 are:

①构造N行4列的矩阵B,N为点云数量,矩阵的第一列、第二列、第三列分别为X、Y、Z的值,第四列为元素全为1,其中,其中X、Y值表示各点在岩石结构面的位置,Z表示在标志点全局坐标系下结构面的高度值;① Construct a matrix B with N rows and 4 columns, N is the number of point clouds, the first column, the second column, and the third column of the matrix are the values of X, Y, and Z respectively, and the fourth column is all 1 elements, among which, Among them, the X and Y values represent the position of each point on the rock structure plane, and Z represents the height value of the structure plane in the global coordinate system of the marker points;

②利用平移矩阵和旋转矩阵,在MATLAB软件中进行B×M×R运算,运算得到一个N行4列的矩阵C,其中N为点云数量,第一列、第二列为点在岩石结构面中位基准面下的位置,第三列表示在中位基准面下结构面的高度值;②Using the translation matrix and rotation matrix, perform B×M×R operation in MATLAB software to obtain a matrix C with N rows and 4 columns, where N is the number of point clouds, and the first and second columns are points in the rock structure. The position below the median datum plane of the surface, and the third column indicates the height value of the structural surface below the median datum plane;

③利用MATLAB软件,将矩阵C的第一列、第二列、第三列存入一个N行3列的矩阵D中,其中N为点云数量,将矩阵D转化文本数据并输出,从而得到了岩石结构面中位基准面基准下结构面表面的数据。③ Using MATLAB software, store the first column, second column, and third column of matrix C into a matrix D with N rows and 3 columns, where N is the number of point clouds, and convert matrix D into text data and output it to obtain Data on the surface of the structural plane below the mid-level datum of the rock structural plane were obtained.

由于采用了上述技术方案,本发明可以确定岩石结构面的中位基准面,并且可以得到在中位基准面基准下岩石结构面表面的三维点云数据,因为特定岩石结构面的中位基准面是唯一存在的,所以以中位基准面作为基准对三维扫描点云数据进行处理,可以有效地解决了三维白光扫描获得的点云数据因云面倾角问题无法直接对岩石结构面表面进行定量描述的问题。具有如下技术效果:Due to the adoption of the above technical scheme, the present invention can determine the median datum of the rock structural plane, and can obtain the three-dimensional point cloud data of the surface of the rock structural plane under the median datum reference, because the median datum of the specific rock structural plane It is the only one that exists, so processing the 3D scanning point cloud data with the median datum as the benchmark can effectively solve the problem that the point cloud data obtained by 3D white light scanning cannot directly quantitatively describe the surface of the rock structural plane due to the problem of cloud surface inclination. The problem. It has the following technical effects:

(1)识别并确定岩石结构面表面的中位基准面:一个岩石结构面的中位基准面是存在的,并且是唯一,通过上述技术方案,可知识别岩石结构面表面的中位基准面,并确定其方程。(1) Identify and determine the median datum of the surface of the rock structural plane: the median datum of a rock structural plane exists and is unique. Through the above-mentioned technical scheme, the median datum of the rock structural plane surface can be known and identified, and determine its equation.

(2)得到了以中位基准面为基准的岩石结构面表面数据:评定基准面是实现表面信息提取的核心技术,确定了岩石结构面的中位基准面,才可以进一步确定结构面表面的三维参数,通过上述技术方案,对三维白光扫描的数据进行处理,可以直接得到以中位基准面为基准的岩石结构面表面数据,进而可以定量描述岩石结构面表面形态特征。(2) Obtained the surface data of the rock discontinuity plane based on the median datum level: the evaluation datum level is the core technology to realize the extraction of surface information. Three-dimensional parameters, through the above technical scheme, the data of three-dimensional white light scanning can be processed to directly obtain the surface data of rock structural planes based on the median datum level, and then quantitatively describe the surface morphology characteristics of rock structural planes.

附图说明:Description of drawings:

图1示出了本发明实施平移矩阵和旋转矩阵的原理图。Fig. 1 shows a schematic diagram of implementing translation matrix and rotation matrix in the present invention.

具体实施方式:detailed description:

下面结合附图1,对本发明一种确定中位基准面的方法作进一步详细描述。A method for determining the median reference plane of the present invention will be further described in detail below in conjunction with accompanying drawing 1 .

见附图see Attachment

一种岩石结构面基准面的确定方法,所述测量方法按以下步骤进行;A method for determining the datum level of a rock structure plane, the measurement method is carried out in the following steps;

1对岩石试件的结构面表面进行处理,利用三维白光扫描仪扫描岩石结构面表面,获得在标志点全局坐标系下岩石结构面表面的三维点云数据,三维点云数据以X、Y、Z三维坐标的形式输出;其分为以下两步:1 Process the surface of the structural surface of the rock specimen, use a 3D white light scanner to scan the surface of the rock structural surface, and obtain the 3D point cloud data of the surface of the rock structural surface in the global coordinate system of the marker points. The 3D point cloud data is represented by X, Y, Output in the form of Z three-dimensional coordinates; it is divided into the following two steps:

①对岩石结构面表面处理过程是先将岩石结构面的表面清扫干净,然后喷上一层薄薄的表面反差增强剂,待其干燥后,再贴上扫描标志点;① The surface treatment process of the rock structure surface is to clean the surface of the rock structure surface first, then spray a thin layer of surface contrast enhancer, and then paste the scanning mark points after it dries;

②打开三维白光扫描仪,对岩石结构面表面进行扫描,获得岩石结构面表面的点云数据。② Turn on the 3D white light scanner to scan the surface of the rock structure surface to obtain point cloud data on the surface of the rock structure surface.

2利用MATLAB软件将三维点云数据读入,存入一个N行3列的矩阵A中,其中N为点云数量,第一列、第二列、第三列分别存入每一点的X、Y、Z值,其中X、Y值表示各点在岩石结构面的位置,Z表示在标志点全局坐标系下结构面的高度值;2 Use MATLAB software to read in the 3D point cloud data and store it in a matrix A with N rows and 3 columns, where N is the number of point clouds, and the first column, the second column, and the third column are respectively stored in X, Y and Z values, where X and Y values represent the position of each point on the rock structure plane, and Z represents the height value of the structure plane under the global coordinate system of the marker points;

3利用MATLAB软件,识别确定岩石结构面表面的中位基准面;中位基准面用一个平面函数来表示被测量表面的基准面方程,函数形式为z=a+bx+cy,利用MATLAB对函数求偏导,自动求出函数中的a、b、c的值,从而在标志点全局坐标系X-Y-Z中确定结构面表面的中位基准面,并进行显示;3Use MATLAB software to identify and determine the median datum of the surface of the rock structural surface; the median datum uses a plane function to represent the datum equation of the measured surface, and the function form is z=a+bx+cy, using MATLAB to the function Calculate the partial derivative, automatically calculate the values of a, b, and c in the function, so as to determine the median reference plane of the structural surface surface in the global coordinate system X-Y-Z of the marker point, and display it;

根据中位基准面确定的原理计算出中位基准面的函数表达式,具体原理方法如下:According to the principle of determining the median datum, the function expression of the median datum is calculated, and the specific principles and methods are as follows:

设三维中位基准面为z[x,y],基准面方程:Let the three-dimensional median datum plane be z[x, y], the datum plane equation:

z=a+bx+cy 公式3z=a+bx+cy Formula 3

根据最小二乘法原理,误差平方和:According to the principle of least squares method, the error sum of squares:

公式4 Formula 4

引入平均值:Bring in the mean:

公式5 Formula 5

公式6 Formula 6

公式7 Formula 7

为使D最小,D对a、b和c分别求一阶偏导数,化简就得a、b和c如下:In order to minimize D, D calculates the first-order partial derivatives of a, b, and c respectively, and simplifies to get a, b, and c as follows:

公式8 Formula 8

公式9 Formula 9

公式10 Formula 10

根据岩石结构面表面的点云数据,带入公式8、公式9、公式10中解出a、b、c的值,并代入公式3中,即求得中位基准面的方程;此方程代表的平面即是所求的岩石结构面表面的中位基准面;According to the point cloud data on the surface of the rock structural plane, bring the values of a, b, and c into formula 8, formula 9, and formula 10, and substitute them into formula 3 to obtain the equation of the median datum plane; this equation represents The plane of is the median datum plane of the surface of the rock structural plane to be sought;

4根据求出的基准面方程,确定中位基准面的中心点O’为[0,0,a],根据矩阵论相关知识,构造平移矩阵M、旋转矩阵R;实现此目的,分为以下两个步骤:4 According to the calculated datum equation, determine the center point O' of the median datum as [0, 0, a], and construct the translation matrix M and rotation matrix R according to the relevant knowledge of matrix theory; to achieve this purpose, it is divided into the following Two steps:

①确定中位基准面的中心点O’,相当于坐标原点的作用。原则上此中心点只要在中位基准面上即可,此处推荐以标志点全局坐标系的Z轴与岩石结构面中位基准面的交点处为中心点,是这是因为在实际情况中,中位基准面与Z轴必存在交点,这一点即特殊又具有普遍存在的意义。然后根据矩阵论的知识构造平移矩阵M,将标志点全局坐标系的原点O点移到中位基准面的中心点O’,见附图1,构造的平移矩阵M如下式:① Determine the center point O' of the median datum plane, which is equivalent to the role of the coordinate origin. In principle, this center point only needs to be on the median datum plane. Here, it is recommended to take the intersection of the Z-axis of the global coordinate system of the marker point and the median datum plane of the rock structural plane as the center point, because in actual situations , there must be an intersection point between the median datum plane and the Z axis, which is both special and universal. Then, according to the knowledge of matrix theory, the translation matrix M is constructed, and the origin O of the global coordinate system of the marker points is moved to the center point O' of the median datum plane, as shown in Figure 1. The constructed translation matrix M is as follows:

公式1 Formula 1

②进行旋转,使标志点全局坐标系的X-O-Y面与岩石结构面的中位基准面重合,标志点全局坐标系X-Y-Z旋转到X’-Y’-Z’坐标系位置,见附图1,根据矩阵论知识构造出旋转矩阵,以实现此目的,旋转矩阵如下:② Rotate so that the X-O-Y plane of the global coordinate system of the marker points coincides with the median datum plane of the rock structural plane, and the global coordinate system of the marker points X-Y-Z is rotated to the position of the X'-Y'-Z' coordinate system, see attached drawing 1, according to The knowledge of matrix theory constructs the rotation matrix to achieve this purpose, the rotation matrix is as follows:

公式2 Formula 2

5利用平移矩阵和旋转矩阵,输出岩石结构面中位基准面基准下的岩石结构面表面的数据,分为以下步骤:5 Using the translation matrix and the rotation matrix to output the data on the surface of the rock structure plane under the median datum level of the rock structure plane is divided into the following steps:

①构造N行4列的矩阵B,N为点云数量,矩阵的第一列、第二列、第三列分别为X、Y、Z的值,第四列为元素全为1,其中,其中X、Y值表示各点在岩石结构面的位置,Z表示在标志点全局坐标系下结构面的高度值。① Construct a matrix B with N rows and 4 columns, N is the number of point clouds, the first column, the second column, and the third column of the matrix are the values of X, Y, and Z respectively, and the fourth column is all 1 elements, among which, Among them, the X and Y values indicate the position of each point on the rock structural plane, and Z indicates the height value of the structural plane in the global coordinate system of the marker point.

②利用平移矩阵和旋转矩阵,在MATLAB软件中进行B×M×R运算,运算得到一个N行4列的矩阵C,其中N为点云数量,第一列、第二列为点在岩石结构面中位基准面下的位置,第三列表示在中位基准面下结构面的高度值。②Using the translation matrix and rotation matrix, perform B×M×R operation in MATLAB software to obtain a matrix C with N rows and 4 columns, where N is the number of point clouds, and the first and second columns are points in the rock structure. The position below the median datum of the surface, and the third column indicates the height value of the structural surface below the median datum.

③利用MATLAB软件,将矩阵C的第一列、第二列、第三列存入一个N行3列的矩阵D中,其中N为点云数量,将矩阵D转化文本数据并输出,从而得到了岩石结构面中位基准面基准下结构面表面的数据。③ Using MATLAB software, store the first column, second column, and third column of matrix C into a matrix D with N rows and 3 columns, where N is the number of point clouds, and convert matrix D into text data and output it to obtain Data on the surface of the structural plane below the mid-level datum of the rock structural plane were obtained.

具体实施例:Specific examples:

1对岩石试件的结构面表面进行处理,利用三维白光面扫描仪扫描岩石结构面表面,获得岩石结构面表面的三维点云数据,以下是提取岩石结构面中的20个点的三维数据,以做示例,如表1:1 Process the surface of the structural surface of the rock specimen, scan the surface of the structural surface of the rock with a 3D white light surface scanner, and obtain the 3D point cloud data of the surface of the structural surface of the rock, the following is the extraction of 3D data of 20 points in the structural surface of the rock, As an example, as shown in Table 1:

表1Table 1

2利用MATLAB软件将三维点云数据读入,将表1中的数据存入矩阵A中,如下式;2 Use MATLAB software to read in the 3D point cloud data, and store the data in Table 1 into matrix A, as follows;

3利用MATLAB软件,识别确定岩石结构面表面的中位基准面,基准面方程如下;3Use MATLAB software to identify and determine the median datum on the surface of the rock structural plane, and the datum equation is as follows;

z=-0.137301229-0.000305767x-0.001847973yz=-0.137301229-0.000305767x-0.001847973y

4根据求出的基准面方程,所以中位基准面的中心点O’为[0,0,-0.137301229],根据公式1和公式2,得到平移矩阵M和旋转矩阵R:4 According to the calculated datum equation, the center point O' of the median datum is [0, 0, -0.137301229], and according to formula 1 and formula 2, the translation matrix M and rotation matrix R are obtained:

公式1 Formula 1

公式2 Formula 2

五①构造矩阵B:Five ① construct matrix B:

②用MATLAB软件计算B×M×R,运算C,结果如下:② Use MATLAB software to calculate B×M×R, and calculate C, the results are as follows:

③利用MATLAB软件,输出岩石结构面中位基准面基准下结构面表面的数据,见表2:③ Use MATLAB software to output the data on the surface of the structural plane below the median datum level of the rock structural plane, as shown in Table 2:

表2Table 2

Claims (3)

1.一种岩石结构面基准面的确定方法,其特征在于,测量方法按以下步骤进行:1. a method for determining a rock structure plane datum level is characterized in that the measuring method is carried out in the following steps: ①对岩石试件的结构面表面进行处理,利用三维白光扫描仪扫描岩石结构面表面,获得在标志点全局坐标系下岩石结构面表面的三维点云数据,三维点云数据以X、Y、Z三维坐标的形式输出;① Process the surface of the structural surface of the rock specimen, use a 3D white light scanner to scan the surface of the rock structural surface, and obtain the 3D point cloud data of the surface of the rock structural surface in the global coordinate system of the marker points. The 3D point cloud data is represented by X, Y, Output in the form of Z three-dimensional coordinates; ②利用计算机软件将三维点云数据读入,存入一个N行3列的矩阵A中,其中N为点云数量,第一列、第二列、第三列分别存入每一点的X、Y、Z的值;②Use computer software to read in the 3D point cloud data and store it in a matrix A with N rows and 3 columns, where N is the number of point clouds, and the first column, the second column, and the third column are respectively stored in the X, Y, Z values; ③利用计算机软件,识别确定岩石结构面表面的中位基准面;中位基准面用一个平面函数来表示被测量表面的基准面方程,函数形式为z=a+bx+cy,利用计算机软件对函数求偏导,根据岩石结构面表面的点云数据,自动求出函数中a、b、c的值,从而在标志点全局坐标系X-Y-Z中确定结构面表面的中位基准面,并进行显示;③ Utilize computer software to identify and determine the median datum level on the surface of the rock structural plane; the median datum level uses a plane function to represent the datum level equation of the measured surface, and the function form is z=a+bx+cy, using computer software to The partial derivative of the function is calculated according to the point cloud data of the surface of the rock structural surface, and the values of a, b, and c in the function are automatically calculated, so that the median datum of the structural surface surface is determined in the global coordinate system X-Y-Z of the marker point, and displayed ; ④根据求出的基准面方程,确定中位基准面的中心点O’为[0,0,a],构造平移矩阵M、旋转矩阵R;④According to the calculated datum equation, determine the center point O' of the median datum as [0, 0, a], and construct the translation matrix M and rotation matrix R; ⑤利用平移矩阵和旋转矩阵,输出岩石结构面中位基准面基准下的岩石结构面表面的数据,构造N行4列的矩阵B,N为点云数量,矩阵的第一列、第二列、第三列分别为X、Y、Z的值,第四列为元素全为数值“1”;利用平移矩阵公式1和旋转矩阵公式2,在计算机上的软件中进行B×M×R运算,对运算结果进行处理后,得到岩石结构面中位基准面基准下的结构面表面的数据,并输出其数据。⑤ Utilize the translation matrix and rotation matrix to output the data on the surface of the rock structure plane under the median datum datum of the rock structure plane, and construct a matrix B with N rows and 4 columns, where N is the number of point clouds, and the first and second columns of the matrix , the third column is the value of X, Y, Z respectively, and the fourth column is the value "1" for all the elements; use the translation matrix formula 1 and rotation matrix formula 2 to perform B×M×R calculation in the software on the computer , after processing the operation results, the data of the structural surface surface under the median datum of the rock structural plane are obtained, and the data are output. 2.根据权利要求1所述的一种岩石结构面基准面的确定方法,其特征在于:所述的对岩石试件的结构面表面进行处理,是指先将岩石结构面的表面清扫干净,然后喷上一层薄薄的表面反差增强剂,待其干燥后,再贴上扫描标志点。2. the determining method of a kind of rock structural surface datum level according to claim 1, is characterized in that: described to the structural surface surface of rock test piece is handled, refers to the surface of rock structural surface is cleaned up earlier, and then Spray a thin layer of surface contrast enhancer, let it dry, and then paste the scanning markers. 3.根据权利要求1所述的一种岩石结构面基准面的确定方法,其特征在于:所述的步骤⑤中输出岩石结构面中位基准面基准下的岩石结构面表面的数据的具体步骤为:3. the determining method of a kind of rock structure plane datum level according to claim 1, is characterized in that: in the described step 5., output the concrete step of the data of the rock structure plane surface under the rock structure plane median datum level benchmark for: ①构造N行4列的矩阵B,N为点云数量,矩阵的第一列、第二列、第三列分别为X、Y、Z的值,第四列为元素全为1,其中,其中X、Y值表示各点在岩石结构面的位置,Z表示在标志点全局坐标系下结构面的高度值;① Construct a matrix B with N rows and 4 columns, N is the number of point clouds, the first column, the second column, and the third column of the matrix are the values of X, Y, and Z respectively, and the fourth column is all 1 elements, among which, Among them, the X and Y values represent the position of each point on the rock structure plane, and Z represents the height value of the structure plane in the global coordinate system of the marker points; ②利用平移矩阵和旋转矩阵,在MATLAB软件中进行B×M×R运算,运算得到一个N行4列的矩阵C,其中N为点云数量,第一列、第二列为点在岩石结构面中位基准面下的位置,第三列表示在中位基准面下结构面的高度值;②Using the translation matrix and rotation matrix, perform B×M×R operation in MATLAB software to obtain a matrix C with N rows and 4 columns, where N is the number of point clouds, and the first and second columns are points in the rock structure. The position below the median datum plane of the surface, and the third column indicates the height value of the structural surface below the median datum plane; ③利用MATLAB软件,将矩阵C的第一列、第二列、第三列存入一个N行3列的矩阵D中,其中N为点云数量,将矩阵D转化文本数据并输出,从而得到了岩石结构面中位基准面基准下结构面表面的数据。③ Using MATLAB software, store the first column, second column, and third column of matrix C into a matrix D with N rows and 3 columns, where N is the number of point clouds, and convert matrix D into text data and output it to obtain Data on the surface of the structural plane below the mid-level datum of the rock structural plane were obtained.
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