CN104279956B - Determination method for rock structural surface reference plane - Google Patents
Determination method for rock structural surface reference plane Download PDFInfo
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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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Abstract
The invention relates to a determination method for a rock structural surface reference plane, and belongs to the technical field of rock and soil mechanics. The method comprises the steps that a three-dimensional white-light scanner is adopted for scanning a rock structural surface to obtain point cloud data of the rock structural surface; then, the MATLAB software is used for reading in the point cloud data of the rock structural surface, and the neutral reference plane of the rock structural surface is recognized and determined on the basis of the neutral reference plane determining principle; finally, according to the reference plane equation, the central point O' of the neutral reference plane is determined, a translation matrix M and a rotation matrix R are constructed, and furthermore, the MATLAB software is used for obtaining point cloud data of the rock structural surface on the reference of the neutral reference plane. According to the determination method, the neutral reference plane of the rock structural surface can be recognized and determined, the point cloud data of the rock structure surface on the reference of the neutral reference plane are obtained, and the problem that the rock structural surface cannot be directly and quantitatively described by point cloud data obtained through three-dimensional white-light scanning is effectively solved.
Description
Technical field
The present invention relates to a kind of description of rock structural face configuration of surface, a kind of rock structural face reference surface is more particularly to
The determination method in face, belongs to rock-soil mechanics technical field.
Background technology
The physically-based model of rock is mainly controlled by rock structural face, therefore to rock sample structural plane surface shape
It is prerequisite of the configuration of surface in research structure face with the relation of mechanical property that state carries out accurate measure.But due to rock texture
The configuration of surface in face rises and falls, and big, excursion is wide, form is sufficiently complex, and great difficulty is brought to accurate measurement.Rock is measured now
The main measurement means of testing of stone structure face three-dimensional surface morphology is contactless optical means, especially three-dimensional optical scanning
Technology developing rapidly in recent years, has become the Main Means of rock sample structural plane three-dimensional surface measurement.But utilize three
During dimension white light scanning technology Scan Architecture face surface, we can only obtain the structural plane surface three under index point global coordinate system
Dimension cloud data.But, existing description rock three-dimensional structure face parameter (such as crest, trough) is most of to be entered based on datum level
Capable, therefore the cloud data that scanning is obtained directly cannot be quantitatively described to rock structural face surface, and then cannot be accurately
Description scheme region feature.Therefore, a kind of determination method in rock structural face reference surface face is developed for overcoming 3-D scanning number
According to treatment problem, for improve rock structural face surface characteristics quantitative description it is all very necessary.
The content of the invention
There is problem for above-mentioned, it is an object of the invention to provide a kind of determination side in rock structural face reference surface face
Method, and the datum level with middle position datum level as rock structural face, at the scan data obtained by three-dimensional white light scanning instrument
Reason, obtains the three dimensional point cloud on the basis of middle position datum level.
To achieve these goals, the technical solution adopted in the present invention is：
A kind of determination method of rock structural face datum level, the measuring method is carried out according to the following steps；
A kind of determination method of rock structural face datum level, it is characterised in that the measuring method is carried out according to the following steps：
1. the structural plane surface to rock sample is processed, and rock structural face table is scanned using three-dimensional white light scanning instrument
Face, obtains the three dimensional point cloud on the rock structural face surface under index point global coordinate system, and three dimensional point cloud is with X, Y, Z tri-
The form output of dimension coordinate；
2. three dimensional point cloud is read in using computer software, is stored in a matrix A for the row of N rows 3, wherein N is point
Cloud quantity, first row, secondary series, the 3rd row are stored in the value of X, Y, Z of every bit respectively；
3. computer software is utilized, identification determines the middle position datum level on rock structural face surface；Middle position datum level is with one
Planar function represents the datum level equation on measured surface, and functional form is z=a+bx+cy, using computer software to letter
Number seeks local derviation, and the value of a, b, the c in function is obtained automatically, so as to determine structural plane table in index point global coordinate system X-Y-Z
The middle position datum level in face, and shown；
4. according to the datum level equation obtained, determine that the central point O ' of middle position datum level, for [0,0, a], constructs translation matrix
M, spin matrix R；
Formula 1
Formula 2
5. translation matrix and spin matrix, the rock structural face table under output rock structural face middle position datum level benchmark are utilized
The data in face, the matrix B of the row of construction N rows 4, N is point cloud quantity, and the first row of matrix, secondary series, the 3rd row are respectively X, Y, Z
Value, the 4th is classified as element is all numerical value " 1 "；Carried out using translation matrix and spin matrix, in software on computers B ×
M × R computings, after processing operation result, obtain the number on the structural plane surface under rock structural face middle position datum level benchmark
According to, and export its data.
A kind of determination method of rock structural face datum level according to claim 1, it is characterised in that：Described is right
The structural plane surface of rock sample is processed, and refers to first to clean up the surface of rock structural face, then sprays last layer thin
Thin surface contrast enhancement agents, after it is dried, then stick scanning flag point.
A kind of determination method of rock structural face datum level according to claim 1, it is characterised in that：Described meter
Calculation machine software is MATLAB softwares.
A kind of determination method of rock structural face datum level according to claim 1, it is characterised in that：Described step
The data that the rock structural face surface under rock structural face middle position datum level benchmark is exported in rapid five are concretely comprised the following steps：
1. the matrix B that construction N rows 4 are arranged, N is point cloud quantity, and the first row of matrix, secondary series, the 3rd row are respectively X, Y, Z
Value, the 4th is classified as element is all 1, wherein, wherein X, Y value represent each point in the position of rock structural face, and Z is represented in index point
The height value of structural plane under global coordinate system；
2. translation matrix and spin matrix are utilized, B × M × R computings is carried out in MATLAB softwares, computing obtains a N
The Matrix C of the row of row 4, wherein N is point cloud quantity, and first row, second are classified as position a little under rock structural face middle position datum level,
3rd row represent the height value of the structural plane under middle position datum level；
3. MATLAB softwares are utilized, the first row of Matrix C, secondary series, the 3rd row is stored in the matrix D that a N row 3 is arranged
In, wherein N is point cloud quantity, matrix D is converted into text data and is exported, so as to obtain rock structural face middle position datum level base
The data on the lower structural plane surface of standard.
By adopting the above-described technical solution, present invention may determine that the middle position datum level of rock structural face, and can be with
The three dimensional point cloud on the rock structural face surface under middle position datum level benchmark is obtained, because the middle position base of specific rock structural face
Quasi- face is uniquely exist, so 3-D scanning cloud data is processed as benchmark using middle position datum level, can be effective
Solve the problems, such as cloud data that three-dimensional white light scanning obtains because cloud face inclination angle directly cannot be carried out to rock structural face surface
The problem of quantitative description.Have the following technical effect that：
(1) recognize and determine the middle position datum level on rock structural face surface：The middle position datum level of one rock structural face is
Exist, and be unique, by above-mentioned technical proposal, it is known that the middle position datum level on identification rock structural face surface, and determine
Its equation.
(2) the rock structural face surface data on the basis of middle position datum level has been obtained：Evaluation datum level is to realize surface
The core technology of information extraction, it is determined that the middle position datum level of rock structural face, just may further determine that structural plane surface
Three-dimensional parameter, by above-mentioned technical proposal, the data to three-dimensional white light scanning are processed, and can be directly obtained with middle position benchmark
Rock structural face surface data on the basis of face, and then can be with quantitative description rock structural face surface morphology characteristics.
Brief description of the drawings：
Fig. 1 shows that the present invention implements the schematic diagram of translation matrix and spin matrix.
Specific embodiment：
Below in conjunction with the accompanying drawings 1, the method for determining middle position datum level a kind of to the present invention is described in further detail.
See accompanying drawing
A kind of determination method of rock structural face datum level, the measuring method is carried out according to the following steps；
The structural plane surface of 1 pair of rock sample is processed, using three-dimensional white light scanning instrument scanning rock structural face surface,
The three dimensional point cloud on the rock structural face surface under index point global coordinate system is obtained, three dimensional point cloud is three-dimensional with X, Y, Z
The form output of coordinate；It is divided into following two step：
1. it is first to clean up the surface of rock structural face to rock structural face surface treatment process, then sprays last layer
Very thin surface contrast enhancement agents, after it is dried, then stick scanning flag point；
2. three-dimensional white light scanning instrument is opened, rock structural face surface is scanned, obtain the point on rock structural face surface
Cloud data.
2 are read in three dimensional point cloud using MATLAB softwares, are stored in a matrix A for the row of N rows 3, and wherein N is point cloud
Quantity, first row, secondary series, the 3rd row are stored in X, Y, Z value of every bit respectively, and wherein X, Y value represent each point in rock texture
The position in face, Z represents the height value of the structural plane under index point global coordinate system；
3 utilize MATLAB softwares, and identification determines the middle position datum level on rock structural face surface；Middle position datum level is flat with one
Surface function represents the datum level equation on measured surface, and functional form is z=a+bx+cy, asks inclined to function using MATLAB
Lead, the value of a, b, the c in function is obtained automatically, in determining structural plane surface in index point global coordinate system X-Y-Z
Position datum level, and shown；
The principle determined according to middle position datum level calculates the function expression of middle position datum level, and concrete principle method is such as
Under：
If three-dimensional middle position datum level is z [x, y], datum level equation：
Z=a+bx+cy formula 3
According to principle of least square method, error sum of squares：
Formula 4
Introduce average value：
Formula 5
Formula 6
Formula 7
To make D minimum, D seeks a, b and c first-order partial derivative respectively, abbreviation must a, b and c it is as follows：
Formula 8
Formula 9
Formula 10
According to the cloud data on rock structural face surface, bring into formula 8, formula 9, formula 10 and solve the value of a, b, c, and
Substitute into formula 3, that is, try to achieve the equation of middle position datum level；The plane that this equation is represented is required rock structural face surface
Middle position datum level；
4 according to the datum level equation obtained, and the central point O ' of middle position datum level is determined for [0,0, a], according to matrix theory phase
Close knowledge, construction translation matrix M, spin matrix R；This purpose is realized, is divided into following two steps：
1. the central point O ' of middle position datum level is determined, equivalent to the effect of the origin of coordinates.As long as this central point exists in principle
On middle position datum level, the intersection point with the Z axis of index point global coordinate system and rock structural face middle position datum level is recommended herein
Point centered on place, is because in a practical situation, middle position datum level and Z axis must have intersection point, and this point is special and tool
There is the meaning of generally existing.Then the knowledge structuring translation matrix M according to matrix theory, by the origin O of index point global coordinate system
Point moves on to the central point O ' of middle position datum level, sees accompanying drawing 1, the translation matrix M such as following formulas of construction：
Formula 1
2. rotated, the X-O-Y faces of index point global coordinate system is overlapped with the middle position datum level of rock structural face, marked
Will point global coordinate system X-Y-Z rotates to X '-Y '-Z ' co-ordinate system locations, sees accompanying drawing 1, and rotation is gone out according to matrix theory knowledge structuring
Matrix, to realize this purpose, spin matrix is as follows：
Formula 2
5 utilize translation matrix and spin matrix, the rock structural face table under output rock structural face middle position datum level benchmark
The data in face, are divided into following steps：
1. the matrix B that construction N rows 4 are arranged, N is point cloud quantity, and the first row of matrix, secondary series, the 3rd row are respectively X, Y, Z
Value, the 4th is classified as element is all 1, wherein, wherein X, Y value represent each point in the position of rock structural face, and Z is represented in index point
The height value of structural plane under global coordinate system.
2. translation matrix and spin matrix are utilized, B × M × R computings is carried out in MATLAB softwares, computing obtains a N
The Matrix C of the row of row 4, wherein N is point cloud quantity, and first row, second are classified as position a little under rock structural face middle position datum level,
3rd row represent the height value of the structural plane under middle position datum level.
3. MATLAB softwares are utilized, the first row of Matrix C, secondary series, the 3rd row is stored in the matrix D that a N row 3 is arranged
In, wherein N is point cloud quantity, matrix D is converted into text data and is exported, so as to obtain rock structural face middle position datum level base
The data on the lower structural plane surface of standard.
Specific embodiment：
The structural plane surface of 1 pair of rock sample is processed, and rock structural face table is scanned using three-dimensional white light Surface scan instrument
Face, obtains the three dimensional point cloud on rock structural face surface, the following is 20 three-dimensional datas of point extracted in rock structural face,
To do example, such as table 1：
Table 1
2 are read in three dimensional point cloud using MATLAB softwares, and the data in table 1 are stored in matrix A, such as following formula；
3 utilize MATLAB softwares, and identification determines the middle position datum level on rock structural face surface, and datum level equation is as follows；
Z=-0.137301229-0.000305767x-0.001847973y
4 according to the datum level equation obtained, so the central point O ' of middle position datum level is [0,0, -0.137301229], root
According to formula 1 and formula 2, translation matrix M and spin matrix R is obtained：
Formula 1
Formula 2
Five 1. structural matrix B：
2. B × M × R is calculated with MATLAB softwares, computing C is as a result as follows：
3. MATLAB softwares are utilized, the data on structural plane surface, are shown in Table under output rock structural face middle position datum level benchmark
2：
Table 2
Claims (3)
1. a kind of determination method of rock structural face datum level, it is characterised in that measuring method is carried out according to the following steps：
1. the structural plane surface to rock sample is processed, and using three-dimensional white light scanning instrument scanning rock structural face surface, is obtained
The three dimensional point cloud on the rock structural face surface under index point global coordinate system is obtained, three dimensional point cloud is sat so that X, Y, Z are three-dimensional
Target form is exported；
2. three dimensional point cloud is read in using computer software, is stored in a matrix A for the row of N rows 3, wherein N is point cloud number
Amount, first row, secondary series, the 3rd row are stored in the value of X, Y, Z of every bit respectively；
3. computer software is utilized, identification determines the middle position datum level on rock structural face surface；Middle position datum level is with a plane
Function represents the datum level equation on measured surface, and functional form is z=a+bx+cy, and function is asked using computer software
Local derviation, according to the cloud data on rock structural face surface, obtains the value of a, b, c in function automatically, so as in the global seat of index point
The middle position datum level on structural plane surface is determined in mark system X-Y-Z, and is shown；
4. according to the datum level equation obtained, the central point O ' of middle position datum level is determined for [0,0, a], construction translation matrix M, rotation
Torque battle array R；
5. translation matrix and spin matrix are utilized, the rock structural face surface under output rock structural face middle position datum level benchmark
Data, the matrix B of the row of construction N rows 4, N is point cloud quantity, and the first row of matrix, secondary series, the 3rd row are respectively the value of X, Y, Z,
4th is classified as element is all numerical value " 1 "；Using translation matrix formula 1 and spin matrix formula 2, enter in software on computers
Row B × M × R computings, after processing operation result, obtains the structural plane surface under rock structural face middle position datum level benchmark
Data, and export its data.
2. the determination method of a kind of rock structural face datum level according to claim 1, it is characterised in that：It is described to rock
The structural plane surface of stone test specimen is processed, and refers to first to clean up the surface of rock structural face, is then sprayed a thin layer of
Surface contrast enhancement agents, after after its drying, then stick scanning flag point.
3. the determination method of a kind of rock structural face datum level according to claim 1, it is characterised in that：Described step
5. the data on the rock structural face surface under middle output rock structural face middle position datum level benchmark are concretely comprised the following steps：
1. the matrix B that construction N rows 4 are arranged, N is point cloud quantity, and the first row of matrix, secondary series, the 3rd row are respectively X, Y, Z
Value, the 4th is classified as element is all 1, wherein, wherein X, Y value represent each point in the position of rock structural face, and Z represents complete in index point
The height value of structural plane under office's coordinate system；
2. translation matrix and spin matrix are utilized, B × M × R computings is carried out in MATLAB softwares, computing obtains a N row 4 and arranges
Matrix C, wherein N is point cloud quantity, and first row, second are classified as position a little under rock structural face middle position datum level, the 3rd
Row represent the height value of the structural plane under middle position datum level；
3. MATLAB softwares are utilized, the first row of Matrix C, secondary series, the 3rd row is stored in the matrix D that a N row 3 is arranged, its
Middle N is point cloud quantity, matrix D is converted into text data and is exported, so as to obtain under rock structural face middle position datum level benchmark
The data on structural plane surface.
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| CN104700406A (en) * | 2015-03-11 | 2015-06-10 | 浙江大学 | Method and system for extracting plane occurrence texture |
| CN110120067B (en) * | 2019-05-08 | 2021-03-30 | 中国科学院武汉岩土力学研究所 | Method and device for determining wear volume of natural rock structural surface and computer equipment |
| CN113486817B (en) * | 2021-07-09 | 2023-09-08 | 中国矿业大学 | Coal face coal rock identification method based on laser scanning |
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| CN102609550A (en) * | 2011-01-19 | 2012-07-25 | 鸿富锦精密工业（深圳）有限公司 | System and method for automatically righting three-dimensional model of product |
| CN102183216A (en) * | 2011-03-14 | 2011-09-14 | 沈阳飞机工业（集团）有限公司 | Three-dimensional measurement method and device based on linear structured light |
| CN103075977A (en) * | 2012-12-28 | 2013-05-01 | 浙江大学 | Automatic combining algorithm for point cloud data in binocular stereoscopic vision system |
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