CN104680580A - Tunnel monitoring six-dimensional coordinate system based on three-dimensional point cloud - Google Patents

Abstract

The invention discloses a tunnel monitoring six-dimensional coordinate system based on three-dimensional point cloud. The tunnel monitoring six-dimensional coordinate system comprises the geometrical morphology of a three-dimensional space, and a steering coordinate axis along with the time, a plane and a vertical direction. The six-dimensional coordinate system can be used for describing the geometrical shape and the size of underground engineering such as a tunnel, and meanwhile the change posture of the tunnel in the plane, the change posture of the vertical plane and the change posture along with time can be described; by adopting the tunnel monitoring six-dimensional coordinate system, the direction of a transverse cross section of the tunnel can be accurately confirmed by using software and a computer, the accurate position of the cross section can be monitored, and meanwhile a comparing model and an analysis model can be established to achieve informatization processing and analysis on monitoring point cloud data, and spatial information of characteristic points can be mined and calculated according to point cloud or pixel element information acquired through monitoring, so that displacement and clearance change amount of the underground engineering such as the tunnel can be obtained, and on the basis that monitoring information is not lost, basis with relatively reliable data and relatively comprehensive information can be provided for construction and design of the underground engineering such as the tunnel.

Description

A kind of monitoring six-dimensional coordinate system of the tunnel based on three-dimensional point cloud

Technical field

The present invention relates to the monitoring of a kind of Tunnel Engineering perfect information and data processing method, belong to underground engineering construction monitoring and risk management technology field.

Technical background

The basic characteristics of the underground engineering designs such as tunnel are " geologic media is complicated; Back ground Information lacks ", its construction also exists very large uncertainty and high risk, since New Austrian Tunneling Method is born, along with the development of the aspects such as ground theory and measurement technology, database management technology, computer-aided design (CAD), the underground engineering constructions such as tunnel are strided forward " informationization " epoch.Underground works is also referred to as concealed work, due to uncertainty and the complicacy of geologic condition, bring very large risk and hidden danger to construction and safety, adopt effective monitoring and the omnibearing collection site information of information system management technology, the analysis and prediction of the science of carrying out can be avoided and the generation of minimizing accident, ensure construction quality, but limit due at present both at home and abroad monitoring technology and management level, underground works information-based monitoring problem is bottleneck and the difficult point of underground works always.

The underground engineering designs such as tunnel are usually at measurement three-dimensional geometry coordinate system Ω (x, y, z) under carry out, establish the model space geometric in tunnel, for be adapted to information-based monitoring need adopt three-dimensional laser scanning technique carry out tunnel monitoring can obtain the omnibearing monitoring information of constructing tunnel, so three-D, full information monitoring in tunnel is imperative, three-dimensional laser scanning technique can obtain the three dimensional point cloud in tunnel fast, but measuring cross-sectional direction and the position that automatically cannot determine tunnel in three-dimensional geometry coordinate system, very large difficulty is brought to data analysis and use.

Summary of the invention

Object of the present invention establishes a kind of tunnel six-dimensional coordinate system, this system comprise three-dimensional geometric shape and in time with plane and vertical turn to coordinate axis, this coordinate axis is a kind of six phasor coordinate systems, can be used for describing geometric configuration and the size of the underground workss such as tunnel, change attitude planar can be described simultaneously, the change attitude of vertical guide, and attitude over time, the point cloud adopting this coordinate system can gather according to monitoring or image element information excavate and calculate the spatial information of unique point, obtain displacement and the headroom variable quantity of the underground workss such as tunnel, for the underground engineering construction such as tunnel and design provide the more reliable and information more fully foundation of data on the basis of not losing monitoring information.

This coordinate system can be used for describing the sextuple space form of the underground workss such as tunnel simultaneously, comprise posture changing and time change, tap point cloud or image element information, half-tone information and strength information etc., obtain the spatial data of the underground space bodies such as tunnel under six-dimensional coordinate system, under specific boundary condition, Fast Practical carries out tunnel 3-D scanning point cloud monitoring and Monitoring Data process.

For achieving the above object, the technical solution used in the present invention is as follows: (1) sets up tunnel 6 DOF monitoring coordinate system: definition tunnel center line is a space geometry curve, geometry initial point is positioned on tunnel center line, and under tunnel sextuple space coordinate system, the geometric shape expression formula of tunnel center line is: y=f (x _i, y _i, z _i, θ _i, β _i, t _i), wherein, X, Y, the Z coordinate figure that is tunnel under measurement three-dimensional geometry coordinate system, θ tunnel center line is in the level angle of certain 1 i or drift angle, and β is tunnel center line in the vertical corner of certain 1 i or drift angle, and coordinate system is as shown in Figure 1.(2) tunnel 6 DOF monitoring coordinate system is reduced to tunnel three-dimension monitor coordinate system, obtain the Monitoring Data under specific border condition and analysis result fast: be defined in t sometime, vertical corner and the level angle of tunnel center line are zero, tunnel sextuple space coordinate system can be reduced to center line direction, tunnel as X-coordinate, the distance of center line is arrived for Y with point, take tunnel height as the three-dimensional coordinate system of Z coordinate, realize cross-section slices and the process of monitoring three dimensional point cloud.

Compared with prior art, the present invention has following beneficial effect.

The present invention establishes a kind of tunnel six-dimensional coordinate system, comprise three-dimensional geometric shape and in time with plane and vertical turn to coordinate axis, for a kind of six phasor coordinate systems, can be used for describing geometric configuration and the size of the underground workss such as tunnel, change attitude planar can be described simultaneously, the change attitude of vertical guide, and attitude over time, this six-dimensional coordinate system is the basic tool of 3-D scanning technology in Tunnel Engineering monitoring process and application, be characterised in that the cross-sectional direction that software and computing machine can be used accurately to determine tunnel, obtain the accurate location of monitoring section, set up contrast model and analytical model simultaneously, realize information process-and the analysis of monitoring cloud data, also can according to monitoring the some cloud or image element information excavation that gather and the spatial information calculating unique point, obtain displacement and the headroom variable quantity of the underground workss such as tunnel, for the underground engineering construction such as tunnel and design provide the more reliable and information more fully foundation of data on the basis of not losing monitoring information.

Accompanying drawing explanation

Fig. 1 tunnel 6 DOF/three-dimensional coordinate system transition diagram.

In figure: dotted line is tunnel survey coordinate system; Solid line is tunnel monitoring coordinate system; Solid line and curve are that sextuple space coordinate system is monitored in tunnel

Embodiment

If on tunnel center line, known point terrestrial coordinate is: K _i(x _i, y _i, z _i), K _i+m(x _i+m, y _i+m, z _i+m) and K _i+n(x _i+n, y _i+n, z _i+n), known point K _i+m(x _i+m, y _i+m, z _i+m) tunnel center line mileage be K _p+Q, then

K in earth coordinates _i+m(x _i+m, y _i+m, z _i+m) point coordinate position angle is

α _i+m＝arctan((x _i+m-x _i)/(y _i+m-y _i))

K in earth coordinates _i+n(x _i+n, y _i+n, z _i+n) point coordinate position angle is

α _i+m＝arctan((x _i+n-x _i+m)/(y _i+n-y _i+m))

K in earth coordinates _i+m(x _i+m, y _i+m, z _i+m) level angle (left-hand rotation angle be negative, and right turn angle is just) of some tunnel center line is

θ _i+m＝α _i+m-α _i+m

K in earth coordinates _i+m(x _i+m, y _i+m, z _i+m) vertical corner (corner of bowing be negative, and rollback is just) of some tunnel center line is

β _i+m＝arctan((Z _i+n-Z _i+m)/sqrt((y _i+n-y _i+m)^2+(x _i+n-x _i+m)^2)

Under tunnel six-dimensional coordinate system, the geometric expression formula of tunnel center line is:

y＝f(x _i,y _i,z _i,θ _i,β _i,t _i)

K in tunnel monitoring coordinate system _i+n(x _i+n, y _i+n, z _i+n) grid azimuth put is

θ _i+n＝α _i+n-α _i+m±180°

K in tunnel monitoring coordinate system _i+n(x _i+n, y _i+n, z _i+n) increment of coordinate put is

$\left\{\begin{array}{c}\mathrm{\ΔX}=(x_{i+n}-x_{i+m})\sin \left({\mathrm{\θ}}_{i+n}\right)\\ \mathrm{\ΔY}=(y_{i+n}-y_{i+m})\cos \left({\mathrm{\θ}}_{i+n}\right)\\ \mathrm{\ΔZ}=\mathrm{sqrt}({(x_{i+n}-x_{i+m})}^2+{(y_{i+n}-y_{i+m})}^2)\tan \left({\mathrm{\β}}_{i+n}\right)\end{array}\right.$

K in tunnel monitoring coordinate system _i+n(x _i+n, y _i+n, z _i+n) point coordinate value is

$\left\{\begin{array}{c}X=P\×1000+Q+\mathrm{\ΔX}\\ Y=\mathrm{\ΔY}\\ Z=Z_{i+m}+\mathrm{\ΔZ}\end{array}\right..$

Claims (2)

1. the monitoring six-dimensional coordinate system of the tunnel based on three-dimensional point cloud, it is characterized in that: the implementation procedure of this coordinate system is as follows, (1) tunnel 6 DOF monitoring coordinate system is set up: definition tunnel center line is a space geometry curve, geometry initial point is positioned on tunnel center line, and under tunnel sextuple space coordinate system, the geometric shape expression formula of tunnel center line is: y=f (x _i, y _i, z _i, θ _i, β _i, t _i), wherein, X, Y, the Z coordinate figure that is tunnel under measurement three-dimensional geometry coordinate system, θ tunnel center line is in the level angle of certain 1 i or drift angle, and β is tunnel center line in the vertical corner of certain 1 i or drift angle;

(2) tunnel 6 DOF monitoring coordinate system is reduced to tunnel three-dimension monitor coordinate system, obtain the Monitoring Data under specific border condition and analysis result fast: be defined in t sometime, vertical corner and the level angle of tunnel center line are zero, tunnel sextuple space coordinate system can be reduced to center line direction, tunnel as X-coordinate, the distance of center line is arrived for Y with point, take tunnel height as the three-dimensional coordinate system of Z coordinate, realize cross-section slices and the process of monitoring three dimensional point cloud.

2. a kind of tunnel based on three-dimensional point cloud monitoring six-dimensional coordinate system according to claim 1, is characterized in that: to set on tunnel center line known point terrestrial coordinate as K _i(x _i, y _i, z _i), K _i+m(x _i+m, y _i+m, z _i+m) and K _i+n(x _i+n, y _i+n, z _i+n), known point K _i+m(x _i+m, y _i+m, z _i+m) tunnel center line mileage be K _p+Q, then

K in earth coordinates _i+m(x _i+m, y _i+m, z _i+m) point coordinate position angle is

α _i+m＝arctan((x _i+m-x _i)/(y _i+m-y _i))

K in earth coordinates _i+n(x _i+n, y _i+n,z _i+n) point coordinate position angle is

α _i+m＝arctan((x _i+n-x _i+m)/(y _i+n-y _i+m))

K in earth coordinates _i+m(x _i+m, y _i+m, z _i+m) level angle (left-hand rotation angle be negative, and right turn angle is just) of some tunnel center line is

θ _i+m＝α _i+m-α _i+m

K in earth coordinates _i+m(x _i+m, y _i+m, z _i+m) vertical corner (corner of bowing be negative, and rollback is just) of some tunnel center line is

β _i+m＝arctan((Z _i+n-Z _i+m)/sqrt((y _i+n-y _i+m)^2+(x _i+n-x _i+m)^2)

Under tunnel six-dimensional coordinate system, the geometric expression formula of tunnel center line is:

y＝f(x _i,y _i,z _i,θ _i,β _i,t _i)

K in tunnel monitoring coordinate system _i+n(x _i+n, y _i+n, z _i+n) grid azimuth put is

θ _i+n＝α _i+n-α _i+m±180°

K in tunnel monitoring coordinate system _i+n(x _i+n, y _i+n, z _i+n) increment of coordinate put is

$\left\{\begin{array}{c}\mathrm{\ΔX}=(x_{i+n}-x_{i+m})\sin \left({\mathrm{\θ}}_{i+n}\right)\\ \mathrm{\ΔY}=(y_{i+n}-y_{i+m})\cos \left({\mathrm{\θ}}_{i+n}\right)\\ \mathrm{\ΔZ}=\mathrm{sqrt}({(x_{i+n}-x_{i+m})}^2+{(y_{i+n}-y_{i+m})}^2)\tan \left({\mathrm{\β}}_{i+n}\right)\end{array}\right.$

K in tunnel monitoring coordinate system _i+n(x _i+n, y _i+n,z _i+n) point coordinate value is

$\left\{\begin{array}{c}X=P\×1000+Q+\mathrm{\ΔX}\\ Y=\mathrm{\ΔY}\\ Z=Z_{i+m}+\mathrm{\ΔZ}\end{array}\right..$