CN104713491B - The method that the slope monitoring system of slope deforming three-dimensional data can be obtained and its obtain slope deforming three-dimensional data - Google Patents
The method that the slope monitoring system of slope deforming three-dimensional data can be obtained and its obtain slope deforming three-dimensional data Download PDFInfo
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Abstract
The invention discloses a kind of slope monitoring system for obtaining slope deforming three-dimensional data, is related to slope project technical field, including monitoring device, is lordosis or rear recessed data for gathering monitoring side slope tested point；Image collecting device, the data of the plane coordinates for gathering side slope tested point；The three-dimensional data of deformed slope is calculated in information processor, the aggregation of data for monitoring device and image collecting device to be gathered.Beneficial effects of the present invention：Information processor is by establishing initial three-dimensional coordinate system and conversion three-dimensional system of coordinate, calculate three-dimensional data of the side slope relative to the previous day side slope after deformation and the three-dimensional data relative to original state side slope, the monitoring system is not by inside even from weather, can in real time side slope deformation be monitored, it is to lordosis or rear convex or move to left or move to right or move up or move down that side slope, which can accurately be drawn, and accurate data support is provided for technical staff's later stage side slope deformation and Analysis of Slope Stability.
Description
Technical field
The present invention relates to slope project technical field, the slope monitoring system of slope deforming three-dimensional data can be more particularly to obtained
System and the method for obtaining slope deforming three-dimensional data.
Background technology
Recently as the development of my China's traffic, it is changed into paying equal attention to construction and maintenance, increasing side slope peace based on the construction
Total state is paid close attention to by maintenance personnel.The artificial periodic monitoring side slope used for a long time in the past exist monitoring frequency it is low, by weather
The problems such as serious, analysis alarm velocity is slow is influenceed, the needs of being difficult to meet at present for slope monitoring.Utilize remote height
It is a kind of emerging slope monitoring technology that precision laser distance measuring sensor, which carries out slope monitoring, and its monitoring accuracy is high, project installation
Simply, cost is relatively low, and its monitoring effect just progressively gets the nod.But the technology is only capable of acquiring one between equipment and side slope
Deformation data is tieed up, three respective deformation datas in axial direction of x, y, z axle of side slope can not be obtained.
In summary, it is necessary to a kind of Monitoring of Slope Deformation system that can obtain slope deforming three-dimensional data is provided, with reference to
Distant-range high-precision laser ranging technique and image recognition technology, more Monitoring of Slope Deformation data are obtained, carry out integrating meter
Calculate, the final three-dimension deformation-quantity for obtaining side slope, to solve the problems, such as that prior art is present.
The content of the invention
In view of this, the technical problem to be solved in the present invention is to provide a kind of side that can obtain slope deforming three-dimensional data
Slope DEFORMATION MONITORING SYSTEM, with reference to distant-range high-precision laser ranging technique and image recognition technology, obtain more slope deformings
Monitoring Data, COMPREHENSIVE CALCULATING is carried out, the final three-dimension deformation-quantity for obtaining side slope, acquisition three-dimensional data is accurate, is advantageous to technology people
Member's later stage side slope deformation makes accurate judgement.
The present invention solves above-mentioned technical problem by following technological means：
The invention provides a kind of slope monitoring system for obtaining slope deforming three-dimensional data, including monitoring device, uses
In collection side slope tested point lordosis or rear recessed data；Image collecting device, for gathering the plane coordinates number of side slope tested point
According to；Deformed slope is calculated in information processor, the aggregation of data for monitoring device and image collecting device to be gathered
Three-dimensional data.
Further, the monitoring device includes laser range sensor and target, and the laser range sensor is arranged on
Side slope opposite to be measured, the target are arranged in side slope to be measured, and the laser range sensor is according to the laser sent in target
Upper formation image simultaneously reflects, and the laser range sensor calculates the distance between laser emission point and pip；Institute
State image collecting device to be arranged near target, for gathering plane coordinates data of the laser reflection point on target；The letter
Breath processing unit is background server, for by that laser range sensor collects distance and image acquisition device arrives is flat
Areal coordinate data carry out the three-dimensional coordinate that COMPREHENSIVE CALCULATING obtains deformed slope.
Further, the target is reflective panel, and the reflective panel is provided with grid and scale, is easy to identify that laser is anti-
Position where exit point.
Further, the monitoring device is at least one.
Further, the detailed process of described information processing unit processing image is：
S1. initial three-dimensional coordinate system is established：Using O as origin, so that along laser direction, as x-axis, laser direction of illumination is negative, y
Axle is parallel to horizontal plane and vertical with x-axis, so that for just, z-axis is perpendicular to xoy planes on the left of x-axis positive direction, upwards for just, and yoz
Plane is parallel to target, and x-axis is perpendicular to target；
S2. the conversion of three-dimensional system of coordinate, the three-dimensional system of coordinate residing for Monitoring of Slope Deformation system is established：Y ' axles and the original
Y-axis inside beginning three-dimensional system of coordinate is consistent, and is seen along y-axis positive direction, and xoz planes obtain along one α angle of y-axis rotate counterclockwise
To x ' axles and z ' axles, x ' axles now parallel to horizontal plane, z ' axles perpendicular to horizontal plane, the three-dimensional system of coordinate of conversion by x ' axles,
Y ' axles and z ' axles composition；
S3. initial condition data gathers, and the data that x-axis direction is measured by laser range sensor are a0, a0Represent laser
The vertical range of distance measuring sensor and side slope, position coordinates y-axis and z-axis table of the laser on target are shot by camera arrangement
Show, the data in y-axis and the z-axis direction are respectively Y0And Z0, initial condition data is input in initial three-dimensional coordinate system, swashed
The coordinate of original state where light on target is (X0, Y0, Z0)；
S4. after n days slope deformings, the data that x-axis direction is measured by laser range sensor are an, anRepresent to swash
The vertical range of ligh-ranging sensor and side slope, camera arrangement shoot position coordinates (b of the laser on targetn, cn), calculate
The coordinate that side slope deforms relative to the previous day after deformation：
A=Xn=an-1-an(1),
B=Yn=bn-1-bn(2),
C=Zn=cn-1-cn(3),
Wherein n >=1, n are integer；XnLordosis is represented to be positive, convex, Y after negative indicationnMoved right for positive expression,
Negative indication is moved to the left, ZnBeing moved up for positive expression, negative indication moves down,
Calculate the coordinate that side slope deforms relative to original state after deforming：
A=Xn0=a0-an(4),
B=Yn0=b0-bn(5),
C=Zn0=c0-cn(6),
Wherein n >=1, n are integer；Xn0Lordosis is represented to be positive, convex, Y after negative indicationn0Moved right for positive expression,
Negative indication is moved to the left, Zn0Moved up for positive expression, negative indication moves down；
S5. side slope is relative to the deformation coordinate of the previous day and relative to original state deformation after S4 being calculated into deformation
Coordinate data is updated in the three-dimensional system of coordinate in S2 and changed, and the numerical value of x ' axles, y ' axles and z ' direction of principal axis, i.e. side slope is calculated
Three-dimensional data amount after deformation.
Further, in the S5 by S4 be calculated deformation after side slope relative to the previous day deformation coordinate and phase
The coordinate data deformed for original state, which is updated in the three-dimensional system of coordinate in S2, to be changed, and is divided into following 8
Kind situation：
Situation 1：Work as a>0,c>0,tanα>During a/c, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=(| cn-1-cn|+|an-1-an|*tanα)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=(| Z0-cn|+|a0-an|*tanα)cosα；
Situation 2：Work as a>0,c>0,tanα<During a/c, relative to the three-dimensional data amount of the deformation of the previous day side slope, X '=(|
an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*tanα)+|c|/cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn|*tanα)+|c|/cosα；
Situation 3：Work as a>0,c<0,tanα>| c |/| a | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*cotα)cosα+|c|/sinα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*cotα)；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*cotα)cosα+|Z0-cn|/sinα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn||*cotα)；
Situation 4：Work as a>0,c<0,cotα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=| an-1-an|/cosα+(|cn-1-cn|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|*tanα-|cn-1-cn|)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=| a0-an|/cosα+(|Z0-cn|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|*tanα-|Z0-cn|)cosα；
Situation 5：Work as a<0,c<0,tanα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| cn-1-cn|-|an-1-an|*cotα)sinα
Y '=bn-1-bn
Z '=- (| cn-1-cn|-|an-1-an|*cotα)cosα-|an-1-an|/sinα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| Z0-cn|-|a0-an|*cotα)sinα
Y '=Y0-bn
Z '=- (| Z0-cn|-|a0-an|*cotα)cosα-|a0-an|/sinα；
Situation 6：Work as a<0,c<0,tanα<| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| cn-1-cn|-|an-1-an|*tanα)cosα
Y '=bn-1-bn
Z '=- [(| cn-1-cn|-|an-1-an|*tanα)sinα+(an-1-an)/cosα]；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| Z0-cn|-|a0-an|*tanα)cosα
Y '=Y0-bn
Z '=- [(| Z0-cn|-|a0-an|*tanα)sinα+(a0-an)/cosα]；
Situation 7：Work as a<0,c>0,tanα>| c |/| a | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| an-1-an|*cotα-|cn-1-cn|)cosα+|an-1-an|/sinα
Y '=bn-1-bn
Z '=- sin α (| an-1-an|*cotα-|cn-1-cn|)；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| a0-an|*cotα-|Z0-cn|)cosα+|a0-an|/sinα
Y '=Y0-bn
Z '=- sin α (| a0-an|*cotα-|Z0-cn|)；
Situation 8：Work as a<0,c>0,cotα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- | cn-1-cn|/cosα-(|an-1-an|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|-|cn-1-cn|*tanα)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- | Z0-cn|/cosα-(|a0-an|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|-|Z0-cn|*tanα)cosα。
Present invention additionally comprises the slope monitoring system that can obtain slope deforming three-dimensional data to obtain slope deforming three-dimensional data
Method, specifically include following steps：
S1. initial three-dimensional coordinate system is established：Using O as origin, so that along laser direction, as x-axis, laser direction of illumination is negative, y
Axle is parallel to horizontal plane and vertical with x-axis, so that for just, z-axis is perpendicular to xoy planes on the left of x-axis positive direction, upwards for just, and yoz
Plane is parallel to target, and x-axis is perpendicular to target；
S2. the conversion of three-dimensional system of coordinate, the three-dimensional system of coordinate residing for Monitoring of Slope Deformation system is established：Y ' axles and the original
Y-axis inside beginning three-dimensional system of coordinate is consistent, and is seen along y-axis positive direction, and xoz planes obtain along one α angle of y-axis rotate counterclockwise
To x ' axles and z ' axles, x ' axles now parallel to horizontal plane, z ' axles perpendicular to horizontal plane, the three-dimensional system of coordinate of conversion by x ' axles,
Y ' axles and z ' axles composition；
S3. initial condition data gathers, and the data that x-axis direction is measured by laser range sensor are a0, a0Represent laser
The vertical range of distance measuring sensor and side slope, position coordinates y-axis and z-axis table of the laser on target are shot by camera arrangement
Show, the data in y-axis and the z-axis direction are respectively Y0And Z0, initial condition data is input in initial three-dimensional coordinate system, swashed
The coordinate of original state where light on target is (X0, Y0, Z0)；
S4. after n days slope deformings, the data that x-axis direction is measured by laser range sensor are an, anRepresent to swash
The vertical range of ligh-ranging sensor and side slope, camera arrangement shoot position coordinates (b of the laser on targetn, cn), calculate
The coordinate that side slope deforms relative to the previous day after deformation：
A=Xn=an-1-an(1),
B=Yn=bn-1-bn(2),
C=Zn=cn-1-cn(3),
Wherein n >=1, n are integer；XnLordosis is represented to be positive, convex, Y after negative indicationnMoved right for positive expression, negative indication to
Move left, ZnBeing moved up for positive expression, negative indication moves down,
Calculate the coordinate that side slope deforms relative to original state after deforming：
A=Xn0=a0-an(4),
B=Yn0=b0-bn(5),
C=Zn0=c0-cn(6),
Wherein n >=1, n are integer；Xn0Lordosis is represented to be positive, convex, Y after negative indicationn0Moved right for positive expression, negative indication
It is moved to the left, Zn0Moved up for positive expression, negative indication moves down；
S5. side slope is relative to the deformation coordinate of the previous day and relative to original state deformation after S4 being calculated into deformation
Coordinate data is updated in the three-dimensional system of coordinate in S2 and changed, and the numerical value of x ' axles, y ' axles and z ' direction of principal axis, i.e. side slope is calculated
Three-dimensional data amount after deformation.
Further, side slope is relative to the deformation coordinate of the previous day and relative to first after S4 being calculated into deformation in the S5
The coordinate data of beginning state deformation, which is updated in the three-dimensional system of coordinate in S2, to be changed, and is divided into following 8 kinds of situations：
Situation 1：Work as a>0,c>0,tanα>During a/c, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=(| cn-1-cn|+|an-1-an|*tanα)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=(| Z0-cn|+|a0-an|*tanα)cosα；
Situation 2：Work as a>0,c>0,tanα<During a/c, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*tanα)+|c|/cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn|*tanα)+|c|/cosα；
Situation 3：Work as a>0,c<0,tanα>| c |/| a | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*cotα)cosα+|c|/sinα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*cotα)；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*cotα)cosα+|Z0-cn|/sinα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn||*cotα)；
Situation 4：Work as a>0,c<0,cotα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=| an-1-an|/cosα+(|cn-1-cn|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|*tanα-|cn-1-cn|)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=| a0-an|/cosα+(|Z0-cn|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|*tanα-|Z0-cn|)cosα；
Situation 5：Work as a<0,c<0,tanα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| cn-1-cn|-|an-1-an|*cotα)sinα
Y '=bn-1-bn
Z '=- (| cn-1-cn|-|an-1-an|*cotα)cosα-|an-1-an|/sinα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| Z0-cn|-|a0-an|*cotα)sinα
Y '=Y0-bn
Z '=- (| Z0-cn|-|a0-an|*cotα)cosα-|a0-an|/sinα；
Situation 6：Work as a<0,c<0,tanα<| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| cn-1-cn|-|an-1-an|*tanα)cosα
Y '=bn-1-bn
Z '=- [(| cn-1-cn|-|an-1-an|*tanα)sinα+(an-1-an)/cosα]；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| Z0-cn|-|a0-an|*tanα)cosα
Y '=Y0-bn
Z '=- [(| Z0-cn|-|a0-an|*tanα)sinα+(a0-an)/cosα]；
Situation 7：Work as a<0,c>0,tanα>| c |/| a | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| an-1-an|*cotα-|cn-1-cn|)cosα+|an-1-an|/sinα
Y '=bn-1-bn
Z '=- sin α (| an-1-an|*cotα-|cn-1-cn|)；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| a0-an|*cotα-|Z0-cn|)cosα+|a0-an|/sinα
Y '=Y0-bn
Z '=- sin α (| a0-an|*cotα-|Z0-cn|)；
Situation 8：Work as a<0,c>0,cotα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- | cn-1-cn|/cosα-(|an-1-an|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|-|cn-1-cn|*tanα)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- | Z0-cn|/cosα-(|a0-an|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|-|Z0-cn|*tanα)cosα。
Beneficial effects of the present invention：
The slope monitoring system for obtaining slope deforming three-dimensional data of the present invention, sets target in side slope to be measured, adopts
The vertical range of laser range sensor and side slope to be measured is measured with laser range sensor, laser range sensor is irradiated to mark
Target, meeting forming position image on target, due to the deformation of side slope, the position coordinates that laser is radiated on target can become
Change, by being acquired to different coordinate datas of the laser on target, then coordinate data is uploaded into background server and carried out
Processing, for background server by establishing initial three-dimensional coordinate system and conversion three-dimensional system of coordinate, the side slope calculated after deformation is relative
Three-dimensional data in the previous day side slope and the three-dimensional data relative to original state side slope, the monitoring system is not by weather conditions shadow
Ring, can in real time side slope deformation be monitored, can accurately draw side slope be to lordosis or afterwards it is convex or move to left or move to right or move up or
Move down, accurate data are provided and supported for technical staff's later stage side slope deformation and Analysis of Slope Stability.
The method that the slope monitoring system of the present invention obtains slope deforming three-dimensional data, by establishing initial three-dimensional coordinate system
With conversion three-dimensional system of coordinate, the side slope after deformation is calculated relative to the three-dimensional data of the previous day side slope and relative to original state
The three-dimensional data of side slope, the monitoring system not by inside even from weather, can side slope deformation in real time be monitored, can accurately draw
Side slope is to lordosis or rear convex or move to left or move to right or move up or move down, and is technical staff's later stage side slope deformation and side slope
Stability analysis provides accurate data and supported.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the structured flowchart of the embodiment of the present invention 1.
Fig. 2 is the installation diagram of the embodiment of the present invention 1.
Fig. 3 is the initial three-dimensional coordinate diagram that the embodiment of the present invention 1 is established.
Fig. 4 is the transition diagram of the three-dimensional system of coordinate of the embodiment of the present invention 1.
Fig. 5 is that the initial condition data of the embodiment of the present invention 1 gathers structure chart.
Fig. 6 is 1 slope deforming of embodiment of the present invention data acquisition structure chart after n days.
Fig. 7 is the conversion coordinate diagram of slope deforming the first situation of the embodiment of the present invention 1.
Fig. 8 is the conversion coordinate diagram of 1 slope deforming, second of situation of the embodiment of the present invention.
Fig. 9 is the conversion coordinate diagram of slope deforming the third situation of the embodiment of the present invention 1.
Figure 10 is the conversion coordinate diagram of the 4th kind of situation of the slope deforming of the embodiment of the present invention 1.
Figure 11 is the conversion coordinate diagram of the 5th kind of situation of the slope deforming of the embodiment of the present invention 1.
Figure 12 is the conversion coordinate diagram of the 6th kind of situation of the slope deforming of the embodiment of the present invention 1.
Figure 13 is the conversion coordinate diagram of the 7th kind of situation of the slope deforming of the embodiment of the present invention 1.
Figure 14 is the conversion coordinate diagram of the 8th kind of situation of the slope deforming of the embodiment of the present invention 1.
Figure 15 is the flow chart of the embodiment of the present invention 2.
Embodiment
Below with reference to accompanying drawing, the present invention is described in detail,
Embodiment 1
Such as Fig. 1, shown in 2, the invention provides a kind of slope monitoring system for obtaining slope deforming three-dimensional data, including
Monitoring device 1, for gathering side slope tested point lordosis or rear recessed data；Image collecting device 2, for gathering side slope tested point
Plane coordinates data；Information processor 3, the aggregation of data that monitoring device and image collecting device are gathered is calculated
The three-dimensional data of deformed slope.Monitoring device 1 includes laser range sensor 11 and target 12, and laser range sensor 11 is set
On the highway side on side slope opposite to be measured, target 12 is arranged in side slope to be measured, and laser range sensor 11 is according to sending laser
Image is formed on target and is reflected, laser range sensor calculates the distance between laser emission point and pip；
The laser that laser range sensor 11 is sent uses reflective panel with horizontal line into angle of elevation alpha, target 12, and image collecting device 2 is set
Put near target, for gathering plane coordinates data of the laser reflection point on target；Information processor 3 takes for backstage
Be engaged in device, for by laser range sensor collect distance and image acquisition device to plane coordinates data integrated
Calculate the three-dimensional coordinate for obtaining deformed slope.Grid and scale are set on reflective panel, are easy to identify laser reflection point anti-
Position where optic panel is simultaneously represented with plane coordinates.The change in location that laser is radiated on target can reflect side slope to be measured
Displacement, the centerline parallel of target is in horizontal plane.Position coordinates letter of the image acquisition device laser reflection point on target
Breath, due to the deformation of side slope, position of the laser reflection point on target can change, the distance that laser range sensor will collect
The coordinate information collected is passed to background server and handled by value and image collecting device, and background server COMPREHENSIVE CALCULATING obtains side
The three-dimensional data of slope deformation.Slope monitoring system can monitor slope deforming in real time, be protected from weather influences, and the data of collection are accurate,
Data are provided for technical staff's later stage accurate analysis of slope deformation and Analysis of Slope Stability to support.
Background server handles the detailed process of COMPREHENSIVE CALCULATING：S1. the foundation of initial three-dimensional coordinate system：As shown in Fig. 3,
Using O as origin；So that along laser direction, as x-axis, laser direction of illumination is negative；Y-axis is parallel to horizontal plane (parallel to Target Center
Line) and it is vertical with x-axis, to be just on the left of x-axis positive direction；Z-axis is perpendicular to xoy planes, upwards for just；Yoz planes are parallel to mark
Target, x-axis is perpendicular to target.
S2. the conversion of three-dimensional system of coordinate：As shown in figure 4, initial three-dimensional coordinate system is converted into Monitoring of Slope Deformation system
Residing three-dimensional system of coordinate, y ' axles are consistent with the y-axis inside initial three-dimensional coordinate system, are seen along y axle positive directions, xoz planes
Along one α angle of y-axis rotate counterclockwise, new x ' axles, z ' axles are obtained, x ' axles now are parallel to horizontal plane, and z ' axles are perpendicular to water
Plane.
S3. initial condition data gathers, as shown in figure 5, the data that x-axis direction is measured by laser range sensor are
a0, a0The vertical range of laser range sensor and side slope is represented, position coordinates of the laser on target is shot by camera arrangement
Represented with y-axis and z-axis, the data in y-axis and the z-axis direction are respectively Y0And Z0, initial condition data is input to original three
In dimension coordinate system, the coordinate of the original state where laser on target is (X0, Y0, Z0)；
S4. after n days slope deformings, as shown in fig. 6, the data that x-axis direction is measured by laser range sensor are
an, anThe vertical range of laser range sensor and side slope is represented, camera arrangement shoots position coordinates (b of the laser on targetn,
cn), calculate the coordinate that side slope deforms relative to the previous day after deforming：
A=Xn=an-1-an(1),
B=Yn=bn-1-bn(2),
C=Zn=cn-1-cn(3),
Wherein n >=1, n are integer；XnLordosis is represented to be positive, convex, Y after negative indicationnMoved right for positive expression, negative indication to
Move left, ZnBeing moved up for positive expression, negative indication moves down,
Calculate the coordinate that side slope deforms relative to original state after deforming：
A=Xn0=a0-an(4),
B=Yn0=b0-bn(5),
C=Zn0=c0-cn(6),
Wherein n >=1, n are integer；Xn0Lordosis is represented to be positive, convex, Y after negative indicationn0Moved right for positive expression, negative indication
It is moved to the left, Zn0Moved up for positive expression, negative indication moves down；
S5. side slope is relative to the deformation coordinate of the previous day and relative to original state deformation after S4 being calculated into deformation
Coordinate data is updated in the three-dimensional system of coordinate in S2 and changed, and the data of x ' axles, y ' axles and z ' direction of principal axis, i.e. side slope are calculated
Three-dimensional data after deformation.
Because y-axis keeps constant, so only needing to consider the Coordinate Conversion of x-axis and z-axis, tool in coordinate system transfer process
Body is divided into following 8 kinds of situations.
Situation 1, as shown in fig. 7, working as a>0,c>0,tanα>During a/c,
X '=- (| a |-| c | * tan α) cos α (7)
Y '=b (8)
Z '=(| c |+| a | * tan α) cos α (9)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (7), (8), (9) respectively, obtain working as a>0,c>0, tanα>a/
During c, relative to the three-dimensional data of the deformation of the previous day side slope,
X '=- (| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=(| cn-1-cn|+|an-1-an|*tanα)cosα。
Above-mentioned (4), (5), (6) are corresponded into substitution formula (7), (8), (9) respectively, obtain working as a>0,c>0, tanα>a/c
When, relative to the three-dimensional data of the deformation of original state side slope,
X '=- (| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=(| Z0-cn|+|a0-an|*tanα)cosα。
Situation 2：As shown in figure 8, work as a>0,c>0,tanα<During a/c,
X '=(| a |-| c | * tan α) cos α (10)
Y '=b (11)
Z '=sin α (| a |-| c | * tan α)+| c |/cos α (12)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (10), (11), (12) respectively, obtain working as a>0,c>0, tanα
<During a/c, relative to the three-dimensional data of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*tanα)+|c|/cosα。
Above-mentioned (4), (5), (6) are corresponded into substitution formula (10), (11), (12) respectively, obtain working as a>0,c>0, tanα<
During a/c, relative to the three-dimensional data of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn|*tanα)+|c|/cosα。
Situation 3：As shown in figure 9, work as a>0,c<0,tanα>| c |/| a | when,
X '=(| a |-| c | * cot α) cos α+| c |/sin α (13)
Y '=b (14)
Z '=sin α (| a |-| c | * cot α) (15)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (13), (14), (15) respectively, obtain working as a>0,c<0, tanα
>| c |/| a | when, relative to the three-dimensional data of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*cotα)cosα+|c|/sinα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*cotα)
Above-mentioned (4), (5), (6) are corresponded into substitution formula (13), (14), (15) respectively, obtain working as a>0,c<0, tanα>|
C |/| a | when, relative to the three-dimensional data of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*cotα)cosα+|Z0-cn|/sinα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn||*cotα)
Situation 4：As shown in Figure 10, a is worked as>0,c<0,cotα>| a |/| c | when,
X '=| a |/cos α+(| c |-| a | * tan α) sin α (16)
Y '=b (17)
Z '=(| a | * tan α-| c |) cos α (18)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (16), (17), (18) respectively, obtain working as a>0,c<0, cotα
>| a |/| c | when, relative to the three-dimensional data of the deformation of the previous day side slope,
X '=| an-1-an|/cosα+(|cn-1-cn|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|*tanα-|cn-1-cn|)cosα
Above-mentioned formula (4), (5), (6) are corresponded to substitution formula (16), (17), (18) respectively, obtain working as a>0,c<0, cotα
>| a |/| c | when, relative to the three-dimensional data of the deformation of original state side slope,
X '=| a0-an|/cosα+(|Z0-cn|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|*tanα-|Z0-cn|)cosα。
Situation 5：As shown in figure 11, a is worked as<0,c<0,tanα>| a |/| c | when,
X '=(| c |-| a | * cot α) sin α (19)
Y '=b (20)
Z '=- (| c |-| a | * cot α) cos α-| a |/sin α (21)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (19), (20), (21) respectively, obtain working as a<0,c<0, tanα
>| a |/| c | when, relative to the three-dimensional data of the deformation of the previous day side slope,
X '=(| cn-1-cn|-|an-1-an|*cotα)sinα
Y '=bn-1-bn
Z '=- (| cn-1-cn|-|an-1-an|*cotα)cosα-|an-1-an|/sinα
Above-mentioned formula (4), (5), (6) are corresponded to substitution formula (19), (20), (21) respectively, obtain working as a<0,c<0, tanα
>| a |/| c | when, relative to the three-dimensional data of the deformation of original state side slope,
X '=(| Z0-cn|-|a0-an|*cotα)sinα
Y '=Y0-bn
Z '=- (| Z0-cn|-|a0-an|*cotα)cosα-|a0-an|/sinα。
Situation 6：As shown in figure 12, a is worked as<0,c<0,tanα<| a |/| c | when,
X '=- (| c |-| a | * tan α) cos α (22)
Y '=b (23)
Z '=- [(| c |-| a | * tan α) sin α+a/cos α] (24)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (22), (23), (24) respectively, obtain working as a<0,c<0, tanα
<| a |/| c | when, relative to the three-dimensional data of the deformation of the previous day side slope,
X '=- (| cn-1-cn|-|an-1-an|*tanα)cosα
Y '=bn-1-bn
Z '=- [(| cn-1-cn|-|an-1-an|*tanα)sinα+(an-1-an)/cosα]
Above-mentioned formula (4), (5), (6) are corresponded to substitution formula (22), (23), (24) respectively, obtain working as a<0,c<0, tanα
<| a |/| c | when, relative to the three-dimensional data of the deformation of original state side slope,
X '=- (| Z0-cn|-|a0-an|*tanα)cosα
Y '=Y0-bn
Z '=- [(| Z0-cn|-|a0-an|*tanα)sinα+(a0-an)/cosα]
Situation 7：As shown in figure 13, a is worked as<0,c>0,tanα>| c |/| a | when,
X '=- (| a | * cot α-| c |) cos α+| a |/sin α (25)
Y '=b (26)
Z '=- sin α (| a | * cot α-| c |) (27)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (25), (26), (27) respectively, work as a<0,c>0, tanα>|c
|/| a | when, relative to the three-dimensional data of the deformation of the previous day side slope,
X '=- (| an-1-an|*cotα-|cn-1-cn|)cosα+|an-1-an|/sinα
Y '=bn-1-bn
Z '=- sin α (| an-1-an|*cotα-|cn-1-cn|)
Above-mentioned formula (4), (5), (6) are corresponded to substitution formula (25), (26), (27) respectively, work as a<0,c>0, tanα>|c
|/| a | when, relative to the three-dimensional data of the deformation of original state side slope,
X '=- (| a0-an|*cotα-|Z0-cn|)cosα+|a0-an|/sinα
Y '=Y0-bn
Z '=- sin α (| a0-an|*cotα-|Z0-cn|)。
Situation 8：As shown in figure 14, a is worked as<0,c>0,cotα>| a |/| c | when,
X '=- | c |/cos α-(| a |-| a | * tan α) sin α (28)
Y '=b (29)
Z '=(| a |-| c | * tan α) cos α (30)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (28), (29), (30) respectively, work as a<0,c>0, cotα>|a
|/| c | when, relative to the three-dimensional data of the deformation of the previous day side slope,
X '=- | cn-1-cn|/cosα-(|an-1-an|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|-|cn-1-cn|*tanα)cosα。
Above-mentioned formula (4), (5), (6) are corresponded to substitution formula (28), (29), (30) respectively, work as a<0,c>0, cotα>|a
|/| c | when, relative to the three-dimensional data of the deformation of original state side slope,
X '=- | Z0-cn|/cosα-(|a0-an|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|-|Z0-cn|*tanα)cosα。
Background server can calculate the numerical value of X', Y', Z' axle according to the slope deforming in the case of above-mentioned 8 kinds, root
According to X', Y', Z' axle numerical value it is positive and negative be accurately judged to side slope be to lordosis it is rear convex or move to left after move or move up or under
Move, for technical staff's later stage side slope deformation analysis provide more accurately, reliable data support.
Embodiment 2
The method that the present invention also provides a kind of acquisition slope deforming three-dimensional data of slope monitoring system, as shown in Figure 15,
This method comprises the following steps：
S1. the foundation of initial three-dimensional coordinate system：As shown in figure 3, using O as origin；So that along laser direction, as x axles, laser shines
It is negative to penetrate direction；Y-axis parallel to horizontal plane (parallel to Target Center line) and vertical with x-axis, with the left of x-axis positive direction for just；z
Axle is perpendicular to xoy planes, upwards for just；Yoz planes are parallel to target, and x-axis is perpendicular to target.
S2. the conversion of three-dimensional system of coordinate：As shown in figure 4, initial three-dimensional coordinate system is converted into Monitoring of Slope Deformation system
Residing three-dimensional system of coordinate, y ' axles are consistent with the y-axis inside initial three-dimensional coordinate system, are seen along y axle positive directions, xoz planes
Along one α angle of y-axis rotate counterclockwise, new x ' axles, z ' axles are obtained, x ' axles now are parallel to horizontal plane, and z ' axles are perpendicular to water
Plane.
S3. initial condition data gathers, as shown in figure 5, the data that x-axis direction is measured by laser range sensor are
a0, a0The vertical range of laser range sensor and side slope is represented, position coordinates of the laser on target is shot by camera arrangement
Represented with y-axis and z-axis, the data in y-axis and the z-axis direction are respectively Y0And Z0, initial condition data is input to original three
In dimension coordinate system, the coordinate of the original state where laser on target is (X0, Y0, Z0)；
S4. after n days slope deformings, as shown in fig. 6, the data that x-axis direction is measured by laser range sensor are
an, anThe vertical range of laser range sensor and side slope is represented, camera arrangement shoots position coordinates (b of the laser on targetn,
cn), calculate the coordinate that side slope deforms relative to the previous day after deforming：
A=Xn=an-1-an(1),
B=Yn=bn-1-bn(2),
C=Zn=cn-1-cn(3),
Wherein n >=1, n are integer；XnLordosis is represented to be positive, convex, Y after negative indicationnMoved right for positive expression, negative indication to
Move left, ZnBeing moved up for positive expression, negative indication moves down,
Calculate the coordinate that side slope deforms relative to original state after deforming：
A=Xn0=a0-an(4),
B=Yn0=b0-bn(5),
C=Zn0=c0-cn(6),
Wherein n >=1, n are integer；Xn0Lordosis is represented to be positive, convex, Y after negative indicationn0Moved right for positive expression, negative indication
It is moved to the left, Zn0Moved up for positive expression, negative indication moves down；
S5. side slope is relative to the deformation coordinate of the previous day and relative to original state deformation after S4 being calculated into deformation
Coordinate data is updated in the three-dimensional system of coordinate in S2 and changed, and the numerical value of x ' axles, y ' axles and z ' direction of principal axis, i.e. side slope is calculated
Three-dimensional data amount after deformation.
Because y-axis keeps constant, so only needing to consider the Coordinate Conversion of x-axis and z-axis, tool in coordinate system transfer process
Body is divided into following 8 kinds of situations.
Situation 1, as shown in fig. 7, working as a>0,c>0,tanα>During a/c,
X '=- (| a |-| c | * tan α) cos α (7)
Y '=b (8)
Z '=(| c |+| a | * tan α) cos α (9)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (7), (8), (9) respectively, obtain working as a>0,c>0, tanα>a/
During c, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=(| cn-1-cn|+|an-1-an|*tanα)cosα。
Above-mentioned (4), (5), (6) are corresponded into substitution formula (7), (8), (9) respectively, obtain working as a>0,c>0, tanα>a/c
When, relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=(| Z0-cn|+|a0-an|*tanα)cosα。
Situation 2：As shown in figure 8, work as a>0,c>0,tanα<During a/c,
X '=(| a |-| c | * tan α) cos α (10)
Y '=b (11)
Z '=sin α (| a |-| c | * tan α)+| c |/cos α (12)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (10), (11), (12) respectively, obtain working as a>0,c>0, tanα
<During a/c, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*tanα)+|c|/cosα。
Above-mentioned (4), (5), (6) are corresponded into substitution formula (10), (11), (12) respectively, obtain working as a>0,c>0, tanα<
During a/c, relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn|*tanα)+|c|/cosα。
Situation 3：As shown in figure 9, work as a>0,c<0,tanα>| c |/| a | when,
X '=(| a |-| c | * cot α) cos α+| c |/sin α (13)
Y '=b (14)
Z '=sin α (| a |-| c | * cot α) (15)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (13), (14), (15) respectively, obtain working as a>0,c<0, tanα
>| c |/| a | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*cotα)cosα+|c|/sinα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*cotα)
Above-mentioned (4), (5), (6) are corresponded into substitution formula (13), (14), (15) respectively, obtain working as a>0,c<0, tanα>|
C |/| a | when, relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*cotα)cosα+|Z0-cn|/sinα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn||*cotα)
Situation 4：As shown in Figure 10, a is worked as>0,c<0,cotα>| a |/| c | when,
X '=| a |/cos α+(| c |-| a | * tan α) sin α (16)
Y '=b (17)
Z '=(| a | * tan α-| c |) cos α (18)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (16), (17), (18) respectively, obtain working as a>0,c<0, cotα
>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=| an-1-an|/cosα+(|cn-1-cn|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|*tanα-|cn-1-cn|)cosα
Above-mentioned formula (4), (5), (6) are corresponded to substitution formula (16), (17), (18) respectively, obtain working as a>0,c<0, cotα
>| a |/| c | when, relative to the three-dimensional data amount of the deformation of original state side slope,
X '=| a0-an|/cosα+(|Z0-cn|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|*tanα-|Z0-cn|)cosα。
Situation 5：As shown in figure 11, a is worked as<0,c<0,tanα>| a |/| c | when,
X '=(| c |-| a | * cot α) sin α (19)
Y '=b (20)
Z '=- (| c |-| a | * cot α) cos α-| a |/sin α (21)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (19), (20), (21) respectively, obtain working as a<0,c<0, tanα
>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| cn-1-cn|-|an-1-an|*cotα)sinα
Y '=bn-1-bn
Z '=- (| cn-1-cn|-|an-1-an|*cotα)cosα-|an-1-an|/sinα
Above-mentioned formula (4), (5), (6) are corresponded to substitution formula (19), (20), (21) respectively, obtain working as a<0,c<0, tanα
>| a |/| c | when, relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| Z0-cn|-|a0-an|*cotα)sinα
Y '=Y0-bn
Z '=- (| Z0-cn|-|a0-an|*cotα)cosα-|a0-an|/sinα。
Situation 6：As shown in figure 12, a is worked as<0,c<0,tanα<| a |/| c | when,
X '=- (| c |-| a | * tan α) cos α (22)
Y '=b (23)
Z '=- [(| c |-| a | * tan α) sin α+a/cos α] (24)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (22), (23), (24) respectively, obtain working as a<0,c<0, tanα
<| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| cn-1-cn|-|an-1-an|*tanα)cosα
Y '=bn-1-bn
Z '=- [(| cn-1-cn|-|an-1-an|*tanα)sinα+(an-1-an)/cosα]
Above-mentioned formula (4), (5), (6) are corresponded to substitution formula (22), (23), (24) respectively, obtain working as a<0,c<0, tanα
<| a |/| c | when, relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| Z0-cn|-|a0-an|*tanα)cosα
Y '=Y0-bn
Z '=- [(| Z0-cn|-|a0-an|*tanα)sinα+(a0-an)/cosα]
Situation 7：As shown in figure 13, a is worked as<0,c>0,tanα>| c |/| a | when,
X '=- (| a | * cot α-| c |) cos α+| a |/sin α (25)
Y '=b (26)
Z '=- sin α (| a | * cot α-| c |) (27)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (25), (26), (27) respectively, work as a<0,c>0, tanα>|c
|/| a | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| an-1-an|*cotα-|cn-1-cn|)cosα+|an-1-an|/sinα
Y '=bn-1-bn
Z '=- sin α (| an-1-an|*cotα-|cn-1-cn|)
Above-mentioned formula (4), (5), (6) are corresponded to substitution formula (25), (26), (27) respectively, work as a<0,c>0, tanα>|c
|/| a | when, relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| a0-an|*cotα-|Z0-cn|)cosα+|a0-an|/sinα
Y '=Y0-bn
Z '=- sin α (| a0-an|*cotα-|Z0-cn|)。
Situation 8：As shown in figure 14, a is worked as<0,c>0,cotα>| a |/| c | when,
X '=- | c |/cos α-(| a |-| a | * tan α) sin α (28)
Y '=b (29)
Z '=(| a |-| c | * tan α) cos α (30)
Above-mentioned formula (1), (2), (3) are corresponded to substitution formula (28), (29), (30) respectively, work as a<0,c>0, cotα>|a
|/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- | cn-1-cn|/cosα-(|an-1-an|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|-|cn-1-cn|*tanα)cosα。
Above-mentioned formula (4), (5), (6) are corresponded to substitution formula (28), (29), (30) respectively, work as a<0,c>0, cotα>|a
|/| c | when, relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- | Z0-cn|/cosα-(|a0-an|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|-|Z0-cn|*tanα)cosα。
Background server can calculate the numerical value of X', Y', Z' axle according to the slope deforming in the case of above-mentioned 8 kinds, root
According to X', Y', Z' axle numerical value it is positive and negative be accurately judged to side slope be to lordosis it is rear convex or move to left after move or move up or under
Move, for technical staff's later stage side slope deformation analysis provide more accurately, reliable data support.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (7)
1. the slope monitoring system of slope deforming three-dimensional data can be obtained, it is characterised in that：Including monitoring device, supervised for gathering
It is lordosis or rear recessed data to survey side slope tested point；Image collecting device, the number of the plane coordinates for gathering side slope tested point
According to；Deformed slope is calculated in information processor, the aggregation of data for monitoring device and image collecting device to be gathered
Three-dimensional data, described information processing unit carry out COMPREHENSIVE CALCULATING detailed process be：
S1. initial three-dimensional coordinate system is established：Using O as origin, so that along laser direction, as x-axis, laser direction of illumination is negative, and y-axis is put down
Row in horizontal plane and vertical with x-axis, with the left of x-axis positive direction for just, z-axis is perpendicular to xoy planes, upwards for just, yoz planes are put down
Row is in target, and x-axis is perpendicular to target；
S2. the conversion of three-dimensional system of coordinate, the three-dimensional system of coordinate residing for Monitoring of Slope Deformation system is established：Y ' axles and described original three
Y-axis inside dimension coordinate system is consistent, and is seen along y-axis positive direction, and xoz planes obtain x ' along one α angle of y-axis rotate counterclockwise
Axle and z ' axles, x ' axles now are parallel to horizontal plane, and z ' axles are perpendicular to horizontal plane, and the three-dimensional system of coordinate of conversion is by x ' axles, y ' axles
And z ' axles composition；
S3. initial condition data gathers, and the data that x-axis direction is measured by laser range sensor are a0, a0Represent laser ranging
The vertical range of sensor and side slope, position coordinates of the laser on target is shot by camera arrangement and represented with y-axis and z-axis,
The data in y-axis and the z-axis direction are respectively Y0And Z0, initial condition data is input in initial three-dimensional coordinate system, laser institute
The coordinate of original state on target is (X0, Y0, Z0)；
S4. after n days slope deformings, the data that x-axis direction is measured by laser range sensor are an, and an represents Laser Measuring
Vertical range away from sensor and side slope, camera arrangement shoot position coordinates (b of the laser on targetn, cn), calculate deformation
The coordinate that side slope deforms relative to the previous day afterwards：
A=Xn=an-1-an(1),
B=Yn=bn-1-bn(2),
C=Zn=cn-1-cn(3),
Wherein n >=1, n are integer；XnLordosis is represented to be positive, convex, Y after negative indicationnMoved right for positive expression, negative indication is to moving to left
It is dynamic, ZnBeing moved up for positive expression, negative indication moves down,
Calculate the coordinate that side slope deforms relative to original state after deforming：
A=Xn0=a0-an(4),
B=Yn0=b0-bn(5),
C=Zn0=c0-cn(6),
Wherein n >=1, n are integer；Xn0Lordosis is represented to be positive, convex, Y after negative indicationn0Moved right for positive expression, negative indication is to the left
It is mobile, Zn0Moved up for positive expression, negative indication moves down；
S5., S4 is calculated to deformation coordinate of the side slope relative to the previous day and the coordinate relative to original state deformation after deforming
Data are updated in the three-dimensional system of coordinate in S2 and changed, and the numerical value of x ' axles, y ' axles and z ' direction of principal axis, i.e. slope deforming is calculated
Three-dimensional data amount afterwards.
2. the slope monitoring system of slope deforming three-dimensional data can be obtained as claimed in claim 1, it is characterised in that：The prison
Surveying device includes laser range sensor and target, and the laser range sensor is arranged on side slope opposite to be measured, the target
It is arranged in side slope to be measured, the laser range sensor forms image on target according to the laser sent and reflected,
The laser range sensor calculates the distance between laser emission point and pip；Described image harvester is arranged on mark
Near target, for gathering plane coordinates data of the laser reflection point on target；Described information processing unit is background server,
For the plane coordinates data that laser range sensor collects distance and image acquisition device arrives to be carried out into COMPREHENSIVE CALCULATING
Obtain the three-dimensional coordinate of deformed slope.
3. the slope monitoring system of slope deforming three-dimensional data can be obtained as claimed in claim 1, it is characterised in that：The mark
Target is reflective panel, and the reflective panel is provided with grid and scale, is easy to identify the position where laser reflection point.
4. the slope monitoring system of slope deforming three-dimensional data can be obtained as claimed in claim 1, it is characterised in that：The prison
Survey device and be at least one.
5. the slope monitoring system of slope deforming three-dimensional data can be obtained as claimed in claim 1, it is characterised in that：The S5
It is middle by S4 be calculated deformation after side slope relative to the previous day deformation coordinate and relative to original state deform coordinate data
It is updated in the three-dimensional system of coordinate in S2 and changes, is divided into following 8 kinds of situations：Situation 1：Work as a>0,c>0,tanα>During a/c, relatively
In the three-dimensional data amount of the deformation of the previous day side slope, X '=- (| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=(| cn-1-cn|+|an-1-an|*tanα)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=(| Z0-cn|+|a0-an|*tanα)cosα；
Situation 2：Work as a>0,c>0,tanα<During a/c, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*tanα)+|c|/cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn|*tanα)+|c|/cosα；
Situation 3：Work as a>0,c<0,tanα>| c |/| a | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*cotα)cosα+|c|/sinα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*cotα)；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*cotα)cosα+|Z0-cn|/sinα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn||*cotα)；
Situation 4：Work as a>0,c<0,cotα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=| an-1-an|/cosα+(|cn-1-cn|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|*tanα-|cn-1-cn|)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=| a0-an|/cosα+(|Z0-cn|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|*tanα-|Z0-cn|)cosα；
Situation 5：Work as a<0,c<0,tanα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| cn-1-cn|-|an-1-an|*cotα)sinα
Y '=bn-1-bn
Z '=- (| cn-1-cn|-|an-1-an|*cotα)cosα-|an-1-an|/sinα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| Z0-cn|-|a0-an|*cotα)sinα
Y '=Y0-bn
Z '=- (| Z0-cn|-|a0-an|*cotα)cosα-|a0-an|/sinα；
Situation 6：Work as a<0,c<0,tanα<| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| cn-1-cn|-|an-1-an|*tanα)cosα
Y '=bn-1-bn
Z '=- [(| cn-1-cn|-|an-1-an|*tanα)sinα+(an-1-an)/cosα]；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| Z0-cn|-|a0-an|*tanα)cosα
Y '=Y0-bn
Z '=- [(| Z0-cn|-|a0-an|*tanα)sinα+(a0-an)/cosα]；
Situation 7：Work as a<0,c>0,tanα>| c |/| a | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| an-1-an|*cotα-|cn-1-cn|)cosα+|an-1-an|/sinα
Y '=bn-1-bn
Z '=- sin α (| an-1-an|*cotα-|cn-1-cn|)；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| a0-an|*cotα-|Z0-cn|)cosα+|a0-an|/sinα
Y '=Y0-bn
Z '=- sin α (| a0-an|*cotα-|Z0-cn|)；
Situation 8：Work as a<0,c>0,cotα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- | cn-1-cn|/cosα-(|an-1-an|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|-|cn-1-cn|*tanα)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- | Z0-cn|/cosα-(|a0-an|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|-|Z0-cn|*tanα)cosα。
6. obtain the method for slope deforming three-dimensional data, it is characterised in that：Specifically include following steps：
S1. initial three-dimensional coordinate system is established：Using O as origin, so that along laser direction, as x-axis, laser direction of illumination is negative, and y-axis is put down
Row in horizontal plane and vertical with x-axis, with the left of x-axis positive direction for just, z-axis is perpendicular to xoy planes, upwards for just, yoz planes are put down
Row is in target, and x-axis is perpendicular to target；
S2. the conversion of three-dimensional system of coordinate, the three-dimensional system of coordinate residing for Monitoring of Slope Deformation system is established：Y ' axles and described original three
Y-axis inside dimension coordinate system is consistent, and is seen along y-axis positive direction, and xoz planes obtain x ' along one α angle of y-axis rotate counterclockwise
Axle and z ' axles, x ' axles now are parallel to horizontal plane, and z ' axles are perpendicular to horizontal plane, and the three-dimensional system of coordinate of conversion is by x ' axles, y ' axles
And z ' axles composition；
S3. initial condition data gathers, and the data that x-axis direction is measured by laser range sensor are a0, a0Represent laser ranging
The vertical range of sensor and side slope, position coordinates of the laser on target is shot by camera arrangement and represented with y-axis and z-axis,
The data in y-axis and the z-axis direction are respectively Y0And Z0, initial condition data is input in initial three-dimensional coordinate system, laser institute
The coordinate of original state on target is (X0, Y0, Z0)；
S4. after n days slope deformings, the data that x-axis direction is measured by laser range sensor are an, anRepresent Laser Measuring
Vertical range away from sensor and side slope, camera arrangement shoot position coordinates (b of the laser on targetn, cn), calculate deformation
The coordinate that side slope deforms relative to the previous day afterwards：
A=Xn=an-1-an(1),
B=Yn=bn-1-bn(2),
C=Zn=cn-1-cn(3),
Wherein n >=1, n are integer；XnLordosis is represented to be positive, convex, Y after negative indicationnMoved right for positive expression, negative indication is to moving to left
It is dynamic, ZnBeing moved up for positive expression, negative indication moves down,
Calculate the coordinate that side slope deforms relative to original state after deforming：
A=Xn0=a0-an(4),
B=Yn0=b0-bn(5),
C=Zn0=c0-cn(6),
Wherein n >=1, n are integer；Xn0Lordosis is represented to be positive, convex, Y after negative indicationn0Moved right for positive expression, negative indication is to the left
It is mobile, Zn0Moved up for positive expression, negative indication moves down；
S5., S4 is calculated to deformation coordinate of the side slope relative to the previous day and the coordinate relative to original state deformation after deforming
Data are updated in the three-dimensional system of coordinate in S2 and changed, and the numerical value of x ' axles, y ' axles and z ' direction of principal axis, i.e. slope deforming is calculated
Three-dimensional data amount afterwards.
7. the method for slope deforming three-dimensional data is obtained as claimed in claim 6, it is characterised in that：S4 is calculated in the S5
Side slope is updated in S2 relative to the deformation coordinate of the previous day and relative to the coordinate data of original state deformation after being deformed
Three-dimensional system of coordinate in change, be divided into following 8 kinds of situations：
Situation 1：Work as a>0,c>0,tanα>During a/c, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=(| cn-1-cn|+|an-1-an|*tanα)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=(| Z0-cn|+|a0-an|*tanα)cosα；
Situation 2：Work as a>0,c>0,tanα<During a/c, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*tanα)cosα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*tanα)+|c|/cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*tanα)cosα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn|*tanα)+|c|/cosα；
Situation 3：Work as a>0,c<0,tanα>| c |/| a | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| an-1-an|-|cn-1-cn|*cotα)cosα+|c|/sinα
Y '=bn-1-bn
Z '=sin α (| an-1-an|-|cn-1-cn|*cotα)；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| a0-an|-|Z0-cn|*cotα)cosα+|Z0-cn|/sinα
Y '=Y0-bn
Z '=sin α (| a0-an|-|Z0-cn||*cotα)；
Situation 4：Work as a>0,c<0,cotα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=| an-1-an|/cosα+(|cn-1-cn|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|*tanα-|cn-1-cn|)cosα；
Relative to the three-dimensional data of the deformation of original state side slope,
X '=| a0-an|/cosα+(|Z0-cn|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|*tanα-|Z0-cn|)cosα；
Situation 5：Work as a<0,c<0,tanα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=(| cn-1-cn|-|an-1-an|*cotα)sinα
Y '=bn-1-bn
Z '=- (| cn-1-cn|-|an-1-an|*cotα)cosα-|an-1-an|/sinα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=(| Z0-cn|-|a0-an|*cotα)sinα
Y '=Y0-bn
Z '=- (| Z0-cn|-|a0-an|*cotα)cosα-|a0-an|/sinα；
Situation 6：Work as a<0,c<0,tanα<| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| cn-1-cn|-|an-1-an|*tanα)cosα
Y '=bn-1-bn
Z '=- [(| cn-1-cn|-|an-1-an|*tanα)sinα+(an-1-an)/cosα]；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| Z0-cn|-|a0-an|*tanα)cosα
Y '=Y0-bn
Z '=- [(| Z0-cn|-|a0-an|*tanα)sinα+(a0-an)/cosα]；
Situation 7：Work as a<0,c>0,tanα>| c |/| a | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- (| an-1-an|*cotα-|cn-1-cn|)cosα+|an-1-an|/sinα
Y '=bn-1-bn
Z '=- sin α (| an-1-an|*cotα-|cn-1-cn|)；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- (| a0-an|*cotα-|Z0-cn|)cosα+|a0-an|/sinα
Y '=Y0-bn
Z '=- sin α (| a0-an|*cotα-|Z0-cn|)；
Situation 8：Work as a<0,c>0,cotα>| a |/| c | when, relative to the three-dimensional data amount of the deformation of the previous day side slope,
X '=- | cn-1-cn|/cosα-(|an-1-an|-|an-1-an|*tanα)sinα
Y '=bn-1-bn
Z '=(| an-1-an|-|cn-1-cn|*tanα)cosα；
Relative to the three-dimensional data amount of the deformation of original state side slope,
X '=- | Z0-cn|/cosα-(|a0-an|-|a0-an|*tanα)sinα
Y '=Y0-bn
Z '=(| a0-an|-|Z0-cn|*tanα)cosα。
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| CN112731440B (en) * | 2020-12-25 | 2023-10-13 | 中国铁道科学研究院集团有限公司 | High-speed railway slope deformation detection method and device |
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Address after: 830000 No. 840 Auxiliary Road, Wuchang Road, Urumqi High-tech Industrial Development Zone, Xinjiang Uygur Autonomous Region Patentee after: XINJIANG COMMUNICATIONS CONSTRUCTION GROUP Co.,Ltd. Address before: No.33 Xuefu Avenue, Urumqi City, Xinjiang Uygur Autonomous Region Patentee before: XINJIANG COMMUNICATIONS CONSTRUCTION GROUP Co.,Ltd. |
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Effective date of registration: 20210519 Address after: 400000 No.33 Xuefu Avenue, Nan'an District, Chongqing Patentee after: CHINA MERCHANTS CHONGQING COMMUNICATIONS RESEARCH & DESIGN INSTITUTE Co.,Ltd. Patentee after: XINJIANG COMMUNICATIONS CONSTRUCTION GROUP Co.,Ltd. Address before: 840, Fuchang Road, Urumqi hi tech Industrial Development Zone, Xinjiang Uygur Autonomous Region Patentee before: XINJIANG COMMUNICATIONS CONSTRUCTION GROUP Co.,Ltd. |