CN105045950A - Three-dimensional laser scan based bridge safety evaluation system - Google Patents

Three-dimensional laser scan based bridge safety evaluation system Download PDF

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CN105045950A
CN105045950A CN201510279525.8A CN201510279525A CN105045950A CN 105045950 A CN105045950 A CN 105045950A CN 201510279525 A CN201510279525 A CN 201510279525A CN 105045950 A CN105045950 A CN 105045950A
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data
module
submodule
laser scanning
dimensional
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CN105045950B (en
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杨浩
徐向阳
庄园
唐柏鉴
潘志宏
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INDUSTRY TECHNOLOGY RESEARCH INSTITUTE ZHANGJIAGANG JIANGSU UNIVERSITY OF SCIENCE AND TECHNOLOGY
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INDUSTRY TECHNOLOGY RESEARCH INSTITUTE ZHANGJIAGANG JIANGSU UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Abstract

The present invention discloses a three-dimensional laser scan based bridge safety evaluation system. The system comprises: a measurement data acquisition and pre-processing module, a data analysis module and an intelligent prediction module. The measurement data acquisition and pre-processing module performs a three-dimensional laser scan on a target object to generate point cloud data and pre-processes the point cloud data. The data analysis module comprises a three-dimensional model reconstruction sub-module and a finite element model establishment and correction sub-module, and performs 3D model reconstruction on a result of the three-dimensional laser scan. The intelligent prediction module performs risk evaluation on deformation of a bridge model in each future period. In the three-dimensional laser scan based bridge safety evaluation system provided by the present invention, a fully-automatic highly-intelligent three-dimensional laser scanning apparatus that is of the integrated design and that integrates data acquisition, software analysis, and prediction and evaluation is used, and a color touch screen is used, thereby making operation easier, and acquiring in real time prediction and evaluation of a plurality of periods and a reasonable scheme.

Description

A kind of bridge security evaluating system based on 3 D laser scanning
Technical field
The invention belongs to field of measuring technique, particularly a kind of bridge security evaluating system based on 3 D laser scanning.
Background technology
Due to internal and overseas geologic condition, underground installation, subway transport situation and demand, and many-sided difference such as code requirement, cause three-dimensional laser scanning technique application at home, need to coordinate a large amount of independent research, the software being applicable to China's actual conditions and application demand and hardware support kit, just may give play to the due scientific and technological level of this technology and effect.Traditional detection means mainly contains total powerstation, GPSRTK technology etc.During the total powerstation elements of a fix, be subject to the impact of the several factors such as weather, traffic, limit more, in addition, its measuring distance is short, needs frequently to change measuring point, and total powerstation survey requires intervisibility between website and tested target object point, at least wants two work compounds just can complete measurement.Current, bridge realistic model be reduced into 3D model technology not yet have ripe commercialization to use.CATIA, although the CAD such as Pro/E, CAE software to detecting the some cloud reverse modeling obtained, can need to carry out artificial extraction to unique point and characteristic curve and carrying out generation model, the manpower of at substantial and time; Therefore, we need the model reconstruction techniques of a robotization, thus can build realistic model and the forecast model of bridge timely, avoid various potential safety hazard.
Summary of the invention
For overcoming the shortcomings and deficiencies of above-mentioned prior art, the invention provides a kind of bridge security evaluating system based on 3 D laser scanning.
Technical scheme of the present invention is:
Based on a bridge security evaluating system for 3 D laser scanning, comprise measurement data acquisition and pretreatment module module, data analysis module and intelligent predicting module; Described measurement data acquisition and pretreatment module are carried out 3 D laser scanning to object and are produced cloud data and to data preprocessing; Data analysis module comprises reconstructing three-dimensional model submodule and finite element model is set up and revises submodule, carries out 3D Model Reconstruction to the result of 3 D laser scanning; The deformation of intelligent predicting module to bridge model each period following carries out risk assessment.
Preferably, described measurement data acquisition and pretreatment module comprise multisensor measurement submodule, Control & data acquisition submodule and data prediction submodule; Described multisensor is measured submodule and is comprised laser scanner and be aided with 1-2 platform industrial camera; Described Control & data acquisition submodule comprises control desk, from multisensor measure submodule raw data autostore and in the disk matrix of backup tape control desk; Described data prediction submodule reads data from disk matrix, by deepness image registration, level and smooth scattered point cloud data and simplification scattered point cloud data, carries out pre-service to cloud data.
Preferred further, the reconstructing three-dimensional model reconstructing three-dimensional model submodule of described data analysis module, use nurbs surface algorithm to carry out surface fitting to cloud data piecemeal, recurrence is carried out to test figure and calculates, obtain the value of each parameter in test condition lower surface camber model; Then, by the unilateral subset splicing of segmentation, output point cloud, three-dimensional model and Parameter File.
Preferred further, described finite element model foundation and correction submodule, will design a model or other initial models carry out three-dimensional reconstruction, in conjunction with parameters, carry out finite element analysis, obtain distortion and the crack result of material; Three-dimensional laser scanner image data and finite element model are compared, thus revises finite element model.
Preferred further, described intelligent predicting module utilizes revised finite element model, in conjunction with other measurement data, comprehensively analyze and predict the risk factor of this buildings, finally showing assessment report and the solution of three-dimensional model image and each period following in the display.
Preferred further, described intelligent predicting module sets up FEM model according to parameter preset, analytical structure deformation, FEM model deformation result and 3D model is compared, draws numerical value comparative result, show in the mode of curve or cloud atlas.
Preferred further, described intelligent predicting module adopts test design and regression analysis, with the Implicitly function relation between explicit response surface model Approximation Characteristic amount and design parameter, the structural model be simplified, provide FEM updating process, by numerical simulation example and 3D model result, realize the structural finite element model updating based on response surface model.
Advantage of the present invention is:
1. the bridge security evaluating system based on 3 D laser scanning provided by the present invention, adopt integrated design, integrate the full-automatic high intelligent three-dimensional Laser Scanning Equipment of data acquisition, software analysis and forecast assessment, color touch display screen, more easy to operate, obtain forecast assessment and the reasonable plan of multiple period in real time.
2. the bridge security evaluating system based on 3 D laser scanning provided by the present invention, there is good compatibility, directly can derive 50 data of multiple format such as wrl, dxf, ptx, pts, ptc, xyz, xyb, igs, pod, conveniently read data with multiple development.The present invention also has Web sharing functionality, scan image directly can be uploaded to internet, thus when without the need to other assistant softwares, guarantees that client, supplier and affiliate efficiently share scanning information.
3. the bridge security evaluating system based on 3 D laser scanning provided by the present invention, cost of labor advantage is higher than conventional art more than 5 times, and time cost only has 1/10 of conventional art, comprehensive due to its technical data, comprehensive value is especially more than 10 times.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is the structure principle chart of the bridge security evaluating system based on 3 D laser scanning of the present invention;
Fig. 2 is Three Dimensional Ground laser scanner technique schematic diagram of the present invention;
Fig. 3 is the process flow diagram of 3 D laser scanning of the present invention some cloud three-dimensional reconstruction.
Embodiment
As illustrated in fig. 1 and 2, the disclosed bridge security evaluating system based on 3 D laser scanning, comprises measurement data acquisition and pretreatment module module, data analysis module and intelligent predicting module; Described measurement data acquisition and pretreatment module comprise multisensor and measure submodule, Control & data acquisition submodule and data prediction submodule, carry out 3 D laser scanning produce cloud data to data preprocessing to object; Data analysis module comprises reconstructing three-dimensional model submodule and finite element model is set up and revises submodule, carries out 3D Model Reconstruction to the result of 3 D laser scanning; The deformation of intelligent predicting module to bridge model each period following carries out risk assessment.
Described measurement data acquisition and pretreatment module, comprise laser scanner and be aided with 1-2 platform industrial camera.Described scanner adopts full angle (fullcircle), gyro frequency more than 100 revolutions per seconds, the high-rate laser scanning device of analyzing spot turnout 300000 points/more than second.Other reference indexs (minimum) comprising: minimum effective range <1 rice; Maximum effective range >100 rice; Accuracy (Accuracy) 10 millimeters; Precision (Precision) 5 millimeters.Generating high density cloud data is used for setting up concrete 3D model by laser scanner.The reference index (minimum) of described industrial camera comprises: 5 mega pixels, 2/3, and " CCD, exposed 38 microseconds by 60 seconds, 65 °, 80 °, visual angle (level) (vertically) (5mmlens).Camera is demarcated completing with scanner and adds colouring information to cloud data, and camera data will strengthen in the visual of model and splits for a cloud provides important evidence.
Described Control & data acquisition submodule, centered by control desk, allows surveyor to carry out whether normal ON and the work of each parts of basic opening of device, closedown and supervision.Equipment can detect upon actuation automatically, and result will be presented on the display of control desk.From multisensor measure submodule raw data autostore and in the disk matrix of backup tape control desk;
Described data prediction submodule reads data from disk matrix, by deepness image registration, level and smooth scattered point cloud data and simplification scattered point cloud data, carries out pre-service to cloud data.Its objective is and replace original cloud data, for further data analysis lays the first stone with a small amount of not being similar to containing the data point set of noise.
The reconstructing three-dimensional model reconstructing three-dimensional model submodule of described data analysis module, uses nurbs surface algorithm to carry out surface fitting to cloud data piecemeal, carries out recurrence and calculates, obtain the value of each parameter in test condition lower surface camber model to test figure; Then, by the unilateral subset splicing of segmentation, output point cloud, three-dimensional model and Parameter File.
Described finite element model foundation and correction submodule, will design a model or other initial models carry out three-dimensional reconstruction, in conjunction with parameters, carry out finite element analysis, obtain distortion and the crack result of material; Three-dimensional laser scanner image data and finite element model are compared, thus revises finite element model.
Described intelligent predicting module utilizes revised finite element model, in conjunction with other measurement data, comprehensive analysis and predict the risk factor of this buildings, finally shows assessment report and the rational solution of three-dimensional model image and each period following in the display.
Concrete, the method that the bridge security based on 3 D laser scanning of the present invention is assessed comprises following content.
1. pair object carries out 3 D laser scanning and to data preprocessing
Utilize three-dimensional laser scanner to scan object, obtain building each region cloud data, be stored in the disk matrix of mobile device.Coordinate adjustment is carried out to cloud data, makes the reference mark of the same name and the control target that adjacent area point cloud chart there are more than three, by unified for adjacent some cloud under same coordinate system.Filtering is carried out to data, reduces the noise spot of data.Under some cloud under instrument coordinates system is transformed into locality or global coordinate system.Like this, initialization points cloud successfully constructs.
2. the result of pair 3 D laser scanning carries out 3D Model Reconstruction
According to the ability that the demand of engineering, hardware device calculate and store, cloud data is simplified.Carry out Data Segmentation to cloud data, be divided in different some cloud subsets, each some cloud subset represents same curved form.Successively surface fitting is carried out to each some cloud subset: use nurbs surface algorithm to carry out surface fitting, recurrences calculating is carried out to test figure, obtain the span of each parameter in formula model under test condition.Finally describe the some cloud of scanning with less several parameter bursts, obtain burst 3D model.Then, each unilateral subset splicing is obtained complete model.Output point cloud, 3D model and parameter file.3 D laser scanning point cloud three-dimensional reconstruction process flow diagram as shown in Figure 3.
3. set up FEM model, compare with 3D model.
FEM model is set up, analytical structure deformation according to parameter preset.FEM model deformation result and 3D model are compared, draws numerical value comparative result, show in the mode of curve or cloud atlas.
4.FEM Modifying model
Adopt test design and regression analysis, with Implicitly function relation complicated between explicit response surface model Approximation Characteristic amount and design parameter, the structural model be simplified (Meta-model), provides FEM updating process.Mainly comprise the parameter choose of variance analysis, the response surface of regretional analysis matching and utilize response surface to carry out FEM updating.Structure for complexity discusses samples selection, corrected parameter is chosen and from many factors, how more reasonably to set up the response surface model of structure.By numerical simulation example and 3D model result, realize the structural finite element model updating based on response surface model.Based on FEM updating and the checking of Response surface meth od, the efficiency of correction can be significantly improved, calculate succinct, iteration convergence fast, avoiding each iteration all needs to carry out FEM (finite element) calculation.
5. utilize FEM model to carry out risk profile.
Utilize revised FEM model, the deformation in intelligent predicting structure future, and carry out venture analysis, provide risk analysis reports.In conjunction with country about the standard of building is advised.
6. analysis result is presented in same platform, display 3-D scanning result, 3D model and FEM model, and wherein three-dimensional measuring result is with a cloud form display, and reconstructing three-dimensional model and FEM model result show with curved form.Dynamic Announce can be carried out, and FEM data result and the 3 d measurement data result of corresponding position is obtained by mouse click or dialog box input coordinate value, obtain a kind of visual, can multi-angle, comprehensive observation 3 d effect graph, by mouse action can realize convergent-divergent, rotation, views selection, local window display.The error analysis of FEM data and test data of experiment can be carried out, show with curve or in the mode of cloud atlas.Graphical results is analyzed with picture format output error.By the display of analysis result, user can understand the current situation of building and the prediction to future more intuitively, all sidedly, has good man-machine interface.
Below by reference to the accompanying drawings preferred embodiment of the present invention has been described in detail, but those of ordinary skill in the art can be recognized, previous embodiment is just in order to illustrate design feature of the present invention and advantage, and non-limiting the present invention, so conceive the change or modification done according to the present invention, all should belong in the scope of appended claims restriction.

Claims (8)

1. the bridge security evaluating system based on 3 D laser scanning, comprise measurement data acquisition and pretreatment module module, data analysis module and intelligent predicting module, its feature is being: described measurement data acquisition and pretreatment module are carried out 3 D laser scanning to object and produced cloud data and to data preprocessing; Data analysis module comprises reconstructing three-dimensional model submodule and finite element model is set up and revises submodule, carries out 3D Model Reconstruction to the result of 3 D laser scanning; The deformation of intelligent predicting module to bridge model each period following carries out risk assessment.
2. the bridge security evaluating system based on 3 D laser scanning according to claim 1, its feature is being: described measurement data acquisition and pretreatment module comprise multisensor and measure submodule, Control & data acquisition submodule and data prediction submodule; Described multisensor is measured submodule and is comprised laser scanner and be aided with 1-2 platform industrial camera; Described Control & data acquisition submodule comprises control desk, from multisensor measure submodule raw data autostore and in the disk matrix of backup tape control desk; Described data prediction submodule reads data from disk matrix, by deepness image registration, level and smooth scattered point cloud data and simplification scattered point cloud data, carries out pre-service to cloud data.
3. the bridge security evaluating system based on 3 D laser scanning according to claim 2, its feature is being: the reconstructing three-dimensional model reconstructing three-dimensional model submodule of described data analysis module, nurbs surface algorithm is used to carry out surface fitting to cloud data piecemeal, carry out recurrence to test figure to calculate, obtain the value of each parameter in test condition lower surface camber model; Then, by the unilateral subset splicing of segmentation, output point cloud, three-dimensional model and Parameter File.
4. the bridge security evaluating system based on 3 D laser scanning according to claim 3, its feature is being: described finite element model is set up and revised submodule, to design a model or other initial models carry out three-dimensional reconstruction, in conjunction with parameters, carry out finite element analysis, obtain distortion and the crack result of material; Three-dimensional laser scanner image data and finite element model are compared, thus revises finite element model.
5. the bridge security evaluating system based on 3 D laser scanning according to claim 4, its feature is being: described intelligent predicting module utilizes revised finite element model, in conjunction with other measurement data, comprehensive analysis and predict the risk factor of this buildings, finally shows assessment report and the solution of three-dimensional model image and each period following in the display.
6. the bridge security evaluating system based on 3 D laser scanning according to claim 5, its feature is being: described intelligent predicting module sets up FEM model according to parameter preset, analytical structure deformation, FEM model deformation result and 3D model are compared, draw numerical value comparative result, show in the mode of curve or cloud atlas.
7. the bridge security evaluating system based on 3 D laser scanning according to claim 5, its feature is being: described intelligent predicting module adopts test design and regression analysis, with the Implicitly function relation between explicit response surface model Approximation Characteristic amount and design parameter, the structural model be simplified, provide FEM updating process, by numerical simulation example and 3D model result, realize the structural finite element model updating based on response surface model.
8. the bridge security evaluating system based on 3 D laser scanning according to claim 7, its feature is being: described intelligent predicting module utilizes revised FEM model, the deformation in intelligent predicting bridge structure future, and carry out venture analysis, provide risk analysis reports, in conjunction with country about the standard of building is advised.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105335999A (en) * 2015-11-24 2016-02-17 大连楼兰科技股份有限公司 Method for generating object finite element digital model by performing three-dimensional scanning on street object
CN105550428A (en) * 2015-12-10 2016-05-04 江苏科技大学 Bridge security evaluation method based on TLS (three-dimensional laser scanning) technique
CN105426646A (en) * 2016-01-13 2016-03-23 重庆大学 Bridge intelligent degree comprehensive evaluation index selection and quantification method
CN105426646B (en) * 2016-01-13 2018-09-14 重庆大学 Bridge wisdom degree comprehensive assessment index chooses and quantization method
CN105976430A (en) * 2016-05-16 2016-09-28 总装备部工程设计研究总院 Three-dimensional analysis system and method for building deformation
CN105976430B (en) * 2016-05-16 2019-03-08 总装备部工程设计研究总院 The three dimensional analysis system and method for building deformation
CN107729582A (en) * 2016-08-11 2018-02-23 张家港江苏科技大学产业技术研究院 Component defect inspection and forecasting system based on TLS
CN108385538A (en) * 2018-05-28 2018-08-10 上海公路桥梁(集团)有限公司 The method that the prefabricated head tower of cable-stayed bridge is installed on concrete king-post
CN108922600A (en) * 2018-06-29 2018-11-30 上海联影医疗科技有限公司 Scan protocols comparative approach and device, image processing apparatus, readable storage medium storing program for executing
CN109580649A (en) * 2018-12-18 2019-04-05 清华大学 A kind of identification of engineering structure surface crack and projection modification method and system
CN111047635A (en) * 2019-11-13 2020-04-21 南京甄视智能科技有限公司 Depth image-based plane touch method and device and touch system

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