CN105115442A - Tunnel internal surface form detecting method, apparatus and system - Google Patents
Tunnel internal surface form detecting method, apparatus and system Download PDFInfo
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- CN105115442A CN105115442A CN201510451639.6A CN201510451639A CN105115442A CN 105115442 A CN105115442 A CN 105115442A CN 201510451639 A CN201510451639 A CN 201510451639A CN 105115442 A CN105115442 A CN 105115442A
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Abstract
The invention discloses a tunnel internal surface form detecting method, apparatus and system. The tunnel internal surface form detecting method comprises the following steps of acquiring three-dimensional scanning information of a tunnel internal surface, wherein, the three-dimensional scanning information comprises three-dimensional point cloud data of a scanned surface; performing three-dimensional modeling according to the three-dimensional point cloud data to acquire a three-dimensional curved surface model corresponding to the three-dimensional point cloud data; and determining the tunnel internal surface form according to the three-dimensional curved surface model. The problems that tunnel internal surface form detection is greatly affected by the tunnel internal environment; and the detection result has bad accuracy are solved. The method which comprises the following steps of performing three-dimensional modeling according to the three-dimensional point cloud data; acquiring the three-dimensional curved surface model corresponding to the three-dimensional point cloud data and determining the tunnel internal surface form according to the three-dimensional curved surface model makes the tunnel internal surface form detection accuracy improved.
Description
Technical field
The present invention relates to detection technique field, well industrial and mineral tunnel, in particular to a kind of detection method of interior surface form of tunnel, device and system.
Background technology
Well industrial and mineral tunnel is the passage during mining is produced, mineral being transported to ground, ventilation, safe transport workman etc. from workplace.As space factor most important in colliery, easily there is the geologic hazards such as large area roof fall, wall caving or serious closure deformation in underground mining tunnel and goaf, makes production operation there is certain potential safety hazard.Therefore, the form of Obtaining Accurate well industrial and mineral tunnel interior surface is of great significance for the safety and tool of enhancing productivity guaranteeing underground operators.
At present, bargh commonly uses the instruments such as total powerstation, adopts classical measurement mode to instruct development and design; The displacement of earth's surface and underworkings is measured by geometric leveling method; Ore deposit amount volume is calculated by classic methods such as offset methods; Obtain basic data by tradition mapping, and set up virtual mine model according to this.
Existing technical scheme affects comparatively large by surrounding enviroment, its limitation existed is mainly reflected in the following aspects:
(1) manual work labour intensity is large, and efficiency is low, poor in timeliness;
(2) the optical photography measuring technique such as close-range photogrammetry, needs to obtain image photograph, high to the requirement for environmental conditions such as ambient light, temperature, and application has certain limitation;
(3) employing traditional measurement instrument is the target identification based on " point " pattern, and identify some position, tunnel change information by measuring, data volume is large, and operation program is complicated; And
(4) conventional art means (comprise and utilize optical photography measuring technique and adopt traditional measurement instrument) are comparatively large by the impact of the conditions such as high temperature, humidity, dust in tunnel, and the accuracy of testing result is often poor.
For in correlation technique because the detection of tunnel interior surface form is comparatively large by the impact of tunnel internal environment, make the problem that the accuracy of testing result is poor, not yet propose effective solution at present.
Summary of the invention
Fundamental purpose of the present invention is the detection method of the interior surface form providing a kind of tunnel, device and system, comparatively large by the impact of tunnel internal environment with the detection solved due to tunnel interior surface form, makes the problem that the accuracy of testing result is poor.
To achieve these goals, according to an aspect of the present invention, a kind of detection method of interior surface form of tunnel is provided.
Detection method according to the interior surface form in tunnel of the present invention comprises: the 3-D scanning information obtaining the interior surface in tunnel, and wherein, 3-D scanning information comprises the three dimensional point cloud of scanning plane; Carry out three-dimensional modeling according to three dimensional point cloud, obtain the three-dimensional surface model that three dimensional point cloud is corresponding; And the interior surface form in tunnel is determined according to three-dimensional surface model.
Further, the 3-D scanning information obtaining the interior surface in tunnel comprises: utilize three-dimensional laser radar to obtain 3-D scanning information, wherein, three-dimensional laser radar adopts axial priority scan mode to obtain 3-D scanning information.
Further, three dimensional point cloud comprises the data of multiple analyzing spot, and before carrying out three-dimensional modeling according to three dimensional point cloud, the method also comprises: determine multiple scanning angle; Obtain the coordinate of partial sweep point in local coordinate system of each scanning angle in corresponding multiple scanning angle respectively, wherein, multiple analyzing spot comprises partial sweep point; And by the coordinate transform in local coordinate system in the same coordinate system, obtain the coordinate of multiple analyzing spot.
Further, three dimensional point cloud comprises the data of multiple analyzing spot, carries out three-dimensional modeling comprise according to three dimensional point cloud: decomposed to by multiple analyzing spot in multiple spheroid; In multiple spheroid, utilize partial approximation function to carry out the process of curved surface partial approximation respectively, obtain partial approximation curved surface; And utilize radial basis function to be weighted process of fitting treatment to the partial approximation curved surface between the adjacent spheroid in multiple spheroid, obtain three-dimensional surface model.
Further, decomposed in multiple spheroid by multiple analyzing spot and comprise: determine multiple interpolation central point, wherein, multiple interpolation central point comprises the first interpolation central point and the second interpolation central point; Determine the supporting domain that multiple interpolation central point is corresponding respectively, wherein, corresponding first supporting domain of the first interpolation central point, corresponding second supporting domain of the second interpolation central point; And for radius sets up the first spheroid centered by the first interpolation central point, with the first supporting domain, and for radius sets up the second spheroid centered by the second interpolation central point, with the second supporting domain.
Further, the 3-D scanning information obtaining the interior surface in tunnel comprises: the current 3-D scanning information and the history 3-D scanning information that obtain the interior surface in tunnel, after the 3-D scanning information of interior surface obtaining tunnel, method also comprises: more current 3-D scanning information and history 3-D scanning information, obtain comparative result; Judge whether the interior surface form in tunnel changes according to comparative result, wherein, if it is different with history 3-D scanning information that comparative result is current 3-D scanning information, then the interior surface form in tunnel there occurs change, if it is identical with history 3-D scanning information that comparative result is current 3-D scanning information, then determine that the interior surface form in tunnel does not change.
To achieve these goals, according to a further aspect in the invention, a kind of pick-up unit of interior surface form of tunnel is provided.
Pick-up unit according to the interior surface form in tunnel of the present invention comprises: acquiring unit, and for obtaining the 3-D scanning information of the interior surface in tunnel, wherein, 3-D scanning information comprises the three dimensional point cloud of scanning plane; Modeling unit, for carrying out three-dimensional modeling according to three dimensional point cloud, obtains the three-dimensional surface model that three dimensional point cloud is corresponding; And determining unit, for determining the interior surface form in tunnel according to three-dimensional surface model.
Further, three dimensional point cloud comprises the data of multiple analyzing spot, and modeling unit comprises: decomposing module, for decomposing in multiple spheroid by multiple analyzing spot; First processing module, for respectively in multiple spheroid root utilize partial approximation function to carry out the process of curved surface partial approximation, obtain partial approximation curved surface; And second processing module, for utilizing radial basis function to be weighted process of fitting treatment to the partial approximation curved surface between the adjacent spheroid in multiple spheroid, obtain three-dimensional surface model.
Further, decomposing module comprises: first determines submodule, and for determining multiple interpolation central point, wherein, multiple interpolation central point comprises the first interpolation central point and the second interpolation central point; Second determines submodule, for determining the supporting domain that multiple interpolation central point is corresponding respectively, wherein, and corresponding first supporting domain of the first interpolation central point, corresponding second supporting domain of the second interpolation central point; And spheroid builds submodule, for centered by the first interpolation central point, with the first supporting domain for radius sets up the first spheroid, and for radius sets up the second spheroid centered by the second interpolation central point, with the second supporting domain.
To achieve these goals, according to a further aspect in the invention, a kind of detection system of interior surface form of tunnel is provided.
Detection system according to the interior surface form in tunnel of the present invention comprises: three-dimensional laser radar, and for obtaining the 3-D scanning information of the interior surface in tunnel, wherein, 3-D scanning information comprises the three dimensional point cloud of scanning plane; Data transmission device, for obtaining 3-D scanning information and sending 3-D scanning information; And data processing equipment, for receiving the 3-D scanning information that data transmission device sends, carry out three-dimensional modeling according to three dimensional point cloud, obtain the three-dimensional surface model that three dimensional point cloud is corresponding, and determine the interior surface form in tunnel according to three-dimensional surface model.
By the present invention, adopt the method comprised the following steps: the 3-D scanning information obtaining the interior surface in tunnel, wherein, 3-D scanning information comprises the three dimensional point cloud of scanning plane; Carry out three-dimensional modeling according to three dimensional point cloud, obtain the three-dimensional surface model that three dimensional point cloud is corresponding; And the interior surface form in tunnel is determined according to three-dimensional surface model, the detection solved due to tunnel interior surface form is larger by the impact of tunnel internal environment, make the problem that the accuracy of testing result is poor, and then carry out three-dimensional modeling according to three dimensional point cloud, obtain the three-dimensional surface model that three dimensional point cloud is corresponding, and the interior surface form in tunnel is determined according to three-dimensional surface model, reach the effect of the accuracy improving tunnel interior surface Morphology observation.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the process flow diagram of the detection method of the interior surface form in tunnel according to the embodiment of the present invention;
Fig. 2 is the volume coordinate schematic diagram of the analyzing spot of three-dimensional laser radar in the detection method of the interior surface form in tunnel according to the embodiment of the present invention;
Fig. 3 is the schematic diagram of the pick-up unit of the interior surface form in tunnel according to the embodiment of the present invention; And
Fig. 4 is the schematic diagram of the detection system of the interior surface form in tunnel according to the embodiment of the present invention.
Embodiment
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
The application's scheme is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only the embodiment of the application's part, instead of whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all should belong to the scope of the application's protection.
It should be noted that, term " first ", " second " etc. in the instructions of the application and claims and above-mentioned accompanying drawing are for distinguishing similar object, and need not be used for describing specific order or precedence.Should be appreciated that the data used like this can be exchanged, in the appropriate case so that the embodiment of the application described herein.In addition, term " comprises " and " having " and their any distortion, intention is to cover not exclusive comprising, such as, contain those steps or unit that the process of series of steps or unit, method, system, product or equipment is not necessarily limited to clearly list, but can comprise clearly do not list or for intrinsic other step of these processes, method, product or equipment or unit.
Below according to embodiments of the invention, provide a kind of detection method of interior surface form of tunnel.
Fig. 1 is the process flow diagram of the detection method of the interior surface form in tunnel according to the embodiment of the present invention.As shown in Figure 1, the method comprises following step S101 to step S103:
Step S101, obtain the 3-D scanning information of the interior surface in tunnel, wherein, 3-D scanning information comprises the three dimensional point cloud of scanning plane.
In this step, 3-D scanning information can be obtained by three-dimensional laser radar, the 3-D scanning information that three-dimensional laser radar obtains comprises three dimensional point cloud, three dimensional point cloud is the data of the analyzing spot of the interior surface in tested tunnel, comprises the three-dimensional coordinate of the analyzing spot of the interior surface in tested tunnel.Three-dimensional laser radar scanning has untouchable, rapidity, high-accuracy property, intuitive and dirigibility, utilize three-dimensional laser radar can obtain the 3-D scanning information of the interior surface in tunnel, which can adapt to the environment of high temperature, humidity, dust, can not affect the measuring accuracy of three-dimensional laser radar when the environment also namely in inside, tunnel is comparatively severe.
Three-dimensional laser radar is scanned by Emission Lasers to obtain the three-dimensional coordinate on testee surface and the instrument of intensity of reflected light, is a kind of non-contact type Active Measurement System.While two-dimensional scan, carry out rotary scanning plane, i.e. multi-thread scanning, the geometric three-dimensional data of measurand array obtained with point-cloud type is for foundation, and laser pulse transmitter drives a laser diode Emission Lasers pulse periodically; Then by receiver lens receiving target surface backreflected signals, produce a Received signal strength, utilize a stable quartz clock to count the launching and receiving mistiming, pass through software by micro computer, and according to preset algorithm process raw data, therefrom calculate the space length of sampled point; By the scanning motion of gearing, complete the comprehensive scanning to object; Finally carry out data preparation, obtained the cloud data of target surface by a series of process.Three-dimensional laser radar possesses the advantages such as range finding speed is fast, precision is high, obtaining information is directly perceived.
In a kind of optional embodiment, the 3-D scanning information obtaining the interior surface in tunnel comprises: utilize three-dimensional laser radar to obtain 3-D scanning information, wherein, three-dimensional laser radar adopts axial priority scan mode to obtain 3-D scanning information.Utilize three-dimensional laser radar to carry out the 3-D scanning of tunnel interior surface, need to carry out scan control to the sweep measuring set of three-dimensional laser radar.Axial priority scan mode and radial priority scan mode can be divided into according to scanning sequency, because radial priority scan mode is frequently rotated causing the sweep measuring set of laser radar, larger to the damage of its signal-transmitting cable and cooling system, therefore, can the axial priority scan mode of prioritizing selection, draw the three dimensional point cloud of scanning plane.
Three-dimensional laser radar scanning mainly adopts flight time (TimeofFlight, referred to as TOF) pulse ranging.Fig. 2 is the volume coordinate schematic diagram of the analyzing spot of three-dimensional laser radar in the detection method of the interior surface form in tunnel according to the embodiment of the present invention.As shown in Figure 2, horizontal direction angle [alpha] and the vertical direction angle θ of the laser beam that three-dimensional laser radar is launched is obtained; The distance value S of analyzing spot to instrument is calculated to the time interval that reflects laser is received by pulse laser emission; According to the intensity of the reflects laser received, analyzing spot is carried out to the coupling of color gray scale.For laser radar, sampling is system local coordinate, and the inside of radar is true origin, and general X, Y-axis are on the surface level of local coordinate system, and Y-axis is radar scanning direction, and Z axis is vertical direction, and X-axis is horizontal direction.The computing formula of the coordinate (Xs, Ys, Zs) of analyzing spot P as follows can be obtained:
Xs＝Scosθcosα,Ys＝Scosθsinα,Zs＝Ssinθ
Step S102, carries out three-dimensional modeling according to three dimensional point cloud, obtains the three-dimensional surface model that three dimensional point cloud is corresponding.
Point cloud can regard the special image of a class as, and it has three-dimensional information, and front two peacekeeping normal image are the same, and according to the form arrangement ranks axle of matrix, one dimension then represents the range information of object in addition.Laser radar is by the mode of line sweep, line by line scanning object, and therefore, the original point cloud data obtained has certain grid structure relation between points.Three dimensional point cloud comprises more information than two dimensional image, and the problem therefore dealing with consideration is also just more, more complicated.Mathematic(al) representation can be used below to represent the three dimensional point cloud (comprising multiple number of scans strong point) obtained:
M＝{P(m,n),m＝0.1.2,...,A-1,N＝0,1,2,...,B-1}
Wherein, M is obtained three dimensional point cloud set, and A is line number corresponding to number of scans strong point, and m is the row index values of number of scans strong point at coffin, and B is columns corresponding to number of scans strong point, and n is the column index value of number of scans strong point at coffin.
The volume coordinate at number of scans strong point is expressed as follows:
P(m,n)＝(x,y,z)
Wherein, x, y and z represent the coordinate of number of scans strong point X-axis, Y-axis and Z axis in space respectively.
Based on the volume coordinate at number of scans strong point, obtained the information of the interior surface in tunnel by data split and data filtering.Then utilize the steps such as curved surface establishment, characteristic face stickup, by its detail characteristic, the three-dimensional modeling of cloud data in tunnel can be completed, also namely obtain three-dimensional surface model corresponding to three dimensional point cloud.
Step S103, determines the interior surface form in tunnel according to three-dimensional surface model.
In order to intuitively show the interior surface form in tunnel, need scanning result to carry out three-dimensional display.Alternatively, VTK (VisualizationToolKit) can be adopted, VTK is three-dimensional software kit, check various conventional 3D modeling, image procossing and visualization in scientific computing algorithm in its C++ and carry out structuring encapsulation, its kernel comprises more than 700 class, can meet the needs of this inventive embodiments to 3-D display.The three-dimensional visualization environment built by VTK, can realize the translation to three dimensional point cloud, rotation, convergent-divergent, color setting, wire frame mode display, three-dimensional reconstruction, volume computing etc.And then the interior surface form in tunnel can be determined according to three-dimensional surface model.
According to the inside surface Morphology observation method in the tunnel of this embodiment, owing to comprising: the 3-D scanning information obtaining the interior surface in tunnel, wherein, 3-D scanning information comprises the three dimensional point cloud of scanning plane; Carry out three-dimensional modeling according to three dimensional point cloud, obtain the three-dimensional surface model that three dimensional point cloud is corresponding; And the interior surface form in tunnel is determined according to three-dimensional surface model, the detection solved due to tunnel external morphology is larger by the impact of tunnel internal environment, make the problem that the accuracy of testing result is poor, and then carry out three-dimensional modeling according to three dimensional point cloud, obtain the three-dimensional surface model that three dimensional point cloud is corresponding, and the interior surface form in tunnel is determined according to three-dimensional surface model, reach the effect improving the accuracy that tunnel external morphology detects.
In a kind of optional embodiment, three dimensional point cloud comprises the data of multiple analyzing spot, and before carrying out three-dimensional modeling according to three dimensional point cloud, the method also comprises: determine multiple scanning angle; Obtain the coordinate of partial sweep point in local coordinate system of each scanning angle in corresponding multiple scanning angle respectively, wherein, multiple analyzing spot comprises partial sweep point; And by the coordinate transform in local coordinate system in the same coordinate system, obtain the coordinate of multiple analyzing spot.
Because laser is linearly propagated, this causes the full surface sampled data that just can not obtain an object a scanning angle, therefore, needs to scan an object in multiple angle, i.e. multi-viewpoint cloud.Each scanning position has the coordinate system of oneself local, the splicing of multi-viewpoint cloud namely each local coordinate system by changes in coordinates unification in a coordinate system, thus synthesize complete said three-dimensional body according to the scan-data of multiple angle.
In a kind of optional embodiment, three dimensional point cloud comprises the data of multiple analyzing spot, carries out three-dimensional modeling comprise according to three dimensional point cloud: decomposed to by multiple analyzing spot in multiple spheroid; In multiple spheroid, utilize partial approximation function to carry out the process of curved surface partial approximation respectively, obtain partial approximation curved surface; And utilize radial basis function to be weighted process of fitting treatment to the partial approximation curved surface between the adjacent spheroid in multiple spheroid, obtain three-dimensional surface model.
In the above-described embodiments, multiple analyzing spot is decomposed in multiple spheroid and can be comprised: determine multiple interpolation central point, wherein, multiple interpolation central point comprises the first interpolation central point and the second interpolation central point; Determine the supporting domain that multiple interpolation central point is corresponding respectively, wherein, corresponding first supporting domain of the first interpolation central point, corresponding second supporting domain of the second interpolation central point; And for radius sets up the first spheroid centered by the first interpolation central point, with the first supporting domain, and for radius sets up the second spheroid centered by the second interpolation central point, with the second supporting domain.
Specifically, traditional is operation at two-dimensional space based on a cloud interpolation triangulation network, and this analyzing spot that the relative sight line on model can be caused to there is longitudinal separation overlaps in a plane trigonometry pessimistic concurrency control, therefore truly cannot reflect the spatial topotaxy of object.Surface fitting based on radial basis function utilizes the advantage of basis function in hyperspace interpolation, is the spheroid of radius, some cloud unit decomposition in triaxial ellipsoid body in the interpolation central point foundation selected with supporting domain.Then in ellipsoid with polynomial expression partial approximation curved surface, and between adjacent ellipsoid by radial basis function to local surface weighted fitting, obtain three-dimensional triangulation style model.Analyzing spot can be avoided like this to overlap situation in plane trigonometry net.
The adaptive radial basis function based on compact schemes (adaptiveCS-RBF) algorithm is the thought according to Partition of Unity, first adaptively selected interpolation central point and supporting domain, it is the connected spheroid of radius that all three dimensional point clouds are resolved into supporting domain.With polynomial expression partial approximation curved surface in supporting domain, again by normalized radial basis function (RBF) to partial approximation curved surface weighted fitting, form adaptive implicit curved surface (PU implicit surface), simultaneously at function another part, to normalized RBF weighted fitting, adaptive implicit curved surface is adjusted, obtains satisfied three-dimensional model.Its roughly step be:
S1, searches for optimum interpolation central point in three dimensional point cloud;
On selection optimum interpolation central point, have:
Wherein,
be a basis function, g
i(x) and λ
ifor parameter to be asked.Namely be converted into and determine supporting domain σ
iwith local approximating function g
ithe problem of (x).
S2, at each optimum interpolation central point, with optimum supporting domain for radius sets up spheroid, decomposes three dimensional point cloud;
S3, carries out partial approximation with partial approximation function g (x) to curved surface in each spheroid;
S4, with the partial approximation curved surface weighted fitting of CS-RBF function to each adjacent spheroid, obtains space curved surface model.
Suppose that three dimensional point cloud collection is
set up function f: R
3→ R, makes f (x)=0 carry out the curved surface of implicit expression Approximation of 3 D cloud data collection P.Optimum interpolation central point is C={c
1..., c
m, m<n.
Said process mainly solves three optimization problems, determines optimum interpolation central point, optimum supporting domain and optimal partial approximating function g (x), is finally weighted matching to local approximating function, forms PU implicit surface.Adaptive base compares the surface fitting of many grades radial basis function in the radial basis function of compact schemes, and the better quality of model surface, its anti-noise ability is also stronger.
Below radial basis function is explained.Suppose to tie up in Euclidean space at N have discrete point x
1, x
2..., x
n,
for x and x
jdistance, c
1..., c
nfor constant, represent the weights corresponding to each radial basis, function
a positive definite basis function, i.e. radial basis function (RadialBasisFunction is called for short RBF).RBF principle is, set point (x
j, d), j=1 ..., n, x
j∈ R
n, d
j∈ R, φ are appointment basis function, by finding suitable constant c
j, j=1 ..., n draws radial basis function
carry out interpolation d
j.The advantage of RBF steadily and surely, accurately can process data in hyperspace, and computation complexity is relatively lower.
In an optional embodiment, the 3-D scanning information obtaining the interior surface in tunnel comprises: the current 3-D scanning information and the history 3-D scanning information that obtain the interior surface in tunnel, after the 3-D scanning information of interior surface obtaining tunnel, method also comprises: more current 3-D scanning information and history 3-D scanning information, obtain comparative result; Judge whether the interior surface form in tunnel changes according to comparative result, wherein, if it is different with history 3-D scanning information that comparative result is current 3-D scanning information, then the interior surface form in tunnel there occurs change, if it is identical with history 3-D scanning information that comparative result is current 3-D scanning information, then determine that the interior surface form in tunnel does not change.
Set up the model of tunnel interior surface by 3-D scanning information, and can three-dimensional deformation analysis be carried out based on this, to monitor the safe condition in Nei Ge goaf, tunnel.
This deformation analysis mainly by the scan-data of different time points and historical data are compared, and using criterion that its difference is out of shape as tunnel interior surface.If test data produces deformation, after system monitoring to deflection, can restart respective regions three-dimensional laser radar scanister (as, three dimension laser scanning surreying instrument), by reducing step angle, high precision scanning is carried out to whole dead zone or region of interest, thus the distortion of tunnel interior surface is confirmed.
By above-described embodiment, can positional accuracy be improved, set up underworkings three-dimensional scenic fast, realize underworkings visual; And by Laser Radar Scanning measuring technique, find deformation data in time, accurately, for downhole safety production, maintenance provide technical basis.
It should be noted that, can perform in the computer system of such as one group of computer executable instructions in the step shown in the process flow diagram of accompanying drawing, and, although show logical order in flow charts, but in some cases, can be different from the step shown or described by order execution herein.
Below according to embodiments of the invention, provide a kind of pick-up unit of interior surface form of tunnel.
It should be noted that, detection method according to the interior surface form in the tunnel of the embodiment of the present invention can be performed by the pick-up unit of the interior surface form in the tunnel according to the embodiment of the present invention, also can be used for performing the detection method using the interior surface form in tunnel according to the embodiment of the present invention according to the pick-up unit of the interior surface form in the tunnel of the embodiment of the present invention.
Fig. 3 is the schematic diagram of the pick-up unit of the interior surface form in tunnel according to the embodiment of the present invention.As shown in Figure 3, this device comprises: acquiring unit 10, modeling unit 20 and determining unit 30.
Acquiring unit 10, for obtaining the 3-D scanning information of the interior surface in tunnel, wherein, 3-D scanning information comprises the three dimensional point cloud of scanning plane.
Modeling unit 20, for carrying out three-dimensional modeling according to three dimensional point cloud, obtains the three-dimensional surface model that three dimensional point cloud is corresponding.
Determining unit 30, for determining the interior surface form in tunnel according to three-dimensional surface model.
According to the pick-up unit of the interior surface form in the tunnel of the embodiment of the present invention, owing to comprising: acquiring unit 10, for obtaining the 3-D scanning information of the interior surface in tunnel, wherein, 3-D scanning information comprises the three dimensional point cloud of scanning plane; Modeling unit 20, for carrying out three-dimensional modeling according to three dimensional point cloud, obtains the three-dimensional surface model that three dimensional point cloud is corresponding; And determining unit 30, for determining the interior surface form in tunnel according to three-dimensional surface model, the detection solved due to tunnel interior surface form is larger by the impact of tunnel internal environment, make the problem that the accuracy of testing result is poor, and then modeling unit 20 carries out three-dimensional modeling according to three dimensional point cloud, obtain the three-dimensional surface model that three dimensional point cloud is corresponding, determining unit 30 determines the interior surface form in tunnel according to three-dimensional surface model, reaches the effect of the accuracy improving tunnel interior surface Morphology observation.
In order to the sweep surface corresponding to tunnel interior surface makes accurate analysis, in a kind of optional embodiment, three dimensional point cloud comprises the data of multiple analyzing spot, and modeling unit 20 comprises: decomposing module, for decomposing in multiple spheroid by multiple analyzing spot; First processing module, for respectively in multiple spheroid root utilize partial approximation function to carry out the process of curved surface partial approximation, obtain partial approximation curved surface; And second processing module, for utilizing radial basis function to be weighted process of fitting treatment to the partial approximation curved surface between the adjacent spheroid in multiple spheroid, obtain three-dimensional surface model.
In order to improve the analysis precision to sweep surface corresponding to tunnel interior surface, in a kind of optional embodiment, decomposing module comprises: first determines submodule, for determining multiple interpolation central point, wherein, multiple interpolation central point comprises the first interpolation central point and the second interpolation central point; Second determines submodule, for determining the supporting domain that multiple interpolation central point is corresponding respectively, wherein, and corresponding first supporting domain of the first interpolation central point, corresponding second supporting domain of the second interpolation central point; And spheroid builds submodule, for centered by the first interpolation central point, with the first supporting domain for radius sets up the first spheroid, and for radius sets up the second spheroid centered by the second interpolation central point, with the second supporting domain.
Below according to embodiments of the invention, provide a kind of detection system of interior surface form of tunnel.
It should be noted that, detection method according to the interior surface form in the tunnel of the embodiment of the present invention can be performed by the detection system of the interior surface form in the tunnel according to the embodiment of the present invention, also can be used for performing the detection method using the interior surface form in tunnel according to the embodiment of the present invention according to the detection system of the interior surface form in the tunnel of the embodiment of the present invention.
Fig. 4 is the schematic diagram of the detection system of the interior surface form in tunnel according to the embodiment of the present invention.As shown in Figure 4, this system comprises: three-dimensional laser radar 100, data transmission device 200 and data processing equipment 300.
Three-dimensional laser radar 100, for obtaining the 3-D scanning information of the interior surface in tunnel, wherein, 3-D scanning information comprises the three dimensional point cloud of scanning plane.
Before installation three-dimensional laser radar 100, the environment in reply tunnel is made an on-the-spot survey, and the position of setting up according to the feature determination radar in tunnel and survey station number, lay mark.Mark should be placed on the nearer position of distance radar, and all has placement in the both sides of survey station.Secondly, A-frame need be installed, storeroom is set, connecting communication cable, mounting limit switch and check whether machinery normally works.
Data transmission device 200, for obtaining 3-D scanning information and sending 3-D scanning information.
Data processing equipment 300, for receiving the 3-D scanning information that data transmission device 200 sends, carry out three-dimensional modeling according to three dimensional point cloud, obtain the three-dimensional surface model that three dimensional point cloud is corresponding, and determine the interior surface form in tunnel according to three-dimensional surface model.
Hardware and software two parts are mainly comprised according to the detection system of the interior surface form in the tunnel of the embodiment of the present invention:
Hardware components: mainly comprise three-dimensional laser radar 100, measuring sonde, region, tunnel laser scanning controller, power supply and mounting system; And
Software section: mainly comprise data transmission device 200 and be positioned at the data processing equipment 300 on ground.Can realize monitoring three-dimensional laser radar 100 by transmission instruction to scan, the cloud data in the region, tunnel of scanning can be uploaded to data processing equipment 300 by system, for follow-up 3-D display and data processing data are prepared.Treating apparatus 300 can be long distance control system.
It should be noted that, due to underworkings narrow space, and move towards in tubular, comparatively large with laser beam angle, therefore, instrument should be placed on the direction vertical with tunnel as far as possible, and its center line along tunnel is extended.So not only can ensure that the some cloud density of both sides, tunnel is suitable, and the some cloud of more crypto set can be obtained.
Three-dimensional laser radar 100 can obtain at a high speed the three-dimensional coordinate on sweep object surface.The medial error of observed reading can be adopted as the evaluation index of three-dimensional laser radar 100 precision of inner coincidence, and then sweep measuring set Point-positioning Precision can be evaluated.Specific practice is: radar is erected at a certain fixing position, and the same target of multiple scanning, carries out accuracy assessment according to the data obtained.Like this can the degree of reliability of detection laser radar and the stability of system well.
According to the detection system of the interior surface form in the tunnel of the embodiment of the present invention, there is high temperature resistant, waterproof and dust-proof feature, simultaneously, this system supports wireless telecommunications, can realize operated from a distance, site operation personnel manually can arrange the mode of motion of laser scanning head, and the three-dimensional point cloud that scanning obtains can be uploaded to host computer interface in real time and carry out 3-D display, improve the visualization of site operation personnel, for good booster action is played in decision-making.Meanwhile, follow-up data processing can analyze volume and the deflection in tunnel quantitatively, has positive effect to hazard forecasting.
According to the inside surface Morphology observation system in the tunnel of this embodiment, owing to comprising: three-dimensional laser radar 100, for obtaining the 3-D scanning information of the interior surface in tunnel, wherein, 3-D scanning information comprises the three dimensional point cloud of scanning plane, data transmission device 200, for obtaining 3-D scanning information and sending 3-D scanning information, and data processing equipment 300, for receiving the 3-D scanning information that data transmission device 200 sends, three-dimensional modeling is carried out according to three dimensional point cloud, obtain the three-dimensional surface model that three dimensional point cloud is corresponding, and the interior surface form in tunnel is determined according to three-dimensional surface model, the detection solved due to tunnel external morphology is larger by the impact of tunnel internal environment, make the problem that the accuracy of testing result is poor, and then the three dimensional point cloud of interior surface in tunnel is obtained by three-dimensional laser radar 100, data processing equipment 300 carries out three-dimensional modeling according to three dimensional point cloud, obtain the three-dimensional surface model that three dimensional point cloud is corresponding, and the interior surface form in tunnel is determined according to three-dimensional surface model, reach the effect improving the accuracy that tunnel external morphology detects.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a detection method for the interior surface form in tunnel, is characterized in that, comprising:
Obtain the 3-D scanning information of the interior surface in tunnel, wherein, described 3-D scanning information comprises the three dimensional point cloud of scanning plane;
Carry out three-dimensional modeling according to described three dimensional point cloud, obtain the three-dimensional surface model that described three dimensional point cloud is corresponding; And
The interior surface form in described tunnel is determined according to described three-dimensional surface model.
2. method according to claim 1, is characterized in that, the 3-D scanning information obtaining the interior surface in tunnel comprises:
Utilize three-dimensional laser radar to obtain described 3-D scanning information, wherein, described three-dimensional laser radar adopts axial priority scan mode to obtain described 3-D scanning information.
3. method according to claim 1, is characterized in that, described three dimensional point cloud comprises the data of multiple analyzing spot, and before carrying out three-dimensional modeling according to described three dimensional point cloud, described method also comprises:
Determine multiple scanning angle;
Obtain the coordinate of partial sweep point in local coordinate system of each scanning angle in corresponding described multiple scanning angle respectively, wherein, described multiple analyzing spot comprises described partial sweep point; And
By the coordinate transform in described local coordinate system in the same coordinate system, obtain the coordinate of described multiple analyzing spot.
4. method according to claim 1, is characterized in that, described three dimensional point cloud comprises the data of multiple analyzing spot, carries out three-dimensional modeling comprise according to described three dimensional point cloud:
Described multiple analyzing spot is decomposed in multiple spheroid;
In described multiple spheroid, utilize partial approximation function to carry out the process of curved surface partial approximation respectively, obtain partial approximation curved surface; And
Utilize radial basis function to be weighted process of fitting treatment to the partial approximation curved surface between the adjacent spheroid in described multiple spheroid, obtain described three-dimensional surface model.
5. method according to claim 4, is characterized in that, is decomposed in multiple spheroid by described multiple analyzing spot and comprises:
Determine multiple interpolation central point, wherein, described multiple interpolation central point comprises the first interpolation central point and the second interpolation central point;
Determine the supporting domain that described multiple interpolation central point is corresponding respectively, wherein, corresponding first supporting domain of described first interpolation central point, corresponding second supporting domain of described second interpolation central point; And
For radius sets up the first spheroid centered by described first interpolation central point, with described first supporting domain, and for radius sets up the second spheroid centered by described second interpolation central point, with described second supporting domain.
6. method according to claim 1, is characterized in that,
The 3-D scanning information obtaining the interior surface in tunnel comprises: the current 3-D scanning information and the history 3-D scanning information that obtain the interior surface in described tunnel,
After the 3-D scanning information of interior surface obtaining tunnel, described method also comprises:
More described current 3-D scanning information and described history 3-D scanning information, obtain comparative result; And
Judge whether the interior surface form in described tunnel changes according to described comparative result,
Wherein, if it is different with described history 3-D scanning information that described comparative result is described current 3-D scanning information, then the interior surface form in described tunnel there occurs change, if it is identical with described history 3-D scanning information that described comparative result is described current 3-D scanning information, then determine that the interior surface form in described tunnel does not change.
7. a pick-up unit for the interior surface form in tunnel, is characterized in that, comprising:
Acquiring unit, for obtaining the 3-D scanning information of the interior surface in tunnel, wherein, described 3-D scanning information comprises the three dimensional point cloud of scanning plane;
Modeling unit, for carrying out three-dimensional modeling according to described three dimensional point cloud, obtains the three-dimensional surface model that described three dimensional point cloud is corresponding; And
Determining unit, for determining the interior surface form in described tunnel according to described three-dimensional surface model.
8. device according to claim 7, is characterized in that, described three dimensional point cloud comprises the data of multiple analyzing spot, and described modeling unit comprises:
Decomposing module, for decomposing in multiple spheroid by described multiple analyzing spot;
First processing module, for utilizing partial approximation function to carry out the process of curved surface partial approximation respectively in described multiple spheroid, obtains partial approximation curved surface; And
Second processing module, for utilizing radial basis function to be weighted process of fitting treatment to the partial approximation curved surface between the adjacent spheroid in described multiple spheroid, obtains described three-dimensional surface model.
9. device according to claim 8, is characterized in that, described decomposing module comprises:
First determines submodule, and for determining multiple interpolation central point, wherein, described multiple interpolation central point comprises the first interpolation central point and the second interpolation central point;
Second determines submodule, for determining the supporting domain that described multiple interpolation central point is corresponding respectively, wherein, and corresponding first supporting domain of described first interpolation central point, corresponding second supporting domain of described second interpolation central point; And
Spheroid builds submodule, for centered by described first interpolation central point, with described first supporting domain for radius sets up the first spheroid, and for radius sets up the second spheroid centered by described second interpolation central point, with described second supporting domain.
10. a detection system for the interior surface form in tunnel, is characterized in that, comprising:
Three-dimensional laser radar, for obtaining the 3-D scanning information of the interior surface in tunnel, wherein, described 3-D scanning information comprises the three dimensional point cloud of scanning plane;
Data transmission device, for obtaining described 3-D scanning information and sending described 3-D scanning information; And
Data processing equipment, for receiving the 3-D scanning information that described data transmission device sends, three-dimensional modeling is carried out according to described three dimensional point cloud, obtain the three-dimensional surface model that described three dimensional point cloud is corresponding, and determine the interior surface form in described tunnel according to described three-dimensional surface model.
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