CN107830839A - Three Dimensional Ground laser scanning data processing method and processing device - Google Patents

Three Dimensional Ground laser scanning data processing method and processing device Download PDF

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Publication number
CN107830839A
CN107830839A CN201710942970.7A CN201710942970A CN107830839A CN 107830839 A CN107830839 A CN 107830839A CN 201710942970 A CN201710942970 A CN 201710942970A CN 107830839 A CN107830839 A CN 107830839A
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tunnel
point
grid
cloud
point cloud
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CN107830839B (en
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王金
郑贺斌
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Beijing Nande Space Information Technology Co ltd
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Beijing University of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/06—Tracing profiles of cavities, e.g. tunnels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge

Abstract

The present invention discloses a kind of Three Dimensional Ground laser scanning data processing method and processing device for tunnel deformation monitoring, energy accurate quantification, shows tunnel deformation comprehensively.Methods described includes：S1, changed to regular coordinate system by the tunnel point cloud for gathering Three Dimensional Ground laser scanner, tunnel axis, and then the grid coordinate collection that foundation is represented with ranks are determined, as deformation monitoring reference frame；S2, hole-filling and noise processing are carried out to tunnel inner wall；S3, represented a little like plane criterion, estimation point cloud according to the facet plot point varieties of clouds；S4, by contrasting same grid, not same date point cloud coordinate value, come quantum chemical method and displaying full section of tunnel deformation.

Description

Three Dimensional Ground laser scanning data processing method and processing device
Technical field
The present invention relates to Surveying and mapping technical field, and in particular to a kind of Three Dimensional Ground laser for tunnel deformation monitoring Scan data processing method and processing device.
Background technology
Monitoring and analysis to tunnel deformation help to be best understood from grasping deflection and deformation behaviour, are more conducive to tunnel Road is monitored and early warning.Using conventional measuring methods, such as total powerstation, it can only targetedly obtain limited individual discrete point and sit Mark, lacks the description to tunnel overall deformation；Meanwhile if crucial deformation point is missed, by misleading, traditional monitoring result is serious Distortion.
Airborne three-dimensional laser scanning technique wide coverage, but acquisition point cloud density is diluter, precision is not high, tends not to Meet deformation monitoring required precision.Vehicle-mounted three-dimensional laser scanning technique point coordinates limited precision, and inside tunnel, lack GPS Signal, gathered data are difficult.Three Dimensional Ground laser scanner technique can obtain high density, high-precision 3D position coordinates, be easy to frame Stand, be adapted to the fine measurement in the little region of area.Therefore, on limited and higher to the required precision ground of the light such as subway tunnel Region measurement, Three Dimensional Ground laser scanner technique turn into one of technological means the strongest.
Although Three Dimensional Ground laser scanner technique can obtain the high-precision position coordinate of magnanimity, due to its acquisition The discreteness of cloud data, the one-to-one relationship for putting cloud and tunnel surface not can determine that, and put one between cloud at different moments One corresponding relation can not also directly obtain, and which results in tunnel deformation data can not be directly obtained from a cloud.Therefore, how to carry For a kind of Three Dimensional Ground laser scanning data processing method for tunnel deformation monitoring, turn into technical problem urgently to be resolved hurrily.
The content of the invention
In view of the shortcomings of the prior art and defect, the present invention provide a kind of Three Dimensional Ground for tunnel deformation monitoring Laser scanning data processing method and processing device.
On the one hand, the embodiment of the present invention proposes a kind of Three Dimensional Ground laser scanning data processing for tunnel deformation monitoring Method, including：
S1, changed to regular coordinate system by the tunnel point cloud for gathering Three Dimensional Ground laser scanner, determined in tunnel Axis, and then the grid coordinate collection that foundation is represented with ranks, as deformation monitoring reference frame；
S2, hole-filling and noise processing are carried out to tunnel inner wall；
S3, represented a little like plane criterion, estimation point cloud according to the facet plot point varieties of clouds；
S4, by contrasting same grid, not same date point cloud coordinate value, carry out quantum chemical method and displaying full section of tunnel become Shape.
On the other hand, the embodiment of the present invention is proposed at a kind of Three Dimensional Ground laser scanning data for tunnel deformation monitoring Device is managed, including：
Unit is established, is changed for the tunnel point cloud by the way that Three Dimensional Ground laser scanner is gathered to regular coordinate system, Tunnel axis, and then the grid coordinate collection that foundation is represented with ranks are determined, as deformation monitoring reference frame；
Processing unit, for carrying out hole-filling and noise processing to tunnel inner wall；
Estimation unit, for being represented a little like plane criterion, estimation point cloud according to the facet plot point varieties of clouds；
Computing unit, for by contrasting same grid, not same date point cloud coordinate value, coming quantum chemical method and displaying tunnel Tunneling boring deforms.
Three Dimensional Ground laser scanning data processing method and dress provided in an embodiment of the present invention for tunnel deformation monitoring Put, using scanner collection point cloud as data source, by building tunnel axis point set, establishing deformation monitoring reference frame, fill up empty Hole and remove noise, to improve the integrality of a cloud and precision, eventually through like plane computations and compare a cloud represent a little, realization The purpose of accurate quantification, comprehensively displaying tunnel deformation, strong comprehensive data can be provided and supported for deformation monitoring and early warning.
Brief description of the drawings
Fig. 1 is the stream for the embodiment of Three Dimensional Ground laser scanning data processing method one that the present invention is used for tunnel deformation monitoring Journey schematic diagram；
Fig. 2 is the knot for the embodiment of Three Dimensional Ground laser scanning data processing unit one that the present invention is used for tunnel deformation monitoring Structure schematic diagram.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is explicitly described, it is clear that described embodiment be the present invention Part of the embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having The every other embodiment obtained under the premise of creative work is made, belongs to the scope of protection of the invention.
Referring to Fig. 1, the present embodiment discloses a kind of Three Dimensional Ground laser scanning data processing side for tunnel deformation monitoring Method, including：
S1, changed to regular coordinate system by the tunnel point cloud for gathering Three Dimensional Ground laser scanner, determined in tunnel Axis, and then the grid coordinate collection that foundation is represented with ranks, as deformation monitoring reference frame；
S2, hole-filling and noise processing are carried out to tunnel inner wall；
S3, represented a little like plane criterion, estimation point cloud according to the facet plot point varieties of clouds；
S4, by contrasting same grid, not same date point cloud coordinate value, carry out quantum chemical method and displaying full section of tunnel become Shape.
Three Dimensional Ground laser scanning data processing method provided in an embodiment of the present invention for tunnel deformation monitoring, to sweep It is data source to retouch instrument collection point cloud, by building tunnel axis point set, establishing deformation monitoring reference frame, filling cavity and removal Noise, to improve the integrality of a cloud and precision, eventually through like plane computations and comparing a cloud and representing a little, realize correct amount Change, the purpose of comprehensive displaying tunnel deformation, strong comprehensive data can be provided and supported for deformation monitoring and early warning.
The Three Dimensional Ground laser scanning data processing method for being used for tunnel deformation monitoring to the present invention below is carried out specifically It is bright.
The deflection of tunnel inner wall is calculated using Three Dimensional Ground laser scanner technique, specifically includes following steps：
(1) axis and structure deformation monitoring framework are calculated
Tunnel two angle points of point cloud are chosen as same place, a cloud are transformed into regular coordinate system, wherein the rule is sat The y-axis for marking system obeys right-hand rule towards tunnel direction of advance, z-axis perpendicular to ground, x-axis.Then, tunnel is divided into some It is individual that continuously there is certain thickness section.Hereafter unless otherwise specified, section has referred both to certain thickness section.Each section It is interior, the corresponding point of maximum z values is extracted as axial point.All sections are subjected to this operation, all axial points form tunnel Axis.
The grid not changed over time that deformation monitoring framework is formed with several row, column is formed, wherein, each section A line as monitoring framework；From axis point, with centimeter wide (dp) section is divided into several columns, ranks crosspoint Form deformation monitoring reference frame.
(2) hole-filling and noise processing：
Blocked by debris etc., a cloud missing occurs in tunnel inner wall.In same row, according to adjacent sections inner tunnel geometry The similitude of feature, by putting cloud in adjacent gridFill up lack part point cloudComplementing method is such as Under：
Meanwhile the point cloud of the tunnel inner wall for being disturbed by noise, made an uproar using stochastical sampling consistency algorithm rejecting/reduction Point, finally give relatively complete and clean tunnel inner wall point cloud.
(3) point estimation and fine conversion are represented：
According to the reference frame ranks coordinate of definition, a cloud is uniquely divided into each grid, due to each grid Area is less and tunnel inner wall geometrical property is similar, cloud will be put in each grid and be approximately considered plane and be fitted.Pass through grid Geometric center point, using least square adjustment estimation point cloud center point coordinate, i.e. grid represents a little.
System mistake often be present in net layout, instrument error and such environmental effects monitored, the point cloud of different date collections Difference, therefore, observation is used as to represent point, according to reference frame, establishes in not same date, same grid one a pair represented It should be related to, the representative point of not same date is finely changed, to offset or reduce systematic error.
(4) calculate and contrast tunnel deformation：
According to grid ranks number, the corresponding relation of same position, not same date point cloud is determined.According to 3D coordinate values, calculate Full section of tunnel deflection.
Referring to Fig. 2, the present embodiment discloses a kind of Three Dimensional Ground laser scanning data processing dress for tunnel deformation monitoring Put, including：
Unit 1 is established, is changed for the tunnel point cloud by the way that Three Dimensional Ground laser scanner is gathered to regular coordinate system, Tunnel axis, and then the grid coordinate collection that foundation is represented with ranks are determined, as deformation monitoring reference frame；
Processing unit 2, for carrying out hole-filling and noise processing to tunnel inner wall；
Estimation unit 3, for being represented a little like plane criterion, estimation point cloud according to the facet plot point varieties of clouds；
Computing unit 4, for by contrasting same grid, not same date point cloud coordinate value, coming quantum chemical method and displaying tunnel Road tunneling boring deformation.
Three Dimensional Ground laser scanning data processing unit provided in an embodiment of the present invention for tunnel deformation monitoring, to sweep It is data source to retouch instrument collection point cloud, by building tunnel axis point set, establishing deformation monitoring reference frame, filling cavity and removal Noise, to improve the integrality of a cloud and precision, eventually through like plane computations and comparing a cloud and representing a little, realize correct amount Change, the purpose of comprehensive displaying tunnel deformation, strong comprehensive data can be provided and supported for deformation monitoring and early warning.
Although being described in conjunction with the accompanying embodiments of the present invention, those skilled in the art can not depart from this hair Various modifications and variations are made in the case of bright spirit and scope, such modifications and variations are each fallen within by appended claims Within limited range.

Claims (10)

  1. A kind of 1. Three Dimensional Ground laser scanning data processing method for tunnel deformation monitoring, it is characterised in that including：
    S1, changed to regular coordinate system by the tunnel point cloud for gathering Three Dimensional Ground laser scanner, determine tunnel axis, And then the grid coordinate collection that foundation is represented with ranks, as deformation monitoring reference frame；
    S2, hole-filling and noise processing are carried out to tunnel inner wall；
    S3, represented a little like plane criterion, estimation point cloud according to the facet plot point varieties of clouds；
    S4, by contrasting same grid, not same date point cloud coordinate value, come quantum chemical method and displaying full section of tunnel deformation.
  2. 2. according to the method for claim 1, it is characterised in that the S1, including：
    By tunnel be divided into it is multiple continuously there is certain thickness section, in each section, extract corresponding to maximum z coordinate Point as axial point, all axial points are formed into tunnel axis, wherein, the y-axis of the regular coordinate system is towards before tunnel Enter direction, z-axis obeys right-hand rule perpendicular to ground, x-axis.
  3. 3. according to the method for claim 2, it is characterised in that the S1, including：
    A line using each section as deformation monitoring reference frame, will be corresponding with centimeter wide from the axial point Section be divided into several columns, ranks crosspoint forms deformation monitoring reference frame.
  4. 4. according to the method for claim 3, it is characterised in that the S2, including：
    In same row, according to the similitude of adjacent sections inner tunnel geometric properties, by putting cloud in adjacent grid, missing is filled up Partial dot cloud；
    For the tunnel inner wall point cloud disturbed by noise, rejected using stochastical sampling consistency algorithm/reduce noise.
  5. 5. according to the method for claim 4, it is characterised in that the S3, including：
    According to the deformation monitoring reference frame ranks coordinate of definition, a cloud is uniquely divided into each grid, by each lattice Point cloud is approximately considered plane and is fitted in net, by the geometric center point of grid, using in least square adjustment estimation point cloud Heart point coordinates, i.e. grid represent a little；
    Point is represented using grid and is used as observation, according to deformation monitoring reference frame, foundation not same date, represent a little in same grid One-to-one relationship, and the representative point of not same date is finely changed.
  6. 6. according to the method for claim 5, it is characterised in that the S4, including：
    According to grid ranks number, the corresponding relation of same position, not same date point cloud is determined, according to the corresponding relation and point The 3D coordinate values of cloud, calculate full section of tunnel deflection.
  7. A kind of 7. Three Dimensional Ground laser scanning data processing unit for tunnel deformation monitoring, it is characterised in that including：
    Unit is established, is changed for the tunnel point cloud by the way that Three Dimensional Ground laser scanner is gathered to regular coordinate system, it is determined that Tunnel axis, and then the grid coordinate collection that foundation is represented with ranks, as deformation monitoring reference frame；
    Processing unit, for carrying out hole-filling and noise processing to tunnel inner wall；
    Estimation unit, for being represented a little like plane criterion, estimation point cloud according to the facet plot point varieties of clouds；
    Computing unit, for by contrasting same grid, not same date point cloud coordinate value, carrying out quantum chemical method and displaying tunnel breaking entirely Facial disfigurement.
  8. 8. device according to claim 7, it is characterised in that it is described to establish unit, it is specifically used for：
    By tunnel be divided into it is multiple continuously there is certain thickness section, in each section, extract corresponding to maximum z coordinate Point as axial point, all axial points are formed into tunnel axis, wherein, the y-axis of the regular coordinate system is towards before tunnel Enter direction, z-axis obeys right-hand rule perpendicular to ground, x-axis.
  9. 9. device according to claim 8, it is characterised in that it is described to establish unit, it is specifically used for：
    A line using each section as deformation monitoring reference frame, will be corresponding with centimeter wide from the axial point Section be divided into several columns, ranks crosspoint forms deformation monitoring reference frame.
  10. 10. device according to claim 9, it is characterised in that the processing unit, be specifically used for：
    In same row, according to the similitude of adjacent sections inner tunnel geometric properties, by putting cloud in adjacent grid, missing is filled up Partial dot cloud；
    For the tunnel inner wall point cloud disturbed by noise, rejected using stochastical sampling consistency algorithm/reduce noise.
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CN109556529A (en) * 2018-12-14 2019-04-02 中铁隧道局集团有限公司 A kind of tunnel deformation method for monitoring and analyzing based on Grid Projection points cloud processing technology
CN109919989A (en) * 2019-03-27 2019-06-21 广东工业大学 A kind of cloud data registration method, device and equipment of radar electric inspection process
CN110081852A (en) * 2019-05-17 2019-08-02 中国电建集团西北勘测设计研究院有限公司 Tower type solar photo-thermal power generation heat absorption tower nonlinear deformation monitoring method
CN111220086A (en) * 2020-01-19 2020-06-02 扎赉诺尔煤业有限责任公司 Method for monitoring roadway surrounding rock deformation based on three-dimensional laser scanning
CN111489390A (en) * 2020-03-25 2020-08-04 山东科技大学 Method for extracting central axis of circular tunnel
CN111752308A (en) * 2019-03-26 2020-10-09 上海京海工程技术有限公司 Method for correcting moving scanning posture in circular shield tunnel
CN112465991A (en) * 2020-12-02 2021-03-09 山东大学 Method for denoising tunnel point cloud and generating visual model
CN114705128A (en) * 2022-03-25 2022-07-05 贵州省交通规划勘察设计研究院股份有限公司 Tunnel automatic monitoring and measuring equipment and method based on fixed-point itinerant measurement
CN115049687A (en) * 2022-08-16 2022-09-13 中国长江三峡集团有限公司 Point cloud extraction method, device, equipment and medium

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CN109556529B (en) * 2018-12-14 2020-11-17 中铁隧道局集团有限公司 Tunnel deformation monitoring and analyzing method based on grid projection point cloud processing technology
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CN111752308A (en) * 2019-03-26 2020-10-09 上海京海工程技术有限公司 Method for correcting moving scanning posture in circular shield tunnel
CN109919989A (en) * 2019-03-27 2019-06-21 广东工业大学 A kind of cloud data registration method, device and equipment of radar electric inspection process
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CN110081852A (en) * 2019-05-17 2019-08-02 中国电建集团西北勘测设计研究院有限公司 Tower type solar photo-thermal power generation heat absorption tower nonlinear deformation monitoring method
CN111220086A (en) * 2020-01-19 2020-06-02 扎赉诺尔煤业有限责任公司 Method for monitoring roadway surrounding rock deformation based on three-dimensional laser scanning
CN111489390B (en) * 2020-03-25 2023-10-13 山东科技大学 Central axis extraction method for circular tunnel
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CN112465991B (en) * 2020-12-02 2023-04-21 山东大学 Method for denoising tunnel point cloud and generating visual model
CN114705128A (en) * 2022-03-25 2022-07-05 贵州省交通规划勘察设计研究院股份有限公司 Tunnel automatic monitoring and measuring equipment and method based on fixed-point itinerant measurement
CN115049687A (en) * 2022-08-16 2022-09-13 中国长江三峡集团有限公司 Point cloud extraction method, device, equipment and medium

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