CN109916323A - A kind of method and device of tower ancient building deformation monitoring and analysis - Google Patents
A kind of method and device of tower ancient building deformation monitoring and analysis Download PDFInfo
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- CN109916323A CN109916323A CN201910173399.6A CN201910173399A CN109916323A CN 109916323 A CN109916323 A CN 109916323A CN 201910173399 A CN201910173399 A CN 201910173399A CN 109916323 A CN109916323 A CN 109916323A
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Abstract
The invention discloses the method and devices of a kind of tower ancient building deformation monitoring and analysis, this method comprises: obtaining the point cloud data of tower ancient building to be measured according to three-dimensional laser scanner；Control point coordinates around the tower ancient building to be measured are obtained by total station, establish monitoring absolute coordinate system；The control point is the target control point laid around the tower ancient building to be measured；By the cloud data registration to the absolute coordinate system；To the offset of single pillar of the tower ancient building to be measured, the offset of single layer, overall offset, integral inclined and torsion, deformation process analysis is carried out.The structured data that the present invention obtains tower ancient building is comprehensively and accurate, prevents heritage buildings deformation from endangering accelerated development so as to formulate reasonable protection scheme early.
Description
Technical field
The present invention relates to Surveying and mapping technical field, in particular to a kind of method of tower ancient building deformation monitoring and analysis
And device.
Background technique
Three-dimensional laser scanning technique is a kind of completely new mapping means, utilizes the principle of laser ranging, acquisition testee
Largely the information such as the three-dimensional coordinate of intensive discrete point, reflectivity carry out comprehensive, each angle, inside and outside comprehensive and contactless on surface
The data of formula acquire, and can quickly establish out the various graph data such as threedimensional model and line, face, body of testee, high by it
Efficiency, high-precision, the advantage for not contacting ancient building ontology are more and more paid attention in ancient building exploration.
Such as by taking the Wooden Pagoda at Yingxian County of Shanxi as an example, which is also known as Sakyamuni Pagoda of Fogong Temple, answers northwest corner in county town positioned at Shanxi Province.
It is the most ancient wooden structure point building of the existing highest in China, historical cultural environment pole that wood pagoda, which is built in distant Dai Qingning 2 years (1056),
It is high.Over nearly 1000, wood pagoda lives through multiple violent earthquake influence and artificial destruction, wood property change, bearing capacity
Weaken, the several layers of components in lower part are damaged, and so that wood pagoda is integrally produced inclination and torsion, and increasingly tight over time
Weight.The important process that protection is ancient building heritage is carried out to Wooden Pagoda at Yingxian County, in order to scientifically carry out to wood pagoda
Protection, it is to be understood that the status of wood pagoda comprehensively analyzes the deformation situation of wood pagoda, to formulate reasonable protection side
Case, it is ensured that wood pagoda safety, thousand Nian Wenming of succession.
Repeatedly wood pagoda is researched and analysed in recent years, Sui Kun et al. utilizing works method of measuring Wooden Pagoda at Yingxian County damage
Bad reason, obtain the total trend in wood pagoda basis be it is high in the south and low in the north, each interlayer is in twist relative state；Chen Te et al., which is utilized, to be had
It limits meta software and sunykatuib analysis is carried out to Wooden Pagoda at Yingxian County, obtaining the whole inclination of direction northeastward of the bright floor of two floor, wherein W23 column tilts
It is maximum；For Chen Ping et al. by the finite element analysis to two layers of bright layer of Wooden Pagoda at Yingxian County, two layers of bright layer are overall northwards and north by east
Inclination, south, the southeast, east, northeast four sides interior outer groove shaft to north by east tilt, tower body column net in counter clockwise direction
Torsion, but southwest, west, northwest, north interior outer groove column but with clockwise side reverse and tilt；Du Leiming et al. utilizes numerical value
The dynamic characteristics and anti-seismic performance of analogy method research wood pagoda show that two layers of bright layer of wood pagoda are the weak floor of wood pagoda, angle of displacement
Close to the limit value to collapse, there is the possibility collapsed under geological process of setting up defences.
Traditional data capture method is mostly that single-point obtains, and common method has level, theodolite, total station, sensing
Device acquisition etc., precision can reach submillimeter level.Frequently as a kind of global control means in the monitoring of intensive legacy.
But above-mentioned various ways can not obtain the accurate health-related parameter of building, therefore, how comprehensively obtain
The deformation parameter of building can not also be solved effectively.
Summary of the invention
In view of the above problems, the present invention obtains tower ancient building point cloud data to be measured by three-dimensional laser scanner, simultaneously
Control measurement is carried out using total station, the comprehensive structural parameters of tower ancient building to be measured can be obtained, and then can realize to tower to be measured
The deformation process of formula ancient building is analyzed, to formulate the development that reasonable protection scheme stops building deformation.
In a first aspect, the present invention provides a kind of a kind of tower for overcoming the above problem or at least being partially solved the above problem
The method of formula ancient building deformation monitoring and analysis, comprising:
The point cloud data of tower ancient building to be measured is obtained according to three-dimensional laser scanner；
Control point coordinates around the tower ancient building to be measured are obtained by total station, establish monitoring absolute coordinate system；Institute
Stating control point is the target control point laid around the tower ancient building to be measured；
By the cloud data registration to the absolute coordinate system；
To the offset of single pillar of the tower ancient building to be measured, the offset of single layer, overall offset, integral inclined and torsion
Turn, carries out deformation process analysis.
In one embodiment, the point cloud data that tower ancient building to be measured is obtained according to three-dimensional laser scanner, packet
It includes:
The external point cloud data of tower ancient building to be measured is obtained using medium-long range three-dimensional laser scanner, generates external point cloud
Model；
The inside point cloud data of tower ancient building to be measured is obtained using short range three-dimensional laser scanner, generates internal point cloud mould
Type；
By the cloud data registration to the absolute coordinate system, comprising:
The external point cloud model and internal point cloud model are registrated to the absolute coordinate system.
In one embodiment, the external point cloud model is registrated to the absolute coordinate system, comprising:
It is using all feature constraints as observation in registration, the space conversion parameter of each site cloud and part is unknown
It constrains and carries out whole indirect adjustment as undetermined parameter；
Spatial alternation directly is carried out to original point cloud according to the space conversion parameter of solution；
When carrying out the whole registration of multi-site cloud, based on control constraints, on the basis of target control net, point is constructed
Constrain error equation；
When the mean error of registration is less than the first preset threshold, completes external point cloud model and be registrated to the absolute coordinate
System；The result of the construction point constraint error equation is the mean error of the registration.
In one embodiment, the internal point cloud model is registrated to the absolute coordinate system, comprising:
The point cloud of same layer is characterized a registration by target paper, and upper and lower level point cloud is with same place, face of the same name on stair
Feature is registrated, and completes to be registrated for the first time；
On the basis of first time registration, second is completed according to ICP algorithm and is registrated, is realized the internal point cloud
Model registration is to the absolute coordinate system.
In one embodiment, the external point cloud model and internal point cloud model are registrated to the absolute coordinate
System, comprising:
The external point cloud model and internal point cloud model are registrated to the absolute coordinate system, generate whole point cloud
Model；
Building point feature error equation is registrated；
When the mean error of registration is less than the second preset threshold, the completion external point cloud model and internal point cloud model are equal
It is registrated to the absolute coordinate system.
In one embodiment, deformation process analysis is carried out to the offset of the single pillar of the tower ancient building to be measured,
Include:
Cut the point cloud of pillar to be analyzed in the whole point cloud model；
By the point-cloud fitting Cheng Yuan of the column cap suspension column of the pillar to be analyzed, by the edge fitting of the pillar to be analyzed at
Straight line；
The center of circle for connecting the column cap suspension column of the pillar to be analyzed obtains the center line of pillar；
The vertical line of the bottom of the pillar to be analyzed is made, the vertical line and center line are formed by angle, to be described wait divide
Analyse the deviation angle of pillar.
In one embodiment, the single layer offset of the tower ancient building to be measured is analyzed, comprising:
The point cloud for cutting column cap suspension column by layer in the whole point cloud model, the point cloud of column cap suspension column is superimposed；
Column cap suspension column is fitted to circle according to cloud, the center of circle is the center of column cap suspension column；
The upper and lower center of circle is measured in the distance in three directions, vertical misalignment indicates the offset of pillar along the north-south direction, comprehensive
Offset indicates that capital and suspension column correspond to the linear distance in the center of circle.
In one embodiment, the integral inclined of tower ancient building to be measured is analyzed, comprising:
Diagonal line and up and down direction diagonal line cut one in left-right direction in the top view of the whole point cloud model
Section；
The point-cloud fitting of the first layer of the tower ancient building to be measured and top layer two sides is in line；
The central point of first layer and top layer is obtained according to the straight line midpoint, first layer center is connected and top layer center obtains
The inclined direction line of the tower ancient building to be measured crosses first layer center and does vertical line, measures the folder of inclined direction line and vertical line
Angle, that is, tilt angle.
In one embodiment, the whole torsion of the tower ancient building to be measured is analyzed, comprising:
Cutting is carried out along each layer most outer of the tower ancient building to be measured in the whole point cloud model；
It is superimposed each layer point cloud data；
When every layer of central point is not overlapped, the tower ancient building to be measured is in the state of distortion.
Second aspect, the present invention also provides a kind of analytical equipments for monitoring building deformation, comprising:
Module is obtained, for obtaining the point cloud data of tower ancient building to be measured according to three-dimensional laser scanner；
Module is established, for obtaining control point coordinates around the tower ancient building to be measured by total station, establishes monitoring
Absolute coordinate system；The control point is the target control point laid around the tower ancient building to be measured；
Registration module is used for the cloud data registration to the absolute coordinate system；
Analysis module, partially for the offset of the single pillar to the tower ancient building to be measured, the offset of single layer, entirety
It moves, integral inclined and torsion, carries out deformation process analysis.
The beneficial effect of above-mentioned technical proposal provided in an embodiment of the present invention includes at least:
The method of a kind of tower ancient building deformation monitoring and analysis provided in an embodiment of the present invention, passes through 3 D laser scanning
Tower ancient building point cloud data to be measured is obtained, and carries out control measurement using total station, by cloud data registration to absolute coordinate
Under system, the comprehensive structural parameters of tower ancient building to be measured can be obtained, and then can realize the single column to tower ancient building to be measured
The offset of son, the offset of single layer, overall offset, integral inclined and torsion, carry out deformation process analysis, so as to formulate early
Reasonable protection scheme prevents heritage buildings deformation from endangering accelerated development.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the method flow diagram of tower ancient building deformation monitoring and analysis provided in an embodiment of the present invention；
Fig. 2 is specific embodiment schematic diagram provided in an embodiment of the present invention；
Fig. 3 is website provided in an embodiment of the present invention and Wooden Pagoda at Yingxian County positional diagram；
Fig. 4 a is target paper schematic diagram provided in an embodiment of the present invention；
Fig. 4 b is target paper point cloud schematic diagram provided in an embodiment of the present invention；
Fig. 5 is single coarse scan point cloud data schematic diagram of standing provided in an embodiment of the present invention；
Fig. 6 is that local essence provided in an embodiment of the present invention sweeps point cloud data schematic diagram；
Fig. 7 is scanning website distribution schematic diagram provided in an embodiment of the present invention；
Fig. 8 is spliced wood pagoda external point cloud schematic diagram provided in an embodiment of the present invention；
Fig. 9 is spliced interior three-dimensional point cloud schematic diagram provided in an embodiment of the present invention；
Figure 10 is complete cloud distribution schematic diagram of wood pagoda after registration provided in an embodiment of the present invention；
Figure 11 is the flow chart of the single pillar offset of analysis provided in an embodiment of the present invention；
Figure 12 is pillar deviation angle schematic diagram provided in an embodiment of the present invention；
Figure 13 is single layer shift analysis flow chart provided in an embodiment of the present invention；
Figure 14 a is second layer shift analysis schematic diagram provided in an embodiment of the present invention；
Figure 14 b is second layer curve of deviation schematic diagram provided in an embodiment of the present invention；
Figure 15 is Wooden Pagoda at Yingxian County vertical misalignment schematic diagram provided in an embodiment of the present invention；
Figure 16 is the integral inclined flow chart analyzed provided in an embodiment of the present invention to ancient building；
Figure 17 a is that Wooden Pagoda at Yingxian County east-west direction provided in an embodiment of the present invention tilts schematic diagram；
Figure 17 b is that Wooden Pagoda at Yingxian County North and South direction provided in an embodiment of the present invention tilts schematic diagram；
Figure 18 integrally reverses the flow chart analyzed to ancient building to be provided in an embodiment of the present invention；
Figure 19 is that schematic diagram is reversed in Wooden Pagoda at Yingxian County provided in an embodiment of the present invention；
Figure 20 is the block diagram of tower ancient building deformation monitoring and analytical equipment provided in an embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
The method of a kind of tower ancient building deformation monitoring and analysis provided in an embodiment of the present invention, shown referring to Fig.1, packet
It includes:
S101, the point cloud data that tower ancient building to be measured is obtained according to three-dimensional laser scanner；
S102, control point coordinates around the tower ancient building to be measured are obtained by total station, establish monitoring absolute coordinate
System；The control point is the target control point laid around the tower ancient building to be measured；
S103, by the cloud data registration to the absolute coordinate system；
S104, the offset of single pillar to the tower ancient building to be measured, the offset of single layer, overall offset, entirety are inclined
It tiltedly and reverses, carries out deformation process analysis.
In the present embodiment, by three-dimensional laser radar precision height, station is set flexibly, the advantage that work efficiency is high, using three-dimensional
Laser scanner technique obtains the point cloud data of tower ancient building to be measured, while laying target paper around tower ancient building to be measured and making
For control point, control point coordinates are obtained by total station and establish monitoring absolute coordinate system, by cloud data registration to absolute coordinate
The lower processing analysis of system.It can measure the deviation angle, offset distance, whole torsion of tower ancient building according to the point cloud data got
Angle, integral inclined angle etc. can analyze the offset of single pillar, the offset of single layer, overall offset, integral inclined and torsion etc.
Situation prevents heritage buildings deformation from endangering accelerated development so as to formulate reasonable protection scheme early.
In subsequent description, by taking heritage buildings Wooden Pagoda at Yingxian County to be monitored as an example, above-mentioned steps are done in detail separately below
Explanation.
Wooden Pagoda at Yingxian County is the existing most ancient wooden structure point building in China, in order to preferably to Chinese ancient architecture culture
Legacy is protected, and is needed periodically to be monitored analysis to Wooden Pagoda at Yingxian County deformation, is understood the health status of wood pagoda entirety in depth, into
And it is scientifically protected.
1, monitoring scheme and data acquisition
1.1 monitoring scheme
Before obtaining monitoring data, scene is needed to be made an on-the-spot survey on the spot, according to the geographical location of Wooden Pagoda at Yingxian County, surrounding ring
Border, building structure and scanning accuracy requirement formulate reasonable scanning embodiment, as shown in Figure 2.For example medium-long range can be passed through
Three-dimensional laser scanner, short range three-dimensional laser scanner and total station are with the use of acquisition Wooden Pagoda at Yingxian County monitoring data.It utilizes
The remote feature of medium-long range three-dimensional laser scanner ranging can be used to obtain external point cloud data, but wood pagoda eaves are easy to block
Partial data causes shortage of data and can not obtain wood pagoda internal data, can be adopted by this short range scanner of short range scanner
Collect internal data, inside and outside point cloud registering is obtained into complete point cloud model.In order to guarantee data joining quality, between adjacent sites
Data registration should reach 30% or more, and at least there are three non-coplanar public targets between adjacent sites.According to existing prison
The laying target paper around wood pagoda that is distributed at control point is surveyed, target paper is easy to paste and clear up, will not damage to wood pagoda.Target
Paper control points layout should simplify, and can control main scanning docking station, be easy to measure, and every layer is at least laid three target points,
By the absolute coordinate at the available target control point in total station survey target paper center, may be implemented traditional measurement with dimensionally
The coordinate unification of Surface scan, is convenient for deformation analysis.
The outer data acquisition of 1.2 towers
Medium-long range three-dimensional laser scanner is suitable for the scanning of long-distance large-range, and scanning distance is up to 1200 meters, scanning
Precision is 5mm/100m, 100 ° * 360 ° of scanning field of view range (vertical * is horizontal).Such as in the specific implementation, wooden to obtain Ying County
Tower external data, settable 10 survey stations lay 25 target paper altogether, for the ease of between station data splicing and coordinate
It is unified, high-precision scanning is carried out to 25 target points outside wood pagoda, website and Wooden Pagoda at Yingxian County positional relationship are as shown in figure 3, target
Paper is as shown in Fig. 4 a-4b.
For example in singly station scanning process, settable coarse scan precision is 4cm/100m, does height to wood pagoda region
Precision scanning, precision 1cm/100m are single to stand scan data as seen in figs. 5-6.
Data acquisition in 1.3 towers
Short range three-dimensional laser scanner is suitable for short range scanning, and scanner is lightly easy to carry, is accordingly used in acquisition wood
Tower internal data.The ranging of short range scanner is 0.5-130 meters, and range accuracy index is 0.6mm/10m, and scanning visual angle is
360 ° * 120 ° (horizontal * is vertical), scanning resolution is 0.1mm/50 meters, and rate of data acquisition is 1,200,000 points/second.
By inside and outside two circles pin support, there are 24 pillars in outer ring for every layer of Wooden Pagoda at Yingxian County, and inner ring has eight pillars, therefore
It is scanned in scanning process with inside and outside three side, is understood and with guaranteeing that every pillar can scan without holiday.Every two
It is attached between standing by target paper or target ball, wood pagoda upper layer and lower layer are attached by stair, meeting when scanning target paper
Add scanning movement.Scanner website is laid substantially as shown in Figure 7.
1.4 control point data acquisitions
Being monitored to Wooden Pagoda at Yingxian County is a long-term job, carries out periodic monitoring to wood pagoda for convenience and to not
Logical phase monitoring data compare and analyze, and carry out control measurement and establish monitoring coordinate system.There are two the purposes for controlling measurement:
Realize the conversion between different coordinates；Realize different perspectives, especially not intervisibility or number when low adjacent scan data degree of overlapping
According to splicing.
Fixed monitoring control point has been buried in Wooden Pagoda at Yingxian County institute, has been laid according to being distributed in around wood pagoda for control point of monitoring
Target paper, target paper are easy to paste and clear up, will not damage to wood pagoda.Target sheet control points layout should simplify, and can control
The main scanning docking station of system, is easy to measure.Such as the southeast and west label adhering target sheet in wood pagoda, every layer is at least laid 3
Target point, the distribution of wood pagoda the southeast target paper are as shown in Figure 7.Using known monitoring control point, pass through total station survey target
The coordinate unification of traditional measurement and three-dimensional ground based scanning may be implemented in the absolute coordinate at the available target control point in paper center,
It is convenient for deformation analysis.
2, monitoring data pre-process
Point cloud registering is the important link of Point Cloud Processing, is the necessary step for obtaining the complete point cloud model of three dimensional object
Suddenly, the quality of registration of point cloud data is directly related to the total quality of subsequent achievement.Terrestrial Laser scanner is from different angles
It is independent with the point cloud data that position is scanned.The point cloud data singly stood can only express partial data, by each website
Cloud, which is registrated under the same frame of reference just, can obtain complete wood pagoda data, and then analyze the deformation of wood pagoda.
2.1 outside point cloud registerings
External point cloud registering is by the way of whole registration, and whole registration is using indirect adjustment as theoretical basis, in registration
Using all feature constraints as observation, using the space conversion parameter of each site cloud and part unknown constraint as undetermined parameter
Whole indirect adjustment is carried out, spatial alternation directly is carried out to original point cloud using the space conversion parameter of solution.Carry out multistation
When the whole registration of point cloud, it is necessary to based on having high-precision control constraints, on the basis of target control net, construction point constraint
Error equation, the target point X in sweep objectt0(x0,y0,z0) and its observation XtThere are following relationships between (x, y, z):
Xt0-(-ρRXt+ Δ X)=0 (formula 1)
Wherein, R is that website converts spin matrix, and (Δ x, Δ y, Δ z) is website translation parameters to Δ X, generally, in a cloud
Operation mesoscale parameter ρ=1, the error equation that can be put are as follows:
V1=A1t+BX-L1(formula 2)
In formula, V1For observation residual error；A1For the relevant coefficient matrix of spatial transformation parameter；T is spatial transformation parameter correction
Number；B is point to be located coefficient matrix；X is point to be located corrected value；L1For observation residual error.Power ω=0.5 of point constraint, for control
System point power ω=1.
When the mean error of registration is less than the first preset threshold, for example by taking 5 millimeters is the first preset thresholds as an example, it is less than
It at 5 millimeters, completes external point cloud model and is registrated to absolute coordinate system, cut part to the point cloud after registration and check without layering feelings
Condition, spliced wood pagoda external point cloud are as shown in Figure 8.
2.2 inside cloud data registrations
Internal point cloud is passed through based on characteristic point characteristic face and is registrated twice based on high in the clouds, and accurate matching is in order that thick matching
Point cloud data later is further processed, so that the range error between two survey station data corresponding points reaches minimum.
Thick matching: the point cloud of same layer is characterized a registration by target ball or target paper, and upper and lower level point cloud is on stair
Same place, face of the same name are characterized and are registrated, at least 3 same places between adjacent two station, and after being spliced based on characteristic target
Point cloud error can achieve at 7 millimeters or less.
Accurate matching: since overlapping region is relatively more between internal point cloud neighbor stations, it is suitable for the algorithm based on high in the clouds
ICP algorithm, such as error can achieve at 2 millimeters or less after being registrated again.
Specifically, ICP algorithm registration uses seven parameter vector X=[q0,qx,qy,qz,tx,ty,tz] it is used as rotation and translation
Representation method, wherein(unit quaternion condition), enabling iteration crude sampling point set is P,
Corresponding surface model S, distance function are defined as follows:
D (P, S)=minx∈X‖ x-P ‖ (formula 3)
The distance between the closest approach of P to model S is the distance of P to S.The method and steps of ICP registration is as follows: setting
The initial value of parameter vector X is X0=[1,0,0,0,0,0,0]T, model S sampling point set is C0.
1) by point PKCalculate closest approach point set CK；
2) calculating parameter vector XK+1With square distance and dK；
3) parameter vector X is usedK+1Generate a new point set PK+1, repeat step 1)；
4) stop iteration, judgment criterion d when the variation of square distance sum is less than threshold tauK-dk-1<τ
(layer main body is exterior wall knot to two layers to five layers of Wooden Pagoda at Yingxian County of interior three-dimensional point cloud model as shown in Figure 9 after registration
Structure, herein with regard to not carrying out point cloud acquisition and registration to it).
The conversion of 2.3 point cloud data coordinates and inside and outside Registration of Measuring Data
There is high-precision coordinate by the target paper control point of total station survey, it is inside wood pagoda and outer in data acquisition
Target paper can all be scanned in portion, therefore be registrated using target paper control point as characteristic point, due to internal point cloud and external point
Cloud is completed registration, therefore can regard a site cloud as, internal point cloud and external point cloud is registrated under control point coordinates, most
Whole point cloud model is obtained afterwards, and the conversion that a cloud coordinate system had both been completed after registration also achieves the registration of inside and outside point cloud.
It is registrated by point feature error equation, at least needs 3 pairs of same places not on the same line.For inside and outside
Identical point coordinates X in point cloud0(x0,y0,z0), X (x, y, z), offset Δ X (Δ x, Δ y, Δ z), between the two exist it is as follows
Transformation relation:
X0=RX+ Δ X (formula 4)
The error equation of rotation parameter can be expressed as V=At-L
Wherein,
After solving rodrigue parameters constructing variable R, the error equation of translation parameters is as follows:
V=Δ X- (X0- RX) (formula 5)
When the mean error of registration is less than the second preset threshold, such as at 5 millimeters hereinafter, cutting portion to the data after registration
Branch cloud is checked do not occur delamination, as shown in Figure 10, for the overall effect figure being registrated.
3 deformation analysis
Based on point cloud model after being registrated under absolute coordinate system, wood pagoda point cloud is intercepted in different views.Ying County wood
The deformation of the tower mainly wherein deformation of pillar, therefore mainly pillar is analyzed, analyze offset, the list of single pillar
The deformation situations such as the offset of layer pillar, the offset of longitudinal whole pillar and integral inclined, torsion.
3.1 single pillar shift analysis
Referring to Fig.1 shown in 1, comprising:
S1101, the point cloud for cutting pillar to be analyzed in the whole point cloud model；
S1102, by the point-cloud fitting Cheng Yuan of the column cap suspension column of the pillar to be analyzed, by the edge of the pillar to be analyzed
Fitting is in line；
S1103, the connection pillar to be analyzed the center of circle of column cap suspension column obtain the center line of pillar；
S1104, the vertical line for making the bottom of the pillar to be analyzed, the vertical line and center line are formed by angle, for institute
State the deviation angle of pillar to be analyzed.
The point cloud for cutting every pillar in whole point cloud model, by the point-cloud fitting Cheng Yuan of column cap suspension column, by pillar
Edge fitting is in line, and the center of circle of connecting column headpin foot obtains the center line of pillar, while crossing bottom midpoint and making bottom of the pillar
Vertical line, vertical line and center line are formed by angle, are considered as the tilt angle of pillar, measure column under front view and left view
The tilt angle of son, analyzes the offset of single pillar.It as shown in figure 12, is the deviation angle of wood pagoda second layer part pillar, west
Pillar deviation angle in the south is maximum, and direction deviation angle is larger eastwards for pillar in the northwest, the southeast pillar northwards direction deviation angle
Spend larger, northeast face pillar deviation angle minimum, therefore the overall offset of direction northeastward of pillar and the offset of southwestern face pillar
Situation is more serious compared with other directions.
3.2 single layer shift analysis
Referring to Fig.1 shown in 3, comprising:
S1301, the point cloud for cutting column cap suspension column by layer in the whole point cloud model, the point cloud of column cap suspension column is folded
Add；
S1302, column cap suspension column is fitted to by circle according to cloud, the center of circle is the center of column cap suspension column；
S1303, the upper and lower center of circle is measured in the distance in three directions, vertical misalignment indicates pillar along the north-south direction inclined
It moves, combined offset indicates that capital and suspension column correspond to the linear distance in the center of circle.
The point cloud for cutting column cap suspension column by layer in whole point cloud model, the point cloud of column cap suspension column is superimposed, according to a cloud
Column cap suspension column is fitted to circle, the center of circle can regard the center of column cap suspension column as, measure the upper and lower center of circle in the distance in three directions,
Vertical misalignment indicates the offset of pillar along the north-south direction, and combined offset indicates that capital and suspension column correspond to the linear distance in the center of circle, such as
Shown in Figure 14 a-14b.
From the above data, M2W23 pillar is the maximum pillar of deformation, and all directions offset distance is maximum；Thing
It is M2N05 pillar that direction, which deviates minimum range: it is N2W12 pillar, combined offset that North and South direction, which deviates minimum range,
Minimum range is M2N05 pillar.On the whole, the pillar offset positioned at northeast face is minimum, followed by north and in the east,
The northwest, the southeast, west, the south, southwestern face offset maximum inclination is the most serious, and direction tilts northeastward.
The analysis of 3.3 overall offsets
In order to intuitively embody inclination and stress condition between each layer pillar, is cut from the top view of point cloud model and to be located at diagonally
Complete cloud of four pillars on line, as shown in figure 15.For the pillar point cloud on north by east.The second layer from the point of view of longitudinal direction
Inclined degree relative maximum, the inclined degree of layer 5 is minimum.The southeast pillar obviously tilts in the bright layer of the second layer, right
Southwestern face inner prop is reinforced.
3.4 pitch analysis
Referring to Fig.1 shown in 6, the integral inclined of tower ancient building to be measured is analyzed, comprising:
S1601, diagonal line and up and down direction diagonal line are cut in left-right direction in the top view of the whole point cloud model
A section out；
S1602, the point-cloud fitting of the first layer of the tower ancient building to be measured and top layer two sides is in line；
S1603, the central point of first layer and top layer is obtained according to the straight line midpoint, connect in first layer center and top layer
Gains in depth of comprehension cross first layer center and do vertical line to the inclined direction line of the tower ancient building to be measured, measure inclined direction line and hang down
Angle, that is, tilt angle of line.
In order to analyze wood pagoda inclined degree, whole tilt angle is measured in wood pagoda section.In wood pagoda point cloud model
Top view in along east-west direction diagonal line and North and South direction diagonal line cut a section, by wood pagoda first layer and layer 5 two
The point-cloud fitting of side is in line, and obtains two layers of central point using straight line midpoint, connects gains in depth of comprehension in the wooden bottom center and layer 5
To the inclined direction line of wood pagoda, crosses bottom center and do vertical line, measure the angle i.e. tilt angle of inclined direction line and vertical line, such as
Wood pagoda thing section shown in Figure 17 a tilts eastwards 0.31 °, and the north and south Figure 17 b section northwards tilts 0.54 °.
3.5 Torque analysis
Referring to Fig.1 shown in 8, the whole torsion of the tower ancient building to be measured is analyzed, comprising:
S1801, it is cutd open in the whole point cloud model along each layer most outer of the tower ancient building to be measured
It cuts；
S1802, each layer point cloud data of superposition；
S1803, when every layer of central point is not overlapped, the tower ancient building to be measured be in distortion state.
It is analyzed by structure cutting, can quickly and accurately obtain the twisting gesture of ancient tower.The edge in wood pagoda point cloud model
The ancient each layer of tower most outer carry out cutting, be superimposed that each layer data is as shown in figure 19, the central point of every layer of wood pagoda is not overlapped, then is located
In the state of distortion.
The present invention obtains the laser of Wooden Pagoda at Yingxian County inside and outside by three-dimensional laser radar technology by taking practical Wooden Pagoda at Yingxian County as an example
Point cloud data obtains target control point coordinates by total station control measurement, finally obtains by point cloud registering and coordinate conversion
Point cloud model under absolute coordinate system.Analyzed on point cloud model for the status of Wooden Pagoda at Yingxian County, from five angles into
Row analysis, analyze the offset of single pillar point cloud, the offset of single pillar, the offset of single layer pillar, the offset of longitudinal pillar,
And influence the deformation situations such as wood pagoda inclination, torsion.It show that Wooden Pagoda at Yingxian County integrally twists according to analysis, laterally sees
Two layers of deformation degree are maximum, and wherein M2W23 pillar is the maximum pillar of deformation, longitudinally see that the whole direction northeastward of wood pagoda is inclined
Tiltedly, the southeast pillar deformation degree is more serious than other faces.
The present invention can collect relatively complete point cloud data, the high-precision constructed by three-dimensional laser radar technology
Tower heritage buildings point cloud model, it is convenient that situations such as whole posture of tower heritage buildings, offset, torsion is divided comprehensively
Analysis.
Based on the same inventive concept, the embodiment of the invention also provides the dresses of a kind of tower ancient building deformation monitoring and analysis
It sets, it, should since the principle of the solved problem of the device and a kind of tower ancient building deformation monitoring are similar to the method for analysis
The implementation of device may refer to the implementation of preceding method, and overlaps will not be repeated.
Second aspect, the present invention also provides a kind of analytical equipments for monitoring building deformation, referring to shown in Figure 20, comprising:
Module 21 is obtained, for obtaining the point cloud data of tower ancient building to be measured according to three-dimensional laser scanner；
Module 22 is established, for obtaining control point coordinates around the tower ancient building to be measured by total station, establishes prison
Survey absolute coordinate system；The control point is the target control point laid around the tower ancient building to be measured；
Registration module 23 is used for the cloud data registration to the absolute coordinate system；
Analysis module 24, partially for the offset of the single pillar to the tower ancient building to be measured, the offset of single layer, entirety
It moves, integral inclined and torsion, carries out deformation process analysis.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method of tower ancient building deformation monitoring and analysis characterized by comprising
The point cloud data of tower ancient building to be measured is obtained according to three-dimensional laser scanner；
Control point coordinates around the tower ancient building to be measured are obtained by total station, establish monitoring absolute coordinate system；The control
System point is the target control point laid around the tower ancient building to be measured；
By the cloud data registration to the absolute coordinate system；
To the offset of single pillar of the tower ancient building to be measured, the offset of single layer, overall offset, it is integral inclined and torsion,
Carry out deformation process analysis.
2. a kind of method of tower ancient building deformation monitoring and analysis as described in claim 1, which is characterized in that the basis
Three-dimensional laser scanner obtains the point cloud data of tower ancient building to be measured, comprising:
The external point cloud data of tower ancient building to be measured is obtained using medium-long range three-dimensional laser scanner, generates external point cloud mould
Type；
The inside point cloud data of tower ancient building to be measured is obtained using short range three-dimensional laser scanner, generates internal point cloud model；
By the cloud data registration to the absolute coordinate system, comprising:
The external point cloud model and internal point cloud model are registrated to the absolute coordinate system.
3. a kind of method of tower ancient building deformation monitoring and analysis as claimed in claim 2, which is characterized in that will be described outer
Portion's point cloud model is registrated to the absolute coordinate system, comprising:
Using all feature constraints as observation in registration, by the space conversion parameter and part unknown constraint of each site cloud
Whole indirect adjustment is carried out as undetermined parameter；
Spatial alternation directly is carried out to original point cloud according to the space conversion parameter of solution；
When carrying out the whole registration of multi-site cloud, based on control constraints, on the basis of target control net, construction point constraint
Error equation；
When the mean error of registration is less than the first preset threshold, completes external point cloud model and be registrated to the absolute coordinate system；
The result of the construction point constraint error equation is the mean error of the registration.
4. a kind of method of tower ancient building deformation monitoring and analysis as claimed in claim 3, which is characterized in that in will be described
Portion's point cloud model is registrated to the absolute coordinate system, comprising:
The point cloud of same layer is characterized a registration by target paper, and upper and lower level point cloud is characterized by same place, face of the same name on stair
It is registrated, completes to be registrated for the first time；
On the basis of first time registration, second is completed according to ICP algorithm and is registrated, realize the internal point cloud model
It is registrated to the absolute coordinate system.
5. a kind of method of tower ancient building deformation monitoring and analysis as claimed in claim 4, which is characterized in that will be described outer
Portion's point cloud model and internal point cloud model are registrated to the absolute coordinate system, comprising:
The external point cloud model and internal point cloud model are registrated to the absolute coordinate system, generate whole point Yun Mo
Type；
Building point feature error equation is registrated；
When the mean error of registration is less than the second preset threshold, the completion external point cloud model and internal point cloud model are registrated
To the absolute coordinate system.
6. a kind of method of tower ancient building deformation monitoring and analysis as claimed in claim 5, which is characterized in that it is described to
The offset for surveying the single pillar of tower ancient building carries out deformation process analysis, comprising:
Cut the point cloud of pillar to be analyzed in the whole point cloud model；
By the point-cloud fitting Cheng Yuan of the column cap suspension column of the pillar to be analyzed, by the edge fitting Cheng Zhi of the pillar to be analyzed
Line；
The center of circle for connecting the column cap suspension column of the pillar to be analyzed obtains the center line of pillar；
The vertical line of the bottom of the pillar to be analyzed is made, the vertical line and center line are formed by angle, are the column to be analyzed
The deviation angle of son.
7. a kind of method of tower ancient building deformation monitoring and analysis as claimed in claim 5, which is characterized in that it is described to
The single layer offset for surveying tower ancient building is analyzed, comprising:
The point cloud for cutting column cap suspension column by layer in the whole point cloud model, the point cloud of column cap suspension column is superimposed；
Column cap suspension column is fitted to circle according to cloud, the center of circle is the center of column cap suspension column；
The upper and lower center of circle is measured in the distance in three directions, vertical misalignment indicates the offset of pillar along the north-south direction, combined offset
Indicate that capital and suspension column correspond to the linear distance in the center of circle.
8. a kind of method of tower ancient building deformation monitoring and analysis as claimed in claim 5, which is characterized in that it is described to
The integral inclined of tower ancient building is surveyed to be analyzed, comprising:
Diagonal line and up and down direction diagonal line cut a section in left-right direction in the top view of the whole point cloud model；
The point-cloud fitting of the first layer of the tower ancient building to be measured and top layer two sides is in line；
The central point of first layer and top layer is obtained according to the straight line midpoint, connection first layer center and top layer center obtain described
The inclined direction line of tower ancient building to be measured crosses first layer center and does vertical line, measures the angle of inclined direction line and vertical line i.e.
Tilt angle.
9. a kind of method of tower ancient building deformation monitoring and analysis as claimed in claim 5, which is characterized in that it is described to
The whole torsion for surveying tower ancient building is analyzed, comprising:
Cutting is carried out along each layer most outer of the tower ancient building to be measured in the whole point cloud model；
It is superimposed each layer point cloud data；
When every layer of central point is not overlapped, the tower ancient building to be measured is in the state of distortion.
10. a kind of analytical equipment for monitoring building deformation characterized by comprising
Module is obtained, for obtaining the point cloud data of tower ancient building to be measured according to three-dimensional laser scanner；
Module is established, for obtaining control point coordinates around the tower ancient building to be measured by total station, it is absolute to establish monitoring
Coordinate system；The control point is the target control point laid around the tower ancient building to be measured；
Registration module is used for the cloud data registration to the absolute coordinate system；
Analysis module, for the offset of the single pillar, offset of single layer, overall offset, whole to the tower ancient building to be measured
Body inclination and torsion, carry out deformation process analysis.
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