CN109916323B - Method and device for monitoring and analyzing deformation of tower-type historic building - Google Patents
Method and device for monitoring and analyzing deformation of tower-type historic building Download PDFInfo
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Abstract
The invention discloses a method and a device for monitoring and analyzing deformation of a tower type historic building, wherein the method comprises the following steps: acquiring point cloud data of the tower type historic building to be detected according to the three-dimensional laser scanner; acquiring the coordinates of control points around the tower type historic building to be detected through a total station, and establishing a monitoring absolute coordinate system; the control points are target control points distributed around the tower type historic building to be tested; registering the point cloud data to the absolute coordinate system; and carrying out deformation processing analysis on the deviation, single-layer deviation, overall inclination and torsion of the single column of the tower type historic building to be detected. The method obtains the structural data of the tower type historic building comprehensively and accurately so as to formulate a reasonable protection scheme as soon as possible to prevent the historic building from changing and damaging and developing.
Description
Technical Field
The invention relates to the technical field of surveying and mapping science, in particular to a method and a device for monitoring and analyzing deformation of a tower type historic building.
Background
The three-dimensional laser scanning technology is a brand-new surveying and mapping means, and by utilizing the principle of laser ranging, information such as three-dimensional coordinates, reflectivity and the like of a large number of dense discrete points on the surface of a measured object is acquired to carry out data acquisition in an all-around, all-angle, all-inside and all-outside and non-contact manner, so that a three-dimensional model of the measured object and various drawing data such as lines, surfaces and bodies can be quickly established, and the three-dimensional laser scanning technology is more and more emphasized in historic building exploration by virtue of the advantages of high efficiency, high precision and no contact with the historic building body.
For example, take Shanxi Ying county wooden tower as an example, the tower is also called Fuyun Sajiata and is located at the northwest corner of Shanxi Ying county city. The wooden tower built in Liaodaiqingning for two years (1056) is the highest and oldest wooden tower building in China, and has extremely high historical cultural value. In the recent 1000 years, the wood tower is subjected to multiple strong earthquake influences and artificial damages, the wood property is changed, the bearing capacity is weakened, and a plurality of lower layers of members are damaged, so that the whole wood tower is inclined and twisted, and the wood tower becomes more and more serious along with the time. Protection to answer county wooden tower is the important work in ancient building culture heritage protection field, in order to protect the wooden tower scientifically, need know the current situation of wooden tower, carries out comprehensive analysis to the deformation condition of wooden tower to formulate reasonable protection scheme, ensure that the wooden tower is safe, inherit thousand years civilization.
In recent years, the wood towers are researched and analyzed for many times, and the general trend of the wood tower foundation is south high and north low, and all the layers are in a relative distortion state by utilizing engineering measurement methods to research the reason of the damage of the wood tower in the county; carrying out simulation analysis on the corresponding county wooden tower by Chente et al by using finite element software to obtain that the whole of the two layers of the bright layers inclines towards the northeast direction, wherein the inclination of the column W23 is the largest; chenping et al, through finite element analysis of the second layer of the corresponding county wooden tower, the second layer of the bright layer is inclined in the north and north-side directions, the column bodies of the inner and outer slots of the four sides of the south, the east and the north are inclined in the north-side and east-side directions, the column net of the column body is twisted in the counterclockwise direction, but the column bodies of the inner and outer slots of the south, the west, the north and the west are twisted and inclined in the clockwise direction; doherty et al researches the dynamic characteristics and the anti-seismic performance of the wooden tower by using a numerical simulation method to obtain that the two-layer open layer of the wooden tower is a weak layer of the wooden tower, the displacement angle of the two-layer open layer is close to the collapse limit value, and the two-layer open layer has the possibility of collapsing under the action of the earthquake.
The traditional data acquisition method is mostly single-point acquisition, common methods include acquisition of a level, a theodolite, a total station, a sensor and the like, and the precision can reach a sub-millimeter level. The method is often used as a global control means in intensive heritage monitoring.
However, the above various methods cannot acquire accurate relevant health parameters of the building, and therefore how to comprehensively acquire deformation parameters of the building cannot be effectively solved.
Disclosure of Invention
In view of the above problems, the invention obtains the point cloud data of the tower type historic building to be measured through the three-dimensional laser scanner, and simultaneously utilizes the total station to perform control measurement, so as to obtain the comprehensive structural parameters of the tower type historic building to be measured, and further realize the deformation processing analysis of the tower type historic building to be measured, so as to formulate a reasonable protection scheme to stop the development of the deformation of the building.
In a first aspect, the present invention provides a method for monitoring and analyzing deformation of a tower-type historic building, which overcomes or at least partially solves the above problems, comprising:
acquiring point cloud data of the tower type historic building to be detected according to the three-dimensional laser scanner;
acquiring the coordinates of control points around the tower type historic building to be detected through a total station, and establishing a monitoring absolute coordinate system; the control points are target control points distributed around the tower type historic building to be tested;
registering the point cloud data to the absolute coordinate system;
and carrying out deformation processing analysis on the deviation, single-layer deviation, overall inclination and torsion of the single column of the tower type historic building to be detected.
In one embodiment, the acquiring point cloud data of the tower type historic building to be measured according to the three-dimensional laser scanner includes:
acquiring external point cloud data of the tower type historic building to be detected by adopting a medium-remote three-dimensional laser scanner to generate an external point cloud model;
obtaining internal point cloud data of the tower type historic building to be detected by adopting a short-range three-dimensional laser scanner to generate an internal point cloud model;
registering the point cloud data to the absolute coordinate system, including:
registering both the external point cloud model and the internal point cloud model to the absolute coordinate system.
In one embodiment, registering the external point cloud model to the absolute coordinate system comprises:
in the registration, all characteristic constraints are used as observed values, and the space conversion parameters and part of unknown constraints of each station point cloud are used as undetermined parameters to carry out overall indirect adjustment;
directly carrying out space transformation on the original point cloud according to the solved space transformation parameters;
when the integral registration of multi-station point cloud is carried out, a point constraint error equation is constructed by taking a control constraint as a basis and a target control network as a reference;
when the average error of the registration is smaller than a first preset threshold value, the registration of the external point cloud model to the absolute coordinate system is completed; the result of the construction point constraint error equation is the mean error of the registration.
In one embodiment, registering the internal point cloud model to the absolute coordinate system comprises:
point clouds on the same layer are registered by taking target paper as characteristic points, and point clouds on the upper layer and the lower layer are registered by taking the same-name points and the same-name surfaces on stairs as characteristics to finish the first registration;
and finishing second registration according to an ICP algorithm on the basis of the first registration to realize registration of the internal point cloud model to the absolute coordinate system.
In one embodiment, registering both the external point cloud model and the internal point cloud model to the absolute coordinate system comprises:
registering the external point cloud model and the internal point cloud model to the absolute coordinate system to generate an integral point cloud model;
constructing a point characteristic error equation for registration;
and when the average error of the registration is smaller than a second preset threshold value, finishing the registration of the external point cloud model and the internal point cloud model to the absolute coordinate system.
In one embodiment, the deformation processing analysis of the deviation of the single column of the tower type historic building to be tested includes:
intercepting a point cloud of a column to be analyzed in the integral point cloud model;
fitting the point cloud of the column head column foot of the column to be analyzed into a circle, and fitting the edge of the column to be analyzed into a straight line;
connecting the circle centers of column heads and column feet of the columns to be analyzed to obtain the center lines of the columns;
and making a vertical line at the bottom of the column to be analyzed, wherein an included angle formed by the vertical line and the central line is the offset angle of the column to be analyzed.
In one embodiment, analyzing the single-storey deviation of the tower type historic building to be tested comprises:
cutting point clouds of column head column bases in layers in the integral point cloud model, and overlapping the point clouds of the column head column bases;
fitting the column head column base into a circle according to the point cloud, wherein the circle center is the center of the column head column base;
the distances of the upper circle center and the lower circle center in three directions are measured, the longitudinal deviation represents the deviation of the column in the north-south direction, and the comprehensive deviation represents the linear distance between the corresponding circle centers of the column top and the column base.
In one embodiment, analyzing the overall inclination of the tower type historic building to be tested comprises:
cutting a section along a diagonal line in the left-right direction and a diagonal line in the up-down direction in a top view of the integral point cloud model;
fitting the point clouds on the two sides of the first layer and the top layer of the tower type historic building to be detected into a straight line;
and obtaining the center points of the first layer and the top layer according to the middle points of the straight lines, connecting the center of the first layer with the center of the top layer to obtain the inclined direction line of the tower type historic building to be tested, making a perpendicular line at the center of the first layer, and measuring the included angle between the inclined direction line and the perpendicular line, namely the inclined angle.
In one embodiment, the analyzing the overall torsion of the tower type historic building to be tested comprises the following steps:
sectioning the integral point cloud model along the outermost edge of each layer of the tower type historic building to be detected;
superposing point cloud data of each layer;
when the central points of all the layers are not coincident, the tower type historic building to be tested is in a twisted state.
In a second aspect, the present invention also provides an analysis apparatus for monitoring deformation of a building, comprising:
the acquisition module is used for acquiring point cloud data of the tower type historic building to be detected according to the three-dimensional laser scanner;
the building module is used for obtaining the coordinates of the control points around the tower type historic building to be detected through a total station and building a monitoring absolute coordinate system; the control points are target control points distributed around the tower type historic building to be tested;
a registration module for registering the point cloud data to the absolute coordinate system;
and the analysis module is used for carrying out deformation processing analysis on the deviation, single-layer deviation, overall inclination and torsion of the single column of the tower type historic building to be detected.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
according to the method for monitoring and analyzing the deformation of the tower type historic building, the point cloud data of the tower type historic building to be detected is obtained through three-dimensional laser scanning, the total station is used for control measurement, the point cloud data is registered to the absolute coordinate system, the comprehensive structural parameters of the tower type historic building to be detected can be obtained, further the deviation of a single column, the deviation of a single layer, the integral deviation, the integral inclination and the torsion of the tower type historic building to be detected can be realized, deformation processing analysis is carried out, and therefore a reasonable protection scheme can be formulated as soon as possible to prevent the accelerated development of the damage of the shape of the historic building.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a method for monitoring and analyzing deformation of a tower type historic building provided by the embodiment of the invention;
FIG. 2 is a schematic diagram of an embodiment provided by an example of the present invention;
FIG. 3 is a schematic diagram of a location relationship between a website and a Qu county township according to an embodiment of the present invention;
FIG. 4a is a schematic diagram of a target paper according to an embodiment of the present invention;
FIG. 4b is a schematic diagram of a target paper point cloud provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of point cloud data of a single-station rough scan according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of local fine-scanning point cloud data according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a scanning site distribution according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a spliced external point cloud of a wooden tower according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a spliced internal three-dimensional point cloud according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a complete point cloud distribution of a post-registration wooden tower according to an embodiment of the present invention;
FIG. 11 is a flow chart of the present invention for analyzing the deviation of a single pillar;
FIG. 12 is a schematic view of a post offset angle provided in accordance with an embodiment of the present invention;
FIG. 13 is a flow chart of a single layer offset analysis provided by an embodiment of the present invention;
FIG. 14a is a schematic diagram of a second layer offset analysis according to an embodiment of the present invention;
FIG. 14b is a schematic diagram of a second layer offset curve according to an embodiment of the present invention;
FIG. 15 is a schematic diagram of a longitudinal offset of a Queen township according to an embodiment of the present invention;
FIG. 16 is a flow chart of an analysis of the overall inclination of the historic building provided by an embodiment of the invention;
FIG. 17a is a schematic diagram of a east-west tilt of a Queen township according to an embodiment of the present invention;
FIG. 17b is a schematic diagram of the north-south tilt of the Qu county township according to an embodiment of the present invention;
FIG. 18 is a flow chart of an analysis of the total torsion of the historic building according to an embodiment of the invention;
FIG. 19 is a schematic illustration of the Queen township torsion provided by an embodiment of the present invention;
fig. 20 is a block diagram of a tower-type historic building deformation monitoring and analyzing device provided by the embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The method for monitoring and analyzing the deformation of the tower type historic building, which is provided by the embodiment of the invention, is shown in a figure 1 and comprises the following steps:
s101, point cloud data of the tower type historic building to be detected are obtained according to the three-dimensional laser scanner;
s102, acquiring the coordinates of control points around the tower type historic building to be detected through a total station, and establishing a monitoring absolute coordinate system; the control points are target control points distributed around the tower type historic building to be tested;
s103, registering the point cloud data to the absolute coordinate system;
and S104, carrying out deformation processing analysis on the deviation, single-layer deviation, overall inclination and torsion of the single column of the tower type historic building to be detected.
In the embodiment, by virtue of the advantages of high precision, flexibility in station establishment and high working efficiency of the three-dimensional laser radar, the point cloud data of the tower type historic building to be detected is obtained by adopting a three-dimensional laser scanning technology, meanwhile, the target paper is arranged around the tower type historic building to be detected to serve as a control point, the coordinates of the control point are obtained through the total station to establish a monitoring absolute coordinate system, and the point cloud data is registered to the absolute coordinate system for processing and analysis. According to the obtained point cloud data, the offset angle, the offset distance, the integral torsion angle, the integral inclination angle and the like of the tower type historic building can be measured, and the conditions of offset, single-layer offset, integral inclination, torsion and the like of a single column can be analyzed, so that a reasonable protection scheme can be formulated as soon as possible to prevent accelerated development of the historic building form damage.
In the following description, the ancient architecture to be monitored, entitled "towbar", shall be taken as an example, and the above steps will be described in detail below.
The Yinxian wooden tower is the oldest existing wooden tower building in China, and in order to better protect cultural heritage of the ancient Chinese building, deformation of the Yinxian wooden tower needs to be monitored and analyzed regularly, the overall health condition of the wooden tower is deeply known, and then protection is scientifically carried out.
1. Monitoring scheme and data acquisition
1.1 monitoring protocol
Before acquiring the monitoring data, a site survey needs to be carried out, and a reasonable scanning embodiment is made according to the geographical position of the township in the county, the surrounding environment, the building structure and the scanning precision requirement, as shown in fig. 2. For example, the monitoring data of the township at the county can be obtained by using a medium-long distance three-dimensional laser scanner, a short-range three-dimensional laser scanner and a total station together. The method can be used for obtaining external point cloud data by utilizing the characteristic of long measuring distance of a medium-long distance three-dimensional laser scanner, but partial data are easily shielded by a wooden tower eave, so that data are lost, internal data of the wooden tower cannot be obtained, the internal data can be collected by a short-range scanner, and the internal point cloud and the external point cloud are registered to obtain a complete point cloud model. In order to ensure the data splicing quality, the data overlapping ratio between adjacent stations can reach more than 30%, and at least three non-coplanar common targets are arranged between the adjacent stations. Target paper is distributed around the wooden tower according to the distribution of the existing monitoring control points, the target paper is easy to stick and clean, and the wooden tower cannot be damaged. Target paper control points are arranged to be simplified, a main scanning connection station can be controlled, measurement is easy, at least three target points are arranged on each layer, absolute coordinates of the target control points can be obtained by measuring the centers of the target paper through a total station, coordinate unification of traditional measurement and three-dimensional ground scanning can be achieved, and deformation analysis is facilitated.
1.2 extra-tower data acquisition
The medium-and-far-range three-dimensional laser scanner is suitable for long-distance and large-range scanning, the scanning distance can reach 1200 meters, the scanning precision is 5mm/100m, and the scanning field range is 100 degrees by 360 degrees (vertical by horizontal). For example, in specific implementation, 10 survey stations can be set for acquiring the external data of the towcon in the area of the country, 25 target papers are arranged, in order to facilitate splicing of the station data and unification of coordinates, high-precision scanning is performed on the 25 target points outside the towcon, the positional relationship between the station and the towcon in the area of the country is shown in fig. 3, and the target papers are shown in fig. 4a-4 b.
For example, in the single-station scanning process, the coarse scanning precision can be set to be 4cm/100m, the area where the wooden tower is located is scanned with high precision, the precision is 1cm/100m, and the single-station scanning data is shown in fig. 5-6.
1.3 in-Tower data acquisition
The short-range three-dimensional laser scanner is suitable for short-range scanning, is light and convenient to carry, and is used for collecting data inside a wooden tower. The range of the short-range scanner is 0.5-130 m, the distance accuracy index is 0.6mm/10m, the scanning visual angle is 360 degrees × 120 degrees (horizontal × vertical), the scanning resolution is 0.1mm/50 m, and the data acquisition rate is 120 ten thousand dots/second.
Each layer of the Yinxian wooden tower is supported by two circles of inner and outer wooden columns, the outer circle is provided with 24 wooden columns, and the inner circle is provided with eight wooden columns, so that the inner side, the outer side and the inner side of the scanning process are scanned, and each wooden column can be clearly scanned without missing parts. Every two stations are connected through target paper or target balls, the upper layer and the lower layer of the wooden tower are connected through stairs, and scanning stations can be additionally arranged when the target paper is scanned. The scanner station layout is generally as shown in figure 7.
1.4 control Point data acquisition
The monitoring of the corresponding county towns is a long-term work, and a monitoring coordinate system needs to be established by control measurement in order to facilitate regular monitoring of the towns and comparison and analysis of non-regular monitoring data. The purpose of controlling the measurement is two: the conversion between different coordinate systems is realized; and data splicing under different visual angles, especially under the condition of no visual inspection or low overlapping degree of adjacent scanning data is realized.
Fixed monitoring control point has been buried underground in the wooden tower courtyard of the institute of the modern general county, according to the distribution of monitoring control point set up the mark target paper around the wooden tower, mark target paper easily pastes and clears up, can not cause the injury to the wooden tower. The arrangement of target paper control points is simplified, the main scanning connection station can be controlled, and the measurement is easy. For example, target paper is adhered to the southeast and west of the wooden tower, at least 3 target points are arranged on each layer, and the target paper distribution on the southeast of the wooden tower is shown in fig. 7. By utilizing the known monitoring control point, the absolute coordinates of the target control point can be obtained by measuring the center of the target paper through the total station, so that the coordinate unification of the traditional measurement and the three-dimensional ground scanning can be realized, and the deformation analysis is convenient to carry out.
2. Monitoring data preprocessing
The point cloud registration is an important link of point cloud data processing and is a necessary step for obtaining a complete point cloud model of a three-dimensional object, and the registration quality of the point cloud data is directly related to the overall quality of subsequent results. The point cloud data obtained by scanning the ground laser scanner from different angles and positions is independent. The point cloud data of a single station can only express partial data, and complete data of the wooden tower can be obtained only by registering the cloud of each station to the same reference coordinate system, so that the deformation condition of the wooden tower is analyzed.
2.1 external Point cloud registration
The external point cloud registration adopts an integral registration mode, the integral registration takes indirect adjustment as a theoretical basis, all characteristic constraints are used as observed values in the registration, the space conversion parameters and part of unknown constraints of each station point cloud are used as undetermined parameters to carry out integral indirect adjustment, and the solved space conversion parameters are used for directly carrying out space transformation on the original point cloud. When the integral registration of multi-station point cloud is carried out, high-precision control constraint is required to be used as a basis, a target control network is used as a reference, a point constraint error equation is constructed, and a target point X in a scanning object is scannedt0(x0,y0,z0) And its observed value XtThe following relationship exists between (x, y, z):
Xt0-(-ρRXt+ Δ X) ═ 0 (formula 1)
Where R is a site transformation rotation matrix, Δ X (Δ X, Δ y, Δ z) is a site translation parameter, and generally, a scale parameter ρ is 1 in a point cloud operation, and an error equation of a point is obtained as follows:
V1＝A1t+BX-L1(formula 2)
In the formula, V1Is an observed value residual error; a. the1A coefficient matrix related to the spatial transformation parameters; t is a space transformation parameter correction number; b is a coefficient matrix of the undetermined point; x is a correction value of the undetermined point; l is1The observed residuals are. The weight ω of the point constraint is 0.5 and for the control point the weight ω is 1.
When the average error of registration is smaller than a first preset threshold, for example, 5mm is taken as the first preset threshold, and is smaller than 5mm, the registration of the external point cloud model to the absolute coordinate system is completed, no layering condition is checked on a cut-off part of the registered point cloud, and the spliced external point cloud of the wooden tower is shown in fig. 8.
2.2 registration of internal Point cloud data
And the internal point cloud is subjected to feature point feature surface based registration and interplanetary based registration twice, and the point cloud data after rough matching is further processed through accurate matching, so that the distance error between corresponding points of the two survey station data is minimized.
Coarse matching: the point clouds on the same layer are registered by taking a target ball or target paper as a characteristic point, the point clouds on the upper layer and the lower layer are registered by taking the same-name point and the same-name surface on the stairs as characteristics, at least 3 same-name points are arranged between every two adjacent stations, and the error of the point clouds spliced based on the characteristic target can be below 7 mm.
And (3) precise matching: because the overlapping areas between adjacent stations of the internal point cloud are more, the method is suitable for an algorithm based on the interpupillary, namely an ICP algorithm, and after re-registration, for example, the error can reach below 2 mm.
In particular, ICP algorithm registration uses a seven parameter vector X ═ q0,qx,qy,qz,tx,ty,tz]As a representation of rotation and translation, wherein
(unit quaternion condition), taking the iteration original sampling point set as P, and defining a corresponding surface model S as follows according to a distance function:
d(P,S)＝minx∈XII x-P II (equation 3)
The distance from P to the closest point of the model S is the distance from P to S. The method and steps of ICP registration are as follows: setting an initial value of a parameter vector X to X0＝[1,0,0,0,0,0,0]TThe model S sample point set is C0.
1) From point PKCalculating a set of closest points CK；
2) Calculating a parameter vector XK+1Sum distance squared sum dK；
3) Using parameter vectors XK+1Generating a new point set PK+1Repeating the step 1);
4) when the sum of squares of the distances changesStopping iteration when the value is less than a threshold value tau, and judging the criterion to be dK-dk-1<τ
The internal three-dimensional point cloud model of the two-level to five-level of the quincunx after registration is shown in fig. 9 (one level is mainly an outer wall structure, and point cloud acquisition and registration are not performed on the one level).
2.3 Point cloud data coordinate conversion and internal and external data registration
The target paper control points measured by the total station have high-precision coordinates, the target paper is scanned inside and outside the wooden tower in data acquisition, the target paper control points are used as characteristic points for registration, the registration of the internal point cloud and the external point cloud is completed, the internal point cloud and the external point cloud can be regarded as a station point cloud, the internal point cloud and the external point cloud are registered under the control point coordinates, finally, an integral point cloud model is obtained, and the conversion of a point cloud coordinate system and the registration of the internal point cloud and the external point cloud are completed after the registration.
The registration is carried out by a point characteristic error equation, and at least 3 pairs of homonymous points which are not on the same straight line are needed. For coordinate X of same-name point in internal and external point clouds0(x0,y0,z0) X (X, y, z), offset Δ X (Δ X, Δ y, Δ z), with the following transformation relationship between them:
X0RX + Δ X (formula 4)
The error equation for the rotation parameter can be expressed as V ═ At-L
Wherein the content of the first and second substances,
after the build parameter R of the Rodrigue parameter is solved, the error equation of the translation parameter is as follows:
V＝ΔX-(X0RX) (equation 5)
When the average error of the registration is smaller than a second preset threshold, for example, below 5mm, the registered data cut-off part of the point cloud is checked, and no layering occurs, as shown in fig. 10, the registered data cut-off part of the point cloud is a well-registered overall effect graph.
3 deformation analysis
And intercepting the wooden tower point cloud in different views on the basis of the point cloud model under the absolute coordinate system after registration. The deformation of the Yinxian wooden tower is mainly the deformation of the columns, so the columns are mainly analyzed, and the deformation conditions of single column deviation, single-layer column deviation, longitudinal integral column deviation, integral inclination, torsion and the like are analyzed.
3.1 Single column offset analysis
Referring to fig. 11, the method includes:
s1101, intercepting a point cloud of a column to be analyzed in the overall point cloud model;
s1102, fitting the point cloud of the column head column base of the column to be analyzed into a circle, and fitting the edge of the column to be analyzed into a straight line;
s1103, connecting the circle centers of column heads and column feet of the columns to be analyzed to obtain center lines of the columns;
s1104, making a vertical line at the bottom of the column to be analyzed, wherein an included angle formed by the vertical line and the center line is an offset angle of the column to be analyzed.
The method comprises the steps of cutting out point clouds of all columns in an integral point cloud model, fitting the point clouds of column head column bases into a circle, fitting the edges of the columns into a straight line, connecting the circle centers of the column head column bases to obtain the center lines of the columns, making vertical lines of the bottoms of the columns through the middle points of the bottoms of the columns, regarding included angles formed by the vertical lines and the center lines as the inclination angles of the columns, measuring the inclination angles of the columns under a front view and a left view, and analyzing the deviation of a single column. As shown in fig. 12, the offset angle of the pillars in the second layer of the wooden tower is the largest in the southwest direction, the offset angle of the northwest direction is larger in the eastern direction, the offset angle of the southeast direction is larger in the northeast direction, and the offset angle of the northeast direction is the smallest, so that the pillars are offset in the northeast direction as a whole and the offset of the southwest direction is more serious than that of the other directions.
3.2 Single layer offset analysis
Referring to fig. 13, the method includes:
s1301, cutting point clouds of column head column bases in layers in the overall point cloud model, and overlapping the point clouds of the column head column bases;
s1302, fitting the column head column base into a circle according to the point cloud, wherein the circle center is the center of the column head column base;
s1303, measuring the distances of the upper circle center and the lower circle center in three directions, wherein the longitudinal deviation represents the deviation of the column along the north-south direction, and the comprehensive deviation represents the linear distance between the corresponding circle centers of the column top and the column base.
The point clouds of the column head column bases are cut out layer by layer in the integral point cloud model, the point clouds of the column head column bases are overlapped, the column head column bases are fitted into a circle according to the point clouds, the circle center can be regarded as the center of the column head column base, the distances of the upper circle center and the lower circle center in three directions are measured, the longitudinal deviation represents the deviation of the column in the south-north direction, and the comprehensive deviation represents the linear distance between the column top and the corresponding circle center of the column base, as shown in fig. 14a-14 b.
From the above data, M2W23 pillar is the pillar with the largest strain, and the offset distance is the largest in each direction; the east-west offset is column No. M2N 05: the minimum offset distance in the north-south direction is column No. N2W12, and the minimum offset distance in the combination is column No. M2N 05. In the whole view, the offset of the column positioned on the northeast side is the smallest, and then the northeast side, the northwest side, the southeast side, the west side and the south side are the most serious, and the southwest side is inclined towards the northeast direction.
3.3 Overall Displacement analysis
In order to visually represent the inclination and stress conditions among the columns of each layer, a complete point cloud of four columns on the diagonal is cut out from the top view of the point cloud model, as shown in fig. 15. Is a column point cloud in the north-east direction. The second layer has a relatively maximum inclination and the fifth layer has a minimum inclination in the longitudinal direction. The southwest surface pillar in the second layer of bright layer is obviously inclined, and the southwest surface pillar is already reinforced.
3.4 Tilt analysis
Referring to fig. 16, analyzing the overall inclination of the tower type historic building to be tested includes:
s1601, cutting a section along a diagonal line in the left-right direction and a diagonal line in the up-down direction in a top view of the integral point cloud model;
s1602, fitting point clouds on two sides of the first layer and the top layer of the tower type historic building to be detected into a straight line;
s1603, center points of a first layer and a top layer are obtained according to the middle points of the straight lines, the center of the first layer and the center of the top layer are connected to obtain a tilt direction line of the tower type historic building to be measured, a perpendicular line is made at the center of the first layer, and an included angle between the tilt direction line and the perpendicular line, namely a tilt angle, is measured.
In order to analyze the degree of inclination of the wooden tower, the overall inclination angle was measured in the cross section of the wooden tower. Cutting a section along an east-west diagonal and a south-north diagonal in a top view of a point cloud model of the wooden tower, fitting point clouds on two sides of a first layer and a fifth layer of the wooden tower into a straight line, obtaining central points of the two layers by utilizing the middle points of the straight line, connecting the center of a wood bottom layer with the center of the fifth layer to obtain an inclined direction line of the wooden tower, making a vertical line through the center of the bottom layer, measuring an included angle between the inclined direction line and the vertical line, namely an inclined angle, wherein the east-west section of the wooden tower is inclined by 0.31 degrees towards the east, and the south-north section of the wooden tower is inclined by 0.
3.5 torsion analysis
Referring to fig. 18, the analysis of the overall torsion of the tower type historic building to be tested includes:
s1801, sectioning the whole point cloud model along the outermost edge of each layer of the tower type historic building to be tested;
s1802, overlaying each layer of point cloud data;
and S1803, when the central points of the layers are not coincident, the tower type historic building to be tested is in a twisted state.
Through the analysis of dissecting of structure, can obtain the torsional gesture of ancient towers fast accurately. Sectioning is carried out along the outermost edge of each layer of the ancient towers in the point cloud model of the wooden tower, data of each layer are superposed, and the data are shown in figure 19, and the central points of each layer of the wooden tower are not overlapped, so that the wooden tower is in a distorted state.
Taking an actual Queen township as an example, the method obtains laser point cloud data of the inside and the outside of the Queen township through a three-dimensional laser radar technology, obtains coordinates of target control points through control and measurement of a total station, and finally obtains a point cloud model under an absolute coordinate system through point cloud registration and coordinate conversion. The current situation of the towering in the county is analyzed on the point cloud model, and the point cloud model is analyzed from five angles, so that the point cloud deviation of a single column, the deviation of a single-layer column, the deviation of a longitudinal column, deformation conditions influencing the inclination, torsion and the like of the towering are analyzed. According to the analysis, the fact that the whole of the Cheng county wooden tower is twisted is obtained, the deformation degree of the second layer is the largest when the column M2W23 is viewed transversely, the whole of the Cheng county wooden tower is inclined towards the northeast direction when the column M2W23 is viewed longitudinally, and the deformation degree of the column in the southeast direction is more serious than that of other faces.
According to the invention, relatively complete point cloud data can be acquired through a three-dimensional laser radar technology, a high-precision tower type historic building point cloud model is constructed, and the overall posture, deviation, torsion and other conditions of the tower type historic building can be conveniently and comprehensively analyzed.
Based on the same conception, the embodiment of the invention also provides a device for monitoring and analyzing the deformation of the tower type historic building, and as the principle of the problem solved by the device is similar to the method for monitoring and analyzing the deformation of the tower type historic building, the implementation of the device can refer to the implementation of the method, and repeated parts are not repeated.
In a second aspect, the present invention further provides an analysis apparatus for monitoring deformation of a building, as shown in fig. 20, including:
the acquisition module 21 is used for acquiring point cloud data of the tower type historic building to be detected according to the three-dimensional laser scanner;
the establishing module 22 is used for acquiring the coordinates of the control points around the tower type historic building to be detected through a total station and establishing a monitoring absolute coordinate system; the control points are target control points distributed around the tower type historic building to be tested;
a registration module 23 for registering the point cloud data to the absolute coordinate system;
and the analysis module 24 is used for carrying out deformation processing analysis on the deviation, single-layer deviation, overall inclination and torsion of the single column of the tower type historic building to be detected.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (6)
1. A method for monitoring and analyzing deformation of a tower type historic building is characterized by comprising the following steps:
acquiring point cloud data of the tower type historic building to be detected according to the three-dimensional laser scanner;
acquiring the coordinates of control points around the tower type historic building to be detected through a total station, and establishing a monitoring absolute coordinate system; the control points are target control points distributed around the tower type historic building to be tested;
registering the point cloud data to the absolute coordinate system; the point cloud data includes: an external point cloud model and an internal point cloud model of the tower type historic building to be detected; registering the internal point cloud model to the absolute coordinate system, comprising: point clouds on the same layer are registered by taking target paper as characteristic points, and point clouds on the upper layer and the lower layer are registered by taking the same-name points and the same-name surfaces on stairs as characteristics to finish the first registration; on the basis of the first registration, finishing second registration according to an ICP algorithm to realize registration of the internal point cloud model to the absolute coordinate system;
point cloud data coordinate conversion and internal and external data registration are carried out, registration is carried out through a point characteristic error equation, and at least 3 pairs of same-name points which are not on the same straight line are required; for coordinate X of same-name point in internal and external point clouds0(x0,y0,z0) X (X, y, z), offset Δ X (Δ X, Δ y, Δ z), with the following transformation relationship between them:
X0＝RX+ΔX
the error equation of the rotation parameter is expressed as V ═ At-L
Wherein the content of the first and second substances,
a represents a coefficient matrix related to the spatial transformation parameters, t represents the spatial transformation parameter correction number, and L represents an observation value residual error;
after the build parameter R of the Rodrigue parameter is solved, the error equation of the translation parameter is as follows:
V＝ΔX-(X0-RX)；
carrying out deformation processing analysis on the offset, single-layer offset, overall inclination and torsion of a single column of the tower type historic building to be detected;
wherein, to the skew of the single post of tower ancient building that awaits measuring carries out deformation treatment analysis, include:
intercepting point clouds of the pillars to be analyzed in the overall point cloud model; the integral point cloud model comprises: an external point cloud model and an internal point cloud model;
fitting the point cloud of the column head column foot of the column to be analyzed into a circle, and fitting the edge of the column to be analyzed into a straight line;
connecting the circle centers of column heads and column feet of the columns to be analyzed to obtain the center lines of the columns;
making a vertical line at the bottom of the column to be analyzed, wherein an included angle formed by the vertical line and the central line is an offset angle of the column to be analyzed;
analyzing the integral torsion of the tower type historic building to be tested, comprising the following steps:
sectioning the integral point cloud model along the outermost edge of each layer of the tower type historic building to be detected;
superposing point cloud data of each layer;
when the central points of all the layers are not coincident, the tower type historic building to be tested is in a twisted state;
analyzing the single-layer deviation of the tower type historic building to be detected, comprising the following steps:
cutting point clouds of column head column bases in layers in the integral point cloud model, and overlapping the point clouds of the column head column bases;
fitting the column head column base into a circle according to the point cloud, wherein the circle center is the center of the column head column base;
the distances of the upper circle center and the lower circle center in three directions are measured, the longitudinal deviation represents the deviation of the column in the north-south direction, and the comprehensive deviation represents the linear distance between the corresponding circle centers of the column top and the column base.
2. The method for monitoring and analyzing the deformation of the tower type historic building according to claim 1, wherein the step of obtaining the point cloud data of the tower type historic building to be measured according to the three-dimensional laser scanner comprises the following steps:
acquiring external point cloud data of the tower type historic building to be detected by adopting a medium-remote three-dimensional laser scanner to generate an external point cloud model;
obtaining internal point cloud data of the tower type historic building to be detected by adopting a short-range three-dimensional laser scanner to generate an internal point cloud model;
registering the point cloud data to the absolute coordinate system, including:
registering both the external point cloud model and the internal point cloud model to the absolute coordinate system.
3. The method for deformation monitoring and analysis of tower type historic building of claim 2, wherein the registration of the external point cloud model to the absolute coordinate system comprises:
in the registration, all characteristic constraints are used as observed values, and the space conversion parameters and part of unknown constraints of each station point cloud are used as undetermined parameters to carry out overall indirect adjustment;
directly carrying out space transformation on the original point cloud according to the solved space transformation parameters;
when the integral registration of multi-station point cloud is carried out, a point constraint error equation is constructed by taking a control constraint as a basis and a target control network as a reference;
when the average error of the registration is smaller than a first preset threshold value, the registration of the external point cloud model to the absolute coordinate system is completed; the result of the construction point constraint error equation is the mean error of the registration.
4. The method of claim 3, wherein registering both the external point cloud model and the internal point cloud model to the absolute coordinate system comprises:
registering the external point cloud model and the internal point cloud model to the absolute coordinate system to generate an integral point cloud model;
constructing a point characteristic error equation for registration;
and when the average error of the registration is smaller than a second preset threshold value, finishing the registration of the external point cloud model and the internal point cloud model to the absolute coordinate system.
5. The method for monitoring and analyzing the deformation of the tower type historic building as claimed in claim 4, wherein the step of analyzing the integral inclination of the tower type historic building to be tested comprises the following steps:
cutting a section along a diagonal line in the left-right direction and a diagonal line in the up-down direction in a top view of the integral point cloud model;
fitting the point clouds on the two sides of the first layer and the top layer of the tower type historic building to be detected into a straight line;
and obtaining the center points of the first layer and the top layer according to the middle points of the straight lines, connecting the center of the first layer with the center of the top layer to obtain the inclined direction line of the tower type historic building to be tested, making a perpendicular line at the center of the first layer, and measuring the included angle between the inclined direction line and the perpendicular line, namely the inclined angle.
6. An analysis apparatus for monitoring deformation of a building, comprising:
the acquisition module is used for acquiring point cloud data of the tower type historic building to be detected according to the three-dimensional laser scanner;
the building module is used for obtaining the coordinates of the control points around the tower type historic building to be detected through a total station and building a monitoring absolute coordinate system; the control points are target control points distributed around the tower type historic building to be tested;
a registration module for registering the point cloud data to the absolute coordinate system;
the analysis module is used for carrying out deformation processing analysis on the offset, single-layer offset, overall inclination and torsion of a single column of the tower type historic building to be detected;
wherein the point cloud data comprises: an external point cloud model and an internal point cloud model of the tower type historic building to be detected; in the registration module, registering the internal point cloud model to the absolute coordinate system includes: point clouds on the same layer are registered by taking target paper as characteristic points, and point clouds on the upper layer and the lower layer are registered by taking the same-name points and the same-name surfaces on stairs as characteristics to finish the first registration; on the basis of the first registration, finishing second registration according to an ICP algorithm to realize registration of the internal point cloud model to the absolute coordinate system; point cloud data coordinate conversion and internal and external data registration are carried out, registration is carried out through a point characteristic error equation, and at least 3 pairs of same-name points which are not on the same straight line are required; for coordinate X of same-name point in internal and external point clouds0(x0,y0,z0) X (X, y, z), offset Δ X (Δ X, Δ y, Δ z), with the following transformation relationship between them:
X0＝RX+ΔX
the error equation of the rotation parameter is expressed as V ═ At-L
Wherein the content of the first and second substances,
a represents a coefficient matrix related to the spatial transformation parameters, t represents the spatial transformation parameter correction number, and L represents an observation value residual error;
after the build parameter R of the Rodrigue parameter is solved, the error equation of the translation parameter is as follows:
V＝ΔX-(X0-RX)；
in the analysis module, the deformation processing analysis is carried out on the deviation of the single column of the tower type historic building to be detected, and the analysis module comprises: intercepting point clouds of the pillars to be analyzed in the overall point cloud model; the integral point cloud model comprises: an external point cloud model and an internal point cloud model; fitting the point cloud of the column head column foot of the column to be analyzed into a circle, and fitting the edge of the column to be analyzed into a straight line; connecting the circle centers of column heads and column feet of the columns to be analyzed to obtain the center lines of the columns; making a vertical line at the bottom of the column to be analyzed, wherein an included angle formed by the vertical line and the central line is an offset angle of the column to be analyzed;
in the analysis module, the whole torsion of the tower type historic building to be tested is analyzed, and the analysis module comprises: sectioning the integral point cloud model along the outermost edge of each layer of the tower type historic building to be detected; superposing point cloud data of each layer; when the central points of all the layers are not coincident, the tower type historic building to be tested is in a twisted state;
in the analysis module, analyzing the single-layer deviation of the tower type historic building to be tested, comprising:
cutting point clouds of column head column bases in layers in the integral point cloud model, and overlapping the point clouds of the column head column bases;
fitting the column head column base into a circle according to the point cloud, wherein the circle center is the center of the column head column base;
the distances of the upper circle center and the lower circle center in three directions are measured, the longitudinal deviation represents the deviation of the column in the north-south direction, and the comprehensive deviation represents the linear distance between the corresponding circle centers of the column top and the column base.
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| CN111006601A (en) * | 2019-11-12 | 2020-04-14 | 黑龙江工程学院 | Key technology of three-dimensional laser scanning in deformation monitoring |
| CN111121733A (en) * | 2019-12-30 | 2020-05-08 | 青岛国信海天中心建设有限公司 | Construction quality detection method and system based on BIM and three-dimensional laser scanning |
| CN111102926A (en) * | 2020-01-02 | 2020-05-05 | 青岛国信海天中心建设有限公司 | Engineering quality detection method and system based on BIM |
| CN111578857A (en) * | 2020-05-23 | 2020-08-25 | 上海建为历保科技股份有限公司 | Method for monitoring deformation of wood structure building |
| CN112229340A (en) * | 2020-09-04 | 2021-01-15 | 国网浙江省电力有限公司丽水供电公司 | Tower body structure developments horizontal deformation monitoring devices based on laser projection |
| CN112419503A (en) * | 2020-12-07 | 2021-02-26 | 深圳市房多多网络科技有限公司 | Building model generation method and device, computing equipment and storage medium |
| CN113432529B (en) * | 2020-12-30 | 2022-09-20 | 华南理工大学 | Seismic damage structure interlayer residual deformation detection method based on unmanned aerial vehicle camera shooting |
| CN115560690B (en) * | 2022-10-09 | 2024-02-02 | 中交第三航务工程局有限公司 | Structure integral deformation analysis method based on three-dimensional laser scanning technology |
| CN115457219B (en) * | 2022-10-25 | 2023-08-15 | 内蒙古工业大学 | Protection method for ancient building wood structure in building cultural heritage |
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