CN110542388A - Tunnel face deformation alarm method based on mobile three-dimensional laser scanning - Google Patents
Tunnel face deformation alarm method based on mobile three-dimensional laser scanning Download PDFInfo
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- CN110542388A CN110542388A CN201910916083.1A CN201910916083A CN110542388A CN 110542388 A CN110542388 A CN 110542388A CN 201910916083 A CN201910916083 A CN 201910916083A CN 110542388 A CN110542388 A CN 110542388A
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- point cloud
- tunnel face
- cloud data
- dimensional laser
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Abstract
The invention discloses a tunnel face deformation alarm method based on mobile three-dimensional laser scanning, which comprises the following steps: selecting a tunnel face to be monitored, and unifying coordinates by using a prism and a total station; installing a mobile rail trolley prepared in advance, and fixing a three-dimensional laser scanner on the mobile rail trolley; determining a tunnel face monitoring point, and acquiring point cloud data by using a three-dimensional laser scanner; processing the acquired point cloud data by using point cloud processing software, and determining the corresponding position of the monitoring point of the tunnel face in the whole point cloud data; acquiring a deformation value of a tunnel face monitoring point according to the point cloud data, and setting an early warning threshold value in alarm software; and judging whether to automatically alarm according to whether the rock-soil deformation value of the tunnel face exceeds an early warning threshold value. Has the advantages that: the invention realizes real-time monitoring of the tunnel face and meets the safety requirement of the tunnel face during operation.
Description
Technical Field
the invention relates to the technical field of tunnel face monitoring, in particular to a tunnel face deformation alarm method based on mobile three-dimensional laser scanning.
background
In the 21 st century, the monitoring of tunnels such as subway tunnels, highway tunnels, high-speed rail tunnels and the like mainly adopts a method that traditional monitoring instruments such as a total station, a hydrological instrument, a convergence instrument and the like are utilized, and monitoring points are distributed, an observation scheme is designed, and various adjustment differences are adopted to obtain point position coordinates and point position change information so as to obtain information in the aspects of section deformation, convergence deformation horizontal displacement tunnel settlement, tunnel face deformation and the like of the tunnels. However, they are all acquiring three-dimensional coordinates of a single control point, and need to acquire massive data, which takes much time, thus resulting in reduced observation accuracy. Meanwhile, the traditional monitoring method can only monitor partial deformation of the periphery of the monitoring point, and cannot obtain the whole change of the tunnel, which is very unfavorable for measuring the tunnel safety.
the three-dimensional laser scanning technology is a breakthrough innovation in the mapping history after GPS, the three-dimensional laser scanner can finely scan a space scene, acquire three-dimensional laser point cloud for three-dimensional modeling, and various post-processing such as metering, analysis, mapping monitoring, display and the like can be performed on the point cloud data through software. The three-dimensional laser scanning technology is also called as a real scene replication technology, and has the advantages of non-contact, high scanning speed, large information acquisition amount, high precision, low environmental requirement and the like. Laser scanning can solve the problem of insufficient tunnel light by emitting light beams by the laser scanning device, and is suitable for measuring tunnel parameters. The three-dimensional laser scanning technology is mature, and the application of the three-dimensional laser scanning technology to tunnel monitoring becomes a hot point of domestic and foreign research, so that the monitoring efficiency can be improved, and the integral deformation of the tunnel can be obtained.
in the construction process of tunnel engineering, various complicated engineering geological conditions are inevitably met, and the difficulty is brought to engineering construction. In the tunnel excavation process, collapse, falling stones and falling stones may occur on the tunnel face, engineering accidents even occur due to deformation of the tunnel face caused by water pressure, tunnel collapse accidents caused by instability of the tunnel face in recent years are commonly reported, high attention is increasingly paid to academic and engineering circles, and many foundation and application problems are urgently required to be solved. In actual design and construction, the construction safety of the tunnel face is difficult to guarantee because the construction is mostly determined according to the experience of engineers.
however, in a complex tunnel environment, the control and monitoring of the tunnel face by the existing monitoring method will be very difficult, and meanwhile, the total station has huge measurement data and is not easy to process, so that a new method for monitoring the tunnel face in real time is urgently needed to avoid the occurrence of geotechnical slip and engineering accidents.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides an automatic alarm system for tunnel face deformation applied to a mobile three-dimensional laser scanning technology, which can realize real-time monitoring of the face, can enable the maximum deviation to be in the millimeter level and avoid falling rocks from endangering the safety of operators. The tunnel monitoring scheme with the Z + F three-dimensional laser scanner as the core not only achieves the standard requirement of precision, but also is more accurate and safer than the surface observation of an engineer in ordinary times. The invention can be applied to monitoring the tunnel faces of various tunnels to ensure the safety of the tunnels.
therefore, the invention adopts the following specific technical scheme: the tunnel face deformation alarm method based on the mobile three-dimensional laser scanning comprises the following steps:
selecting a tunnel face to be monitored, and unifying coordinates by using a prism and a total station;
installing a mobile rail trolley prepared in advance, and fixing a three-dimensional laser scanner on the mobile rail trolley;
determining the monitoring points of the tunnel face, and utilizing point cloud data acquired by the three-dimensional laser scanner;
processing the acquired point cloud data by using point cloud processing software, and determining the corresponding position of the palm surface monitoring point in the whole point cloud data;
acquiring a deformation value of the tunnel face monitoring point according to the point cloud data, and setting an early warning threshold value in alarm software;
And comparing the rock-soil deformation value of the tunnel face with the early warning threshold value, and judging whether to automatically alarm.
further, the method also comprises the following steps in the process of selecting the tunnel face to be monitored and utilizing the same coordinate of the prism and the total station:
And controlling the initial coordinates of the tunnel face by using the total station and the prism, namely finishing the directional positioning of the point cloud by using the prism so as to enable the point cloud coordinates to be consistent with the actual coordinates.
Further, the method for installing the movable rail trolley and fixing the three-dimensional laser scanner on the movable rail trolley further comprises the following steps:
And when the blasting of the tunnel is finished, namely after the initial slag tapping is finished, a simple movable rail trolley of 10m is arranged between the distance from the tunnel face to 10-50m, and the three-dimensional laser scanner is arranged on the movable rail trolley.
further, the method for determining the tunnel face monitoring point and utilizing the point cloud data acquired by the three-dimensional laser scanner further comprises the following steps:
After blasting and primary treatment of residues, arranging a plurality of monitoring points on the tunnel face according to the grade of tunnel surrounding rocks and a field construction scheme, and establishing a uniform coordinate system by utilizing the total station in cooperation with the three-dimensional laser scanning instrument;
At least three public working base points are guaranteed to be arranged between each laser scanning measuring station, and the three-dimensional laser scanner is used for obtaining the coordinates of the working base points of each laser scanning measuring station and the point cloud of the tunnel.
Further, the point cloud processing software comprises one of professional point cloud processing software such as RealWorks Suryey and Imageware.
Further, the processing of the acquired point cloud data by using point cloud processing software specifically comprises the following steps:
firstly, denoising, registering, segmenting and merging the acquired point cloud data by using the point cloud processing software;
then, the point cloud data is simplified and sorted by using the point cloud processing software;
And finally, splicing the obtained point cloud data by using the point cloud processing software to obtain the integral point cloud data of the tunnel face.
Further, acquiring the deformation value of the monitoring point of the tunnel face according to the point cloud data, specifically comprising the following steps:
obtaining the position of each monitoring point in the whole point cloud data according to the corresponding position of the monitoring point of the tunnel face in the whole point cloud data;
and extracting point cloud data in a certain range from the whole point cloud data by taking the monitoring points as centers, and performing normal distribution fitting on the extracted point cloud data to obtain the deformation and damage conditions of the rock soil around each monitoring point of the tunnel face.
further, comparing the rock-soil deformation value of the tunnel face with the early warning threshold value, and judging whether to automatically alarm or not, specifically comprising the following steps:
when the rock-soil deformation value of the tunnel face exceeds the early warning threshold value, automatic voice alarm is carried out;
And when the rock-soil deformation value of the tunnel face does not exceed the early warning threshold value, automatic voice alarm is not performed.
The invention has the beneficial effects that:
1. the invention can realize real-time monitoring of the tunnel face, and can ensure that the maximum deviation is in the millimeter level, thereby avoiding the falling rocks from endangering the safety of operators.
2. the tunnel face monitoring scheme with the Z + F three-dimensional laser scanner as the core not only achieves the standard requirement of precision, but also is more accurate and safer than the surface observation of an engineer in ordinary times.
3. The invention can be applied to monitoring the tunnel faces of various tunnels to ensure the safety of tunnel workers.
drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of a tunnel face deformation warning method based on moving three-dimensional laser scanning according to an embodiment of the present invention.
Detailed Description
For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the invention, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.
According to the embodiment of the invention, a tunnel face deformation alarm method based on mobile three-dimensional laser scanning is provided.
Referring to the drawings and the detailed description, the invention will be further explained, as shown in fig. 1, in an embodiment of the invention, a tunnel face deformation alarm method based on moving three-dimensional laser scanning includes the following steps:
s101, selecting a tunnel face to be monitored, and unifying coordinates by using a prism and a total station;
Wherein, the step S101 further includes the steps of:
and controlling the initial coordinates of the tunnel face by using the total station and the prism, namely finishing the directional positioning of the point cloud by using the prism so as to enable the point cloud coordinates to be consistent with the actual coordinates.
step S102, installing a mobile rail car prepared in advance, and fixing a three-dimensional laser scanner on the mobile rail car;
wherein the step S102 further includes the steps of:
and when the blasting of the tunnel is finished, namely after the initial slag tapping is finished, a simple movable rail trolley of 10m is arranged between the distance from the tunnel face to 10-50m, and the three-dimensional laser scanner is arranged on the movable rail trolley.
Step S103, determining the tunnel face monitoring points and utilizing point cloud data acquired by the three-dimensional laser scanner;
Wherein the step S103 further comprises the steps of:
in the data acquisition process, after blasting and primarily processing residues, arranging a plurality of monitoring points on the tunnel face according to the grade of tunnel surrounding rocks and a field construction scheme, and establishing a uniform coordinate system by utilizing the total station to cooperate with the three-dimensional laser scanning instrument;
At least three public working base points are guaranteed to be arranged between each laser scanning measuring station, and the three-dimensional laser scanner is used for obtaining the coordinates of the working base points of each laser scanning measuring station and the point cloud of the tunnel.
step S104, processing the acquired point cloud data by using point cloud processing software, and determining the corresponding position of the tunnel face monitoring point in the whole point cloud data;
The point cloud processing software comprises one of professional point cloud processing software such as RealWorks Suryey and Imageware.
the point cloud data processing method specifically comprises the following steps:
Firstly, denoising, registering, segmenting and merging the acquired point cloud data by using the point cloud processing software;
then, the point cloud data is simplified and sorted by using the point cloud processing software;
And finally, splicing the obtained point cloud data by using the point cloud processing software to obtain the integral point cloud data of the tunnel face.
step S105, acquiring a deformation value of the tunnel face monitoring point according to the point cloud data, and setting an early warning threshold value in alarm software;
The method comprises the following steps of acquiring a deformation value of a tunnel face monitoring point according to point cloud data, and specifically comprises the following steps:
Obtaining the position of each monitoring point in the whole point cloud data according to the corresponding position of the monitoring point of the tunnel face in the whole point cloud data;
And extracting point cloud data in a certain range from the whole point cloud data by taking the monitoring points as centers, and performing normal distribution fitting on the extracted point cloud data to obtain the deformation and damage conditions of the rock soil around each monitoring point of the tunnel face.
And S106, comparing the rock-soil deformation value of the tunnel face with the early warning threshold value, and judging whether to perform automatic alarm or not.
Wherein, the step S106 specifically includes the following steps:
When the rock-soil deformation value of the tunnel face exceeds the early warning threshold value, automatic voice alarm is carried out;
and when the rock-soil deformation value of the tunnel face does not exceed the early warning threshold value, automatic voice alarm is not performed.
in conclusion, by means of the technical scheme, the invention can realize real-time monitoring of the tunnel face, can enable the maximum deviation to be in the millimeter level, and avoids falling rocks from endangering the safety of operators. The tunnel face monitoring scheme with the Z + F three-dimensional laser scanner as the core not only achieves the standard requirement of precision, but also is more accurate and safer than the surface observation of an engineer in ordinary times. The invention can be applied to monitoring the tunnel faces of various tunnels to ensure the safety of tunnel workers.
With the foregoing description being only of the preferred embodiments of the invention, it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (8)
1. The tunnel face deformation alarm method based on the mobile three-dimensional laser scanning is characterized by comprising the following steps of:
Selecting a tunnel face to be monitored, and unifying coordinates by using a prism and a total station;
Installing a mobile rail trolley prepared in advance, and fixing a three-dimensional laser scanner on the mobile rail trolley;
determining the monitoring points of the tunnel face, and utilizing point cloud data acquired by the three-dimensional laser scanner;
Processing the acquired point cloud data by using point cloud processing software, and determining the corresponding position of the palm surface monitoring point in the whole point cloud data;
acquiring a deformation value of the tunnel face monitoring point according to the point cloud data, and setting an early warning threshold value in alarm software;
and comparing the rock-soil deformation value of the tunnel face with the early warning threshold value, and judging whether to automatically alarm.
2. The tunnel face deformation alarm method based on mobile three-dimensional laser scanning as claimed in claim 1, characterized in that, in selecting the face to be monitored and using the prism and the total station in the same coordinate, the method further comprises the following steps:
and controlling the initial coordinates of the tunnel face by using the total station and the prism, namely finishing the directional positioning of the point cloud by using the prism so as to enable the point cloud coordinates to be consistent with the actual coordinates.
3. The tunnel face deformation alarm method based on the mobile three-dimensional laser scanning as claimed in claim 1, wherein the step of installing a mobile rail car and fixing the three-dimensional laser scanner on the mobile rail car further comprises the following steps:
and when the blasting of the tunnel is finished, namely after the initial slag tapping is finished, a simple movable rail trolley of 10m is arranged between the distance from the tunnel face to 10-50m, and the three-dimensional laser scanner is arranged on the movable rail trolley.
4. the tunnel face deformation alarm method based on the mobile three-dimensional laser scanning as claimed in claim 1, characterized in that the method further comprises the following steps in determining the monitoring points of the tunnel face and utilizing the point cloud data obtained by the three-dimensional laser scanner:
after blasting and primary treatment of residues, arranging a plurality of monitoring points on the tunnel face according to the grade of tunnel surrounding rocks and a field construction scheme, and establishing a uniform coordinate system by utilizing the total station in cooperation with the three-dimensional laser scanning instrument;
at least three public working base points are guaranteed to be arranged between each laser scanning measuring station, and the three-dimensional laser scanner is used for obtaining the coordinates of the working base points of each laser scanning measuring station and the point cloud of the tunnel.
5. the tunnel face deformation alarm method based on the mobile three-dimensional laser scanning as claimed in claim 1, wherein the point cloud processing software comprises one of professional point cloud processing software such as RealWorks Suryey and Imageware.
6. the tunnel face deformation alarm method based on the mobile three-dimensional laser scanning as claimed in claim 1, wherein the processing of the acquired point cloud data by using point cloud processing software specifically comprises the following steps:
Firstly, denoising, registering, segmenting and merging the acquired point cloud data by using the point cloud processing software;
then, the point cloud data is simplified and sorted by using the point cloud processing software;
and finally, splicing the obtained point cloud data by using the point cloud processing software to obtain the integral point cloud data of the tunnel face.
7. the tunnel face deformation alarm method based on the mobile three-dimensional laser scanning as claimed in claim 1, wherein the deformation value of the monitoring point of the tunnel face is obtained according to the point cloud data, and the method specifically comprises the following steps:
obtaining the position of each monitoring point in the whole point cloud data according to the corresponding position of the monitoring point of the tunnel face in the whole point cloud data;
and extracting point cloud data in a certain range from the whole point cloud data by taking the monitoring points as centers, and performing normal distribution fitting on the extracted point cloud data to obtain the deformation and damage conditions of the rock soil around each monitoring point of the tunnel face.
8. the tunnel face deformation alarm method based on the mobile three-dimensional laser scanning as claimed in claim 1, wherein the rock-soil deformation value of the face is compared with the early warning threshold value, and whether to perform automatic alarm is judged, specifically comprising the following steps:
When the rock-soil deformation value of the tunnel face exceeds the early warning threshold value, automatic voice alarm is carried out;
And when the rock-soil deformation value of the tunnel face does not exceed the early warning threshold value, automatic voice alarm is not performed.
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| CN114059995A (en) * | 2021-10-29 | 2022-02-18 | 河南和远机械科技有限公司 | Intelligent control system of drill jumbo |
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| CN115930800A (en) * | 2023-02-21 | 2023-04-07 | 西南石油大学 | Tunnel face displacement field monitoring method based on three-dimensional laser point cloud |
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| CN111927558A (en) * | 2020-10-13 | 2020-11-13 | 中国科学院武汉岩土力学研究所 | Safety early warning method and device for full-face tunneling of dynamic water weak surrounding rock tunnel |
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| CN114059995A (en) * | 2021-10-29 | 2022-02-18 | 河南和远机械科技有限公司 | Intelligent control system of drill jumbo |
| CN115690184A (en) * | 2022-10-24 | 2023-02-03 | 西南交通大学 | Tunnel face displacement measurement method based on three-dimensional laser scanning |
| CN115690184B (en) * | 2022-10-24 | 2024-02-06 | 西南交通大学 | Tunnel face displacement measurement method based on three-dimensional laser scanning |
| CN115930800A (en) * | 2023-02-21 | 2023-04-07 | 西南石油大学 | Tunnel face displacement field monitoring method based on three-dimensional laser point cloud |
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Application publication date: 20191206 |