CN110608721B - Unmanned aerial vehicle-based karst cave internal structure detection method and device - Google Patents

Unmanned aerial vehicle-based karst cave internal structure detection method and device Download PDF

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CN110608721B
CN110608721B CN201910868902.XA CN201910868902A CN110608721B CN 110608721 B CN110608721 B CN 110608721B CN 201910868902 A CN201910868902 A CN 201910868902A CN 110608721 B CN110608721 B CN 110608721B
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unmanned aerial
karst cave
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周苏华
陈昌富
谭鑫
刘晓明
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Hunan University
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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
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

The invention discloses a karst cave internal structure detection method and device based on an unmanned aerial vehicle. The invention aims to provide a detection method and a detection device which are simple in structure, low in cost and easy to operate. The detection method comprises the steps of detecting each depth in each complex area in the karst cave by using the unmanned aerial vehicle as a carrier to obtain the coordinates of the set point of the cave wall, and further obtaining a three-dimensional map of the internal structure of the karst cave. In addition, a karst cave internal structure detection device based on the detection method is also provided.

Description

Unmanned aerial vehicle-based karst cave internal structure detection method and device
Technical Field
The invention relates to the field of detection of an internal structure of a karst cave, in particular to a method and a device for detecting the internal structure of the karst cave based on an unmanned aerial vehicle.
Background
Karst rock is a common geological region during tunnel excavation. The soluble rock is a solution tank, a solution ditch or a solution cave which is formed by the erosion of water flow all the year round and is irregularly distributed and circulated, wherein the soluble rock is limestone, dolomite, gypsum, rock salt and other soluble rock stratums. In the tunnel excavation process, the relative position of the karst cave relative to the established route of the tunnel is generally divided into four conditions, namely the karst cave is respectively positioned at the arch crown, the arch waist, the side wall and the arch bottom, but sometimes the karst cave which is not detected may suddenly appear at a position right ahead the karst cave when the tunnel is excavated to a certain position. Therefore, the development condition, the basic form, the scale volume, the integrity, the property of the filling materials in the cave and the like of the karst cave in the area where the tunnel is excavated are fully known, so that professional technicians are helped to evaluate the geological stability of the karst area, active prevention and treatment measures can be taken in time in the construction process, and the smooth construction and the safe tunnel operation are ensured.
The karst cave detection method commonly used at the present stage comprises advanced drilling, geophysical drilling, electromagnetic wave chromatography CT detection, three-high measurement technology and the like, most of the karst cave detection technologies take the earth surface as a base point, and the karst cave below the earth surface is detected by relying on a vertical drilling technology, so that the karst cave detection method has a plurality of defects: on one hand, this type of technique can only detect a part of the cavern, and on the other hand, most of these techniques can only judge the existence of the cavern and cannot determine the internal structure and size of the cavern. Especially for the karst cave suddenly appearing on the front excavation surface in the tunnel excavation process, the method is restricted by space, the common measurement technology and other detection technologies depending on manual work cannot be used in the karst cave, and the detection means mentioned above is more restrained.
Chinese patent document CN201610361295.4 proposes a method for detecting the internal structure of a karst cave, which can detect the internal structure of the karst cave to a certain extent, but still uses the earth surface as a base point, and performs lowering instrument detection through drilling, the detector can only be kept on a vertical line during lowering, when the inside of the karst cave is relatively complex (such as when a curve occurs), complete karst cave detection cannot be performed, and the internal structure of the detector itself is extremely complex; chinese patent document CN201711406069.4 proposes a method for detecting an address defect in a karst area based on an unmanned aerial vehicle, and although the technology using the unmanned aerial vehicle is novel, the technology using the digital influence recognition technology is adopted, so that the final three-dimensional modeling is expensive in cost and high in manufacturing cost, and is not suitable for conventional use.
Disclosure of Invention
In order to solve the problems in the prior art, the technical scheme of the invention provides a karst cave internal structure detection method and device based on an unmanned aerial vehicle. The technical scheme is as follows:
in a first aspect, a karst cave internal structure detection method based on an unmanned aerial vehicle is provided, which comprises the following steps:
step one, throwing the unmanned aerial vehicle into a first area in the karst cave from a tunnel excavation side, adjusting the positive direction of the unmanned aerial vehicle in the initial state, keeping the central position of the unmanned aerial vehicle unchanged, setting the central position as an original point of a coordinate initial position, and obtaining the depth H of the original point in the karst cave by utilizing the positioning function of the unmanned aerial vehiclem；
Step two, controlling the unmanned aerial vehicle to rotate clockwise or anticlockwise to a fixed rotation angle at the initial positionθ mWhereinθ mTake the value of [0, 360 °]At a cornerθ mMeasuring the horizontal distance L between the wall of the cavern and the origin positionmFrom the depth H of the karst cavemCornerθ mA horizontal distance L between the hole wall and the origin positionmThe composition set point is (L)m，θ m，Hm) Wherein, at the same depth H of the karst cavemAnd the same cornerθ mThen, screening the horizontal distances between the walls of a plurality of karst caves and the original point position, and then taking an average value
Figure 37314DEST_PATH_IMAGE001
mObtaining the same karst cave depth H after screeningmAnd the same cornerθ mLower unique rendezvous point: (
Figure 207527DEST_PATH_IMAGE001
m ，θ m，Hm) And when detecting a plurality of points at the same depth position, the method also relates to the conversion of a three-dimensional coordinate system of the unmanned aerial vehicle, and the conversion of the three-dimensional coordinate system is performed by utilizing transformation matrixes K and J, wherein:
K=
Figure 355611DEST_PATH_IMAGE002
generating a geometric transformation;
J=
Figure 35991DEST_PATH_IMAGE003
generating a translation transformation;
let the original three-dimensional coordinate be
Figure 625146DEST_PATH_IMAGE004
The transformed coordinates are
Figure 453294DEST_PATH_IMAGE005
Then, then
Figure 703272DEST_PATH_IMAGE006
；
Step three, passing the screened unique gathering points (
Figure 972579DEST_PATH_IMAGE001
m ，θ m，Hm) The coordinates of the corresponding unique solution cavity wall set point can be obtained (
Figure 413925DEST_PATH_IMAGE001
m·cosθ m，
Figure 807997DEST_PATH_IMAGE001
m·sinθ m，Hm) And after the coordinate system is converted in the second step, converging all the three-dimensional set points under the same coordinate system, connecting all the three-dimensional set points at the same depth to obtain a structural plan view of the inner structure of the first area of the karst cave at the same depth, and combining the structural plan views at all the depths to generate a three-dimensional view of the inner structure of the first area of the karst cave.
Further, the method also comprises a fourth step of controlling the unmanned aerial vehicle to enter a second area in the karst cave and setting the unmanned aerial vehicle to be positioned at the same set depth H as the first areamComparing with the initial coordinate, the plane coordinate of the unmanned aerial vehicle needs to be changed, the difference m between the changed X axial direction and the changed Y axial direction and the difference n between the changed X axial direction and the changed Y axial direction are set, the second step and the third step are repeated, and the coordinate of the only karst cave wall set point at the position is obtained at the same time (the coordinate of the only karst cave wall set point at the position is
Figure 829042DEST_PATH_IMAGE001
m·cosθ m±m，
Figure 716971DEST_PATH_IMAGE001
m·sinθ m±n，Hm) And connecting all the three-dimensional set points at the same depth position to obtain a structural plan view of the inner structure of the second area of the karst cave at the same depth position, and combining the structural plan views at each depth position to generate a three-dimensional view of the inner structure of the second area of the karst cave.
Further, the unmanned aerial vehicle is provided with a front camera, the camera is used for selecting a plurality of measuring point positions with the same depth, and the camera is used for receiving an image of a joint of the first area and the second area and judging whether the unmanned aerial vehicle can enter the second area from the first area.
Further, the second area of the cavern is an area which is entered when a curve occurs in front of the first area.
Further, when the initial state, the positive direction of adjusting unmanned aerial vehicle is unanimous with the north direction of magnetism.
In a second aspect, on the basis of the first aspect, an unmanned aerial vehicle-based karst cave internal structure detection device is provided, and the device comprises an unmanned aerial vehicle, wherein a distance measurement device is mounted on the unmanned aerial vehicle and used for measuring the horizontal distance between the karst cave wall and the central position of the unmanned aerial vehicle; the unmanned aerial vehicle is also provided with a corner measuring device for measuring the rotation angle of the unmanned aerial vehicle; still be provided with unmanned aerial vehicle control panel, control panel passes through the inside controller control unmanned aerial vehicle of unmanned aerial vehicle at the inside work of solution cavity.
Further, range unit and corner measuring device's data message integration to unmanned aerial vehicle is inside, data message accessible control panel direct display.
Furthermore, the acquired data information can be utilized to generate a karst cave three-dimensional structure diagram in real time by utilizing a modeling device, so that reference is provided for the positions of the next measuring points.
Furthermore, three-dimensional set points with different depths are connected by adopting triangular meshes, so that the model is close to the actual inner surface of the karst cave.
Further, the distance measuring device is a laser distance measuring device.
Compared with the prior art, the technical scheme of the invention at least has the following beneficial effects:
(1) compared with the traditional detection method and device, the whole detection cost is reduced, and the detection is more accurate and reliable;
(2) the relevant structure of the unmanned aerial vehicle is modified, and the complex geographical environment which possibly appears in the karst cave can be detected by utilizing the characteristics of the unmanned aerial vehicle;
(3) the unmanned aerial vehicle can be directly put in and detected at the opening of the karst cave of the tunnel excavation surface, the detection of the karst cave below the ground surface is not dependent on a vertical drilling technology, and particularly for the situation that the tunnel passes through a mountain area, the detector cannot be put in and detected through the drill hole at the top of the mountain;
(4) the method can detect the internal structure of the unknown karst cave in front of the tunnel and estimate the volume of the karst cave, and particularly overcomes the defect that the existing method can only detect partial structure of the karst cave.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced 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 based on these drawings without creative efforts.
FIG. 1a is a schematic diagram of three-dimensional coordinate transformation according to an embodiment of the present invention;
FIG. 1b is a schematic diagram of planar coordinate transformation according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
One embodiment of the invention provides a karst cave internal structure detection method based on an unmanned aerial vehicle, which comprises the steps of throwing the unmanned aerial vehicle into a first area which is currently and temporarily found in a karst cave from a tunnel excavation side, adjusting the positive direction of the unmanned aerial vehicle in an initial state, keeping the central position of the unmanned aerial vehicle unchanged, and setting the central position as a coordinate initial positionSetting an origin, such as an original point of three axes X/Y/Z in FIG. 1a, and obtaining the depth H of the origin in the karst cave by using the positioning function of the unmanned aerial vehiclem(ii) a At this time, the unmanned aerial vehicle is controlled to rotate clockwise or anticlockwise to a fixed rotation angle at the initial positionθ mWhereinθ mTake the value of [0, 360 °]It is preferable that the content of the compound,θ mtake on a value of 30 DEG at the cornerθ mMeasuring the horizontal distance L between the wall of the cavern and the origin positionmIf the total number is 12, the karst cave depth HmCornerθ mA horizontal distance L between the hole wall and the origin positionmThe composition set point is (L)m，θ m，Hm) Wherein, at the same depth H of the karst cavemAnd the same cornerθ mThen, after screening some values which obviously can not be used as measuring basis, taking average value of horizontal distances between the walls of a plurality of karst caves and the original point position
Figure 798059DEST_PATH_IMAGE001
mObtaining the same karst cave depth H after screeningmAnd the same cornerθ mLower unique rendezvous point: (
Figure 804061DEST_PATH_IMAGE001
m ，θ m，Hm) (ii) a And when a plurality of points are detected at the same depth position, the conversion of the three-dimensional coordinate system of the unmanned aerial vehicle is also involved, and the conversion of the three-dimensional coordinate system is performed by utilizing transformation matrixes K and J, wherein:
K=
Figure 566481DEST_PATH_IMAGE002
generating a geometric transformation;
J=
Figure 639741DEST_PATH_IMAGE003
generating a translation transformation;
let the original three-dimensional coordinate be
Figure 298256DEST_PATH_IMAGE004
The transformed coordinates are
Figure 57133DEST_PATH_IMAGE005
Then, then
Figure 419981DEST_PATH_IMAGE006
；
(ii) passing through the screened unique rendezvous point: (
Figure 190491DEST_PATH_IMAGE001
m ，θ m，Hm) The coordinates of the corresponding unique solution cavity wall set point can be obtained (
Figure 878962DEST_PATH_IMAGE001
m·cosθ m，
Figure 561354DEST_PATH_IMAGE001
m·sinθ m，Hm) And after the coordinate system is converted in the second step, converging all the three-dimensional set points under the same coordinate system, connecting all the three-dimensional set points at the same depth to obtain a structural plan view of the inner structure of the first area of the karst cave at the same depth, and combining the structural plan views at all the depths to generate a three-dimensional view of the inner structure of the first area of the karst cave.
When observing through unmanned aerial vehicle the place ahead camera, when finding that bend isotructure appears in the inside place ahead of solution cavity, the regional width of evaluation was received through leading camera earlier, judges whether unmanned aerial vehicle can get into, if can get into, control unmanned aerial vehicle gets into the inside second region of solution cavity to set for it to be located and set for degree of depth H the same with first regionmAs shown in fig. 1a and 1b, compared with the initial coordinates, the plane coordinates of the unmanned aerial vehicle need to be changed, the difference m between the changed plane coordinates and the axis X and the axis Y is set, the difference n between the changed plane coordinates and the axis Y is set, the second step and the third step are repeated, and the coordinates of the unique karst cave wall set point at the position are obtained (the coordinates of the unique karst cave wall set point at the position are obtained at the
Figure 524630DEST_PATH_IMAGE001
m·cosθ m±m，
Figure 149647DEST_PATH_IMAGE001
m·sinθ m±n，Hm) And connecting all the three-dimensional set points at the same depth position to obtain a structural plan view of the inner structure of the second area of the karst cave at the same depth position, and combining the structural plan views at each depth position to generate a three-dimensional view of the inner structure of the second area of the karst cave.
Preferably, the second region of the cavern is a region into which a curve occurs in front of the first region.
Preferably, when the unmanned aerial vehicle is in the initial state, the positive direction of the unmanned aerial vehicle is adjusted to be consistent with the magnetic north direction.
The invention also provides a device for detecting the inner structure of the karst cave based on the unmanned aerial vehicle, which comprises the unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a distance measuring device, and the distance measuring device is used for measuring the horizontal distance between the cave wall of the karst cave and the central position of the unmanned aerial vehicle; the unmanned aerial vehicle is also provided with a corner measuring device for measuring the rotation angle of the unmanned aerial vehicle; still be provided with unmanned aerial vehicle control panel, control panel passes through the inside controller control unmanned aerial vehicle of unmanned aerial vehicle at the inside work of solution cavity.
Preferably, the data information of the distance measuring device and the corner measuring device is integrated into the unmanned aerial vehicle, and the data information can be directly displayed through the control panel.
It should be noted that: during the working process of the karst cave internal structure detection based on the unmanned aerial vehicle provided by each embodiment, the working modes of all the components are divided for illustration, and in practical application, all the embodiments can be reasonably combined or independently completed according to needs to complete all or part of the functions described above.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (7)

1. An unmanned aerial vehicle-based karst cave internal structure detection method is characterized by comprising the following steps:
step one, throwing the unmanned aerial vehicle into a first area in the karst cave from a tunnel excavation side, adjusting the positive direction of the unmanned aerial vehicle in the initial state, keeping the central position of the unmanned aerial vehicle unchanged, setting the central position as an original point of a coordinate initial position, and obtaining the depth H of the original point in the karst cave by utilizing the positioning function of the unmanned aerial vehiclem；
Step two, controlling the unmanned aerial vehicle to rotate clockwise or anticlockwise to a fixed rotation angle theta at the initial positionmWherein thetamTake the value of [0, 360 °]At a rotation angle thetamMeasuring the horizontal distance L between the wall of the cavern and the origin positionmFrom the depth H of the karst cavemAngle of rotation thetamA horizontal distance L between the hole wall and the origin positionmThe composition set point is (L)m，θm，Hm) Wherein, at the same depth H of the karst cavemAnd the same angle of rotation thetamThen, screening the horizontal distances between the walls of a plurality of karst caves and the original point position, and then taking an average value
Figure FDA0002575899410000013
Obtaining the same karst cave depth H after screeningmAnd the same angle of rotation thetamLower unique rendezvous point
Figure FDA0002575899410000012
And when a plurality of points are detected at the same depth position, the conversion of the three-dimensional coordinate system of the unmanned aerial vehicle is also involved, and the conversion of the three-dimensional coordinate system is performed by utilizing transformation matrixes K and J, wherein:
Figure FDA0002575899410000011
generating a geometric transformation;
J＝[M41 M42 M43]generating a translation transformation;
let the original three-dimensional coordinate be P1＝[X1 Y1 Z1]TThe transformed coordinate is P2＝[X2 Y2 Z2]TThen P is2＝KP1+J；
Step three, passing the screened unique gathering point
Figure FDA0002575899410000014
Can obtain the coordinates of the corresponding unique solution cavity wall set point
Figure FDA0002575899410000015
After the coordinate system is converted in the second step, all the three-dimensional set points are gathered under the same coordinate system, all the three-dimensional set points at the same depth are connected to obtain a structural plan view of the inner structure of the first area of the karst cave at the same depth, and the structural plan views at all the depths are combined to generate a three-dimensional view of the inner structure of the first area of the karst cave;
step four, controlling the unmanned aerial vehicle to enter a second area inside the karst cave, and setting the unmanned aerial vehicle to be positioned at the same set depth H as the first areamComparing with the initial coordinate, the plane coordinate of the unmanned aerial vehicle needs to be changed, the X axial difference m and the Y axial difference n are set after the change and before the change, the second step and the third step are repeated, and the coordinate of the only karst cave wall set point at the position is obtained at the same time
Figure FDA0002575899410000021
And connecting all the three-dimensional set points at the same depth position to obtain a structural plan view of the inner structure of the second area of the karst cave at the same depth position, and combining the structural plan views at each depth position to generate a three-dimensional view of the inner structure of the second area of the karst cave.
2. The method of claim 1, wherein the drone is provided with a front camera for selecting a plurality of station positions at the same depth, and wherein the camera is used for receiving an image of a junction of the first area and the second area for determining whether the drone can enter the second area from the first area.
3. The method of claim 1, wherein the second region of the cavern is a region that enters when a curve occurs ahead of the first region.
4. The method of claim 1, wherein in the initial state, the positive direction of the drone is adjusted to coincide with the magnetic north direction.
5. A device based on the method of any one of claims 1 to 4, wherein the device comprises an unmanned aerial vehicle, and a distance measuring device is mounted on the unmanned aerial vehicle and used for measuring the horizontal distance between the cave wall and the central position of the unmanned aerial vehicle; the unmanned aerial vehicle is also provided with a corner measuring device for measuring the rotation angle of the unmanned aerial vehicle; still be provided with unmanned aerial vehicle control panel, control panel passes through the inside controller control unmanned aerial vehicle of unmanned aerial vehicle at the inside work of solution cavity.
6. The device of claim 5, wherein the data information of the distance measuring device and the rotation angle measuring device is integrated into the unmanned aerial vehicle, and the data information can be directly displayed through a control panel.
7. A device according to claim 5 or 6, wherein the distance measuring device is a laser distance measuring device.
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