CN110766798A - Tunnel monitoring measurement result visualization method based on laser scanning data - Google Patents
Tunnel monitoring measurement result visualization method based on laser scanning data Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G06F16/26—Visual data mining; Browsing structured data
Abstract
The invention discloses a method for visualizing a tunnel monitoring measurement result based on laser scanning data, which comprises the following steps: firstly, acquiring a three-dimensional point cloud outline of a tunnel; secondly, index storage of point cloud unit files; thirdly, visualizing the point cloud unit file; fourthly, acquiring full-section resolving parameters; fifthly, resolving the full section of the tunnel and establishing a visual full section database; sixthly, generating a tunnel roaming video; and seventhly, visualizing the monitoring and measuring result of the tunnel full-section data. According to the method, the point cloud unit file index storage is established, the rapid and smooth browsing of the large-scale tunnel is guaranteed, the full section of the tunnel is resolved by obtaining full section resolving parameters, a visual full section database is established, the diameter convergence, the slab staggering, the staggered joint and the three-dimensional displacement are displayed on a BIM (building information modeling) model of a tunnel segment, deformation monitoring and construction conditions in the tunnel are integrated into the tunnel, illumination and manual modeling are not needed, the video definition is high, and the visual guidance, acceptance and monitoring of the tunnel full section data monitoring and measuring result are achieved.
Description
Technical Field
The invention belongs to the technical field of visualization of tunnel monitoring measurement results, and particularly relates to a method for visualizing tunnel monitoring measurement results based on laser scanning data.
Background
The subway shield tunnel needs to provide monitoring and measuring data in both the construction period and the operation period so as to guide the tunnel construction and carry out safety protection. At present, for monitoring, deformation detection and the like in the fields of large civil engineering and the like, there are modes based on manual detection, based on stereoscopic vision detection, based on laser scanning detection and the like. The manual detection can obtain a high-precision result by means of a high-precision measuring instrument, such as a level gauge, a total station and the like, but has the defects of low efficiency, high labor intensity and the like, and the automatic data processing and report generation of the result have certain complexity; based on stereoscopic vision detection, after left and right images of a region to be detected are acquired through a binocular camera, contour, position and depth information of an object to be detected is acquired through threshold segmentation, feature point detection, extraction, stereoscopic matching and the like. The laser scanning technology can obtain a large amount of coordinate point cloud, laser reflectivity and other information of the object surface, quickly reconstruct the object outline, generate a gray image of the object and the like, has the advantages of high speed, high precision, small influence of weather change, strong robustness and the like, and is gradually applied to the field of large-scale engineering, such as subway tunnel detection and the like. At present, the tunnel is detected based on laser scanning, usually, algorithm processing analysis is directly carried out on point clouds, but the integration level of software and hardware for laser data processing is not high, the display of results is not visual enough, and simplicity and usability cannot be achieved.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a method for visualizing a measurement result of tunnel monitoring based on laser scanning data, the rapid and smooth browsing of the large-scale tunnel is ensured by establishing the point cloud unit file index storage, the full-section calculation parameters are obtained to calculate the full-section of the tunnel and establish a visual full-section database, diameter convergence, slab staggering, seam staggering and three-dimensional displacement are displayed on a BIM model of the tunnel segment, the display is visual, the tunnel deformation monitoring and construction working condition monitoring system can be integrated into a tunnel, has the effects of visualization, high definition, authenticity, high efficiency and the like, does not need illumination, manual modeling and comprehensive monitoring range, is high in video definition, realizes the visualization guidance, acceptance and monitoring of tunnel full-section data monitoring and measuring results, and is convenient to popularize and use.
In order to solve the technical problems, the invention adopts the technical scheme that: a tunnel monitoring measurement result visualization method based on laser scanning data is characterized by comprising the following steps:
step one, acquiring a tunnel three-dimensional point cloud outline: erecting a laser scanner on a movable carrier, setting the moving speed of the movable carrier, presetting the scanning resolution and sampling frequency of the laser scanner, covering the inner wall of a tunnel and moving and acquiring cross-section point clouds with laser reflectivity on the inner wall of the tunnel along the mileage direction of the tunnel by using a 2D cross-section spiral scanning mode of the laser scanner, wherein the scanning point coordinate of each cross-section point cloud takes the center of the laser scanner as the center of a circle, and simultaneously combining the ring number information corresponding to a tunnel lining segment with the scanning point coordinate of the cross-section point cloud so as to obtain the three-dimensional point cloud profile of the tunnel;
step two, point cloud unit file index storage: partitioning the obtained tunnel three-dimensional point cloud contour original points, establishing point cloud unit files, establishing unique point cloud unit file index identifications for the point cloud unit files, and adopting an Aliskian object storage service interface standard to orderly store, share and backup the tunnel three-dimensional point cloud contour original points;
step three, point cloud unit file visualization: resampling and thinning the point cloud unit file, exporting the point cloud unit file into an AutoCAD graphic file, and visualizing the point cloud unit file in a slicing mode;
step four, acquiring full-section resolving parameters: constructing a gray matrix corresponding to the point cloud unit file after rarefaction according to reflection intensity information corresponding to the point cloud unit file after rarefaction, generating a corresponding initial image, and manually marking a circular seam ring number and an assembling block seam position so as to obtain a full-section resolving parameter corresponding to each scanning section, wherein the full-section resolving parameter comprises mileage information, a design diameter, a partitioning angle, operation time, an operation sequence and a shield interval name;
step five, resolving the full section of the tunnel and establishing a visual full section database: performing steady estimation on the point cloud scanning points of the cross section, eliminating rough difference points, and acquiring the coordinates of the cross section scanning points and the diameter of the cross section by using the center of the cross section of the tunnel as the center of a circle through circle center fitting and diameter convergence processing; independently fitting arcs according to the diameter of the section and the blocking angle, then obtaining slab staggering and seam staggering in the corresponding section, extracting clearance convergence deformation data, and performing limit detection and full-section calculation;
storing results of the full-section calculation in a mode of staging and block indexing, generating a dwg file of a section graph or an xls report of the full-section calculation graph, drawing a diameter convergence curve and a single-ring duration change curve according to a tunnel mileage or ring number sequence, displaying the diameter convergence, staggered platform and staggered seam and three-dimensional displacement on a BIM (building information modeling) model of a tunnel segment, performing visual display, and establishing a visual full-section database;
step six, generating a tunnel roaming video, wherein the process is as follows:
601, calculating a theoretical value of the number of section point cloud scanning lines on a ring of fixed length of a tunnel lining segment in a visual full-section database according to the moving speed of a moving carrier and the sampling frequency of a laser scanner, comparing the theoretical value of the number of the section point cloud scanning lines with the number of actual section point cloud scanning lines of a ring of tunnel lining segments corresponding to the visual full-section database, and interpolating the number of the section point cloud scanning lines with uneven number of the actual section point cloud scanning lines of the ring of tunnel lining segments in the visual full-section database to obtain each section point cloud scanning line with even distribution in the tunnel mileage direction;
step 602, performing circle center orthographic projection on the reflection intensity of the cross-section point cloud according to the reflection intensity information of the corresponding cross-section point cloud to obtain the gray value of each scanning point in the cross-section point cloud;
603, constructing an image gray matrix according to gray information corresponding to each section point cloud scanning line on each ring of tunnel lining segment, and adding a geographical label to generate an orthophotograph of each ring of the tunnel lining segment;
step 604, selecting a visual angle, setting a visual field angle FOV and a closest visual distance and a farthest visual distance corresponding to different positions of the tunnel by taking human eyes as the visual angle, taking a projection plane corresponding to the farthest visual distance as a perspective projection plane of the perspective projection, and performing the perspective projection according to a formula
To obtainCalculating the coordinate value rho of the ith section point cloud scanning line coordinate in the perspective range of the tunnel on the perspective projection planeiWherein r isiScanning line coordinates of point cloud of ith section in the perspective range of the tunnel, wherein l is a viewing angle point and a perspective projectionFixed distance of shadow plane, /)iThe distance between the viewing angle point and the section of the ith section point cloud scanning line in the perspective range of the tunnel;
gradually transitioning from the nearest visible distance to the farthest visible distance in the perspective range of the tunnel, carrying out perspective projection on each section point cloud scanning line in the perspective range of the tunnel, and corresponding coordinates and gray scale information of each section point cloud scanning line in the perspective projection plane in the perspective range of the tunnel one by one to generate a frame of perspective projection image;
605, repeatedly circulating 604, and generating a frame-by-frame perspective projection image of a tunnel lining segment interval corresponding to the visual full-section database along the direction of the mileage of the tunnel;
606, setting the number of frames of the perspective projection images output per second, and continuously outputting the perspective projection images frame by frame according to a time sequence to generate a roaming video of a visual full-section database corresponding to a tunnel lining segment interval along the tunnel mileage direction and simulating the human eye visual angle;
step seven, visualization of monitoring and measuring results of the tunnel full-section data: establishing a shield remote monitoring center, synchronizing a visual full-section database to a cloud server through REST API, and realizing long-term recording and inquiring of visual monitoring measurement results of the whole process of tunnel shield segments; the roaming video with the geographic labels is uploaded to a cloud server and published as a network map service, and a shield remote monitoring center carries out remote access to realize visual guidance, acceptance and monitoring of tunnel full-section data monitoring and measuring results.
The method for visualizing the tunnel monitoring measurement result based on the laser scanning data is characterized by comprising the following steps of: and step seven, uploading the roaming video with the geographic tag to a cloud server through a seven-cow cloud video streaming media module.
The method for visualizing the tunnel monitoring measurement result based on the laser scanning data is characterized by comprising the following steps of: and in the first step, the laser scanner is a three-dimensional laser scanner Faro or a Z + F9012 three-dimensional laser scanner.
The method for visualizing the tunnel monitoring measurement result based on the laser scanning data is characterized by comprising the following steps of: in the third step, the point cloud unit file is resampled and thinned at intervals in a thinning mode of 1024 points/line and 5-10 lines/second.
The method for visualizing the tunnel monitoring measurement result based on the laser scanning data is characterized by comprising the following steps of: in step 604, the view angle is any three-dimensional view angle of 360 degrees, and a frame of perspective projection image with any three-dimensional view angle of 360 degrees is generated; in step 606, the perspective projection images frame by frame are continuously output according to the time sequence, and a 360-degree arbitrary three-dimensional view roaming video simulating the human eye view along the tunnel mileage direction is generated.
The method for visualizing the tunnel monitoring measurement result based on the laser scanning data is characterized by comprising the following steps of: the moving speed of the moving carrier in the first step is 3 km/h-10 km/h; the scanning resolution of the laser scanner is 3-5; the sampling frequency of the laser scanner is 50 Hz-200 Hz; in step 606, outputting 25-35 frames per second of perspective projection images is set.
The method for visualizing the tunnel monitoring measurement result based on the laser scanning data is characterized by comprising the following steps of: in step 603, the geographic labels comprise tunnel lining segment ring numbers, mileage, deformation, disease range and facility equipment; the disease range comprises point diseases, linear diseases and surface diseases; before generating a frame of perspective projection image in step 604, vectorization processing needs to be performed on the generated orthographic projection image of each ring of the tunnel lining segment to generate a tunnel image thematic map.
Compared with the prior art, the invention has the following advantages:
1. according to the method, a 2D section spiral scanning mode of a laser scanner is utilized, the section point cloud with laser reflectivity on the inner wall of the tunnel is covered and movably collected along the mileage direction of the tunnel, the ring number information corresponding to the tunnel lining segment is combined with the scanning point coordinates of the section point cloud, so that the three-dimensional point cloud profile of the tunnel is obtained, illumination and manual modeling are not needed, and the quick and smooth browsing of a large-scale tunnel is ensured by establishing point cloud unit file index storage, so that the method is convenient to popularize and use.
2. According to the method, the full-section calculation parameters are obtained, the full-section calculation of the tunnel is carried out, a visual full-section database is established, diameter convergence, slab staggering, seam staggering and three-dimensional displacement are displayed on a BIM (building information modeling) model of the tunnel segment, the display is visual, and when a laser scanner is installed, the instrument center of the laser scanner cannot be guaranteed to be located at the center of the tunnel section, so that data of the scanning point coordinates of each collected point cloud of the section point with the instrument center of the laser scanner as the center of a circle needs to be converted into the coordinates of the scanning point with the center of the tunnel section as the center of a circle, and the correction of; acquiring the reflection intensity information of the corresponding cross-section point cloud according to the laser reflectivity of each cross-section point cloud, performing circle center orthographic projection on the reflection intensity of the cross-section point cloud to generate an orthographic image of each ring of the tunnel lining segment, gradually transitioning from the nearest visible distance to the farthest visible distance in the perspective range of the tunnel, perspective projection is carried out on each section point cloud scanning line in the perspective range of the tunnel, coordinates and gray information of each section point cloud scanning line in the perspective projection plane in the tunnel are in one-to-one correspondence, a frame of perspective projection image and a static sequence image are generated and displayed rapidly and continuously, so that a motion false image is formed, by setting the number of image frames moving every second, the roaming video can be generated, the space perspective image of an object can be vividly displayed, and the method is visual, clear, real, high in efficiency, reliable and stable and good in using effect.
3. The method has simple steps, and the visual full-section database is synchronized to the cloud server through the REST API, so that the visual monitoring measurement result of the whole process of recording and inquiring the tunnel shield segment for a long time is realized; the roaming video with the geographic labels is uploaded to a cloud server and published as a network map service, and a shield remote monitoring center carries out remote access to realize visual guidance, acceptance and monitoring of tunnel full-section data monitoring and measuring results, so that the method is convenient to popularize and use.
In conclusion, the invention ensures the quick and smooth browsing of the large-scale tunnel by establishing the point cloud unit file index storage, solves the full section of the tunnel by acquiring the full section solution parameters and establishes the visual full section database, displays the diameter convergence, slab staggering, seam staggering and three-dimensional displacement on the BIM model of the tunnel segment, displays the diameter convergence, slab staggering and seam staggering, displays the diameter convergence, the slab staggering and the three-dimensional displacement on the BIM model of the tunnel segment, has visual display, can integrate the deformation monitoring and the construction working condition in the tunnel into the tunnel, has the effects of visualization, high definition, authenticity, high efficiency and the like, does not need illumination, does not need manual modeling, has high video definition, has comprehensive monitoring range, realizes the visual guidance, acceptance and monitoring of the monitoring and measuring result of the.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a block diagram of a process flow of the method of the present invention.
FIG. 2 is a schematic diagram of a visual gray scale of a point cloud unit file according to the present invention.
FIG. 3 is a schematic diagram of a scanned cross-section of the present invention for manually marking the ring number of the circular seam and the joint of the assembly block.
FIG. 4 is a schematic diagram of the calculation of slab staggering and slab staggering in the full-section solution of the tunnel.
FIG. 5 is a gray scale schematic view of an orthophotomap of a tunnel lining segment interval according to the present invention.
FIG. 6 is a schematic view of a frame of perspective projection image according to the present invention.
Detailed Description
As shown in fig. 1, the method for visualizing the measurement result of tunnel monitoring based on the laser scanning data of the present invention includes the following steps:
step one, acquiring a tunnel three-dimensional point cloud outline: erecting a laser scanner on a movable carrier, setting the moving speed of the movable carrier, presetting the scanning resolution and sampling frequency of the laser scanner, covering the inner wall of a tunnel and moving and acquiring cross-section point clouds with laser reflectivity on the inner wall of the tunnel along the mileage direction of the tunnel by using a 2D cross-section spiral scanning mode of the laser scanner, wherein the scanning point coordinate of each cross-section point cloud takes the center of the laser scanner as the center of a circle, and simultaneously combining the ring number information corresponding to a tunnel lining segment with the scanning point coordinate of the cross-section point cloud so as to obtain the three-dimensional point cloud profile of the tunnel;
in this embodiment, the laser scanner in the first step is a three-dimensional laser scanner Faro or a Z + F9012 three-dimensional laser scanner.
In the embodiment, the moving speed of the moving carrier in the first step is 3 km/h-10 km/h; the scanning resolution of the laser scanner is 3-5; the sampling frequency of the laser scanner is 50 Hz-200 Hz; in step 606, outputting 25-35 frames per second of perspective projection images is set.
The method includes the steps that a 2D section spiral scanning mode of a laser scanner is utilized, section point clouds with laser reflectivity on the inner wall of a tunnel are covered and collected in a moving mode along the mileage direction of the tunnel, ring number information corresponding to tunnel lining segments is combined with scanning point coordinates of the section point clouds, accordingly, a three-dimensional point cloud profile of the tunnel is obtained, illumination is not needed, manual modeling is not needed, and quick and smooth browsing of a large-scale tunnel is guaranteed by establishing point cloud unit file index storage.
Step two, point cloud unit file index storage: partitioning the obtained tunnel three-dimensional point cloud contour original points, establishing point cloud unit files, establishing unique point cloud unit file index identifications for the point cloud unit files, and adopting an Aliskian object storage service interface standard to orderly store, share and backup the tunnel three-dimensional point cloud contour original points;
when the method is actually used, the original points of the obtained tunnel three-dimensional point cloud profile are partitioned, a point cloud unit file is established, and a unique GUID point cloud unit file index identification is established for the point cloud unit file.
Step three, point cloud unit file visualization: resampling and thinning the point cloud unit file, exporting the point cloud unit file into an AutoCAD graphic file, and visualizing the point cloud unit file in a slicing mode;
as shown in fig. 2, in the present embodiment, in the third step, the point cloud unit file is resampled and thinned at intervals in a thinning mode of 1024 points/line and 5-10 lines/second, resampled and thinned to be exported as an AutoCAD graphic file, and the point cloud unit file is sliced and visualized.
Step four, acquiring full-section resolving parameters: constructing a gray matrix corresponding to the point cloud unit file after rarefaction according to reflection intensity information corresponding to the point cloud unit file after rarefaction, generating a corresponding initial image, and manually marking a circular seam ring number and an assembling block seam position so as to obtain a full-section resolving parameter corresponding to each scanning section, wherein the full-section resolving parameter comprises mileage information, a design diameter, a partitioning angle, operation time, an operation sequence and a shield interval name, and is shown in FIG. 3;
step five, resolving the full section of the tunnel and establishing a visual full section database: performing steady estimation on the point cloud scanning points of the cross section, eliminating rough difference points, and acquiring the coordinates of the cross section scanning points and the diameter of the cross section by using the center of the cross section of the tunnel as the center of a circle through circle center fitting and diameter convergence processing; separately fitting arcs according to the diameter of the section and the blocking angle, then obtaining staggered platforms and staggered joints in the corresponding section, extracting clearance convergence deformation data as shown in figure 4, and performing limit detection and full-section calculation;
storing results of the full-section calculation in a mode of staging and block indexing, generating a dwg file of a section graph or an xls report of the full-section calculation graph, drawing a diameter convergence curve and a single-ring duration change curve according to a tunnel mileage or ring number sequence, displaying the diameter convergence, staggered platform and staggered seam and three-dimensional displacement on a BIM (building information modeling) model of a tunnel segment, performing visual display, and establishing a visual full-section database;
it should be noted that, by acquiring full-section calculation parameters, a full-section calculation and visual full-section database is established for the tunnel, diameter convergence, slab staggering, seam staggering and three-dimensional displacement are displayed on a BIM model of a tunnel segment, the display is visual, and when a laser scanner is installed, the instrument center of the laser scanner cannot be ensured to be located at the center of the tunnel section, so that data of scanning point coordinates of each collected point cloud of the section point with the instrument center of the laser scanner as the center of a circle needs to be converted into section scanning point coordinates with the center of the tunnel section as the center of a circle, and the correction of an image is realized; according to the laser reflectivity of each cross-section point cloud, the reflection intensity information of the corresponding cross-section point cloud is obtained, circle center orthographic projection is carried out on the reflection intensity of the cross-section point cloud, an orthographic image of each ring of a tunnel lining segment is generated, the nearest visible distance in the perspective range of the tunnel is gradually transited to the farthest visible distance, perspective projection is carried out on each cross-section point cloud scanning line in the perspective range of the tunnel, the coordinate and the gray scale information of each cross-section point cloud scanning line in the perspective projection plane in the perspective range of the tunnel are in one-to-one correspondence, a perspective projection image is generated, a static sequence image is displayed rapidly and continuously, the motion false image is formed, and by setting the number of image frames moving every second, a roaming video can be generated, the space perspective image of an object is vividly displayed, and the method is visual, clear, real.
Step six, generating a tunnel roaming video, wherein the process is as follows:
601, calculating a theoretical value of the number of section point cloud scanning lines on a ring of fixed length of a tunnel lining segment in a visual full-section database according to the moving speed of a moving carrier and the sampling frequency of a laser scanner, comparing the theoretical value of the number of the section point cloud scanning lines with the number of actual section point cloud scanning lines of a ring of tunnel lining segments corresponding to the visual full-section database, and interpolating the number of the section point cloud scanning lines with uneven number of the actual section point cloud scanning lines of the ring of tunnel lining segments in the visual full-section database to obtain each section point cloud scanning line with even distribution in the tunnel mileage direction;
step 602, performing circle center orthographic projection on the reflection intensity of the cross-section point cloud according to the reflection intensity information of the corresponding cross-section point cloud to obtain the gray value of each scanning point in the cross-section point cloud;
603, constructing an image gray matrix according to gray information corresponding to each section point cloud scanning line on each ring of tunnel lining segment, adding a geographic label, and generating an ortho-image map of each ring of the tunnel lining segment, wherein as shown in fig. 5, the ortho-image map of each ring of the tunnel lining segment is in a GeoTIFF format, so that a tunnel scene is displayed more visually, and the real status of a tunnel wall with a measurable function is obtained;
in this embodiment, the geographic labels in step 603 include tunnel lining segment ring number, mileage, deformation, disease range, and facility equipment; the disease range comprises point diseases, linear diseases and surface diseases; before generating a frame of perspective projection image in step 604, vectorization processing needs to be performed on the generated orthographic projection image of each ring of the tunnel lining segment to generate a tunnel image thematic map.
The point diseases are formed by illuminating lamps, distribution boxes and fire-fighting faucets in tunnels; the linear diseases are formed by cables, pipelines, cracks and escape safety platforms in the tunnel; the planar diseases are formed by water leakage in the tunnel, concrete defects and carbon fiber reinforcement, the forward projection image in the GeoTIFF format is generated into an image pyramid through a MapControl component of ArcEngine, the size of image data is reduced, details are not lost, and vectorization processing is carried out to generate a tunnel image thematic image.
Step 604, selecting a visual angle, setting a visual field angle FOV and a closest visual distance and a farthest visual distance corresponding to different positions of the tunnel by taking human eyes as the visual angle, taking a projection plane corresponding to the farthest visual distance as a perspective projection plane of the perspective projection, and performing the perspective projection according to a formula
To obtain
Calculating the coordinate value rho of the ith section point cloud scanning line coordinate in the perspective range of the tunnel on the perspective projection planeiWherein r isiThe point cloud scanning line coordinate of the ith section in the perspective range of the tunnel, wherein l is the fixed distance between a viewing angle point and a perspective projection planeiThe distance between the viewing angle point and the section of the ith section point cloud scanning line in the perspective range of the tunnel;
gradually transitioning from the nearest visible distance to the farthest visible distance in the perspective range of the tunnel, performing perspective projection on each section point cloud scanning line in the perspective range of the tunnel, and corresponding coordinates and gray scale information of each section point cloud scanning line in the perspective projection plane in the perspective range of the tunnel one by one to generate a frame of perspective projection image, as shown in fig. 6;
605, repeatedly circulating 604, and generating a frame-by-frame perspective projection image of a tunnel lining segment interval corresponding to the visual full-section database along the direction of the mileage of the tunnel;
606, setting the number of frames of the perspective projection images output per second, and continuously outputting the perspective projection images frame by frame according to a time sequence to generate a roaming video of a visual full-section database corresponding to a tunnel lining segment interval along the tunnel mileage direction and simulating the human eye visual angle;
in this embodiment, in step 604, the view angle is any three-dimensional view angle of 360 degrees, and a frame of perspective projection image of any three-dimensional view angle of 360 degrees is generated; in step 606, the perspective projection images frame by frame are continuously output according to the time sequence, and a 360-degree arbitrary three-dimensional view roaming video simulating the human eye view along the tunnel mileage direction is generated.
Step seven, visualization of monitoring and measuring results of the tunnel full-section data: establishing a shield remote monitoring center, synchronizing a visual full-section database to a cloud server through REST API, and realizing long-term recording and inquiring of visual monitoring measurement results of the whole process of tunnel shield segments; the roaming video with the geographic labels is uploaded to a cloud server and published as a network map service, and a shield remote monitoring center carries out remote access to realize visual guidance, acceptance and monitoring of tunnel full-section data monitoring and measuring results.
In this embodiment, the roaming video with the geographic tag in the seventh step is uploaded to the cloud server through the heptacow cloud video streaming media module.
When the invention is used, the result of the full-section calculation is stored in a staged and blocked indexing mode, a dwg file of a section graph or an xls report of the full-section calculation graph is generated, a diameter convergence curve and a single-ring time-duration change curve are drawn according to a tunnel mileage or ring number sequence, a risk source and a process record of a stroke in the monitoring process can be conveniently checked and recorded at any time by a first-line worker, a technician, a monitoring personnel and an owner, the effective field condition monitoring and tunnel protection cannot be realized on the video monitoring of the tunnel at present, a large amount of manpower and time are consumed by adopting a manual modeling mode, the invention directly generates a roaming video from laser point cloud, the manpower investment of 'segment modeling and blocked mapping' in the traditional modeling method is greatly reduced, the tunnel can more intuitively reflect the current situation, and the labor intensity of field monitoring can be greatly reduced, the operation cost is saved, the method is suitable for various complex actual environments, the monitoring range is comprehensive, and the visual guidance, acceptance inspection and monitoring of the tunnel full-section data monitoring and measuring result are realized.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. A tunnel monitoring measurement result visualization method based on laser scanning data is characterized by comprising the following steps:
step one, acquiring a tunnel three-dimensional point cloud outline: erecting a laser scanner on a movable carrier, setting the moving speed of the movable carrier, presetting the scanning resolution and sampling frequency of the laser scanner, covering the inner wall of a tunnel and moving and acquiring cross-section point clouds with laser reflectivity on the inner wall of the tunnel along the mileage direction of the tunnel by using a 2D cross-section spiral scanning mode of the laser scanner, wherein the scanning point coordinate of each cross-section point cloud takes the center of the laser scanner as the center of a circle, and simultaneously combining the ring number information corresponding to a tunnel lining segment with the scanning point coordinate of the cross-section point cloud so as to obtain the three-dimensional point cloud profile of the tunnel;
step two, point cloud unit file index storage: partitioning the obtained tunnel three-dimensional point cloud contour original points, establishing point cloud unit files, establishing unique point cloud unit file index identifications for the point cloud unit files, and orderly storing, sharing and backing up the tunnel three-dimensional point cloud contour original points by adopting an Aliskian object storage service interface standard;
step three, point cloud unit file visualization: resampling and thinning the point cloud unit file, exporting the point cloud unit file into an AutoCAD graphic file, and visualizing the point cloud unit file in a slicing mode;
step four, acquiring full-section resolving parameters: constructing a gray matrix corresponding to the point cloud unit file after rarefaction according to reflection intensity information corresponding to the point cloud unit file after rarefaction, generating a corresponding initial image, and manually marking a circular seam ring number and an assembling block seam position so as to obtain a full-section resolving parameter corresponding to each scanning section, wherein the full-section resolving parameter comprises mileage information, a design diameter, a partitioning angle, operation time, an operation sequence and a shield interval name;
step five, resolving the full section of the tunnel and establishing a visual full section database: performing steady estimation on the point cloud scanning points of the cross section, eliminating rough difference points, and acquiring the coordinates of the cross section scanning points and the diameter of the cross section by using the center of the cross section of the tunnel as the center of a circle through circle center fitting and diameter convergence processing; independently fitting arcs according to the diameter of the section and the blocking angle, then obtaining slab staggering and seam staggering in the corresponding section, extracting clearance convergence deformation data, and performing limit detection and full-section calculation;
storing results of the full-section calculation in a mode of staging and block indexing, generating a dwg file of a section graph or an xls report of the full-section calculation graph, drawing a diameter convergence curve and a single-ring duration change curve according to a tunnel mileage or ring number sequence, displaying the diameter convergence, staggered platform and staggered seam and three-dimensional displacement on a BIM (building information modeling) model of a tunnel segment, performing visual display, and establishing a visual full-section database;
step six, generating a tunnel roaming video, wherein the process is as follows:
601, calculating a theoretical value of the number of section point cloud scanning lines on a ring of fixed length of a tunnel lining segment in a visual full-section database according to the moving speed of a moving carrier and the sampling frequency of a laser scanner, comparing the theoretical value of the number of the section point cloud scanning lines with the number of actual section point cloud scanning lines of a ring of tunnel lining segments corresponding to the visual full-section database, and interpolating the number of the section point cloud scanning lines with uneven number of the actual section point cloud scanning lines of the ring of tunnel lining segments in the visual full-section database to obtain each section point cloud scanning line with even distribution in the tunnel mileage direction;
step 602, performing circle center orthographic projection on the reflection intensity of the cross-section point cloud according to the reflection intensity information of the corresponding cross-section point cloud to obtain the gray value of each scanning point in the cross-section point cloud;
603, constructing an image gray matrix according to gray information corresponding to each section point cloud scanning line on each ring of tunnel lining segment, and adding a geographical label to generate an orthophotograph of each ring of the tunnel lining segment;
step 604, selecting a visual angle, setting a visual field angle FOV and a closest visual distance and a farthest visual distance corresponding to different positions of the tunnel by taking human eyes as the visual angle, taking a projection plane corresponding to the farthest visual distance as a perspective projection plane of the perspective projection, and performing the perspective projection according to a formula
To obtain
Calculating the coordinate value rho of the ith section point cloud scanning line coordinate in the perspective range of the tunnel on the perspective projection planeiWherein r isiThe point cloud scanning line coordinate of the ith section in the perspective range of the tunnel, wherein l is the fixed distance between a viewing angle point and a perspective projection planeiThe distance between the viewing angle point and the section of the ith section point cloud scanning line in the perspective range of the tunnel;
gradually transitioning from the nearest visible distance to the farthest visible distance in the perspective range of the tunnel, carrying out perspective projection on each section point cloud scanning line in the perspective range of the tunnel, and corresponding coordinates and gray scale information of each section point cloud scanning line in the perspective projection plane in the perspective range of the tunnel one by one to generate a frame of perspective projection image;
605, repeatedly circulating 604, and generating a frame-by-frame perspective projection image of a tunnel lining segment interval corresponding to the visual full-section database along the direction of the mileage of the tunnel;
606, setting the number of frames of the perspective projection images output per second, and continuously outputting the perspective projection images frame by frame according to a time sequence to generate a roaming video of a visual full-section database corresponding to a tunnel lining segment interval along the tunnel mileage direction and simulating the human eye visual angle;
step seven, visualization of monitoring and measuring results of the tunnel full-section data: establishing a shield remote monitoring center, synchronizing a visual full-section database to a cloud server through REST API, and realizing long-term recording and inquiring of visual monitoring measurement results of the whole process of tunnel shield segments; the roaming video with the geographic labels is uploaded to a cloud server and published as a network map service, and a shield remote monitoring center carries out remote access to realize visual guidance, acceptance and monitoring of tunnel full-section data monitoring and measuring results.
2. The method for visualizing the measurement result of tunnel monitoring based on the laser scanning data as claimed in claim 1, wherein: and step seven, uploading the roaming video with the geographic tag to a cloud server through a seven-cow cloud video streaming media module.
3. The method for visualizing the measurement result of tunnel monitoring based on the laser scanning data as claimed in claim 1, wherein: and in the first step, the laser scanner is a three-dimensional laser scanner Faro or a Z + F9012 three-dimensional laser scanner.
4. The method for visualizing the measurement result of tunnel monitoring based on the laser scanning data as claimed in claim 1, wherein: in the third step, the point cloud unit file is resampled and thinned at intervals in a thinning mode of 1024 points/line and 5-10 lines/second.
5. The method for visualizing the measurement result of tunnel monitoring based on the laser scanning data as claimed in claim 1, wherein: in step 604, the view angle is any three-dimensional view angle of 360 degrees, and a frame of perspective projection image with any three-dimensional view angle of 360 degrees is generated; in step 606, the perspective projection images frame by frame are continuously output according to the time sequence, and a 360-degree arbitrary three-dimensional view roaming video simulating the human eye view along the tunnel mileage direction is generated.
6. The method for visualizing the measurement result of tunnel monitoring based on the laser scanning data as claimed in claim 1, wherein: the moving speed of the moving carrier in the first step is 3 km/h-10 km/h; the scanning resolution of the laser scanner is 3-5; the sampling frequency of the laser scanner is 50 Hz-200 Hz; in step 606, outputting 25-35 frames per second of perspective projection images is set.
7. The method for visualizing the measurement result of tunnel monitoring based on the laser scanning data as claimed in claim 1, wherein: in step 603, the geographic labels comprise tunnel lining segment ring numbers, mileage, deformation, disease range and facility equipment; the disease range comprises point diseases, linear diseases and surface diseases; before generating a frame of perspective projection image in step 604, vectorization processing needs to be performed on the generated orthographic projection image of each ring of the tunnel lining segment to generate a tunnel image thematic map.
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