CN113847870A - Tunnel surrounding rock blasting earthwork amount detection method based on 3D laser scanner - Google Patents
Tunnel surrounding rock blasting earthwork amount detection method based on 3D laser scanner Download PDFInfo
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- CN113847870A CN113847870A CN202111061284.1A CN202111061284A CN113847870A CN 113847870 A CN113847870 A CN 113847870A CN 202111061284 A CN202111061284 A CN 202111061284A CN 113847870 A CN113847870 A CN 113847870A
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- 238000005422 blasting Methods 0.000 title claims abstract description 61
- 239000011435 rock Substances 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 title claims abstract description 20
- 238000013461 design Methods 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 14
- 238000010276 construction Methods 0.000 abstract description 7
- 238000007689 inspection Methods 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010790 dilution Methods 0.000 description 1
- 239000012895 dilution Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000000246 remedial effect Effects 0.000 description 1
- 238000005067 remediation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a tunnel surrounding rock blasting earthwork amount detection method based on a 3D laser scanner, which comprises the following steps: at least three chessboard target plates are arranged on the tunnel surrounding rock behind the area to be measured, and the central points of the chessboard target plates are connected to form a plane; before and after tunnel surrounding rock blasting, measuring a region to be measured by using a 3D laser scanner respectively to obtain first point cloud data and second point cloud data; splicing the first point cloud data and the second point cloud data, and then extracting third point cloud data of the blasting area from the point cloud data generated by splicing; the positioning reference of the spliced point cloud data is a plane formed by the chessboard target plates; and processing the third point cloud data by using the standard point cloud data to obtain the actual blasting earth volume. The 3D laser scanner realizes carrying out automated inspection to tunnel country rock blasting earthwork, requires to contrast with design blasting earthwork, can improve guiding suggestion to follow-up construction according to the testing result.
Description
Technical Field
The invention belongs to the technical field of tunnel surrounding rock blasting amount detection, and particularly relates to a tunnel surrounding rock blasting earthwork amount detection method based on a 3D laser scanner.
Background
At present, tunnel blasting construction in China mostly adopts a controlled blasting technology, the evaluation index of the tunnel blasting construction quality is single, blasting effects are mostly observed and evaluated according to experience, the precision is low, the observation range is small, the blasting effects of tunnels are difficult to accurately evaluate, and accurate judgment can not be provided for flatness of tunnel blasting surfaces, whether the tunnels have the over-excavation condition and the like. According to practice, the blasting condition is judged only by experience, an effective scientific method is lacked, and errors in blasting evaluation inevitably occur.
Therefore, in order to improve the evaluation quality and meet the construction requirements, the measurement of the blasting volume of the tunnel surrounding rock needs to be further accurate, and it is particularly critical to accurately detect the blasting volume of the tunnel surrounding rock and guide the construction according to the detection result. In recent years, with the development of a 3D laser scanning technology, a detection method based on a 3D scanner is conditionally developed for detecting the blasting volume of the tunnel surrounding rock, so that the detection of whether the tunnel surrounding rock is over-underexcavated is more convenient and efficient.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a tunnel surrounding rock blasting earth volume detection method based on a 3D laser scanner.
The technical problem to be solved by the invention is realized by the following technical scheme:
a tunnel surrounding rock blasting earthwork amount detection method based on a 3D laser scanner comprises the following steps:
step (1): at least three chessboard target plates are arranged on the tunnel surrounding rock behind the area to be measured, and the central points of the chessboard target plates are connected to form a plane;
step (2): before and after tunnel surrounding rock blasting, measuring a region to be measured by using a 3D laser scanner respectively to obtain first point cloud data and second point cloud data;
and (3): splicing the first point cloud data and the second point cloud data, and then extracting third point cloud data of the blasting area from the point cloud data generated by splicing; the positioning reference for splicing the point cloud data is a plane formed by the chessboard target plates;
and (4): processing the third point cloud data by using standard point cloud data to obtain actual blasting earth volume; and the standard point cloud data is generated according to a design drawing and is the point cloud data of the tunnel cross section after blasting.
Further, the step (4) includes:
step (4.1): performing coordinate rotation and contour fitting according to the third point cloud data and the standard point cloud data to obtain fourth point cloud data;
step (4.2): and calculating and obtaining the actual blasting earth volume according to the fourth point cloud data.
Further, in the step (4.1), the coordinate rotation and the contour fitting of the third point cloud data and the standard point cloud data are performed by using an ICP algorithm and a least square method.
Further, in the step (4.2), the fourth point cloud data is calculated by using a section cutting method, so that the actual blasting earth volume is obtained.
The invention has the beneficial effects that:
1. according to the invention, by means of a 3D laser scanning technology, the free setting of stations can be realized, the tunnel surrounding rock blasting amount is scanned and detected in a non-contact manner to obtain the point cloud data of the tunnel surrounding rock blasting amount, the detection precision can be greatly improved, the detection speed is shortened, the detection cost is reduced, the detection method and the operation are faster and more efficient, and the detection of the tunnel surrounding rock blasting amount in various environments can be met;
2. realize carrying out automated inspection to tunnel country rock blasting earthwork volume through 3D laser scanner, require to contrast with design blasting earthwork, can improve instructive suggestion to follow-up construction according to the testing result, realized intellectuality, and do not influence the normal operation in tunnel.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic structural view of a chessboard target plate;
FIG. 3 is a schematic diagram of first point cloud data;
FIG. 4 is a schematic diagram of second point cloud data;
fig. 5 is a schematic diagram of third point cloud data.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
The embodiment of the invention provides a tunnel surrounding rock blasting earth volume detection method based on a 3D laser scanner, please refer to fig. 1, which specifically comprises the following steps:
step (1): at least three chessboard target plates are arranged on the tunnel surrounding rock behind the area to be measured, and the central points of the chessboard target plates are connected to form a plane;
the chessboard target plates are shown in fig. 2, in practical use, the number of the chessboard target plates is at least three, the centers of the at least three chessboard target plates are not collinear, three central points are connected to form a plane which is mainly used for positioning, and the positions of the chessboard target plates used for positioning before and after measurement should be kept unchanged. Software matched with the 3D laser scanner can identify the central point of the chessboard target plate, and if the software can identify three central points which are not collinear, splicing of the measured point cloud data before and after explosion can be realized.
Step (2): before and after tunnel surrounding rock blasting, a 3D laser scanner is used for measuring an area to be measured respectively to obtain first point cloud data and second point cloud data, as shown in fig. 3 and 4.
The first point cloud data and the second point cloud data in the embodiment of the invention refer to three-dimensional coordinates of scanning acquired tunnel section contour pixel points, are part of information of 3D laser scanner measurement data, and can be directly extracted.
If the first point cloud data and the second point cloud data obtained by the 3D laser scanner are too large, point cloud dilution processing can be performed by adopting a conventional algorithm under the condition that the requirement of measurement accuracy is met, so that the algorithm efficiency of subsequent registration fitting is improved.
Before the 3D laser scanner is measured, tripod leveling and instrument measuring range reasonable adjustment need be carried out, thereby improving measuring efficiency.
This 3D laser scanner website sets up and can freely select, need not instrument cooperations such as total powerstation, convenient operation, and it can independently establish the station, and the station need not the coincidence around.
And (3): splicing the first point cloud data and the second point cloud data, and then extracting third point cloud data of the blasting area from the point cloud data generated by splicing; the positioning reference for splicing the point cloud data is a plane formed by the chessboard target plates;
reading the first point cloud data and the second point cloud data, splicing the first point cloud data and the second point cloud data by using a three-dimensional profile of a plane formed by the chessboard target plates, i.e. superposing three-dimensional coordinates of the plane formed by the chessboard target plates in the first point cloud data with three-dimensional coordinates of the plane formed by the chessboard target plates in the second point cloud data, and then extracting third point cloud data of the blasting area from the superposed point cloud data, as shown in fig. 5.
And (4): processing the third point cloud data by using standard point cloud data to obtain actual blasting earth volume; and the standard point cloud data is generated according to a design drawing and is the point cloud data of the tunnel cross section after blasting.
Further, the step (4) may include the steps of:
step (4.1): and carrying out coordinate rotation and contour fitting according to the third point cloud data and the standard point cloud data to obtain fourth point cloud data.
Specifically, the coordinate rotation and the contour fitting of the third point cloud data and the standard point cloud data are performed by using an ICP algorithm and a least square method.
And the third point cloud data is transformed to a coordinate system which is the same as the standard point cloud data by solving a rotational translation matrix between the two point cloud data, so that subsequent calculation is facilitated, and the least square method is used for calculating errors in the fitting process, so that the result of contour fitting is more accurate.
Step (4.2): and calculating and obtaining the actual blasting earth volume according to the fourth point cloud data.
Specifically, the fourth point cloud data is calculated by using a section cutting method, so that the actual blasting earth volume is obtained.
The process of the section cutting method includes the steps of firstly cutting the fourth point cloud data along the x axis to obtain the section area of each cutting surface (namely along the yz axis plane), then respectively integrating each section along the x axis, and summing to obtain the actual blasting earthwork amount.
And (5): and comparing the actual blasting earth volume with the designed blasting earth volume, and judging whether over-excavation or under-excavation exists.
If the actual blasting earth volume is larger than the designed blasting earth volume, the overexcavation is indicated, and corresponding remedial measures need to be taken for remediation at the moment so as to prevent serious accidents such as tunnel collapse and the like; if the actual blasting earth volume is less than the designed blasting earth volume, the situation of undermining is indicated, and corresponding measures are also taken.
The method is practically applied to Qiantangjiang road stations in Qingdao subway No. 6 line 05 work area engineering, point cloud data before and after blasting are obtained through measurement by using a 3D laser scanner, and a tunnel surrounding rock blasting amount detection result is obtained through splicing and comparison of the point cloud data and is further used for guiding construction of the next stage. The detection method has the advantages of high working reliability, high measurement speed, good use effect and convenience in popularization and use.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (4)
1. A tunnel surrounding rock blasting earth volume detection method based on a 3D laser scanner is characterized by comprising the following steps:
step (1): at least three chessboard target plates are arranged on the tunnel surrounding rock behind the area to be measured, and the central points of the chessboard target plates are connected to form a plane;
step (2): before and after tunnel surrounding rock blasting, measuring a region to be measured by using a 3D laser scanner respectively to obtain first point cloud data and second point cloud data;
and (3): splicing the first point cloud data and the second point cloud data, and then extracting third point cloud data of the blasting area from the point cloud data generated by splicing; the positioning reference for splicing the point cloud data is a plane formed by the chessboard target plates;
and (4): processing the third point cloud data by using standard point cloud data to obtain actual blasting earth volume; and the standard point cloud data is generated according to a design drawing and is the point cloud data of the tunnel cross section after blasting.
2. The 3D laser scanner-based tunnel surrounding rock blasting earthwork detection method according to claim 1, wherein the step (4) comprises:
step (4.1): performing coordinate rotation and contour fitting according to the third point cloud data and the standard point cloud data to obtain fourth point cloud data;
step (4.2): and calculating and obtaining the actual blasting earth volume according to the fourth point cloud data.
3. The method for detecting the blasting earthwork of the tunnel surrounding rock based on the 3D laser scanner as claimed in claim 2, wherein in the step (4.1), the coordinate rotation and the contour fitting of the third point cloud data and the standard point cloud data are performed by using an ICP algorithm and a least square method.
4. The method for detecting the blasting earthwork of the tunnel surrounding rock based on the 3D laser scanner as claimed in claim 2, wherein in the step (4.2), the fourth point cloud data is calculated by a cross-section cutting method to obtain the actual blasting earthwork.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112966369A (en) * | 2021-02-06 | 2021-06-15 | 中铁工程装备集团有限公司 | Tunnel blasting quality evaluation and optimization method |
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| JP2016121487A (en) * | 2014-12-25 | 2016-07-07 | 戸田建設株式会社 | Tunnel final displacement amount prediction method |
| CN112966369A (en) * | 2021-02-06 | 2021-06-15 | 中铁工程装备集团有限公司 | Tunnel blasting quality evaluation and optimization method |
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| CN115265402A (en) * | 2022-05-09 | 2022-11-01 | 中铁一局集团第五工程有限公司 | Prefabricated part overall dimension error detection method based on 3D laser scanner |
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