CN114136213B - Three-dimensional laser scanning system and method for monitoring unstable body of cavern - Google Patents
Three-dimensional laser scanning system and method for monitoring unstable body of cavern Download PDFInfo
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- CN114136213B CN114136213B CN202111540523.1A CN202111540523A CN114136213B CN 114136213 B CN114136213 B CN 114136213B CN 202111540523 A CN202111540523 A CN 202111540523A CN 114136213 B CN114136213 B CN 114136213B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000035939 shock Effects 0.000 claims abstract description 13
- 238000013016 damping Methods 0.000 claims abstract description 12
- 239000000428 dust Substances 0.000 claims abstract description 7
- 238000005192 partition Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 15
- 238000009412 basement excavation Methods 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 11
- 238000010521 absorption reaction Methods 0.000 claims description 10
- 238000007405 data analysis Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000013524 data verification Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 238000005422 blasting Methods 0.000 abstract description 6
- 238000010276 construction Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000000638 solvent extraction Methods 0.000 description 3
- 239000011435 rock Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The invention discloses a three-dimensional laser scanning system and a method for monitoring a cavity unstable body, wherein the system comprises a base, a three-dimensional laser scanner, an elastic damping component, an upper centering block, a lower centering block, a soft belt and a control unit, wherein the three-dimensional laser scanner is positioned on the upper surface of the base, the elastic damping component is positioned on the lower surface and the side surface of the base and is used for connecting the inner wall of the cavity, the upper centering block is positioned on the lower surface of the base, the lower centering block is positioned on the inner wall of the cavity and is matched with the upper centering block, one end of the soft belt is connected with the base, and the other end of the soft belt is connected with the inner wall of the cavity through a first spring, and the control unit is connected with the three-dimensional laser scanner; in the non-monitoring state, the first spring and the soft belt are in a loose state, and the upper centering block and the lower centering block are separated; in the monitoring state, the first spring and the soft belt are in a tensioning state, and the upper centering block and the lower centering block are clamped and centered. The invention is suitable for dark and dust environments of the grotto, can effectively absorb shock aiming at the aftershock of blasting, ensures that each monitoring is positioned at the same reference position, and can rapidly and accurately monitor unstable bodies of the grotto and early warn in time in the construction period of the grotto.
Description
Technical Field
The invention relates to a three-dimensional laser scanning system, in particular to a three-dimensional laser scanning system and method for monitoring an unstable body of a cavern.
Background
The cavity is a common engineering structure type in projects such as water conservancy and municipal works, after the cavity is excavated, the rock mass on the temporary face is lost to support so that the cavity is deformed, when the rock mass is broken or a unfavorable structural face combination exists, part of unstable blocks are greatly deformed and fall off from the surface of the cavity to a certain extent, and the cavity has great potential safety hazards, especially when the cavity is excavated to a certain height and the temporary face is large, the cavity is more dangerous, so that the cavity form data needs to be accurately acquired, and the possible unstable body falling off is early warned in time.
At present, a convergence gauge is usually used in engineering and is matched with a total station, a prism and the like to monitor a cavity, but when the cavity is large, engineering base points are difficult to fix in the construction period, and the operation is quite difficult. In recent years, three-dimensional images are gradually tried to monitor the deformation of a cavity, conventional means comprise photogrammetry, three-dimensional laser scanning and structured light technology, the cavity is scanned in a divided mode by adopting a movable device, and data of different batches are analyzed by a method of registering fixed datum points (targets), but because the acquired data volume is too huge, the calculation model and the data matching process are very complicated, high-precision monitoring results are difficult to obtain quickly, hidden dangers cannot be found in time and early warning is achieved, and the application range of the device is influenced.
Meanwhile, the surface of the cavity is rugged due to excavation blasting, so that accurate surface morphology data are difficult to acquire for subsequent analysis and treatment. In addition, the problems of darkness, explosion vibration, large dust and the like exist in the cavity, so that the conventional three-dimensional laser scanning, photogrammetry and structured light technology are limited.
Currently, there is a need to solve the above problems.
Disclosure of Invention
The invention aims to: the first object of the invention is to provide a three-dimensional laser scanning system for monitoring an unstable body of a cavern, which can effectively absorb the aftershock of the cavern and can ensure that the monitoring is at the same reference position each time.
A second object of the invention is to provide a method for installing the three-dimensional laser scanning system for monitoring the unstable body of the cavern.
The third object of the invention is to provide a scanning method of the three-dimensional laser scanning system for monitoring the unstable body of the cavern, which aims at the stage of large deformation of the surface of the cavern after blasting excavation and before lining completion of the cavern, three-dimensional laser scanners are arranged at fixed positions on two sides of the cavern, double-angle measurement is carried out on the excavation section of the cavern, and the problems of errors caused by small-angle intersection of a monitoring blind area and a sight line with the surface of the cavern are solved.
The technical scheme is as follows: in order to achieve the above purpose, the invention discloses a three-dimensional laser scanning system for monitoring an unstable body of a cavity, which comprises a base, a three-dimensional laser scanner, an elastic shock absorption component, an upper centering block, a lower centering block, a soft belt and a control unit, wherein the three-dimensional laser scanner is positioned on the upper surface of the base, the elastic shock absorption component is positioned on the lower surface and the side surface of the base and is used for connecting the inner wall of the cavity, the upper centering block is positioned on the lower surface of the base, the lower centering block is positioned on the inner wall of the cavity and corresponds to the upper centering block, one end of the soft belt is connected with the base, and the other end of the soft belt is connected with the inner wall of the cavity through a first spring, and the control unit is connected with the three-dimensional laser scanner; in a non-monitoring state, the first spring and the soft belt are in a loose state, the upper centering block and the lower centering block are separated, and the elastic damping component supports the base; in the monitoring state, the first spring and the soft belt are in a tensioning state, and the upper centering block and the lower centering block are clamped and centered.
Wherein the elastic shock absorbing assembly comprises a damper and a second spring connected to each other, wherein the stiffness coefficient of the second spring is smaller than the stiffness coefficient of the first spring.
Preferably, the upper centering block is provided with a conical bulge, and the lower centering block is provided with a corresponding groove; or the upper centering block is provided with a conical groove, and the lower centering block is provided with a corresponding bulge.
Moreover, the base is symmetrically provided with a rotating wheel and a rotating wheel motor for driving the rotating wheel to rotate, one end of the soft belt is wound on the rotating wheel, the rotating wheel motor is connected with the control unit, and the control unit controls the rotating wheel motor to drive the rotating wheel to rotate positively and negatively so as to drive the soft belt to be tensioned or loosened.
Further, the control unit comprises a protection box with an opening at one side and used for packaging, and a control chip, a wireless communication module and a power supply module which are positioned in the protection box.
Preferably, a wall groove is excavated on the inner wall of the cavity, and the height of the wall groove is larger than the jacking height of the three-dimensional laser scanner after installation.
Furthermore, the wall slot is provided with an automatic dust door connected with the control unit.
The invention relates to a method for installing a three-dimensional laser scanning system for monitoring an unstable body of a cavern, which comprises the following steps:
instrument addressing: selecting corresponding mounting positions of the side walls of the cavern along the axial direction of the cavern according to different diameters and excavation heights of the cavern, wherein the distance between the mounting positions of the side walls of the adjacent caverns in the axial direction is less than 50m;
wall groove excavation and base installation: digging a wall groove at the installation position of the side wall of the cavity and installing a three-dimensional laser scanning system, wherein the correct installation state is as follows: when the upper centering block and the lower centering block are clamped and centered, the elastic shock absorption component is in a compression state; when the upper centering block and the lower centering block are separated, the elastic damping component supports the base;
dustproof door and control line connection: installing an automatic dustproof door at the opening of the wall groove, and connecting control circuits of the automatic dustproof door and a runner motor to a control chip;
monitoring states: when data are acquired, the control chip respectively sends control signals to the automatic dustproof door and the rotating wheel motor, the automatic dustproof door is opened, the rotating wheel is driven by the rotating wheel motor to rotate along with the pulse signals, the soft belt and the first spring are tensioned, the base is integrally moved downwards until the upper centering block and the lower centering block are clamped and centered, and the three-dimensional laser scanner is positioned at the same reference position during each monitoring;
non-monitoring state: after data acquisition is completed, the control chip sends control signals to the automatic dustproof door and the rotating wheel motor respectively, the automatic dustproof door is closed, the rotating wheel is driven by the rotating wheel motor to rotate along with the pulse signals, the soft belt and the first spring are loosened, the base moves upwards as a whole, the upper centering block and the lower centering block are separated, and the base is supported by the elastic damping component on the lower part and the side face of the base.
The invention discloses a scanning method of a three-dimensional laser scanning system for monitoring an unstable body of a cavern, which comprises the following steps:
data partition primary registration: corresponding three-dimensional laser scanning systems are arranged at fixed positions on two sides of the cavity, the three-dimensional laser scanning systems enter a scanning state to perform primary data acquisition, the wireless communication module transmits data to an external processing system, the surface point cloud data of the cavity are divided into areas and marked with angle orientations, and initial registration results of the angle orientations of instruments on two sides to the same area are stored;
data analysis and verification: when monitoring data analysis, analyzing the whole data collected by a single-side instrument rapidly to obtain a deformation result of each partition, adopting the data on the other side to carry out supplementary verification according to the initial registration result, and taking an average value as the deformation output of the partition if the difference value of the analysis results of the data on the two sides does not exceed a threshold value; if the difference exceeds the threshold, fusing and analyzing the data at two sides, searching for a data hole, combining redundant data, and calculating a region deformation result;
deformation calculation and early warning: and setting a time interval for data acquisition according to the monitoring requirement, calculating the deformation of the cavern of each partition according to the current measurement and the previous measurement result, searching the position of the large-displacement unstable body on the surface of the cavern, and carrying out early warning when the deformation of one partition exceeds a preset value.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable advantages:
(1) Aiming at the special blasting environment of the grotto, the shock absorption design is utilized to reduce the interference of aftershock on the three-dimensional laser scanner, and meanwhile, the shock absorption centering device ensures that the three-dimensional laser scanner is positioned at the same reference position in the monitoring state and is positioned in the free vibration state in the non-monitoring state, so that the monitoring precision and the safety of the instrument are ensured;
(2) Monitoring data are transmitted in real time by utilizing a wireless communication technology, and an unstable body on the surface of the cavity is monitored, so that the requirements of high-precision data acquisition and unstable body falling prediction of the surface morphology of the cavity in the engineering construction period are met;
(3) Aiming at the stage that the surface deformation of the cavity is large after blasting excavation and before lining is completed, three-dimensional laser scanners are installed at fixed positions on two sides of the cavity, double-angle measurement is carried out on the excavation section of the cavity, and the problems of error caused by small-angle intersection of a monitoring blind area and the surface of the cavity and a sight line are solved;
(4) According to the invention, the three-dimensional laser scanner is fixed, and rapid data registration is performed in a certain angle mode, namely, the two adjacent monitoring scanning sight lines are the same, so that the rapid data searching and calculating can be performed on the large deformation of the unstable body in the cavity, and the real-time prediction can be performed on the unstable body in the construction period;
(5) The automatic dustproof door is adopted to solve the dust problem in the construction period of the grotto, and the monitoring precision and the safety of instruments are ensured.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic view of a dust door according to the present invention;
FIG. 4 is a schematic diagram of the working principle of the centering in the present invention;
FIG. 5 is a top view of the three-dimensional laser scanner of the present invention deployed in a cavity;
FIG. 6 is a diagram illustrating the partitioning of data partitions in the present invention;
FIG. 7 is a schematic diagram of three-dimensional laser scanner data acquisition in accordance with the present invention;
FIG. 8 is a schematic view of three-dimensional laser scanning small angle measurement at A in FIG. 7;
fig. 9 is a schematic diagram of a three-dimensional laser scanning occlusion measurement at B in fig. 7.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the three-dimensional laser scanning system for monitoring the unstable body of the cavern comprises a base 1, a three-dimensional laser scanner 2, an elastic shock absorption component 3, an upper centering block 4, a lower centering block 5, a first spring 6, a soft belt 7, a control unit 8, a rotating wheel 9, a wall groove 10 and an automatic dust door 11.
A wall groove 10 is excavated on the cavity, an automatic dustproof door 11 connected with a control unit is arranged on a wall notch, the control unit controls the automatic dustproof door 11 to be opened and closed, and the height of the wall groove is larger than the distance from the top of the three-dimensional laser scanner to the inner wall of the cavity. The lower surface of base 1 sets up 4 symmetrical arrangement's elastic damper 3, and the side and the rear side are provided with elastic damper 3 respectively and totally 6 about base 1, and elastic damper 3's one end links to each other with the inner wall in wall groove, realizes that base 1 links to each other with the chamber, and elastic damper 3 includes interconnect's attenuator and second spring. The three-dimensional laser scanner 2 is provided on the upper surface of the base 1. The upper centering block 4 is arranged on the lower surface of the base, the lower centering block 5 is arranged on the inner wall of the cavity and at a position corresponding to the upper centering block, the upper centering block 4 is provided with a conical bulge, and the lower centering block 5 is provided with a corresponding groove; or the upper centering block 4 is provided with a conical groove, and the lower centering block 5 is provided with a corresponding protrusion. The upper surface of the base is symmetrically provided with a rotating wheel 9, the rotating wheel 9 is connected with a rotating wheel motor for driving the rotating wheel to rotate, and the rotating wheel motor is connected with a control chip of the control unit; one end of the soft belt 7 is wound on the rotating wheel 9, and the other end of the soft belt 7 is connected with the inner wall of the cavity through the first spring 6; the control unit 8 controls the rotating wheel motor to drive the rotating wheel 9 to rotate positively and negatively so as to drive the soft belt 7 to be tensioned or loosened; in the non-monitoring state, the first spring and the soft belt are in a loose state, and the upper centering block and the lower centering block are separated; in the monitoring state, the first spring and the soft belt are in a tensioning state, and the upper centering block and the lower centering block are clamped and centered; wherein the stiffness coefficient of the second spring is less than the stiffness coefficient of the first spring, the high stiffness coefficient of the first spring ensuring that the spring provides sufficient force F1 in tension to ensure that the upper and lower centering blocks are in snap-fit centering tight connection, as shown in FIG. 4.
The control unit 8 is connected with the three-dimensional laser scanner, and the control unit 8 comprises a protection box with an opening at one side and used for packaging, and a control chip, a wireless communication module and a power supply module which are positioned in the protection box. As shown in fig. 5, the three-dimensional laser scanner performs three-dimensional laser scanning on the cross section of the cavity in the measuring range, the three-dimensional laser scanning can determine coordinate data of a certain position on the surface of the cavity according to the scanning angle, the deformation amount in two times of data acquisition can be positioned without reference point matching during data analysis, and after lining of the cavity is completed, the three-dimensional laser scanning system for monitoring the unstable body of the cavity can be moved to the cavity excavation section for repeated use. As shown in fig. 6, when the surface data of the cavity corresponding to the laser scanning angle change is set as a data analysis section, the scanning angle α of different sections can be set as a variable and determined at the time of initial registration.
As shown in fig. 4, in the non-monitoring state of the invention, the whole system is supported by the elastic damping component, the soft belt and the first spring are in a loose state, and in the non-monitoring state, the system can vibrate freely, and the damper of the elastic damping component absorbs vibration energy to avoid vibration impact; during monitoring, the soft belt and the first spring are in a screwed state, the base moves downward integrally until the upper centering block and the lower centering block are clamped and centered to realize stable connection, and the second spring of the elastic shock absorption assembly is in a pressed state to generate F 1 The acting force is applied to the first spring connected with the soft belt and is in a tensioning state, and according to the spring property and the stress analysis, even if the soft belt and the screwing device are loosened slightly, the high stiffness coefficient of the first spring ensures that the tensioning state of the spring still provides enough force F 2 The upper centering block and the lower centering block are clamped and centered to realize tight connection.
The invention relates to a method for installing a three-dimensional laser scanning system for monitoring an unstable body of a cavern, which comprises the following steps:
instrument addressing: according to different diameters and excavation heights of the caverns, corresponding mounting positions of the side walls of the caverns are selected from two sides of the caverns along the axial direction of the caverns, and the space between the mounting positions of the side walls of the adjacent caverns along the axial direction is smaller than 50m;
wall groove excavation and base installation: excavating a wall groove at the installation position of the side wall of the cavity and installing a laser scanning system, wherein the correct installation state is as follows: when the upper centering block and the lower centering block are clamped and centered, the elastic shock absorption component is in a compression state; when the upper centering block and the lower centering block are separated, the elastic damping component supports the base;
dustproof door and control line connection: installing an automatic dustproof door at the opening of the wall groove, and connecting control circuits of the automatic dustproof door and a runner motor to a control chip;
monitoring states: when data are acquired, the control chip respectively sends control signals to the automatic dustproof door and the rotating wheel motor, the automatic dustproof door is opened, the rotating wheel is driven by the rotating wheel motor to rotate along with the pulse signals, the soft belt and the first spring are tensioned, the base is integrally moved downwards until the upper centering block and the lower centering block are clamped and centered, and the three-dimensional laser scanner is positioned at the same reference position during each monitoring;
non-monitoring state: after data acquisition is completed, the control chip sends control signals to the automatic dustproof door and the rotating wheel motor respectively, the automatic dustproof door is closed, the rotating wheel is driven by the rotating wheel motor to rotate along with the pulse signals, the soft belt and the first spring are loosened, the base is enabled to move upwards integrally, the upper centering block and the lower centering block are separated, and the elastic damping components at the lower part and the side face of the base support the integral weight.
As shown in fig. 7, the scanning method of the three-dimensional laser scanning system for monitoring the unstable body of the cavern comprises the following steps:
data partition primary registration: corresponding three-dimensional laser scanning systems are arranged at fixed positions on two sides of the cavity, the three-dimensional laser scanning systems enter a scanning state to perform primary data acquisition, the wireless communication module transmits data to an external processing system, the surface point cloud data of the cavity are divided into areas and marked with angle orientations, and initial registration results of the angle orientations of instruments on two sides to the same area are stored;
data analysis and verification: when monitoring data analysis, analyzing the whole data collected by a single-side instrument rapidly to obtain a deformation result of each partition, adopting the data on the other side to carry out supplementary verification according to the initial registration result, and taking an average value as the deformation output of the partition if the difference value of the analysis results of the data on the two sides does not exceed a threshold value; if the difference exceeds the threshold, fusing and analyzing the data at two sides, searching for a data hole, wherein the data hole is possibly caused by measuring a small angle and shielding, merging redundant data, and calculating a region deformation result;
deformation calculation and early warning: and setting a time interval for data acquisition according to the monitoring requirement, calculating the deformation of the chamber of each partition according to the current measurement and the previous measurement result, searching the position of the large-displacement unstable body on the surface of the chamber, and carrying out early warning when the deformation of one partition exceeds a preset value, wherein the preset value can be set to be 5 mm under the conditions of conventional lithology and hole diameter.
According to the invention, three-dimensional laser scanners are arranged at the opposite positions of two sides of a cavity to perform three-dimensional laser scanning on the cross section of the cavity in a measuring range, wherein the arrangement mode of the three-dimensional laser scanning system for monitoring the cavity instability body can establish a data corresponding relation between the angle of scanning data and the coordinates of a certain position on the surface of the cavity, the surface of the cavity is marked in a partitioning mode, and scanning azimuth values of the scanners at two sides corresponding to each area are recorded respectively as initial registration basic data for partitioning calculation of subsequent deformation. The data acquisition precision of the position of the section part of the cavity can be improved through the opposite arrangement of the two sides, when the included angle theta between the emitted laser and the surface of the cavity is small, even if the laser angle slightly changes, the measuring position also greatly changes, so that a large data cavity and a large measuring error are caused, and the emitted laser of the corresponding side three-dimensional laser scanner and the included angle between the surface of the part are large, so that the position can be accurately measured. When the surface of the cavity is uneven due to blasting excavation, a convex part can be blocked during single-side scanning, so that partial data is lost, and the corresponding side three-dimensional laser scanner can acquire the blocked position data from the other side; therefore, the three-dimensional laser scanners are arranged at the corresponding positions of the two sides, when one side of the laser is in small-angle measurement, the laser at the opposite position can accurately acquire data at a large angle, and the problem of large error of the small-angle measurement of the laser is solved; or when the uneven surface of one side of the laser acquisition has shielding problem, and the data acquisition of one side is incomplete, the laser at the relative position can accurately acquire the shielding part. As shown in fig. 8, when the included angle between the emitted laser and the surface of the cavity is small, even if the laser angle is slightly changed, the measurement position is also greatly changed, so that a large data cavity and a large measurement error are generated, and at this time, the included angle between the emitted laser of the corresponding side three-dimensional laser scanner and the surface of the part is large, so that the position can be accurately measured; where θ is the angular difference between the laser scan and the cavity surface, and the smaller θ, the worse the scan accuracy. As shown in fig. 9, the surface of the excavated cavity is in an uneven state, and a convex part may exist for shielding during one-side scanning, so that partial data is lost, and the corresponding side three-dimensional laser scanner can acquire the data of the shielded part from the other side; and a three-dimensional laser scanner is arranged at the opposite fixed position, so that the section excavated by the cavity is subjected to double-angle measurement, and the surface morphology data of the cavity are accurately acquired.
Claims (7)
1. A three-dimensional laser scanning system for monitoring unstable body of a cavity is characterized in that: the device comprises a base (1), a three-dimensional laser scanner (2) positioned on the upper surface of the base, an elastic shock absorption component (3) positioned on the lower surface and the side surface of the base and used for connecting with the inner wall of a cavity, an upper centering block (4) positioned on the lower surface of the base, a lower centering block (5) positioned on the inner wall of the cavity and corresponding to the upper centering block, a soft belt (7) with one end connected with the base and the other end connected with the inner wall of the cavity through a first spring (6) and a control unit (8) connected with the three-dimensional laser scanner; in a non-monitoring state, the first spring and the soft belt are in a loose state, the upper centering block and the lower centering block are separated, and the elastic damping component supports the base; in the monitoring state, the first spring and the soft belt are in a tensioning state, and the upper centering block and the lower centering block are clamped and centered; the elastic shock absorbing assembly (3) comprises a damper and a second spring which are connected with each other, wherein the stiffness coefficient of the second spring is smaller than that of the first spring; conical protrusions are arranged on the upper centering blocks (4), and corresponding grooves are arranged on the lower centering blocks (5); or the upper centering block (4) is provided with a conical groove, and the lower centering block (5) is provided with a corresponding bulge.
2. The three-dimensional laser scanning system for monitoring a cavern unstable body according to claim 1, wherein: the base (1) is symmetrically provided with a rotating wheel (9) and a rotating wheel motor for driving the rotating wheel to rotate, one end of the soft belt (7) is wound on the rotating wheel (9), the rotating wheel motor is connected with the control unit (8), and the control unit (8) controls the rotating wheel motor to drive the rotating wheel (9) to rotate positively and negatively so as to drive the soft belt (7) to be tensioned or loosened.
3. The three-dimensional laser scanning system for monitoring a cavern unstable body according to claim 1, wherein: the control unit (8) comprises a protection box with an opening at one side and used for packaging, and a control chip, a wireless communication module and a power supply module which are positioned in the protection box.
4. The three-dimensional laser scanning system for monitoring a cavern unstable body according to claim 1, wherein: a wall groove (10) is excavated on the inner wall of the cavity, and the height of the wall groove is larger than the jacking height of the three-dimensional laser scanner after installation.
5. The three-dimensional laser scanning system for monitoring a cavern unstable body according to claim 4, wherein: an automatic dust door (11) connected with the control unit is arranged on the notch of the wall groove.
6. A method of installing a three-dimensional laser scanning system for monitoring a cavern unstable body according to any one of claims 1 to 5, comprising the steps of:
instrument addressing: according to different diameters and excavation heights of the caverns, corresponding mounting positions of the side walls of the caverns are selected along two sides of the caverns in the axial direction of the caverns, wherein the distance between the mounting positions of the side walls of the adjacent caverns in the axial direction is smaller than 50m;
wall groove excavation and base installation: digging a wall groove at the installation position of the side wall of the cavity and installing a three-dimensional laser scanning system, wherein the correct installation state is as follows: when the upper centering block and the lower centering block are clamped and centered, the elastic shock absorption component is in a compression state; when the upper centering block and the lower centering block are separated, the elastic damping component supports the base;
dustproof door and control line connection: installing an automatic dustproof door at the opening of the wall groove, and connecting control circuits of the automatic dustproof door and a runner motor to a control chip;
monitoring states: when data are acquired, the control chip respectively sends control signals to the automatic dustproof door and the rotating wheel motor, the automatic dustproof door is opened, the rotating wheel is driven by the rotating wheel motor to rotate along with the pulse signals, the soft belt and the first spring are tensioned, the base is integrally moved downwards until the upper centering block and the lower centering block are clamped and centered, and the three-dimensional laser scanner is positioned at the same reference position during each monitoring;
non-monitoring state: after data acquisition is completed, the control chip sends control signals to the automatic dustproof door and the rotating wheel motor respectively, the automatic dustproof door is closed, the rotating wheel is driven by the rotating wheel motor to rotate along with the pulse signals, the soft belt and the first spring are loosened, the base moves upwards as a whole, the upper centering block and the lower centering block are separated, and the base is supported by the elastic damping component on the lower part and the side face of the base.
7. A scanning method of a three-dimensional laser scanning system for monitoring a cavern unstable body according to any one of claims 1 to 5, comprising the steps of:
data partition primary registration: corresponding three-dimensional laser scanning systems are arranged at fixed positions on two sides of the cavity, the three-dimensional laser scanning systems enter a scanning state to perform primary data acquisition, the wireless communication module transmits data to an external processing system, the surface point cloud data of the cavity are divided into areas and marked with angle orientations, and initial registration results of the angle orientations of instruments on two sides to the same area are stored;
data analysis and verification: when monitoring data analysis, analyzing the whole data collected by a single-side instrument rapidly to obtain a deformation result of each partition, adopting the data on the other side to carry out supplementary verification according to the initial registration result, and taking an average value as the deformation output of the partition if the difference value of the analysis results of the data on the two sides does not exceed a threshold value; if the difference exceeds the threshold, fusing and analyzing the data at two sides, searching for a data hole, combining redundant data, and calculating a region deformation result;
deformation calculation and early warning: and setting a time interval for data acquisition according to the monitoring requirement, calculating the deformation of the cavern of each partition according to the current measurement and the previous measurement result, searching the position of the large-displacement unstable body on the surface of the cavern, and carrying out early warning when the deformation of one partition exceeds a preset value.
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