CN110542388A - Tunnel Face Deformation Alarm Method Based on Mobile 3D Laser Scanning - Google Patents
Tunnel Face Deformation Alarm Method Based on Mobile 3D Laser Scanning Download PDFInfo
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- 239000011435 rock Substances 0.000 claims description 10
- 238000010276 construction Methods 0.000 claims description 7
- 238000005422 blasting Methods 0.000 claims description 6
- 239000002893 slag Substances 0.000 claims description 3
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Abstract
Description
技术领域technical field
本发明涉及隧道掌子面监控技术领域，具体来说，涉及基于移动三维激光扫描的隧道掌子面变形报警方法。The invention relates to the technical field of tunnel face monitoring, in particular to a tunnel face deformation alarm method based on mobile three-dimensional laser scanning.
背景技术Background technique
进入21世纪，地铁隧道、公路隧道、高铁隧道等隧道的监控主要采用的方法是利用全站仪、水淮仪、收敛仪等传统监测仪器，通过布设监测点，设计观测方案，以及各种平差,获得点位坐标和点位变化信息，得到隧道的断面变形、收敛变形水平位移隧道沉降、掌子面变形等方面的信息。但他们都是在采集单个控制点的三维坐标，需要采集海量的数据，花费的时间较多，这样就导致观测精度降低。同时传统监控方法只能监控监控点周围部分部分变形，无法获得隧道的整体变化，这对于衡量隧道安全来说是十分不利的。In the 21st century, the monitoring methods of tunnels such as subway tunnels, highway tunnels, and high-speed rail tunnels are mainly based on traditional monitoring instruments such as total stations, hydrometers, and convergent instruments. Obtain point coordinates and point change information, obtain tunnel section deformation, convergence deformation horizontal displacement tunnel settlement, face deformation and other information. However, they are all collecting the three-dimensional coordinates of a single control point, which requires massive data collection and takes a lot of time, which leads to a decrease in observation accuracy. At the same time, the traditional monitoring method can only monitor the partial deformation around the monitoring point, and cannot obtain the overall change of the tunnel, which is very unfavorable for measuring the safety of the tunnel.
三维激光扫描技术是继GPS之后测绘史上又一突破性革新，三维激光扫描仪能够对空间场景进行精细的扫描，获取三维激光点云进行三维建模，通过软件可以对点云数据进行多种后处理，比如计量、分析、测绘监测、展示等。三维激光扫描技术又称为实景复制技术，它具有非接触、扫描速度快、获取信息量大精度高并且对环境要求较低等优点。激光扫描通过自身发射光束，可以解决隧道光线不足的问题，适合隧道参数的测量。三维激光扫描技术成熟，将三维激光扫描技术应用于隧道监测已经成为国内外研究的热点，能够提高监测效率，也能够获得隧道的整体变形。3D laser scanning technology is another breakthrough innovation in the history of surveying and mapping after GPS. 3D laser scanners can finely scan space scenes, obtain 3D laser point clouds for 3D modeling, and perform various post-processing on point cloud data through software. Processing, such as measurement, analysis, surveying and mapping monitoring, display, etc. Three-dimensional laser scanning technology, also known as real scene replication technology, has the advantages of non-contact, fast scanning speed, large amount of information, high precision and low environmental requirements. Laser scanning can solve the problem of insufficient light in tunnels by emitting beams by itself, and is suitable for the measurement of tunnel parameters. The 3D laser scanning technology is mature, and the application of 3D laser scanning technology to tunnel monitoring has become a research hotspot at home and abroad, which can improve the monitoring efficiency and obtain the overall deformation of the tunnel.
在隧道工程的修建过程中，不可避免的会遇到各种各样复杂的工程地质条件，给工程施工带来难度。而在隧道开挖过程中，掌子面可能出现坍塌、落石、掉石，也可能因为水压导致掌子面变形甚至发生工程事故，近几年因隧道掌子面不稳定而发生的隧道坍方事故常见报道，越来越多地引起了学术界和工程界的高度关注，很多基础和应用问题也亟待解决。实际设计以及施工中，大多根据工程师的经验确定，因此难以保证隧道掌子面的施工安全。In the construction process of tunnel engineering, it is inevitable to encounter various complex engineering geological conditions, which brings difficulties to engineering construction. In the process of tunnel excavation, the face of the tunnel may collapse, rockfall, rockfall, or deformation of the face due to water pressure or even engineering accidents. In recent years, tunnel collapses have occurred due to instability of the face of the tunnel. The common reports of accidents have attracted more and more attention from the academic and engineering circles, and many basic and application problems need to be solved urgently. In the actual design and construction, most of them are determined according to the experience of engineers, so it is difficult to guarantee the construction safety of the tunnel face.
然而，在隧道复杂环境下，现有监控方法的对掌子面的控制与监控将会非常困难，同时全站仪测量数据庞大，不好处理，因此急需一种新的方法来实时监控隧道掌子面，以免发生岩土滑落，造成工程事故。However, in the complex environment of the tunnel, it will be very difficult to control and monitor the tunnel face with the existing monitoring methods. At the same time, the measurement data of the total station is huge and difficult to handle. Therefore, a new method is urgently needed to monitor the tunnel face in real time. face, so as to avoid rock and soil slipping, resulting in engineering accidents.
发明内容Contents of the invention
针对相关技术中的问题，本发明提供了应用于移动式三维激光扫描技术的隧道掌子面变形自动化报警系统，本发明可以实现对掌子面实时监控，并能使最大偏差在毫米级别，避免落石危及作业人员的安全。本发明以Z+F三维激光扫描仪为核心的隧道监控方案，不仅精度达到规范要求，且比平时工程师表面观察更准确，也更安全。本发明可以可应用于各种隧道的掌子面的监控，以保证隧道的安全。Aiming at the problems in related technologies, the present invention provides an automatic alarm system for tunnel face deformation applied to mobile three-dimensional laser scanning technology. Falling rocks endanger the safety of workers. The tunnel monitoring scheme based on the Z+F three-dimensional laser scanner of the present invention not only meets the specification requirements in precision, but also is more accurate and safer than the usual surface observation by engineers. The present invention can be applicable to the monitoring of the working faces of various tunnels to ensure the safety of the tunnels.
为此，本发明采用的具体技术方案如下：提供了一种基于移动三维激光扫描的隧道掌子面变形报警方法，包括以下步骤：For this reason, the specific technical scheme adopted by the present invention is as follows: a method for alarming deformation of tunnel face based on mobile three-dimensional laser scanning is provided, comprising the following steps:
选择所需监控的掌子面，并利用棱镜和全站仪统一坐标；Select the tunnel face to be monitored, and use the prism and total station to unify the coordinates;
安装预先备置的移动式轨道小车，并将三维激光扫描仪固定于所述移动式轨道小车上；Installing a pre-prepared mobile rail trolley, and fixing the three-dimensional laser scanner on the mobile rail trolley;
确定所述掌子面监控点，并利用所述三维激光扫描仪获取的点云数据；Determining the monitoring points on the face of the face, and using the point cloud data obtained by the three-dimensional laser scanner;
利用点云处理软件对获取的所述点云数据进行处理，并确定所述掌子面监控点在整个所述点云数据中所对应的位置；Using point cloud processing software to process the acquired point cloud data, and determine the corresponding position of the face monitoring point in the entire point cloud data;
依据所述点云数据获取所述掌子面监控点的变形值，同时在报警软件中设置预警阀值；Obtaining the deformation value of the tunnel surface monitoring point according to the point cloud data, and setting the early warning threshold in the alarm software at the same time;
将所述掌子面的岩土变形值与所述预警阀值进行对比，并判断是否进行自动报警。Comparing the geotechnical deformation value of the tunnel face with the early warning threshold, and judging whether to issue an automatic alarm.
进一步，在选择所需监控的掌子面，并利用棱镜和全站仪同一坐标中还包括以下步骤：Further, the following steps are also included in selecting the face to be monitored and utilizing the same coordinates of the prism and the total station:
利用所述全站仪和所述棱镜控制所述掌子面的初始坐标，即利用所述棱镜完成点云的定向定位，使点云坐标与实际坐标相统一。The initial coordinates of the tunnel face are controlled by the total station and the prism, that is, the orientation and positioning of the point cloud is completed by using the prism, so that the coordinates of the point cloud are unified with the actual coordinates.
进一步，在安装移动式轨道小车，并将三维激光扫描仪固定于所述移动式轨道小车上还包括以下步骤：Further, installing the mobile track car and fixing the three-dimensional laser scanner on the mobile track car also includes the following steps:
当隧道放炮结束即初步出渣后在距离所述掌子面10-50m之间安装10m的简易移动式轨道小车，并将所述三维激光扫描仪安装在所述移动式轨道小车上。When the blasting of the tunnel is completed and the slag is initially discharged, a simple mobile rail car with a distance of 10-50 m from the tunnel face is installed, and the three-dimensional laser scanner is installed on the mobile rail car.
进一步，在确定所述掌子面监控点，并利用所述三维激光扫描仪获取的点云数据中还包括以下步骤：Further, the following steps are further included in determining the monitoring point of the face and using the point cloud data obtained by the 3D laser scanner:
当放炮和初步处理残渣后，根据隧道围岩等级和现场施工方案在所述掌子面上布置多个监控点，并利用所述全站仪配合所述三维激光扫描议建立统一的坐标系；After blasting and preliminary treatment of residues, a plurality of monitoring points are arranged on the tunnel face according to the grade of the surrounding rock of the tunnel and the site construction plan, and a unified coordinate system is established by using the total station to cooperate with the three-dimensional laser scanning;
保证每一激光扫描测站之间设立至少三个公共的工作基点，并用所述三维激光扫描仪获取每一所述激光扫描测站的工作基点坐标以及隧道点云。Ensure that at least three common working base points are established between each laser scanning station, and use the three-dimensional laser scanner to obtain the working base point coordinates and tunnel point cloud of each laser scanning station.
进一步，所述点云处理软件包括RealWorks Suryey、Imageware等专业的点云处理软件中的一种。Further, the point cloud processing software includes one of professional point cloud processing software such as RealWorks Suryey and Imageware.
进一步，利用点云处理软件对获取的所述点云数据进行处理具体包括以下步骤：Further, using point cloud processing software to process the acquired point cloud data specifically includes the following steps:
首先，利用所述点云处理软件对获取的所述点云数据进行去噪、配准、分割和合并处理；First, using the point cloud processing software to perform denoising, registration, segmentation and merging processing on the acquired point cloud data;
然后，利用所述点云处理软件对所述点云数据进行精简和排序；Then, utilize the point cloud processing software to streamline and sort the point cloud data;
最后，利用所述点云处理软件把所得的点云数据进行拼接，得到隧道掌子面整体的点云数据。Finally, use the point cloud processing software to splice the obtained point cloud data to obtain the point cloud data of the tunnel face as a whole.
进一步，依据所述点云数据获取所述掌子面监控点的变形值，具体包括以下步骤：Further, obtaining the deformation value of the face monitoring point according to the point cloud data specifically includes the following steps:
根据所述掌子面监控点在整个所述点云数据中所对应的位置，得到各所述监控点在整体所述点云数据中所在的位置；Obtain the position of each of the monitoring points in the overall point cloud data according to the corresponding positions of the palm face monitoring points in the entire point cloud data;
从整体所述点云数据中以所述监控点为中心提取一定范围的点云数据，对提取的所述点云数据进行正态分布拟合，即可得到所述掌子面各监控点周围岩土变形破坏情况。From the overall point cloud data, a certain range of point cloud data is extracted with the monitoring point as the center, and the extracted point cloud data is fitted with a normal distribution to obtain the surrounding area of each monitoring point on the face of the tunnel. Deformation and damage of rock and soil.
进一步，将所述掌子面的岩土变形值与所述预警阀值进行对比，并判断是否进行自动报警，具体包括以下步骤：Further, comparing the geotechnical deformation value of the tunnel face with the early warning threshold, and judging whether to perform an automatic alarm, specifically including the following steps:
当所述掌子面的岩土变形值超过所述预警阈值时进行自动语音报警；When the geotechnical deformation value of the tunnel face exceeds the early warning threshold, an automatic voice alarm is issued;
当所述掌子面的岩土变形值没有超过所述预警阈值时不进行自动语音报警。When the geotechnical deformation value of the tunnel face does not exceed the warning threshold, no automatic voice alarm is given.
本发明的有益效果为：The beneficial effects of the present invention are:
1、本发明可以实现对掌子面实时监控，并能使最大偏差在毫米级别，避免落石危及作业人员的安全。1. The present invention can realize real-time monitoring of the working surface, and can make the maximum deviation at the millimeter level, so as to avoid falling rocks from jeopardizing the safety of workers.
2、本发明以Z+F三维激光扫描仪为核心的隧道掌子面监控方案，不仅精度达到规范要求，且比平时工程师表面观察更准确，也更安全。2. The tunnel face monitoring solution based on the Z+F three-dimensional laser scanner of the present invention not only meets the specification requirements in precision, but also is more accurate and safer than the usual surface observation by engineers.
3、本发明可以可应用于各种隧道的掌子面的监控，以保证隧道工作人员的安全。3. The present invention can be applied to the monitoring of the face of various tunnels to ensure the safety of tunnel workers.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.
图1是根据本发明实施例的基于移动三维激光扫描的隧道掌子面变形报警方法的流程示意图。Fig. 1 is a schematic flowchart of a tunnel face deformation warning method based on mobile three-dimensional laser scanning according to an embodiment of the present invention.
具体实施方式Detailed ways
为进一步说明各实施例，本发明提供有附图，这些附图为本发明揭露内容的一部分，其主要用以说明实施例，并可配合说明书的相关描述来解释实施例的运作原理，配合参考这些内容，本领域普通技术人员应能理解其他可能的实施方式以及本发明的优点，图中的组件并未按比例绘制，而类似的组件符号通常用来表示类似的组件。In order to further illustrate the various embodiments, the present invention provides accompanying drawings, which are part of the disclosure of the present invention, and are mainly used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments, for reference Those of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.
根据本发明的实施例，提供了基于移动三维激光扫描的隧道掌子面变形报警方法。According to an embodiment of the present invention, a tunnel face deformation warning method based on mobile three-dimensional laser scanning is provided.
现结合附图和具体实施方式对本发明进一步说明，如图1所示，根据本发明实施例的基于移动三维激光扫描的隧道掌子面变形报警方法，包括以下步骤：The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. As shown in FIG. 1 , the tunnel face deformation alarm method based on mobile three-dimensional laser scanning according to an embodiment of the present invention includes the following steps:
步骤S101，选择所需监控的掌子面，并利用棱镜和全站仪统一坐标；Step S101, select the face to be monitored, and use the prism and the total station to unify the coordinates;
其中，所述步骤S101还包括以下步骤：Wherein, the step S101 also includes the following steps:
利用所述全站仪和所述棱镜控制所述掌子面的初始坐标，即利用所述棱镜完成点云的定向定位，使点云坐标与实际坐标相统一。The initial coordinates of the tunnel face are controlled by the total station and the prism, that is, the orientation and positioning of the point cloud is completed by using the prism, so that the coordinates of the point cloud are unified with the actual coordinates.
步骤S102，安装预先备置的移动式轨道小车，并将三维激光扫描仪固定于所述移动式轨道小车上；Step S102, installing the pre-prepared mobile rail trolley, and fixing the 3D laser scanner on the mobile rail trolley;
其中，所述步骤S102还包括以下步骤：Wherein, the step S102 also includes the following steps:
当隧道放炮结束即初步出渣后在距离所述掌子面10-50m之间安装10m的简易移动式轨道小车，并将所述三维激光扫描仪安装在所述移动式轨道小车上。When the blasting of the tunnel is completed and the slag is initially discharged, a simple mobile rail car with a distance of 10-50 m from the tunnel face is installed, and the three-dimensional laser scanner is installed on the mobile rail car.
步骤S103，确定所述掌子面监控点，并利用所述三维激光扫描仪获取的点云数据；Step S103, determining the monitoring points of the face, and using the point cloud data obtained by the 3D laser scanner;
其中所述步骤S103还包括以下步骤：Wherein said step S103 also includes the following steps:
在数据采集过程中，当放炮和初步处理残渣后，根据隧道围岩等级和现场施工方案在所述掌子面上布置多个监控点，并利用所述全站仪配合所述三维激光扫描议建立统一的坐标系；In the process of data collection, after blasting and preliminary treatment of residues, multiple monitoring points are arranged on the tunnel face according to the grade of the surrounding rock of the tunnel and the site construction plan, and the total station is used to cooperate with the three-dimensional laser scanning Establish a unified coordinate system;
保证每一激光扫描测站之间设立至少三个公共的工作基点，并用所述三维激光扫描仪获取每一所述激光扫描测站的工作基点坐标以及隧道点云。Ensure that at least three common working base points are established between each laser scanning station, and use the three-dimensional laser scanner to obtain the working base point coordinates and tunnel point cloud of each laser scanning station.
步骤S104，利用点云处理软件对获取的所述点云数据进行处理，并确定所述掌子面监控点在整个所述点云数据中所对应的位置；Step S104, using point cloud processing software to process the acquired point cloud data, and determine the corresponding position of the face monitoring point in the entire point cloud data;
其中，所述点云处理软件包括RealWorks Suryey、Imageware等专业的点云处理软件中的一种。Wherein, the point cloud processing software includes one of professional point cloud processing software such as RealWorks Suryey and Imageware.
点云数据处理具体包括以下步骤：Point cloud data processing specifically includes the following steps:
首先，利用所述点云处理软件对获取的所述点云数据进行去噪、配准、分割和合并处理；First, using the point cloud processing software to perform denoising, registration, segmentation and merging processing on the acquired point cloud data;
然后，利用所述点云处理软件对所述点云数据进行精简和排序；Then, utilize the point cloud processing software to streamline and sort the point cloud data;
最后，利用所述点云处理软件把所得的点云数据进行拼接，得到隧道掌子面整体的点云数据。Finally, use the point cloud processing software to splice the obtained point cloud data to obtain the point cloud data of the tunnel face as a whole.
步骤S105，依据所述点云数据获取所述掌子面监控点的变形值，同时在报警软件中设置预警阀值；Step S105, obtaining the deformation value of the monitoring point of the face face according to the point cloud data, and setting an early warning threshold in the alarm software;
其中，依据所述点云数据获取所述掌子面监控点的变形值，具体包括以下步骤：Wherein, obtaining the deformation value of the face monitoring point according to the point cloud data specifically includes the following steps:
根据所述掌子面监控点在整个所述点云数据中所对应的位置，得到各所述监控点在整体所述点云数据中所在的位置；Obtain the position of each of the monitoring points in the overall point cloud data according to the corresponding positions of the palm face monitoring points in the entire point cloud data;
从整体所述点云数据中以所述监控点为中心提取一定范围的点云数据，对提取的所述点云数据进行正态分布拟合，即可得到所述掌子面各监控点周围岩土变形破坏情况。From the overall point cloud data, a certain range of point cloud data is extracted with the monitoring point as the center, and the extracted point cloud data is fitted with a normal distribution to obtain the surrounding area of each monitoring point on the face of the tunnel. Deformation and damage of rock and soil.
步骤S106，将所述掌子面的岩土变形值与所述预警阀值进行对比，并判断是否进行自动报警。Step S106, comparing the geotechnical deformation value of the tunnel face with the early warning threshold, and judging whether to issue an automatic alarm.
其中，所述步骤S106具体包括以下步骤：Wherein, the step S106 specifically includes the following steps:
当所述掌子面的岩土变形值超过所述预警阈值时进行自动语音报警；When the geotechnical deformation value of the tunnel face exceeds the early warning threshold, an automatic voice alarm is issued;
当所述掌子面的岩土变形值没有超过所述预警阈值时不进行自动语音报警。When the geotechnical deformation value of the tunnel face does not exceed the warning threshold, no automatic voice alarm is given.
综上所述，借助于本发明的上述技术方案，本发明可以实现对掌子面实时监控，并能使最大偏差在毫米级别，避免落石危及作业人员的安全。本发明以Z+F三维激光扫描仪为核心的隧道掌子面监控方案，不仅精度达到规范要求，且比平时工程师表面观察更准确，也更安全。本发明可以可应用于各种隧道的掌子面的监控，以保证隧道工作人员的安全。To sum up, with the help of the above-mentioned technical solution of the present invention, the present invention can realize real-time monitoring of the face of the tunnel, and can make the maximum deviation at the millimeter level, so as to prevent the safety of operators from falling rocks. The tunnel face monitoring scheme based on the Z+F three-dimensional laser scanner of the present invention not only meets the specification requirements in precision, but also is more accurate and safer than the usual surface observation by engineers. The present invention can be applicable to the monitoring of the face of various tunnels to ensure the safety of tunnel workers.
以所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。It should be pointed out that those skilled in the art can make some improvements and modifications without departing from the principles of the present invention. It should be regarded as the protection scope of the present invention.
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