CN118858441B - Three-dimensional imaging method, device and system for bored pile hole quality detection - Google Patents
Three-dimensional imaging method, device and system for bored pile hole quality detection Download PDFInfo
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Abstract
本发明公开了一种用于灌注桩成孔质量检测的三维成像方法、装置及系统，方法包括：将探头下放至成孔中，采集探头自身的角度信息、下放高度信息以及探头到孔壁至少五个方向上对应的至少五个测点的距离信息；根据角度信息，判断探头是否发生倾斜；若探头未发生倾斜，则计算获得孔壁的第一三维坐标数据，根据第一三维坐标数据构建成孔的三维点云数据；若探头发生倾斜，计算测点在倾斜平面上的二维坐标，对二维坐标进行拟合、修正、投影和整合，获得孔壁的第二三维坐标数据，根据第二三维坐标数据构建成孔的三维点云数据；该方法能够对灌注桩成孔进行三维成像，且成像可靠性高，并能降低生产成本。
The invention discloses a three-dimensional imaging method, device and system for detecting the quality of bored pile holes. The method comprises: lowering a probe into a bored hole, collecting angle information of the probe itself, lowering height information and distance information of at least five measuring points corresponding to at least five directions of the probe from the hole wall; judging whether the probe is tilted according to the angle information; if the probe is not tilted, calculating and obtaining first three-dimensional coordinate data of the hole wall, and constructing three-dimensional point cloud data of the hole according to the first three-dimensional coordinate data; if the probe is tilted, calculating the two-dimensional coordinates of the measuring points on the inclined plane, fitting, correcting, projecting and integrating the two-dimensional coordinates, obtaining second three-dimensional coordinate data of the hole wall, and constructing three-dimensional point cloud data of the hole according to the second three-dimensional coordinate data; the method can perform three-dimensional imaging on bored pile holes, and the imaging reliability is high, and the production cost can be reduced.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a three-dimensional imaging method, device and system for detecting the pore-forming quality of a cast-in-place pile.
Background
Cast-in-place piles are piles made by casting concrete or reinforced concrete into holes in place. The pore-forming is a link of the construction of the cast-in-place pile, because the operation is underground or underwater, the quality control difficulty is high, the quality of the pore-forming quality directly influences the pile-forming quality after concrete pouring, the small pore diameter of the pile reduces the friction resistance of the pile-forming and the bearing capacity of the pile tip, the bearing capacity of the whole pile is reduced, the deflection of the pile hole changes the vertical bearing stress characteristic of the pile to a certain extent, the effective exertion of the bearing capacity of the pile foundation is weakened, the problems of difficult lifting of a reinforcement cage, hole collapse, insufficient thickness of a reinforcement protection layer and the like are easily generated, and therefore, the detection of the pore-forming quality of the cast-in-place pile before concrete pouring is particularly important for controlling the pile-forming quality.
The main flow method for detecting the pore-forming quality of the cast-in-place pile comprises the steps of adopting an ultrasonic probe to descend into a pore-forming, detecting the thickness of sediment or the distance from the pore wall, for example, patent document CN106545329B discloses a pore-forming quality detection device for the cast-in-place pile, a fluid density signal input interface, an ultrasonic communication interface and a three-dimensional gesture interface of a pore-forming detection host are sequentially connected with a fluid density sensor, an ultrasonic transmitting and receiving sensor and a three-dimensional gesture sensor through a cable pivot of a winding and unwinding disc and a cable bus, the cable bus is wound on the winding and unwinding disc and controlled by the winding and unwinding disc, the cable bus is wound and unwound on a depth counting pulley, the depth counting pulley records the winding and unwinding length of the cable bus, a depth feedback signal output end of the depth counting pulley is connected with the pore-forming detection host, a GPS sensor is positioned right above the probe, and a signal output end of the GPS sensor is connected with a GPS signal input end of the pore-forming detection host. The parameters such as the pore diameter, the pore depth, the perpendicularity, the full-pore slurry density, the sediment thickness, the drilling inclination direction, the pore coordinates and the like of the pore of the drilled pile can be detected. In the method, ultrasonic wave transmitting and receiving devices are arranged on four sides of a probe to measure the distance from the probe to the hole wall, however, the method can only realize detection in four directions, the information of four measuring points independently form four 'aperture-depth' curves, the information of the four measuring points cannot generate a three-dimensional image of a pile hole, and the quality parameters which are similar to the perpendicularity and can be determined only by the overall data of the pile hole are difficult to accurately extract. In addition, the data of the four measuring points are relatively independent, and only two-dimensional presentation of the azimuth detection results of each measuring point can be realized, so that the detection of the pore-forming quality of the filling pile is not comprehensive enough, and in addition, the probe can incline, swing and the like in the process of lowering, thereby influencing the reliability of the pore-forming quality detection of the filling pile.
Patent text CN118095108B discloses a method, a system and equipment for reconstructing a three-dimensional model in a bored pile, wherein a basic three-dimensional model is obtained by acquiring image data and sound data in the bored pile, performing three-dimensional reconstruction on the bored pile by using the image data, a plurality of shielding areas are calculated in the basic three-dimensional model by using the sound data, and the basic three-dimensional model is output to complete the shielding areas and then the complete three-dimensional model is output. Although the method can reconstruct the bored pile hole in three dimensions, the image data and the sound data in the bored pile are required to be obtained, so that the probe is required to be hung with an image acquisition device, sonar equipment and the like, the volume of the probe is increased, and the production cost is high.
Disclosure of Invention
The invention provides a three-dimensional imaging method, device and system for detecting the pore-forming quality of a cast-in-situ pile, which can perform three-dimensional imaging on the pore-forming of the cast-in-situ pile, has high imaging reliability and can reduce production cost.
A three-dimensional imaging method for bored pile hole quality detection, comprising:
The probe is lowered into the hole, and angle information, lowering height information and distance information of at least five corresponding measuring points from the probe to the hole wall are acquired;
Judging whether the probe tilts or not according to the angle information;
If the probe is not inclined, calculating to obtain first three-dimensional coordinate data of the hole wall according to the lowering height information, the distance information and the angle information, and constructing three-dimensional point cloud data of the hole according to the first three-dimensional coordinate data;
If the probe is inclined, calculating the two-dimensional coordinates of the measuring point on the inclined plane according to the lowering height information, the distance information and the angle information, fitting, correcting, projecting and integrating the two-dimensional coordinates to obtain second three-dimensional coordinate data of the hole wall, and constructing three-dimensional point cloud data of the hole according to the second three-dimensional coordinate data.
Further, the angle information comprises a pitch angle of the probe relative to the horizontal plane, when the pitch angle is 0, the probe is determined not to be inclined, and when the pitch angle is not 0, the probe is determined to be inclined.
Further, the angle information also comprises a deflection angle of the probe in the horizontal direction;
According to the lowering height information, the distance information and the angle information, calculating to obtain first three-dimensional coordinate data of the hole wall, wherein the first three-dimensional coordinate data comprises:
establishing an x-y coordinate system on a horizontal plane by taking the probe as a reference point;
overlapping the connecting line from one measuring point to the probe with the y axis in the x-y coordinate system, and calculating the x coordinate and the y coordinate of the measuring point in each direction of the hole wall according to the deflection angle of the probe in the horizontal direction by utilizing a trigonometric function;
Combining the lowering height as a z coordinate with the x coordinate and the y coordinate of each measuring point to obtain the three-dimensional coordinate of each measuring point under the lowering height;
And taking the three-dimensional coordinates of each measuring point at a plurality of lowering heights as first three-dimensional coordinate data of the hole wall.
Further, the probe is tilted, two-dimensional coordinates of the measuring point on the tilted plane are calculated according to the lowering height information, the distance information and the angle information, fitting, correcting, projecting and integrating are performed on the two-dimensional coordinates, and second three-dimensional coordinate data of the hole wall are obtained, and the method comprises the following steps:
The probe is used as an initial reference point, a two-dimensional coordinate system is established on an inclined plane where the measuring points in all directions are located, and according to the distance information and the angle information, the two-dimensional coordinates of all the measuring points are obtained through calculation by utilizing a trigonometric function relation;
fitting each measuring point on the inclined plane into an ellipse by using a least square method;
Correcting the initial reference point according to the parameters and the angle information of the ellipse to obtain a corrected reference point coordinate;
correcting the two-dimensional coordinate according to the corrected reference point coordinate to obtain a corrected two-dimensional coordinate;
Projecting the corrected two-dimensional coordinates to a horizontal plane to obtain projected two-dimensional coordinates;
Combining the lowering height with the projected two-dimensional coordinates to obtain projected three-dimensional coordinates of each measuring point under the lowering height, wherein the lowering height is taken as a z coordinate;
and taking the projected three-dimensional coordinates of each measuring point at a plurality of lowering heights as second three-dimensional coordinate data of the hole wall.
Further, according to the parameters and angle information of the ellipse, correcting the initial reference point to obtain corrected reference point coordinates, including:
According to the pitch angle of the probe relative to the horizontal plane, calculating the length of a line segment from the initial reference point to the actual reference point;
obtaining a linear equation of the major axis of the ellipse according to the ellipse;
calculating and obtaining an included angle between the elliptic long axis and the horizontal X axis according to a linear equation of the elliptic long axis;
And calculating based on a trigonometric function according to the length of the line segment and the included angle to obtain the corrected reference point coordinate.
Further, the two-dimensional coordinates are added with the coordinates of the corrected reference points to obtain corrected two-dimensional coordinates.
Further, projecting the corrected two-dimensional coordinates to a horizontal plane to obtain projected two-dimensional coordinates, including:
in the elliptic plane, the measuring point is crossed to make a straight line parallel to the ellipse;
projecting the corrected reference point onto the straight line to obtain a projected reference point, and calculating a projected reference point coordinate;
And calculating to obtain the projection two-dimensional coordinates of the measuring point according to the projection reference point coordinates.
Further, after constructing the three-dimensional point cloud data of the hole, the method further comprises:
and carrying out curved surface reconstruction and curved surface optimization on the three-dimensional point cloud data, and outputting and displaying.
A three-dimensional imaging device for bored pile hole quality detection, comprising:
The acquisition module is used for lowering the probe into the hole, and acquiring the angle information, the lowering height information and the distance information of at least five corresponding measuring points from the probe to the hole wall in at least five directions;
the judging module is used for judging whether the probe tilts according to the angle information;
The first point cloud generation module is used for calculating to obtain first three-dimensional coordinate data of the hole wall according to the lowering height information, the distance information and the angle information when the probe is not inclined, and constructing three-dimensional point cloud data of the hole according to the first three-dimensional coordinate data;
And the second point cloud generating module is used for calculating the two-dimensional coordinates of the measuring point on the inclined plane according to the lowering height information, the distance information and the angle information when the probe is inclined, fitting, correcting, projecting and integrating the two-dimensional coordinates to obtain second three-dimensional coordinate data of the hole wall, and constructing three-dimensional point cloud data of the hole according to the second three-dimensional coordinate data.
Further, the angle information comprises a pitch angle of the probe relative to the horizontal plane, the judging module judges that the probe is not inclined when the pitch angle is 0, and determines that the probe is inclined when the pitch angle is not 0.
Further, the angle information also comprises a deflection angle of the probe in the horizontal direction;
The first point cloud generating module calculates and obtains first three-dimensional coordinate data of a hole wall according to the lowering height information, the distance information and the angle information, and the first three-dimensional coordinate data comprises the following components:
establishing an x-y coordinate system on a horizontal plane by taking the probe as a reference point;
overlapping the connecting line from one measuring point to the probe with the y axis in the x-y coordinate system, and calculating the x coordinate and the y coordinate of the measuring point in each direction of the hole wall according to the deflection angle of the probe in the horizontal direction by utilizing a trigonometric function;
Combining the lowering height as a z coordinate with the x coordinate and the y coordinate of each measuring point to obtain the three-dimensional coordinate of each measuring point under the lowering height;
And taking the three-dimensional coordinates of each measuring point at a plurality of lowering heights as first three-dimensional coordinate data of the hole wall.
Further, when the probe is inclined, the second point cloud generating module calculates two-dimensional coordinates of the measuring point on the inclined plane according to the lowering height information, the distance information and the angle information, and fits, corrects, projects and integrates the two-dimensional coordinates to obtain second three-dimensional coordinate data of the hole wall, including:
The probe is used as an initial reference point, a two-dimensional coordinate system is established on an inclined plane where the measuring points in all directions are located, and according to the distance information and the angle information, the two-dimensional coordinates of all the measuring points are obtained through calculation by utilizing a trigonometric function relation;
fitting each measuring point on the inclined plane into an ellipse by using a least square method;
Correcting the initial reference point according to the parameters and the angle information of the ellipse to obtain a corrected reference point coordinate;
correcting the two-dimensional coordinate according to the corrected reference point coordinate to obtain a corrected two-dimensional coordinate;
Projecting the corrected two-dimensional coordinates to a horizontal plane to obtain projected two-dimensional coordinates;
Combining the lowering height with the projected two-dimensional coordinates to obtain projected three-dimensional coordinates of each measuring point under the lowering height, wherein the lowering height is taken as a z coordinate;
and taking the projected three-dimensional coordinates of each measuring point at a plurality of lowering heights as second three-dimensional coordinate data of the hole wall.
Further, the second point cloud generating module corrects the initial reference point according to the parameter and the angle information of the ellipse to obtain corrected reference point coordinates, including:
According to the pitch angle of the probe relative to the horizontal plane, calculating the length of a line segment from the initial reference point to the actual reference point;
obtaining a linear equation of the major axis of the ellipse according to the ellipse;
calculating and obtaining an included angle between the elliptic long axis and the horizontal X axis according to a linear equation of the elliptic long axis;
And calculating based on a trigonometric function according to the length of the line segment and the included angle to obtain the corrected reference point coordinate.
Further, the two-dimensional coordinates are added with the coordinates of the corrected reference points to obtain corrected two-dimensional coordinates.
Further, the second point cloud generating module projects the corrected two-dimensional coordinate to a horizontal plane to obtain a projected two-dimensional coordinate, including:
in the elliptic plane, the measuring point is crossed to make a straight line parallel to the ellipse;
projecting the corrected reference point onto the straight line to obtain a projected reference point, and calculating a projected reference point coordinate;
And calculating to obtain the projection two-dimensional coordinates of the measuring point according to the projection reference point coordinates.
Further, the device also comprises an optimization display module, which is used for reconstructing a curved surface and optimizing the curved surface of the three-dimensional point cloud data after the three-dimensional point cloud data of the hole is constructed, and outputting and displaying the three-dimensional point cloud data.
The three-dimensional imaging system for detecting the pore-forming quality of the cast-in-place pile comprises a processor, a storage device and a probe, wherein the storage device stores a plurality of instructions, the processor is used for reading the instructions and executing the method, the probe is provided with an inertial measurement unit and at least five groups of ultrasonic transmitting and receiving sensors, and the at least five groups of ultrasonic transmitting and receiving sensors are uniformly distributed on the peripheral surface of the probe and are located at the same height.
The three-dimensional imaging method, device and system for detecting the pore-forming quality of the filling pile provided by the invention at least comprises the following beneficial effects:
(1) The three-dimensional imaging of the pore wall of the pore can be carried out by the distance of the measuring point on the pore wall of the pore and the angle information of the probe per se, and compared with the two-dimensional imaging, the three-dimensional imaging of the pore wall contains more information, so that more parameters related to pore quality detection can be obtained, and the reliability of pore quality detection is improved;
(2) In the imaging process, the swinging and the tilting of the probe are fully considered, and the accuracy of imaging is improved through the compensation of the gesture, so that the accuracy of pore-forming quality detection is improved;
(3) The three-dimensional imaging of the hole can be realized only through ultrasonic distance measuring equipment and an angle detection device, and the production cost is effectively reduced.
Drawings
Fig. 1 is a flowchart of an embodiment of a three-dimensional imaging method for detecting the quality of a hole formed in a cast-in-place pile.
Fig. 2 is a flowchart of an embodiment of obtaining first three-dimensional coordinate data when a probe is not inclined in the three-dimensional imaging method for detecting the quality of a cast-in-place pile hole provided by the invention.
Fig. 3 is a schematic diagram of an embodiment of solving two-dimensional coordinates in the three-dimensional imaging method for detecting the quality of a cast-in-place pile hole provided by the invention.
Fig. 4 is a flowchart of an embodiment of obtaining second three-dimensional coordinate data when a probe is inclined in the three-dimensional imaging method for detecting the quality of a cast-in-place pile hole provided by the invention.
Fig. 5 is a flowchart of an embodiment of correcting an initial reference point in the three-dimensional imaging method for detecting the quality of a hole formed in a cast-in-place pile according to the present invention.
Fig. 6 is a schematic diagram of initial reference point and actual reference point positions in the three-dimensional imaging method for detecting the quality of the hole formed by the cast-in-place pile.
Fig. 7 is a flowchart of an embodiment of obtaining projection coordinates in the three-dimensional imaging method for detecting the quality of a hole formed in a cast-in-place pile according to the present invention.
Fig. 8 is a schematic projection diagram of the three-dimensional imaging method for detecting the quality of the hole formed by the cast-in-place pile.
Fig. 9 is a schematic structural diagram of an embodiment of a three-dimensional imaging device for detecting the quality of a hole formed in a cast-in-place pile according to the present invention.
Fig. 10 is a schematic structural diagram of an embodiment of a three-dimensional imaging system for detecting the quality of a hole formed in a cast-in-place pile according to the present invention.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, in some embodiments, a three-dimensional imaging method for bored pile hole quality detection is provided, comprising:
s1, lowering a probe into a hole, and collecting angle information, lowering height information and distance information of at least five corresponding measuring points from the probe to the hole wall in at least five directions;
s2, judging whether the probe tilts or not according to the angle information;
S3, if the probe is not inclined, calculating to obtain first three-dimensional coordinate data of the hole wall according to the lowering height information, the distance information and the angle information, and constructing three-dimensional point cloud data of the hole according to the first three-dimensional coordinate data;
And S4, if the probe is inclined, calculating the two-dimensional coordinates of the measuring point on the inclined plane according to the lowering height information, the distance information and the angle information, fitting, correcting, projecting and integrating the two-dimensional coordinates to obtain second three-dimensional coordinate data of the hole wall, and constructing three-dimensional point cloud data of the hole according to the second three-dimensional coordinate data.
Specifically, in step S1, an inertial measurement unit IMU is disposed on the probe, and is configured to collect angle information and lowering height information of the probe, at least five ultrasonic transmitting and receiving sensors are uniformly distributed on the peripheral surface of the probe, and at least five ultrasonic transmitting and receiving sensors are located at the same height, the ultrasonic transmitting and receiving sensors are configured to transmit ultrasonic signals, the ultrasonic signals reach measurement points on the hole wall of the hole and return echo signals, the ultrasonic transmitting and receiving sensors receive the echo signals, and calculate distances between the probe and the measurement points on the hole wall.
Further, the angle information comprises a deflection angle alpha of the probe in the horizontal direction, and a pitch angle of the probe relative to the horizontal plane。
Further, in step 2, the angle information includes a pitch angle of the probe with respect to the horizontal planeWhen the pitch angle isWhen the probe is 0, the probe is not inclined, namely the probe is in a horizontal state. Conversely, when pitch angleIf the inclination of the probe is not 0, the probe is determined to be inclined.
Further, in step S3, if the probe is not tilted, the three-dimensional coordinates of at least five measurement points on the hole wall may be directly calculated.
Specifically, referring to fig. 2, when the probe is not tilted, according to the lowering height information, the distance information and the angle information, first three-dimensional coordinate data of the hole wall is obtained by calculation, including:
s31, taking a probe as a reference point, and establishing an x-y coordinate system on a horizontal plane;
S32, coinciding the connecting line from one measuring point to the probe with the y axis in the x-y coordinate system, and calculating the x coordinate and the y coordinate of the measuring point in each direction of the hole wall according to the deflection angle of the probe in the horizontal direction by utilizing a trigonometric function;
S33, combining the lowering height serving as a z coordinate with the x coordinate and the y coordinate of each measuring point to obtain a three-dimensional coordinate of each measuring point at the lowering height;
and S34, taking the three-dimensional coordinates of each measuring point at a plurality of lowering heights as first three-dimensional coordinate data of the hole wall.
Specifically, in step S31, an x-y coordinate system is established on a horizontal plane with the probe as a reference point, that is, the probe is used as an origin of coordinates, where the horizontal plane is a plane where all measurement points are located, and in some embodiments, a north-positive direction may be taken as a y-axis, and a east-positive direction may be taken as an x-axis.
In step S32, taking six measuring points as an example for illustration, assuming that distances from the probe to six measuring points on the hole wall are d 0、d1、d2、d3、d4 and d 5, respectively, the distances d 0 are combined with the y axis, that is, the track of an ultrasonic signal sent by an ultrasonic transmitting and receiving sensor is combined with the y axis, then distances distributed clockwise are d 1 to d 5 in sequence, that is, each measuring point is spaced by 60 degrees, referring to fig. 3, by using a trigonometric function, according to the deflection angle α of the probe in the horizontal direction and the radius of the probe, the x coordinate and the y coordinate of the measuring points on the hole wall in the six directions are calculated, specifically by the following formula:
(1)
Where D represents the probe radius, x n represents the x-coordinate of the nth measurement point, y n represents the y-coordinate of the nth measurement point, D n represents the distance from the nth measurement point to the probe, and α represents the deflection angle of the probe in the horizontal direction.
Further, in step S33, assuming that the lowering height is h, the three-dimensional coordinates (x n,yn, h) of the hole wall measurement point at the lowering height are obtained by combining the x-coordinate and the y-coordinate of each measurement point.
Further, in step S34, three-dimensional coordinates of six measuring points at a plurality of lowering heights are used as first three-dimensional coordinate data of the hole wall. And after a large number of first three-dimensional coordinate data of the hole walls are obtained, three-dimensional imaging can be carried out on the bored pile hole.
Further, in step S4, referring to fig. 4, when the pitch angle of the probe relative to the horizontal plane is not 0, that is, when the probe is inclined, according to the lowering height information, the distance information and the angle information, a two-dimensional coordinate of the measurement point on the inclined plane is calculated, and the two-dimensional coordinate is fitted, corrected, projected and integrated to obtain second three-dimensional coordinate data of the hole wall, including:
S41, using a probe as an initial reference point, establishing a two-dimensional coordinate system on an inclined plane where the measuring points in all directions are located, and calculating and obtaining the two-dimensional coordinates of all the measuring points by utilizing a trigonometric function relation according to the distance information and the angle information;
S42, fitting each measuring point on the inclined plane into an ellipse by using a least square method;
S43, correcting the initial reference point according to the parameters and the angle information of the ellipse to obtain a corrected reference point coordinate;
s44, correcting the two-dimensional coordinate according to the corrected reference point coordinate to obtain a corrected two-dimensional coordinate;
S45, projecting the corrected two-dimensional coordinates to a horizontal plane to obtain projected two-dimensional coordinates;
S46, taking the lowering height as a z coordinate, and combining the z coordinate with the projection two-dimensional coordinate to obtain a projection three-dimensional coordinate of each measuring point under the lowering height;
And S47, taking the projection three-dimensional coordinates of each measuring point at a plurality of lowering heights as second three-dimensional coordinate data of the hole wall.
In step S41, the probe is taken as an initial reference point (0, 0), and since the probe is inclined, the plane where the measuring points are located in each direction of the hole wall is an inclined plane, a two-dimensional coordinate system is established on the inclined plane, the two-dimensional coordinates of each measuring point are calculated, the calculation method is consistent with the three-dimensional coordinate method when the probe is not inclined in step S3, taking six measuring points as an example, an x-y coordinate system is established on the inclined plane, assuming that distances from the probe to six measuring points of the hole wall in an inclined state are d 0'、d1'、d2'、d3'、d4 ' and d 5 ', the distances d 0 ' are overlapped with the y axis, namely, the track of an ultrasonic signal sent by an ultrasonic transmitting and receiving sensor is overlapped with the y axis, and then the distances distributed clockwise are d 1 ' to d 5 ', namely, each measuring point is spaced 60 °, and referring to fig. 3, the x coordinates and the y coordinates of the measuring points in six directions of the hole wall are calculated according to the deflection angle α and the radius of the probe in the horizontal direction by using a trigonometric function, specifically by the following calculation formula:
(2)
wherein D represents the radius of the probe, Representing the x-coordinate of the nth measurement point in the inclined state,Representing the y-coordinate of the nth measurement point in the inclined state,The distance from the nth measurement point to the probe in the inclined state is shown, and alpha represents the deflection angle of the probe in the horizontal direction.
Further, in step S42, the measurement points on the inclined plane are fitted to an ellipse by using a least square method, and the coordinates of the six measurement points in the inclined state are assumed to be x 2+Axy+By2 +cx+dy+e=0 as a general equation of the ellipseN=0, 1,2,3,4,5, and according to the principle of least squares, the fitted objective function is:
(3)
in order to minimize the objective function F, it is necessary to bias each of F to 0, namely:
;(4)
The equation can be derived:
;(5)
Can be expressed as:
;(6)
The method can obtain the following steps:
;(7)
the solution obtains A, B, C, D, E, thereby obtaining an elliptic equation.
Further, in step S43, the reference point coordinate connecting lines of the different sections are broken lines instead of straight lines in the depth direction of the cast-in-place pile due to the swing occurring when the probe is measured downward. Therefore, the reference point coordinates need to be corrected. Since the probe and the wire rope pulling it can be considered as being rigidly connected, i.e. the probe is always in a vertical relationship with the wire rope pulling it, the angle of the probe to the horizontal (pitch angle) is equal to the angle of the wire rope in the vertical direction.
Further, referring to fig. 5, in step S43, the initial reference point is corrected according to the parameters and the angle information of the ellipse, so as to obtain corrected reference point coordinates, including:
S43a, calculating the length of a line segment from the initial reference point to the actual reference point according to the pitch angle of the probe relative to the horizontal plane;
s43b, obtaining a linear equation of the major axis of the ellipse according to the ellipse;
S43c, calculating and obtaining an included angle between the elliptic long axis and the horizontal X axis according to a linear equation of the elliptic long axis;
and S43d, calculating based on a trigonometric function according to the length of the line segment and the included angle to obtain the coordinate of the correction reference point.
Specifically, referring to fig. 6, assuming that the initial reference point is A0, the initial reference point is considered to be (0, 0) from the beginning, and the actual reference point A1 is considered to be (0, 0) because the probe is inclined, the initial reference point needs to be corrected, and the initial reference point needs to be corrected, where the required conditions include the length of a line segment from the initial reference point to the actual reference point, and the included angle between the line segment and the horizontal x-axis, and the actual reference point is the reference point when the probe is assumed to be in the horizontal state.
Specifically, in step S43a, the length of the line segment from the initial reference point to the actual reference point is calculated according to the following formula:
;(8)
Where DH represents the length of the line segment from the initial reference point to the actual reference point, Representing the pitch angle of the probe relative to the horizontal, h represents the z-coordinate of the initial reference point, i.e. the lowering height of the probe.
Since the probe and the wire rope pulling it can be considered as being rigidly connected, i.e. the probe is always in a vertical relationship with the wire rope pulling it, the angle of the probe to the horizontal (pitch angle) is equal to the angle of the wire rope in the vertical direction.
Further, in steps S43b and S43c, since the included angle between the line segment from the initial reference point to the actual reference point and the horizontal X-axis is also required, the included angle is the deflection angle of the ellipse, and is also the included angle between the major axis of the ellipse and the horizontal X-axis, the linear equation of the major axis of the ellipse is obtained through the ellipse, and then the included angle γ between the major axis of the ellipse and the horizontal X-axis is obtained through calculation according to the linear equation of the major axis of the ellipse.
Further, in step S43d, according to the length of the line segment and the included angle, the coordinates of the corrected reference point are obtained by calculating based on a trigonometric function, and assuming that the coordinates of the corrected reference point are (X A0,YA0), a specific calculation formula is:
;(9)
Wherein X A0 is the X coordinate of the correction reference point, Y A0 is the Y coordinate of the correction reference point, DH is the length of the line segment from the initial reference point to the actual reference point, and gamma is the included angle between the ellipse major axis and the horizontal X axis.
Further, in step S44, the two-dimensional coordinates are added with the corresponding corrected reference point coordinates to obtain corrected two-dimensional coordinates.
Taking six measuring points as an example, according to the corrected reference point coordinates after correctionObtaining corrected two-dimensional coordinates of six measuring points:
;(10)
Wherein: to adjust the coordinates of the six measuring points on the back elliptical plane, To correct the coordinates of six measuring points on the front elliptical plane. (corresponding to the translation of an ellipse in its plane, the coordinates of each point change consistently)
Further, referring to fig. 7, in step S45, the corrected two-dimensional coordinates are projected to a horizontal plane to obtain projected two-dimensional coordinates, including:
s45a, in the elliptic plane, making a straight line parallel to the major axis of the ellipse by the measuring point;
s45b, projecting the corrected reference point onto the straight line to obtain a projection reference point, and calculating a projection reference point coordinate;
And S45c, calculating to obtain the projection two-dimensional coordinates of the measuring point according to the projection reference point coordinates.
The following description will take one of the measurement points as an example for projection, and the other measurement points are the same.
Referring to fig. 8, this measurement point D1 (coordinates) A straight line parallel to the major axis of the ellipse is made, and the reference point A0 point (coordinates) Projected onto this line, the projected reference point is A0'. A0 'is calculated':
;(11)
;(12)
;(13)
;(14)
Wherein, ,In order to correct the coordinates of the reference point A0, gamma is the included angle between the elliptic long axis and the horizontal X axis,,For the corrected coordinates of the measurement point D1,,Is the projection coordinates of the projection reference point.
Further, the projected two-dimensional coordinates of the measurement point Dn are calculated according to the following formula:
;(15)
;(16)
;(17)
;(18)
;(19)
;(20)
Wherein, Indicating the distance between the corrected measuring point and the projection reference point,Represents the distance between the projected measurement point and the projected reference point,,For the projection coordinates of the projection reference point,Represents the pitch angle of the probe relative to the horizontal plane, gamma is the included angle between the elliptic long axis and the horizontal X axis,,Is the projected two-dimensional coordinates of the measurement point Dn.
Further, in step S46, the lowering height h is taken as the z-coordinate, and the corrected three-dimensional coordinates of each measurement point at the lowering height are obtained by combining the projected two-dimensional coordinates, i.e.。
Further, the corrected three-dimensional coordinates of each measuring point at a plurality of lowering heights are used as second three-dimensional coordinate data of the hole wall, and a large amount of the second three-dimensional coordinate data can be used for carrying out three-dimensional modeling on the hole wall of the hole to generate point cloud data.
Further, after constructing the three-dimensional point cloud data of the hole, the method further comprises:
and carrying out curved surface reconstruction and curved surface optimization on the three-dimensional point cloud data, and outputting and displaying.
In particular, a third party library (e.g., python's Numpy, PCL, etc.) may be used to convert three-dimensional coordinate information into point cloud data. And using a functional module in a library in the PCL to realize curved surface reconstruction. The generated curved surface model has a certain deviation from the actual situation, so that the reconstructed model needs to be optimized, the shape of the cast-in-place pile is restored as much as possible, and the processed three-dimensional model is stored into an STL or OBJ format by a third party library and is used for web end presentation.
The three-dimensional imaging method for detecting the pore-forming quality of the filling pile provided by the embodiment at least comprises the following beneficial effects:
(1) The three-dimensional imaging of the pore wall of the pore can be carried out by the distance of the measuring point on the pore wall of the pore and the angle information of the probe per se, and compared with the two-dimensional imaging, the three-dimensional imaging of the pore wall contains more information, so that more parameters related to pore quality detection can be obtained, and the reliability of pore quality detection is improved;
(2) In the imaging process, the swinging and the tilting of the probe are fully considered, and the accuracy of imaging is improved through the compensation of the gesture, so that the accuracy of pore-forming quality detection is improved;
(3) The three-dimensional imaging of the hole can be realized only through ultrasonic distance measuring equipment and an angle detection device, and the production cost is effectively reduced.
Referring to fig. 9, in some embodiments, a three-dimensional imaging device for bored pile hole quality detection includes:
The acquisition module 201 is used for lowering the probe into the hole, and acquiring the angle information, the lowering height information and the distance information of at least five corresponding measuring points from the probe to the hole wall in at least five directions;
A judging module 202, configured to judge whether the probe is tilted according to the angle information;
The first point cloud generating module 203 is configured to calculate and obtain first three-dimensional coordinate data of a hole wall according to the lowering height information, the distance information and the angle information when the probe is not tilted, and construct three-dimensional point cloud data of the hole according to the first three-dimensional coordinate data;
and the second point cloud generating module 204 is configured to calculate, when the probe is tilted, a two-dimensional coordinate of the measurement point on the tilted plane according to the lowering height information, the distance information and the angle information, fit, correct, project and integrate the two-dimensional coordinate to obtain second three-dimensional coordinate data of the hole wall, and construct three-dimensional point cloud data of the hole according to the second three-dimensional coordinate data.
Further, the angle information comprises a pitch angle of the probe relative to the horizontal plane, the judging module judges that the probe is not inclined when the pitch angle is 0, and determines that the probe is inclined when the pitch angle is not 0.
Further, the angle information also comprises a deflection angle of the probe in the horizontal direction;
The first point cloud generating module calculates and obtains first three-dimensional coordinate data of a hole wall according to the lowering height information, the distance information and the angle information, and the first three-dimensional coordinate data comprises the following components:
establishing an x-y coordinate system on a horizontal plane by taking the probe as a reference point;
overlapping the connecting line from one measuring point to the probe with the y axis in the x-y coordinate system, and calculating the x coordinate and the y coordinate of the measuring point in each direction of the hole wall according to the deflection angle of the probe in the horizontal direction by utilizing a trigonometric function;
Combining the lowering height as a z coordinate with the x coordinate and the y coordinate of each measuring point to obtain the three-dimensional coordinate of each measuring point under the lowering height;
And taking the three-dimensional coordinates of each measuring point at a plurality of lowering heights as first three-dimensional coordinate data of the hole wall.
Further, when the probe is inclined, the second point cloud generating module calculates two-dimensional coordinates of the measuring point on the inclined plane according to the lowering height information, the distance information and the angle information, and fits, corrects, projects and integrates the two-dimensional coordinates to obtain second three-dimensional coordinate data of the hole wall, including:
The probe is used as an initial reference point, a two-dimensional coordinate system is established on an inclined plane where the measuring points in all directions are located, and according to the distance information and the angle information, the two-dimensional coordinates of all the measuring points are obtained through calculation by utilizing a trigonometric function relation;
fitting each measuring point on the inclined plane into an ellipse by using a least square method;
Correcting the initial reference point according to the parameters and the angle information of the ellipse to obtain a corrected reference point coordinate;
correcting the two-dimensional coordinate according to the corrected reference point coordinate to obtain a corrected two-dimensional coordinate;
Projecting the corrected two-dimensional coordinates to a horizontal plane to obtain projected two-dimensional coordinates;
Combining the lowering height with the projected two-dimensional coordinates to obtain projected three-dimensional coordinates of each measuring point under the lowering height, wherein the lowering height is taken as a z coordinate;
and taking the projected three-dimensional coordinates of each measuring point at a plurality of lowering heights as second three-dimensional coordinate data of the hole wall.
Further, the second point cloud generating module corrects the initial reference point according to the parameter and the angle information of the ellipse to obtain corrected reference point coordinates, including:
According to the pitch angle of the probe relative to the horizontal plane, calculating the length of a line segment from the initial reference point to the actual reference point;
obtaining a linear equation of the major axis of the ellipse according to the ellipse;
calculating and obtaining an included angle between the elliptic long axis and the horizontal X axis according to a linear equation of the elliptic long axis;
And calculating based on a trigonometric function according to the length of the line segment and the included angle to obtain the corrected reference point coordinate.
Further, the two-dimensional coordinates are added with the coordinates of the corrected reference points to obtain corrected two-dimensional coordinates.
Further, the second point cloud generating module projects the corrected two-dimensional coordinate to a horizontal plane to obtain a projected two-dimensional coordinate, including:
in the elliptic plane, the measuring point is crossed to make a straight line parallel to the ellipse;
projecting the corrected reference point onto the straight line to obtain a projected reference point, and calculating a projected reference point coordinate;
And calculating to obtain the projection two-dimensional coordinates of the measuring point according to the projection reference point coordinates.
Further, the device also comprises an optimization display module, which is used for reconstructing a curved surface and optimizing the curved surface of the three-dimensional point cloud data after the three-dimensional point cloud data of the hole is constructed, and outputting and displaying the three-dimensional point cloud data.
Referring to fig. 10, in some embodiments, there is further provided a three-dimensional imaging system for detecting the quality of a hole formed by a cast-in-place pile, which includes a processor 301, a storage device 302, and a probe 303, wherein the storage device 302 stores a plurality of instructions, the processor 301 is configured to read the instructions and execute the above method, and the probe 303 is provided with an inertial measurement unit 3031 and at least five groups of ultrasonic transmitting and receiving sensors 3032, and the at least five groups of ultrasonic transmitting and receiving sensors are uniformly distributed on the peripheral surface of the probe and are located at the same height.
The three-dimensional imaging method, device and system for detecting the pore-forming quality of the filling pile provided by the embodiment at least comprises the following beneficial effects:
(1) The three-dimensional imaging of the pore wall of the pore can be carried out by the distance of the measuring point on the pore wall of the pore and the angle information of the probe per se, and compared with the two-dimensional imaging, the three-dimensional imaging of the pore wall contains more information, so that more parameters related to pore quality detection can be obtained, and the reliability of pore quality detection is improved;
(2) In the imaging process, the swinging and the tilting of the probe are fully considered, and the accuracy of imaging is improved through the compensation of the gesture, so that the accuracy of pore-forming quality detection is improved;
(3) The three-dimensional imaging of the hole can be realized only through ultrasonic distance measuring equipment and an angle detection device, and the production cost is effectively reduced.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. A three-dimensional imaging method for detecting the quality of a hole formed in a cast-in-place pile, comprising:
The probe is lowered into the hole, and angle information, lowering height information and distance information of at least five corresponding measuring points from the probe to the hole wall are acquired;
Judging whether the probe tilts or not according to the angle information;
If the probe is not inclined, calculating to obtain first three-dimensional coordinate data of the hole wall according to the lowering height information, the distance information and the angle information, and constructing three-dimensional point cloud data of the hole according to the first three-dimensional coordinate data;
If the probe is inclined, calculating the two-dimensional coordinates of the measuring point on an inclined plane according to the lowering height information, the distance information and the angle information, fitting, correcting, projecting and integrating the two-dimensional coordinates to obtain second three-dimensional coordinate data of the hole wall, and constructing three-dimensional point cloud data of the hole according to the second three-dimensional coordinate data;
The probe is inclined, two-dimensional coordinates of the measuring point on an inclined plane are calculated according to the lowering height information, the distance information and the angle information, fitting, correcting, projecting and integrating are carried out on the two-dimensional coordinates, and second three-dimensional coordinate data of the hole wall are obtained, and the method comprises the following steps:
The probe is used as an initial reference point, a two-dimensional coordinate system is established on an inclined plane where the measuring points in all directions are located, and according to the distance information and the angle information, the two-dimensional coordinates of all the measuring points are obtained through calculation by utilizing a trigonometric function relation;
fitting each measuring point on the inclined plane into an ellipse by using a least square method;
Correcting the initial reference point according to the parameters and the angle information of the ellipse to obtain a corrected reference point coordinate;
correcting the two-dimensional coordinate according to the corrected reference point coordinate to obtain a corrected two-dimensional coordinate;
Projecting the corrected two-dimensional coordinates to a horizontal plane to obtain projected two-dimensional coordinates;
Combining the lowering height with the projected two-dimensional coordinates to obtain projected three-dimensional coordinates of each measuring point under the lowering height, wherein the lowering height is taken as a z coordinate;
and taking the projected three-dimensional coordinates of each measuring point at a plurality of lowering heights as second three-dimensional coordinate data of the hole wall.
2. The method of claim 1, wherein the angle information comprises a pitch angle of the probe relative to a horizontal plane, and wherein the probe is determined to be not tilted when the pitch angle is 0, and wherein the probe is determined to be tilted when the pitch angle is not 0.
3. The method of claim 1, wherein the angle information further comprises a deflection angle of the probe in a horizontal direction;
According to the lowering height information, the distance information and the angle information, calculating to obtain first three-dimensional coordinate data of the hole wall, wherein the first three-dimensional coordinate data comprises:
establishing an x-y coordinate system on a horizontal plane by taking the probe as a reference point;
overlapping the connecting line from one measuring point to the probe with the y axis in the x-y coordinate system, and calculating the x coordinate and the y coordinate of the measuring point in each direction of the hole wall according to the deflection angle of the probe in the horizontal direction by utilizing a trigonometric function;
Combining the lowering height as a z coordinate with the x coordinate and the y coordinate of each measuring point to obtain the three-dimensional coordinate of each measuring point under the lowering height;
And taking the three-dimensional coordinates of each measuring point at a plurality of lowering heights as first three-dimensional coordinate data of the hole wall.
4. The method of claim 1, wherein correcting the initial reference point based on the parameters and angle information of the ellipse to obtain corrected reference point coordinates comprises:
According to the pitch angle of the probe relative to the horizontal plane, calculating the length of a line segment from the initial reference point to the actual reference point;
obtaining a linear equation of the major axis of the ellipse according to the ellipse;
calculating and obtaining an included angle between the elliptic long axis and the horizontal X axis according to a linear equation of the elliptic long axis;
And calculating based on a trigonometric function according to the length of the line segment and the included angle to obtain the corrected reference point coordinate.
5. The method according to claim 1 or 4, characterized in that the two-dimensional coordinates are added to the corrected reference point coordinates to obtain corrected two-dimensional coordinates.
6. The method of claim 1, wherein projecting the modified two-dimensional coordinates to a horizontal plane to obtain projected two-dimensional coordinates comprises:
in an ellipse plane, the measuring point is crossed to make a straight line parallel to the ellipse;
projecting the corrected reference point onto the straight line to obtain a projected reference point, and calculating a projected reference point coordinate;
And calculating to obtain the projection two-dimensional coordinates of the measuring point according to the projection reference point coordinates.
7. The method of claim 1, further comprising, after constructing the three-dimensional point cloud data of the hole:
and carrying out curved surface reconstruction and curved surface optimization on the three-dimensional point cloud data, and outputting and displaying.
8. A three-dimensional imaging device for bored pile pore-forming quality detection, characterized by comprising:
The acquisition module is used for lowering the probe into the hole, and acquiring the angle information, the lowering height information and the distance information of at least five corresponding measuring points from the probe to the hole wall in at least five directions;
the judging module is used for judging whether the probe tilts according to the angle information;
The first point cloud generation module is used for calculating to obtain first three-dimensional coordinate data of the hole wall according to the lowering height information, the distance information and the angle information when the probe is not inclined, and constructing three-dimensional point cloud data of the hole according to the first three-dimensional coordinate data;
The second point cloud generating module is used for calculating the two-dimensional coordinates of the measuring point on the inclined plane according to the lowering height information, the distance information and the angle information when the probe is inclined, fitting, correcting, projecting and integrating the two-dimensional coordinates to obtain second three-dimensional coordinate data of the hole wall, and constructing three-dimensional point cloud data of the hole according to the second three-dimensional coordinate data;
The probe is inclined, two-dimensional coordinates of the measuring point on an inclined plane are calculated according to the lowering height information, the distance information and the angle information, fitting, correcting, projecting and integrating are carried out on the two-dimensional coordinates, and second three-dimensional coordinate data of the hole wall are obtained, and the method comprises the following steps:
The probe is used as an initial reference point, a two-dimensional coordinate system is established on an inclined plane where the measuring points in all directions are located, and according to the distance information and the angle information, the two-dimensional coordinates of all the measuring points are obtained through calculation by utilizing a trigonometric function relation;
fitting each measuring point on the inclined plane into an ellipse by using a least square method;
Correcting the initial reference point according to the parameters and the angle information of the ellipse to obtain a corrected reference point coordinate;
correcting the two-dimensional coordinate according to the corrected reference point coordinate to obtain a corrected two-dimensional coordinate;
Projecting the corrected two-dimensional coordinates to a horizontal plane to obtain projected two-dimensional coordinates;
Combining the lowering height with the projected two-dimensional coordinates to obtain projected three-dimensional coordinates of each measuring point under the lowering height, wherein the lowering height is taken as a z coordinate;
and taking the projected three-dimensional coordinates of each measuring point at a plurality of lowering heights as second three-dimensional coordinate data of the hole wall.
9. A three-dimensional imaging system for detecting the quality of a hole formed in a cast-in-place pile, comprising a processor, a storage device and a probe, wherein the storage device stores a plurality of instructions, the processor is used for reading the instructions and executing the method according to any one of claims 1-7, the probe is provided with an inertial measurement unit and at least five groups of ultrasonic transmitting and receiving sensors, and the at least five groups of ultrasonic transmitting and receiving sensors are uniformly distributed on the peripheral surface of the probe and are positioned at the same height.
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