阅读说明：本技术 一种多源扫描式钻孔灌注桩扩大头轮廓扫描装置及方法 (Multi-source scanning type device and method for scanning expanded head profile of cast-in-situ bored pile ) 是由 汪进超 邹俊鹏 于 2021-07-29 设计创作，主要内容包括：本发明公开了一种多源扫描式钻孔灌注桩扩大头轮廓扫描装置,包括深度编码器和孔内探头,孔内探头的上部壳体和下部壳体之间通过标定通讯杆连接,上部壳体的下方依次安装有锥面反射式固定支座、激光扫描仪、声呐扫描仪和圆锥反射镜,下部壳体的上方安装有液态感应器,液态感应器的上方依次安装有电子罗盘和摄像仪,上部壳体依次通过传输拉力电缆连接、深度编码器与工控机连接。本发明还公开了一种多源扫描式钻孔灌注桩扩大头轮廓扫描方法,本发明解决了钻孔灌注桩孔扩大头高精度测量的难题,同步实现了钻孔灌注桩孔扩大头的三维直观可视化。该方法和装置构思新颖、实施容易,是钻孔灌注桩扩大头测量技术的新方法和新一代装置,具有广阔的应用前景。(The invention discloses a multisource scanning type expanded head profile scanning device for a bored pile, which comprises a depth encoder and an in-hole probe, wherein an upper shell and a lower shell of the in-hole probe are connected through a calibration communication rod, a conical surface reflection type fixed support, a laser scanner, a sonar scanner and a conical reflector are sequentially arranged below the upper shell, a liquid inductor is arranged above the lower shell, an electronic compass and a camera are sequentially arranged above the liquid inductor, the upper shell is connected with an industrial personal computer sequentially through a transmission tension cable, and the depth encoder is connected with the industrial personal computer. The invention also discloses a multisource scanning type method for scanning the profile of the bored pile hole expanding head, which solves the problem of high-precision measurement of the bored pile hole expanding head and synchronously realizes three-dimensional visual visualization of the bored pile hole expanding head. The method and the device have novel conception and easy implementation, are a new method and a new generation device for the measuring technology of the expanded head of the cast-in-situ bored pile, and have wide application prospect.)

1. A multisource scanning type expanded head profile scanning device for a bored pile comprises a depth encoder and is characterized by further comprising an in-hole probe, wherein the in-hole probe comprises an upper shell (1) and a lower shell (10), the lower shell (10) is located below the upper shell (1), the upper shell (1) and the lower shell (10) are connected through a calibration communication rod (6),

a conical surface reflection type fixed support (2) is arranged below the upper shell (1), a laser scanner (3) is arranged at the bottom of the conical surface reflection type fixed support (2), a sonar scanner (4) is arranged below the laser scanner (3), a conical reflector (5) is arranged below the sonar scanner (4),

liquid inductor (9) are installed to the top of lower part casing (10), and electron compass (8) are installed to the top of liquid inductor (9), and appearance (7) of making a video recording are installed to the top of electron compass (8), have the distance of setting for between appearance (7) of making a video recording and circular cone speculum (5), and upper portion casing (1) is connected with transmission tension cable, and transmission tension cable passes through depth encoder and is connected with the industrial computer, is provided with the lamp area on lower part casing (10).

2. The apparatus of claim 1, its characterized in that, upper portion casing (1) in be provided with inside components and parts, inside components and parts include the controller, signal modulation module, signal transmission module, power voltage stabilizing module, laser scanner (3), sonar scanner (4), appearance (7) of making a video recording, electron compass (8), liquid inductor (9) are connected with the controller that corresponds through the signal modulation module that corresponds respectively through connecting cable, laser scanner (3), sonar scanner (4), appearance (7) of making a video recording, electron compass (8), liquid inductor (9) still are connected with power voltage stabilizing module through supply cable, each controller is connected through the pulling force interface on the signal transmission module that corresponds and upper portion casing (1), pulling force interface and transmission pulling force cable are connected.

3. The device for scanning the enlarged footing profile of a multi-source scanning bored pile according to claim 1, wherein the calibration communication rod (6) is hollow tubular, and the connection cable and the power supply cable are located in the calibration communication rod (6).

4. A multisource scanning type bored concrete pile enlarged head contour scanning method, which utilizes the multisource scanning type bored concrete pile enlarged head contour scanning device of claim 1, and is characterized by comprising the following steps:

step 1, placing an in-hole probe into a drilled hole of a cast-in-situ bored pile to be scanned, resetting a depth encoder, namely setting the depth encoder to be at a 0-depth position, and representing that a scanning plane of a corresponding sonar scanner (4) is at the 0-depth position; when the liquid sensor (9) detects that the whole or part of the interior of the bored hole of the cast-in-place pile is in a non-slurry environment, the step 2 is carried out, when the liquid sensor (9) detects that the interior of the bored hole of the cast-in-place pile is in a slurry environment, the step 5 is carried out,

step 2, turning on the lamp strip and the camera (7) in the in-hole probe, slowly lowering the in-hole probe through the transmission tension cable until the camera (7) just observes the expanded head area of the cast-in-place pile, entering step 3,

step 3, the industrial personal computer collects data of the liquid sensor (9), senses the internal scanning environment of the bored pile expansion head, enters step 4 if the internal scanning environment of the bored pile expansion head is an anhydrous environment, enters step 5 if the internal scanning environment of the bored pile expansion head is a clear water environment,

step 4, the laser scanner (3) is started, the sonar scanner (4) is closed, the distance and the azimuth angle from the corresponding measuring point of the laser scanning point to the scanning center of the laser scanner (3) are collected, the scanning of one circle of the horizontal section is completed, meanwhile, the industrial personal computer collects and stores the distance data obtained by the laser scanner (3), the image data obtained by the camera (7), the azimuth data obtained by the electronic compass (8) and the depth data obtained by the depth encoder, the step 6 is entered,

step 5, the sonar scanner (4) is started, the laser scanner (3) is closed, the distance and the azimuth angle from the measuring point corresponding to the sonar scanning point to the scanning center of the sonar scanner (4) are collected, scanning of a circle of a horizontal section is completed, meanwhile, the industrial personal computer collects and stores distance data obtained by the sonar scanner (4), image data obtained by the camera (7), azimuth data obtained by the electronic compass (8) and depth data obtained by the depth encoder, and the process enters step 6,

step 6, slowly lowering the probe in the hole through the transmission tension cable to set the depth, entering step 3 if the scanning is not finished, and entering step 7 if the scanning is finished;

and 7, storing distance data obtained by the laser scanner (3), distance data obtained by the sonar scanner (4), image data obtained by the camera (7), azimuth data obtained by the electronic compass (8) and depth data obtained by the depth encoder, closing a power supply of the probe in the hole, slowly lifting the probe in the hole, and finishing the scanning.

5. The multi-source scanning type bored pile enlarged footing profile scanning method according to claim 4, wherein in steps 4 and 5, the industrial personal computer collects and stores distance data obtained by the laser scanner (3), distance data obtained by the sonar scanner (4), image data obtained by the camera (7), orientation data obtained by the electronic compass (8) and depth data obtained by the depth encoder, and comprises the following steps:

the industrial personal computer records the distance data acquired by the laser scanner (3) in real time, records the distance data acquired by the sonar scanner (4) in real time, records the azimuth data corresponding to the distance data through the electronic compass (8), and records the image data acquired by the camera (7) in real time;

the industrial personal computer records a distance matrix formed by distance data of the laser scanner (3) and records the distance matrix as Jh, wherein the distance data corresponding to the nth scanning point at the z depth displayed by the depth encoder is Jh [ z ] [ n ], and if the laser scanner (3) does not work, the corresponding distance data is 0;

the industrial personal computer records a distance matrix formed by distance data of the sonar scanner (4) and records the distance matrix as Sh, wherein the distance data corresponding to the nth scanning point at the z depth displayed by the depth encoder is Sh [ z ] [ n ], and if the sonar scanner 4 does not work, the corresponding distance data is 0;

an industrial personal computer records an azimuth matrix formed by azimuth data acquired by an electronic compass (8) and records the azimuth matrix as Fh, wherein the azimuth data corresponding to the nth scanning point is Fh [ z ] [ n ] at the position where the depth encoder displays the z depth;

the industrial personal computer records an image matrix formed by image data collected by the camera (7) as Th, and corresponding image data is Th [ z ] at the position where the depth encoder displays the z depth.

6. The method for scanning the expanded head profile of a multi-source scanning type cast-in-situ bored pile according to claim 5, further comprising the steps of:

step 8, data correction, which specifically comprises the following steps:

8.1, subtracting h1 from the depth corresponding to the distance data of the laser scanner (3) to obtain updated distance data of the laser scanner (3), wherein a reconstructed distance matrix Dh [ z ] [ n ] is the distance data of the updated laser scanner (3) plus the distance data of the sonar scanner (4), and h1 is the vertical distance between the scanning plane of the laser scanner (3) and the scanning plane of the sonar scanner (4);

step 8.2, correcting the recombined distance matrix Dh by combining the orientation matrix Fh, wherein distance data Dh [ z ] [ N ] ═ Dh [ z ] [ int (Fh [ z ] [ N ]/N) ] in the corrected distance matrix; wherein int represents an integer, and N represents the number of points collected by scanning a circle of the horizontal section of the laser scanner (3) and the sonar scanner (4);

and 8.3, adding h2 to the depth corresponding to the image data acquired by the camera (7) to obtain corrected image data, wherein h2 is the vertical distance between the scanning plane of the sonar scanner (4) and the middle-high plane of the conical reflector (5).

7. The method for scanning the expanded head profile of a multi-source scanning type cast-in-situ bored pile according to claim 6, further comprising the steps of:

step 9, optimizing data, specifically comprising the following steps:

step 9.1, recording the average value of the distance data to be optimized in the same depth, the 2 distance data of the left adjacent azimuth and the 2 distance data of the right adjacent azimuth as a first optimization threshold;

if the distance data to be optimized is larger than the first optimization threshold value of 2 times, assigning the first optimization threshold value of 2 times to the distance data to be optimized;

if the distance data to be optimized is smaller than 0.5 times of the first optimization threshold, assigning the 0.5 times of the first optimization threshold to the distance data to be optimized;

if the distance data to be optimized is less than or equal to 2 times of the first optimization threshold and greater than or equal to 0.5 times of the first optimization threshold, the distance data to be optimized is unchanged;

further obtaining optimized distance data d [ z ] [ n ];

and 9.2, carrying out digital image filtering processing on the image matrix th to obtain an optimized image matrix t [ z ].

8. The method for scanning the expanded head profile of a multi-source scanning type cast-in-situ bored pile according to claim 7, further comprising the steps of:

step 10, reconstructing a three-dimensional contour, which specifically comprises the following steps:

step 10.1, taking the scanning center of a corresponding sonar scanner (4) at the position of 0 depth displayed by a depth encoder on the central axis of the drilled hole as a coordinate origin, pointing to the north direction of geography as the positive direction of an X axis, pointing to the east direction of geography as the positive direction of a Y axis, and pointing to the bottom of the drilled hole as the positive direction of a Z axis; defining the nth scanning point of the enlarged head at the depth z as dzn, and the X-axis direction coordinate corresponding to dzn as d [ z ] [ N ] cos (N × 2 × pi/N); the coordinate in the Y-axis direction is d [ z ] [ N ] sin (N × 2 × pi/N); the coordinate in the Z-axis direction is Z; pi is the circumferential ratio;

step 10.2, sequentially connecting adjacent scanning points to form a closed broken line ring ZXz at the position where the depth encoder displays the z depth; sequentially completing the connection of scanning points at different depths to form broken line rings at different depths;

step 10.3, connecting the scanning points in the corresponding directions on the adjacent depth broken line rings; sequentially judging the length of a line segment from the scanning point dzn to the scanning point dz (n +1) and the length of a line segment from the scanning point d (z +1) n to the scanning point d (z +1) (n +1), and if the line segment from the scanning point dzn to the scanning point dz (n +1) is shorter than the line segment from the scanning point d (z +1) n to the scanning point d (z +1) (n +1), connecting the scanning point dz (n +1) and the scanning point d (z +1) n; if the line segment from the scanning point dzn to the scanning point dz (n +1) is longer than the line segment from the scanning point d (z +1) n to the scanning point d (z +1) (n +1), connecting the scanning point dzn with the scanning point d (z +1) (n + 1); and finishing the reconstruction of the vertical triangular grid to obtain the expanded head three-dimensional profile.

9. The method for scanning the expanded head profile of a multi-source scanning type cast-in-situ bored pile according to claim 8, further comprising the steps of:

step 11, unfolding the texture image, specifically comprising:

11.1, a circular ring area surrounded by a first ring line WQz and a second ring line NQz in each image data is a key area of the enlarged base rock wall, the second ring line NQz corresponds to the bottom surface ring shape of the conical reflector (5), and the first ring line WQz corresponds to the top surface ring shape of the conical reflector (5);

step 11.2, taking a ray with a central pixel point on image data where the image matrix t [ z ] is located as an expansion dividing line, dividing a circular ring area enclosed between a first circular line WQz and a second circular line NQz, expanding and interpolating the circular ring area into a rectangular image, wherein the first circular line WQz corresponds to a first line segment wqz on the rectangular image, the second circular line NQz corresponds to a second line segment nqz on the rectangular image, and any point Pz in the circular ring area enclosed by the first circular line WQz and the second circular line NQz is mapped to a point Pz in the rectangular area enclosed by the first line segment wqz and the second line segment nqz; and representing the rectangular area by using an image matrix tj [ z ], wherein the image matrix tj [ z ] is a matrix with pixel points of which the size is V by U.

10. The method of claim 9, further comprising:

step 12, contour image fusion, which specifically comprises:

step 12.1, mapping each scanning point with a pixel point on the rectangular image, wherein:

h is the vertical height of the conical reflector (5), a mark is connected with two scanning points to form a line segment, an upper transverse line represents the length of the line segment, and N represents the total number of the scanning points acquired by scanning a circle on the horizontal section of the laser scanner (3) and the sonar scanner (4); d (z-h/2) N represents the corresponding Nth scanning point at the depth of the display (z-h/2) of the depth encoder; if no corresponding scanning point exists at the z-h/2 position, the adjacent nearest corresponding scanning point is taken, in the formula, K is rounded when calculated as decimal, K is the serial number of the pixel point on the first line segment wqz, G is rounded when calculated as decimal, and G is the serial number of the pixel point on the second line segment nqz;

step 12.2, connecting a scanning point d (z-h/2)1 on the rectangular image with a pixel point corresponding to the scanning point d (z + h/2)1, connecting a scanning point d (z-h/2)2 on the rectangular image with a pixel point corresponding to the scanning point d (z + h/2)2, and connecting a scanning point d (z-h/2) n on the rectangular image with a pixel point corresponding to the scanning point d (z + h/2) n; sequentially judging the length of a line segment corresponding to a scanning point d (z-h/2) n to a scanning point d (z-h/2) (n +1) on the rectangular image and a line segment corresponding to a scanning point d (z + h/2) n to a scanning point d (z + h/2) (n +1) on the rectangular image, and if the length of the line segment corresponding to the scanning point d (z-h/2) n to the scanning point d (z-h/2) (n +1) on the rectangular image is shorter than the length of the line segment corresponding to the scanning point d (z + h/2) n to the scanning point d (z + h/2) (n +1) on the rectangular image, connecting pixel points corresponding to the scanning point d (z-h/2) (n +1) and the scanning point d (z + h/2) n on the rectangular image; if the line segment corresponding to the scanning point d (z-h/2) n to the scanning point d (z-h/2) (n +1) on the rectangular image is longer than the line segment corresponding to the scanning point d (z + h/2) n to the scanning point d (z + h/2) (n +1) on the rectangular image, connecting the scanning point d (z-h/2) n on the rectangular image with the pixel point corresponding to the scanning point d (z + h/2) (n + 1);

and step 12.3, mapping the triangular slices formed by the corresponding scanning points on the rectangular image and the triangular meshes on the stereoscopic outline of the expansion head in a one-to-one correspondence manner.

Technical Field

The invention relates to the field of detection and measurement of pore-forming quality of a data cast-in-situ bored pile, in particular to a multisource scanning type device for scanning the profile of an expanded head of a cast-in-situ bored pile and a multisource scanning type method for scanning the profile of the expanded head of the cast-in-situ bored pile, which are suitable for detecting and measuring the expanded head in a bored pile in various engineering fields, acquiring the geometric form and surface image information of the expanded head and realizing accurate measurement and three-dimensional visualization of the expanded head in dry hole and wet hole environments.

Background

The economic development speed of China is suddenly rapid, and the high-speed development of the building industry of China is driven. The requirements of anchor cable application technical means are increasingly improved obviously by deepening and enlarging basic problems, obviously increasing deep foundation pit engineering and the like. The traditional pile bottom treatment has the defects of difficult pore forming, insufficient grouting, insufficient anchoring force and the like, and the rotary excavating expansion head plays a vital role in deep foundation pit engineering. The rotary excavating expansion head is used for reinforcing a soft soil layer through a high-pressure rotary excavating technology, and the expansion head is generated at the bottom, so that the pulling resistance bearing capacity of a single root can be greatly improved, and the rotary excavating expansion head has a wide application prospect in the future. The construction method of the enlarged head has various modes, such as: the geometrical morphological characteristics and the scale of the formed enlarged head are also different from each other by manpower, explosive, rotary digging and the like. The bored pile enlarged head is designed such that the pile hole enlarged head is usually located at the bottom of the bored pile. In the construction process, the enlarged head of the cast-in-situ bored pile is in an unknown state, so that the state information of the enlarged head of the cast-in-situ bored pile is difficult to grasp accurately in real time. How to judge whether the bored pile enlarged footing is excavated in place, a common method is to stack soil taken out by excavating each bored pile enlarged footing individually, calculate the volume of the soil, convert the volume of the soil into a loose coefficient, and compare the volume of the soil with the theoretical excavation volume of the enlarged footing. If the theoretical excavation amount is reached, the enlarged head is excavated in place, and if the theoretical excavation amount is not reached, mechanical excavation is needed. If the drilling cannot be completed according to the determined method, the subsequent engineering is affected, a series of procedures need strict adherence standards, unqualified drilling data can cause certain deviation to the subsequent construction, the overall construction period of the construction is affected, the time for delivery is delayed, the construction cost is increased, and meanwhile, the construction accuracy and the exact quality measurement are also affected by the deviation. In addition, because of the differences in the formation, construction machinery and operator experience, it is difficult to determine whether the size and condition of the resulting bored pile hole enlarged head meet the design requirements.

In view of the problems of difficult measurement and low visual visualization degree of the existing bored pile hole expansion head, the invention provides a multisource scanning type bored pile hole expansion head profile scanning method and device by means of the existing relatively mature high-tech means (laser scanning technology, sonar scanning technology, optical image technology and the like), so that the problem of high-precision measurement of the bored pile hole expansion head is fundamentally solved, and the three-dimensional visual visualization of the bored pile hole expansion head is synchronously realized. The device combines together laser scanning technique, sonar scanning technique, optical image technique, environmental condition response technique and accurate positioning technique, confirms that whole set of device can be fit for there is water and anhydrous enlarged footing internal measurement environment, realizes the meticulous scanning of geometric outline and inside rock wall optics of enlarged footing in step and makes a video recording, and finally, through pairing and fusing scanning measured data and optical image data organic, the three-dimensional measurement and the visualization of realization drilling bored concrete pile enlarged footing profile. The multisource scanning type method and device for scanning the expanded head profile of the cast-in-situ bored pile have the advantages that: 1) the detection precision is high. By selecting a laser scanner and a sonar scanner for high-precision measurement, the profiles of different horizontal sections of the bored pile expansion head can be effectively scanned in real time, so that accidental measurement errors can be greatly reduced, measurement data can be increased, and the measurement precision can be effectively improved under the condition of increasing the number of sampling points; 2) the adaptability is strong. The internal measuring environment of the enlarged head can be sensed in real time through the liquid sensor, and when the measuring environment is anhydrous, the whole device is automatically switched to a laser scanning technology in the aspect of profile measurement; when the measuring environment is water, the whole set of device automatically switches to a sonar scanning technology in the aspect of profile measurement; thereby ensuring that the whole set of device can adapt to different measuring environments and greatly improving the adaptability of the whole set of device; 3) the visualization is more realistic. By matching a large amount of three-dimensional scanning point data with optical picture data, the combination of the real texture of the inner wall of the enlarged head of the cast-in-situ bored pile and the real outline of the inner wall can be realized, the formed visual image can synchronously reflect the form and the morphological characteristics of the enlarged head, and the visual result is more real and accurate; 4) the measuring mode is simple. The rapid synchronous measurement of the geometric profile and the morphological characteristics of the enlarged head can be realized only by transferring the probe in the hole to the measurement area of the enlarged head through the transmission tension cable, and the three-dimensional visualization of the enlarged head of the cast-in-situ bored pile can be realized by combining a subsequent data processing method; 5) the structure is small and exquisite, and the overall arrangement is nimble, connects succinctly, easy to carry out.

Disclosure of Invention

The invention aims to solve the problems of difficult measurement and low visual visualization degree of a bored pile hole expansion head, provides a multisource scanning type bored pile expansion head profile scanning device combining a laser scanning technology, a sonar scanning technology, an optical imaging technology, an environmental state sensing technology and an accurate positioning technology, and also provides a multisource scanning type bored pile expansion head profile scanning method, so that the problem of high-precision measurement of the bored pile hole expansion head is fundamentally solved, and the three-dimensional visual visualization of the bored pile hole expansion head is synchronously realized. The method and the device have novel conception and easy implementation, are a new method and a new generation device for the measuring technology of the expanded head of the cast-in-situ bored pile, and have wide application prospect.

In order to achieve the purpose, the invention adopts the following technical measures:

a multisource scanning type expanded head profile scanning device for a bored pile comprises a depth encoder and an in-hole probe, wherein the in-hole probe comprises an upper shell and a lower shell, the lower shell is positioned below the upper shell, the upper shell and the lower shell are connected through a calibration communication rod,

a conical surface reflection type fixed support is arranged below the upper shell, a laser scanner is arranged at the bottom of the conical surface reflection type fixed support, a sonar scanner is arranged below the laser scanner, a conical reflector is arranged below the sonar scanner,

the liquid inductor is installed to the top of lower part casing, and the electron compass is installed to the top of liquid inductor, and the appearance of making a video recording is installed to the top of electron compass, has the distance of setting for between appearance of making a video recording and the circular cone speculum, and upper portion casing is connected with transmission tension cable, and transmission tension cable passes through depth encoder and is connected with the industrial computer, is provided with the lamp area on the casing of lower part.

As above be provided with inside components and parts in the upper portion casing, inside components and parts include the controller, signal modulation module, signal transmission module, power voltage stabilizing module, laser scanner, sonar scanner, the appearance of making a video recording, the electron compass, liquid inductor passes through connecting cable and is connected with the controller that corresponds through the signal modulation module that corresponds respectively, laser scanner, sonar scanner, the appearance of making a video recording, the electron compass, liquid inductor still is connected with power voltage stabilizing module through supply cable, each controller is connected with the pulling force interface on the casing of upper portion through the signal transmission module that corresponds, pulling force interface and transmission pulling force cable junction.

The calibration communication rod is hollow tubular, and the connecting cable and the power supply cable are positioned in the calibration communication rod.

A multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile comprises the following steps:

step 1, placing an in-hole probe into a drilled hole of a cast-in-situ bored pile to be scanned, resetting a depth encoder, namely setting the depth encoder to be at a 0-depth position, and representing that a scanning plane of a corresponding sonar scanner is at the 0-depth position; when the liquid sensor detects that the whole or part of the interior of the bored hole of the cast-in-place pile is in a non-slurry environment, the step 2 is carried out, when the liquid sensor detects that the interior of the bored hole of the cast-in-place pile is in a slurry environment, the step 5 is carried out,

step 2, turning on the lamp strip and the camera in the in-hole probe, slowly lowering the in-hole probe through the transmission tension cable until the camera just observes the expanded head area of the cast-in-place pile, entering step 3,

step 3, the industrial personal computer collects data of the liquid sensor, senses the internal scanning environment of the expanded head of the cast-in-situ bored pile, enters step 4 if the internal scanning environment of the expanded head of the cast-in-situ bored pile is a waterless environment, enters step 5 if the internal scanning environment of the expanded head of the cast-in-situ bored pile is a clear water environment,

step 4, the laser scanner is started, the sonar scanner is closed, the distance and the azimuth angle from the measuring point corresponding to the laser scanning point to the scanning center of the laser scanner are collected, the scanning of one circle of the horizontal section is completed, meanwhile, the industrial personal computer collects and stores the distance data obtained by the laser scanner, the image data obtained by the camera, the azimuth data obtained by the electronic compass and the depth data obtained by the depth encoder, the step 6 is entered,

step 5, the sonar scanner is started, the laser scanner is closed, the distance and the azimuth angle from the measuring point corresponding to the sonar scanning point to the scanning center of the sonar scanner are collected, the scanning of one circle of the horizontal section is completed, meanwhile, the industrial personal computer collects and stores the distance data obtained by the sonar scanner, the image data obtained by the camera, the azimuth data obtained by the electronic compass and the depth data obtained by the depth encoder, the step 6 is entered,

step 6, slowly lowering the probe in the hole through the transmission tension cable to set the depth, entering step 3 if the scanning is not finished, and entering step 7 if the scanning is finished;

and 7, storing the distance data obtained by the laser scanner, the distance data obtained by the sonar scanner, the image data obtained by the camera, the azimuth data obtained by the electronic compass and the depth data obtained by the depth encoder, closing the power supply of the probe in the hole, slowly lifting the probe in the hole, and finishing the scanning.

In steps 4 and 5, the industrial personal computer collects and stores distance data obtained by the laser scanner, distance data obtained by the sonar scanner, image data obtained by the camera, azimuth data obtained by the electronic compass and depth data obtained by the depth encoder, and comprises the following steps:

the industrial personal computer records distance data collected by the laser scanner in real time, records distance data collected by the sonar scanner in real time, records azimuth data corresponding to the distance data through the electronic compass, and records image data collected by the camera in real time;

recording a distance matrix formed by distance data of the laser scanner by the industrial personal computer as Jh, wherein the distance data corresponding to the nth scanning point at the z-depth displayed by the depth encoder is Jh [ z ] [ n ], and if the laser scanner does not work, the corresponding distance data is 0;

the industrial personal computer records a distance matrix formed by distance data of the sonar scanner and records the distance matrix as Sh, wherein the distance data corresponding to the nth scanning point at the position where the depth encoder displays the z depth is Sh [ z ] [ n ], and if the sonar scanner 4 does not work, the corresponding distance data is 0;

an azimuth matrix formed by azimuth data acquired by an electronic compass and recorded as Fh by an industrial personal computer, wherein the azimuth data corresponding to the nth scanning point is Fh [ z ] [ n ] at the position where the depth encoder displays the z depth;

the industrial personal computer records an image matrix formed by image data collected by the camera as Th, and corresponding image data is Th [ z ] at the position where the depth encoder displays the z depth.

A multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile further comprises the following steps:

step 8, data correction, which specifically comprises the following steps:

8.1, subtracting h1 from the depth corresponding to the distance data of the laser scanner to obtain updated distance data of the laser scanner, wherein the reconstructed distance matrix Dh [ z ] [ n ] is the distance data of the updated laser scanner plus the distance data of the sonar scanner, and h1 is the vertical distance between the scanning plane of the laser scanner and the scanning plane of the sonar scanner;

step 8.2, correcting the recombined distance matrix Dh by combining the orientation matrix Fh, wherein distance data Dh [ z ] [ N ] ═ Dh [ z ] [ int (Fh [ z ] [ N ]/N) ] in the corrected distance matrix; wherein int represents an integer, and N represents the number of points collected by scanning a circle of horizontal section of the laser scanner and the sonar scanner;

and 8.3, adding h2 to the depth corresponding to the image data acquired by the camera to obtain the corrected image data, wherein h2 is the vertical distance between the scanning plane of the sonar scanner and the middle-high plane of the conical reflector.

A multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile further comprises the following steps:

step 9, optimizing data, specifically comprising the following steps:

step 9.1, recording the average value of the distance data to be optimized in the same depth, the 2 distance data of the left adjacent azimuth and the 2 distance data of the right adjacent azimuth as a first optimization threshold;

if the distance data to be optimized is larger than the first optimization threshold value of 2 times, assigning the first optimization threshold value of 2 times to the distance data to be optimized;

if the distance data to be optimized is smaller than 0.5 times of the first optimization threshold, assigning the 0.5 times of the first optimization threshold to the distance data to be optimized;

if the distance data to be optimized is less than or equal to 2 times of the first optimization threshold and greater than or equal to 0.5 times of the first optimization threshold, the distance data to be optimized is unchanged;

further obtaining optimized distance data d [ z ] [ n ];

and 9.2, carrying out digital image filtering processing on the image matrix th to obtain an optimized image matrix t [ z ].

A multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile further comprises the following steps:

step 10, reconstructing a three-dimensional contour, which specifically comprises the following steps:

step 10.1, using the scanning center of the corresponding sonar scanner at the position of 0 depth displayed by the depth encoder on the central axis of the drill hole as the origin of coordinates, pointing to the north direction of geography as the positive direction of an X axis, pointing to the east direction of geography as the positive direction of a Y axis, and pointing to the bottom of the drill hole as the positive direction of a Z axis; defining the nth scanning point of the enlarged head at the depth z as dzn, and the X-axis direction coordinate corresponding to dzn as d [ z ] [ N ] cos (N × 2 × pi/N); the coordinate in the Y-axis direction is d [ z ] [ N ] sin (N × 2 × pi/N); the coordinate in the Z-axis direction is Z; pi is the circumferential ratio;

step 10.2, sequentially connecting adjacent scanning points to form a closed broken line ring ZXz at the position where the depth encoder displays the z depth; sequentially completing the connection of scanning points at different depths to form broken line rings at different depths;

step 10.3, connecting the scanning points in the corresponding directions on the adjacent depth broken line rings; sequentially judging the length of a line segment from the scanning point dzn to the scanning point dz (n +1) and the length of a line segment from the scanning point d (z +1) n to the scanning point d (z +1) (n +1), and if the line segment from the scanning point dzn to the scanning point dz (n +1) is shorter than the line segment from the scanning point d (z +1) n to the scanning point d (z +1) (n +1), connecting the scanning point dz (n +1) and the scanning point d (z +1) n; if the line segment from the scanning point dzn to the scanning point dz (n +1) is longer than the line segment from the scanning point d (z +1) n to the scanning point d (z +1) (n +1), connecting the scanning point dzn with the scanning point d (z +1) (n + 1); and finishing the reconstruction of the vertical triangular grid to obtain the expanded head three-dimensional profile.

A multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile further comprises the following steps:

step 11, unfolding the texture image, specifically comprising:

11.1, a circular ring area surrounded by a first ring line WQz and a second ring line NQz in each image data is a key area of the enlarged base rock wall, the second ring line NQz corresponds to a circular shape of the bottom surface of the conical reflector, and the first ring line WQz corresponds to a circular shape of the top surface of the conical reflector;

step 11.2, taking a ray with a central pixel point on image data where the image matrix t [ z ] is located as an expansion dividing line, dividing a circular ring area enclosed between a first circular line WQz and a second circular line NQz, expanding and interpolating the circular ring area into a rectangular image, wherein the first circular line WQz corresponds to a first line segment wqz on the rectangular image, the second circular line NQz corresponds to a second line segment nqz on the rectangular image, and any point Pz in the circular ring area enclosed by the first circular line WQz and the second circular line NQz is mapped to a point Pz in the rectangular area enclosed by the first line segment wqz and the second line segment nqz; and representing the rectangular area by using an image matrix tj [ z ], wherein the image matrix tj [ z ] is a matrix with pixel points of which the size is V by U.

A multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile further comprises the following steps:

step 12, contour image fusion, which specifically comprises:

step 12.1, mapping each scanning point with a pixel point on the rectangular image, wherein:

h is the vertical height of the conical reflector, the mark is connected with two scanning points to form a line segment, the upper transverse line represents the length of the line segment, and N represents the total number of scanning points acquired by scanning a circle on the horizontal section of the laser scanner and the sonar scanner; d (z-h/2) N represents the corresponding Nth scanning point at the depth of the display (z-h/2) of the depth encoder; if no corresponding scanning point exists at the z-h/2 position, the adjacent nearest corresponding scanning point is taken, in the formula, K is rounded when calculated as decimal, K is the serial number of the pixel point on the first line segment wqz, G is rounded when calculated as decimal, and G is the serial number of the pixel point on the second line segment nqz;

step 12.2, connecting a scanning point d (z-h/2)1 on the rectangular image with a pixel point corresponding to the scanning point d (z + h/2)1, connecting a scanning point d (z-h/2)2 on the rectangular image with a pixel point corresponding to the scanning point d (z + h/2)2, and connecting a scanning point d (z-h/2) n on the rectangular image with a pixel point corresponding to the scanning point d (z + h/2) n; sequentially judging the length of a line segment corresponding to a scanning point d (z-h/2) n to a scanning point d (z-h/2) (n +1) on the rectangular image and a line segment corresponding to a scanning point d (z + h/2) n to a scanning point d (z + h/2) (n +1) on the rectangular image, and if the length of the line segment corresponding to the scanning point d (z-h/2) n to the scanning point d (z-h/2) (n +1) on the rectangular image is shorter than the length of the line segment corresponding to the scanning point d (z + h/2) n to the scanning point d (z + h/2) (n +1) on the rectangular image, connecting pixel points corresponding to the scanning point d (z-h/2) (n +1) and the scanning point d (z + h/2) n on the rectangular image; if the line segment corresponding to the scanning point d (z-h/2) n to the scanning point d (z-h/2) (n +1) on the rectangular image is longer than the line segment corresponding to the scanning point d (z + h/2) n to the scanning point d (z + h/2) (n +1) on the rectangular image, connecting the scanning point d (z-h/2) n on the rectangular image with the pixel point corresponding to the scanning point d (z + h/2) (n + 1);

and step 12.3, mapping the triangular slices formed by the corresponding scanning points on the rectangular image and the triangular meshes on the stereoscopic outline of the expansion head in a one-to-one correspondence manner.

Compared with the prior art, the invention has the following advantages:

1. the method combines the scanning technology and the imaging technology, not only realizes the scanning of the geometric profile of the inner wall of the enlarged head, but also realizes the visualization of the appearance of the inner wall of the enlarged head, and can quickly realize the synchronous measurement of the geometric profile and the appearance characteristic of the enlarged head;

2. the invention can sense the measuring environment inside the enlarged head in real time, realize the optimal measurement of the geometric profile of the enlarged head by switching the optimal measuring sensor, and effectively improve the adaptability and the measuring precision of the measuring device;

3. the invention has the advantages that the adopted basic support technical principle and the device are simple, the sensors corresponding to the laser scanning technology, the sonar scanning technology, the optical image technology, the environmental state sensing technology and the precise positioning technology have lower cost and stronger universality, and the device is easy to replace after being partially damaged;

4. the invention has higher efficiency in the aspect of data processing, can quickly realize the three-dimensional visualization of the expansion head through a small amount of data processing, and synchronously present the three-dimensional outline and the image information of the expansion head;

5. the device is convenient to operate and easy to realize, the obtained data is richer, the obtained result is more reliable, and the measurement efficiency is greatly improved;

6. the invention has simple structure system and overall layout and is easy to implement.

In a word, the invention provides a multisource scanning type method and a multisource scanning type device for scanning the expanded head profile of a bored pile by utilizing a laser scanning technology, a sonar scanning technology, an optical imaging technology, an environmental state induction technology and an accurate positioning technology, which fundamentally solve the problem of high-accuracy measurement of the expanded head of the bored pile hole, synchronously realize three-dimensional visual visualization of the expanded head of the bored pile hole, and combine the scanning technology and the imaging technology, thereby realizing the geometric profile scanning of the inner wall of the expanded head, realizing the appearance visualization of the inner wall of the expanded head, and quickly realizing the synchronous measurement of the geometric profile and the appearance characteristic of the expanded head; in addition, the invention can sense the measuring environment inside the enlarged head in real time, realize the optimal measurement of the geometric profile of the enlarged head by switching the optimal measuring sensor, and effectively improve the adaptability and the measuring precision of the measuring device. The method and the device have the advantages of ingenious design, rigorous conception, simple structural system and easy implementation.

Drawings

FIG. 1 is a block diagram of the apparatus of the present invention;

FIG. 2 is a schematic view of the probe structure in the hole;

FIG. 3 is a schematic diagram illustrating a portion of the structural dimensions;

FIG. 4 is a schematic view of a three-dimensional coordinate system;

FIG. 5 is a schematic view of a volumetric profile reconstruction;

FIG. 6 is a schematic diagram of texture image expansion;

FIG. 7 is a schematic diagram of contour image fusion;

in the figure: 1-an upper shell; 2-conical surface reflection type fixed support; 3-laser scanner; 4-sonar scanners; 5-a conical mirror; 6-calibrating the communication rod; 7-a camera; 8-electronic compass; 9-a liquid inductor; 10-a lower housing; 11-an enlarged head; 12-an in-hole probe; 13-transmitting a tension cable; 14-drilling; 15-a depth encoder; 16-a communication stub; 17-an industrial personal computer; 18-an external power supply; 19-a rock formation; 20-the ground.

Detailed Description

The present invention will be described in further detail with reference to examples for the purpose of facilitating understanding and practice of the invention by those of ordinary skill in the art, and it is to be understood that the present invention has been described in the illustrative embodiments and is not to be construed as limited thereto.

As shown in figure 1, the multisource scanning type expanded head contour scanning device for the bored pile comprises an in-hole probe, a transmission tension cable, a depth encoder, an industrial personal computer and a power supply, wherein the in-hole probe is used for acquiring contour scanning data of the expanded head of the bored pile, the in-hole probe is arranged in a dead zone where the expanded head of the bored pile is located, the in-hole probe is placed into the dead zone where the expanded head of the bored pile is located through the transmission tension cable and uploads the acquired scanning data to a computer on the ground through the transmission tension cable, the depth encoder in an orifice starts to work while the in-hole probe is placed down from the orifice and is used for recording the lowering depth of the in-hole probe, so that the position depth of each contour scanning point of the expanded head of the bored pile is calculated, the depth encoder is directly connected with the computer, depth information directly enters the industrial personal computer, and the industrial personal computer acquires and stores distance data acquired by a sonar scanner 4, The image data reflected by the side conical surface of the conical reflector 5 obtained by the camera 7, the azimuth data obtained by the electronic compass 8 and the depth data obtained by the depth encoder are also used for display and later analysis and calculation, and the power supply supplies power to the depth encoder, the in-hole probe and the computer.

As shown in FIG. 2, a multisource scanning formula bored concrete pile enlarged footing profile scanning device, including downthehole probe, downthehole probe includes upper portion casing 1, conical surface reflection formula fixing support 2, laser scanner 3, sonar scanner 4, conical mirror 5, demarcation communication pole 6, camera 7, electron compass 8, liquid inductor 9, lower part casing 10.

Upper portion casing 1 is located the upper portion of downthehole probe, conical surface reflection formula fixing support 2 is installed to the below of upper portion casing 1, laser scanner 3 is installed to conical surface reflection formula fixing support 2's bottom, sonar scanner 4 is installed to laser scanner 3's below, circular cone speculum 5 is installed to sonar scanner 4's below, lower part casing 10 is located the bottom of downthehole probe, connect through two demarcation communication pole 6 between upper portion casing 1 and the lower part casing 10, liquid inductor 9 is installed to the top of lower part casing 10, electron compass 8 is installed to the top of liquid inductor 9, appearance 7 of making a video recording is installed to the top of electron compass 8, there is certain distance between appearance 7 of making a video recording and circular cone speculum 5, be convenient for the regulation of 7 focuses of appearance of making a video recording.

The upper shell 1 is cylindrical and is made of a material without magnetism, a stainless steel material is usually selected and has the function of protecting internal components, the internal components are arranged in the upper shell 1 and comprise controllers, signal modulation modules, signal transmission modules, power supply voltage stabilizing modules and the like, the laser scanner 3, the sonar scanner 4, the camera 7, the electronic compass 8 and the liquid inductor 9 are respectively connected with the corresponding controllers through the corresponding signal modulation modules by connecting cables, the laser scanner 3, the sonar scanner 4, the camera 7, the electronic compass 8 and the liquid inductor 9 are also connected with the power supply voltage stabilizing modules by power supply cables, each controller is connected with a tension interface on the upper shell 1 through the corresponding signal transmission module, the tension interface is connected with a transmission tension cable, and the transmission tension cable is connected with an industrial personal computer through a depth encoder, the upper shell 1 is also a platform for supporting internal components and parts to be built, and the upper shell 1 is provided with various sealing devices to prevent liquid media inside the cast-in-situ bored pile from entering the interior of the probe in the hole.

Conical surface reflection formula fixing support 2 is truncated inverted cone form, inverted cone platform form promptly, and conical surface reflection formula fixing support 2's conical surface is the mirror surface, has reflected light's effect, and the platform is built to the support of laser scanner 3, sonar scanner 4, conical mirror 5 to conical surface reflection formula fixing support 2's bottom.

Laser scanner 3 is cylindricly, for horizontal circumference rotation's laser range unit, at the in-process of scanning, can provide the corresponding measuring point of laser scanning simultaneously and correspond distance and the azimuth angle of measuring point to laser scanner 3's scanning center, laser scanner 3 has waterproof characteristics, laser scanner 3 can normally work in the air medium, under the drilling bored concrete pile expands first internal scanning environment and is anhydrous condition, can adopt laser scanner 3 to scan the interior profile that expands the head.

Sonar scanner 4 is cylindricly, for horizontal circumference rotation's sonar range unit, at the in-process of scanning, can provide the distance and the azimuth angle of the corresponding measuring point of sonar scanning point to sonar scanner 4's scanning center simultaneously, and sonar scanner 4 has waterproof characteristics, and sonar scanner 4 can normally work in the liquid medium.

When the scanning environment inside the bored pile expanding head is water or slurry, the sonar scanner 4 can be adopted to scan the inner contour of the expanding head.

The conical reflector 5 is in a truncated inverted cone shape, namely an inverted cone frustum shape, is made of stainless steel material, and the conical angle is 45 degrees.

Demarcate communication pole 6, be the hollow tubulose, two demarcate communication pole 6 are 180 degrees symmetric distribution, the outside of demarcating communication pole 6 is the arc surface, two outside place distribution circles of demarcating communication pole 6 are unanimous with the external diameter of downthehole probe, the center of demarcating communication pole 6 is the through-hole, be convenient for liquid inductor 9, electronic compass 8 and camera 7's connecting cable and supply cable walk the line, the inboard of demarcating communication pole 6 is the plane, under the condition of drilling bored concrete pile enlarged footing inside scanning environment for having water or mud, through gathering the distance data between sonar scanner 4 and the inboard of demarcating communication pole 6, can realize the sound velocity correction of drilling bored concrete pile enlarged footing inside scanning environment.

Appearance 7 of making a video recording wholly is cylindricly, and appearance 7 of making a video recording has waterproof characteristics, and the internally mounted of appearance 7 of making a video recording has camera and transparent waterproof glass, through the position of rationally arranging camera and transparent waterproof glass, ensures that appearance 7 of making a video recording can observe the inside image that the bored concrete pile expands the head through conical reflecting mirror 5.

The electronic compass 8 is cylindrical, the electronic compass 8 has the characteristic of water resistance, can acquire two-dimensional state information of the probe in the hole in real time, namely the geographic position of a specific point of the probe in the hole,

the liquid inductor 9 can sense the scanning environment inside the bored pile expanding head in real time to judge the liquid (water or slurry) in the drilling hole,

the lower shell 10 is in an inverted circular truncated cone shape, the upper part of the lower shell is wide and the lower part of the lower shell 10 is narrow, the lower shell 10 is mainly used for protecting an in-hole probe and preventing the in-hole probe from causing serious collision accidents in the scanning process of equipment, the lower shell 10 is usually made of nylon materials, a circle of lamp strip is arranged on the periphery of the top of the lower shell 10, light rays emitted by the lamp strip are reflected onto a drilling rock wall of a drilling cast-in-place pile through peripheral conical surface mirrors of the conical surface reflection type fixed support 2, and the camera 7 is ensured to be capable of normally shooting image information of the drilling rock wall of the drilling cast-in-place pile,

as shown in fig. 3, the vertical distance between the scanning plane of the laser scanner 3 and the scanning plane of the sonar scanner 4 is h 1; the vertical distance between the scanning plane of the sonar scanner 4 and the middle-high plane of the conical reflecting mirror 5 is h2, the middle-high plane is a plane in which the half-height of the conical reflecting mirror 5 is vertical to the central axis of the conical reflecting mirror 5, and the scanning plane of the laser scanner 3, the scanning plane of the sonar scanner 4 and the middle-high plane of the conical reflecting mirror 5 are parallel; the vertical height of the conical reflector 5 is h;

the utility model provides a multisource scanning formula bored concrete pile enlarged footing profile scanning device, still includes transmission tension cable, and transmission tension cable is steel armour cable or steel armour optic fibre, and it has the transmission data and transfers the effect of downthehole probe, can transfer transmission tension cable through electric winch or manual, realizes transferring at the uniform velocity of downthehole probe to realize the accurate scanning in dead zone.

A multisource scanning type contour scanning method for an expanded head of a cast-in-situ bored pile utilizes the multisource scanning type contour scanning device for the expanded head of the cast-in-situ bored pile, and comprises the following steps:

step 1: after the whole device is assembled, the probe in the hole is placed in a drill hole of the cast-in-situ bored pile to be scanned, when the probe in the hole is positioned at the hole opening, the depth encoder is reset, namely the depth encoder is set to be at the 0-depth position, and the scanning plane of the corresponding sonar scanner 4 is represented to be at the 0-depth position; when the liquid sensor 9 detects that the whole or part of the interior of the bored hole of the cast-in-place pile is in a non-slurry environment, the step 2 is performed, when the liquid sensor 9 detects that the interior of the bored hole of the cast-in-place pile is in a slurry environment, the step 5 is performed,

step 2: starting a lamp strip and a camera 7 in the in-hole probe, observing image information of the rock wall in the bored pile in real time through an industrial personal computer, meanwhile, slowly lowering the in-hole probe through a transmission tension cable until the camera 7 just observes the expanded head area of the bored pile, entering the step 3,

and step 3: the industrial personal computer collects data of the liquid sensor 9, senses the internal scanning environment of the bored pile expansion head, judges whether liquid (water or slurry) exists or not, enters step 4 if the internal scanning environment of the bored pile expansion head is a waterless environment, enters step 5 if the internal scanning environment of the bored pile expansion head is a clear water environment,

and 4, step 4: the laser scanner 3 is started, the sonar scanner 4 is closed, the distance and the azimuth angle from the corresponding measuring point of the laser scanning point to the scanning center of the laser scanner 3 are collected, the scanning of one circle of the horizontal section is completed, meanwhile, the industrial personal computer collects and stores the distance data obtained by the laser scanner 3, the image data obtained by the camera 7, the azimuth data obtained by the electronic compass 8 and the depth data obtained by the depth encoder, the step 6 is entered,

and 5: the sonar scanner 4 is turned on, the laser scanner 3 is turned off, the distance and the azimuth angle from the measuring point corresponding to the sonar scanning point to the scanning center of the sonar scanner 4 are collected, the scanning of one circle of horizontal section is completed, meanwhile, the industrial personal computer collects and stores the distance data obtained by the sonar scanner 4, the image data obtained by the camera 7, the azimuth data obtained by the electronic compass 8 and the depth data obtained by the depth encoder, the process goes to step 6,

step 6: slowly lowering the depth h of the probe in the hole through a transmission tension cable, entering the step 3 if the scanning is not finished, and entering the step 7 if the scanning is finished;

and 7: the distance data that storage laser scanner 3 obtained, the distance data that sonar scanner 4 obtained, the image data that the appearance 7 of making a video recording obtained, the azimuth data that electron compass 8 obtained and the depth data that depth encoder obtained close the power of downthehole probe, slowly promote downthehole probe, end this scanning.

In the working process, because the mud environment cannot be optically shot, namely when the inside of a bored pile drill hole is in the mud environment, the image data acquired by the camera 7 is regarded as invalid, and the processing is ignored in the subsequent processing;

in the steps 4 and 5, the industrial personal computer collects and stores distance data obtained by the laser scanner 3, distance data obtained by the sonar scanner 4, image data obtained by the camera 7, azimuth data obtained by the electronic compass 8 and depth data obtained by the depth encoder, and the method comprises the following steps:

in the contour scanning of the enlarged head of the bored pile, an industrial personal computer records distance data acquired by a laser scanner 3 in real time, records distance data acquired by a sonar scanner 4 in real time, records azimuth data corresponding to the distance data through an electronic compass 8, and simultaneously records image data acquired by a camera 7 in real time; a distance matrix formed by recording distance data of the laser scanner 3 by the industrial personal computer is recorded as Jh, wherein the distance data corresponding to the nth scanning point at the z-depth displayed by the depth encoder is Jh [ z ] [ n ], and if the laser scanner 3 does not work, the corresponding distance data is 0; the industrial personal computer records a distance matrix formed by distance data of the sonar scanner 4 and records the distance matrix as Sh, wherein the distance data corresponding to the nth scanning point at the z-depth displayed by the depth encoder is Sh [ z ] [ n ], and if the sonar scanner 4 does not work, the corresponding distance data is 0; an azimuth matrix formed by azimuth data acquired by the electronic compass 8 and recorded as Fh by the industrial personal computer, wherein the azimuth data corresponding to the nth scanning point is Fh [ z ] [ n ] at the position where the depth encoder displays the z depth; the industrial personal computer records an image matrix formed by image data collected by the camera 7 as Th, and corresponding image data is Th [ z ] at the position where the depth encoder displays the z depth.

A multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile further comprises the following steps:

step 8, data correction, which specifically comprises the following steps:

step 8.1: recombining distance data; because the laser scanner 3 and the sonar scanner 4 cannot work simultaneously, for this reason, the distance matrix Jh acquired by the laser scanner 3 and the distance matrix Sh acquired by the sonar scanner 4 need to be merged and recombined; because the scanning plane of the laser scanner 3 and the scanning plane of the sonar scanner 4 have a distance deviation of h1, subtracting h1 from the depth corresponding to the distance data of the laser scanner 3 to obtain the updated distance data of the laser scanner 3, and then reconstructing a distance matrix Dh [ z ] [ n ] into the updated distance data of the laser scanner 3 and the distance data of the sonar scanner 4; the recombined distance data Dh [ z ] [ n ] represents the recombined distance data corresponding to the nth scanning point at the position of the depth encoder displaying the z depth;

step 8.2: correcting distance data; in the scanning process, the probe in the hole may swing, and the nth scanning point of the distance matrix Dh does not necessarily correspond to the azimuth data in the theory, so that the recombined distance matrix Dh needs to be corrected by combining the azimuth matrix Fh; distance data Dh [ z ] [ N ] in the corrected distance matrix is Dh [ z ] [ int (Fh [ z ] [ N ]/N) ]; wherein int represents an integer, and N represents the number of points collected by scanning a circle of horizontal section of the laser scanner 3 and the sonar scanner 4;

step 8.3: correcting image information; because the distance deviation of h2 exists between the middle and high plane of the conical reflector 5 and the scanning plane of the sonar scanner 4, the depth corresponding to the image data collected by the camera 7 is added with h2 to obtain the corrected image data;

a multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile further comprises the following steps:

and step 9: the data optimization specifically comprises the following steps:

step 9.1: optimizing a distance matrix dh; in order to eliminate accidental errors in the scanning process, the data information which is too large or too small in the distance matrix dh is optimized;

recording the average value of the distance data to be optimized in the same depth, the 2 distance data of the left adjacent azimuth and the 2 distance data of the right adjacent azimuth as a first optimization threshold;

if the distance data to be optimized is larger than the first optimization threshold value of 2 times, assigning the first optimization threshold value of 2 times to the distance data to be optimized;

if the distance data to be optimized is smaller than 0.5 times of the first optimization threshold, assigning the 0.5 times of the first optimization threshold to the distance data to be optimized;

and if the distance data to be optimized is less than or equal to 2 times of the first optimization threshold and greater than or equal to 0.5 times of the first optimization threshold, the distance data to be optimized is unchanged.

Further obtaining optimized distance data d [ z ] [ n ]; namely:

if it is

dh [ z ] [ n ] >2 mean (dh [ z ] [ n-2], dh [ z ] [ n-1], dh [ z ] [ n ], dh [ z ] [ n +1], dh [ z ] [ n +2]), then d [ z ] [ n ] (2 mean (dh [ z ] [ n ], dh [ z ] [ n ], dh [ z ] [ n ], dh [ z ] [ n ], dh [ z ] [ n ]); if dh [ z ] [ n ] <0.5 × mean (dh [ z ] [ n-2], dh [ z ] [ n-1], dh [ z ] [ n ], dh [ z ] [ n +1], dh [ z ] [ n +2]), then d [ z ] [ n ] <0.5 × mean (dh [ z ] [ n ], dh [ z ] [ n ], dh [ z ] [ n ], dh [ z ] [ n ]); otherwise, the optimized distance data d [ z ] [ n ] ═ dh [ z ] [ n ];

step 9.2: optimizing an image matrix th; in order to eliminate the interference information in the image matrix th, the digital image filtering process is performed on the image matrix th, such as: mean filtering, median filtering and the like to obtain an optimized image matrix t [ z ];

a multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile further comprises the following steps:

step 10: the three-dimensional contour reconstruction specifically comprises the following steps:

step 10.1: as shown in fig. 4, a three-dimensional coordinate system is established; the scanning center of the corresponding sonar scanner 4 at the position of 0 depth displayed by a depth encoder on the central axis of the drill hole is taken as the origin of coordinates, the direction pointing to the north of geography is the positive direction of an X axis, the direction pointing to the east of geography is the positive direction of a Y axis, and the direction pointing to the bottom of the drill hole is the positive direction of a Z axis; defining the nth scanning point of the enlarged head at the depth z as dzn, and the X-axis direction coordinate corresponding to dzn as d [ z ] [ N ] cos (N × 2 × pi/N); the coordinate in the Y-axis direction is d [ z ] [ N ] sin (N × 2 × pi/N); the coordinate in the Z-axis direction is Z; pi is the circumference ratio, typically taken as 3.14;

step 10.2: reconstructing a horizontal section profile; at the position where the depth encoder displays the z depth, sequentially connecting a scanning point dz1, a scanning point dz2, ·, a scanning point dz (n-1) and a scanning point dzn, and then connecting a scanning point dzn with the scanning point dz1 to form a closed broken line ring ZXz; sequentially completing the connection of scanning points at different depths to form broken line rings at different depths;

step 10.3: as shown in fig. 5, vertical triangular mesh reconstruction; scanning points in corresponding directions on adjacent depth broken line rings are connected, for example, dz1 is connected with d (z +1)1, dz2 is connected with d (z +1)2, and dzn is connected with d (z +1) n; sequentially judging the lengths of segments dzn to dz (n +1) and d (z +1) n to d (z +1) (n +1), and if the segments dzn to dz (n +1) are shorter than the segments d (z +1) n to d (z +1) (n +1), connecting a scanning point dz (n +1) and a scanning point d (z +1) n; connecting the scanning point dzn with the scanning point d (z +1) (n +1) if the segment dzn through dz (n +1) is longer than the segment d (z +1) n through d (z +1) (n + 1); the scanning points in the non-corresponding directions on the adjacent depth broken line rings are connected by analogy; therefore, the reconstruction of the vertical triangular grid is completed, the reconstruction of the three-dimensional profile of the expansion head is realized, and the three-dimensional profile of the expansion head is obtained.

A multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile further comprises the following steps:

step 11: and (3) unfolding the texture image, specifically comprising:

the texture image unfolding method mainly comprises the following steps: extracting a key area and expanding a ring image;

step 11.1: as shown in fig. 6, key region extraction; a circular ring area surrounded by the first ring line WQz and the second ring line NQz in each image data is a key area of the enlarged parietal wall, the second ring line NQz is located in the area surrounded by the first ring line WQz, the second ring line NQz corresponds to the bottom surface ring shape of the conical reflector 5, and the first ring line WQz corresponds to the top surface ring shape of the conical reflector 5; the outer side of the first loop line WQz and the inner side of the second loop line NQz are white bases, have no useful information and are non-critical areas; distinguishing a key area and a non-key area inside the image matrix t [ z ] according to the position of the pixel value;

step 11.2: taking a ray with a central pixel point on image data of an image matrix t [ z ] as a starting point as an unfolding dividing line, dividing a circular ring region enclosed between a first circular line WQz and a second circular line NQz, unfolding and interpolating the circular ring region into a rectangular image, wherein the first circular line WQz corresponds to a first line segment wqz on the rectangular image, the second circular line NQz corresponds to a second line segment nqz on the rectangular image, and any point Pz in the circular ring region enclosed by the first circular line WQz and the second circular line NQz is mapped to a point Pz in the rectangular region enclosed by the first line segment wqz and the second line segment nqz; a rectangular image corresponding to the formed rectangular area is a circular ring expansion diagram, the rectangular area is represented by an image matrix tj [ z ], the image matrix tj [ z ] is a U matrix with pixel size of V rows by columns, namely the circular ring expansion diagram has U pixel points in total in the horizontal direction, and the circular ring expansion diagram has V pixel points in total in the vertical direction;

a multisource scanning type method for scanning the profile of an expanded head of a cast-in-situ bored pile further comprises the following steps:

step 12: the contour image fusion specifically comprises the following steps:

step 12.1: as shown in fig. 7, each scanning point is mapped with a pixel point on the rectangular image; mapping a scanning point d (z-h/2)1, a scanning point d (z-h/2)2,. and a scanning point d (z-h/2) N on a first line segment wqz of the rectangular image; the scanning point d (z-h/2) n corresponds to the Kth pixel point on the first line segment wqz, wherein

h is the vertical height of the conical reflecting mirror 5, "·" mark connects two scanning points to form a line segment, an upper transverse line "- -" represents the length of the line segment, d (z-h/2) i · d (z-h/2) (i +1) represents the line segment connected with the scanning points d (z-h/2) i and d (z-h/2) (i +1), d (z-h/2) N · d (z-h/2)1 represents the line segment connected with the scanning points d (z-h/2) N and d (z-h/2)1, d (z-h/2) j · d (z-h/2) (j +1) represents the line segment connected with the scanning points d (z-h/2) j and d (z-h/2) (j +1), and N represents the total number of scanning points collected by one circle of horizontal scanning of the laser scanner 3 and the acoustic cross-section sonar scanner 4; d (z-h/2) N represents the corresponding Nth scanning point at the depth of the display (z-h/2) of the depth encoder; if there is no corresponding scanning point at z-h/2, the nearest adjacent corresponding scanning point is taken, and in the formula, K is rounded when being calculated as decimal.

Mapping a scanning point d (z + h/2)1, a scanning point d (z + h/2)2, · and a scanning point d (z + h/2) N on a second line segment nqz of the rectangular image; scanning point d (z + h/2) n corresponds to the G-th pixel point on the second line segment nqz, K is the serial number of the pixel point on the first line segment wqz, wherein

d (z + h/2) i · d (z + h/2) (i +1) represents a line segment connected by scanning points d (z + h/2) i and d (z + h/2) (i +1), d (z + h/2) N · d (z + h/2)1 represents a line segment connected by scanning points d (z + h/2) N and d (z + h/2)1, d (z + h/2) j · d (z + h/2) (j +1) represents a line segment connected by scanning points d (z + h/2) j and d (z + h/2) (j +1), and if there is no corresponding scanning point at z + h/2, the adjacent nearest corresponding scanning point is taken, in the above formula, G is taken when calculated as a decimal number, and G is a pixel point number on the second line segment nqz.

Step 12.2: triangular cutting of the rectangular image; after scanning points are mapped on the upper line segment wqz and the lower line segment nqz of the rectangular image, carrying out triangular cutting on the rectangular image according to the vertical triangular mesh reconstruction principle; if the d (z-h/2)1 on the rectangular image is connected with the pixel point corresponding to the d (z + h/2)1, the d (z-h/2)2 on the rectangular image is connected with the pixel point corresponding to the d (z + h/2)2, and the d (z-h/2) n on the rectangular image is connected with the pixel point corresponding to the d (z + h/2) n; sequentially judging the length of a line segment corresponding to d (z-h/2) n to d (z-h/2) (n +1) on the rectangular image and a line segment corresponding to d (z + h/2) n to d (z + h/2) (n +1) on the rectangular image, and if the length of the line segment corresponding to d (z-h/2) n to d (z-h/2) (n +1) on the rectangular image is shorter than the length of the line segment corresponding to d (z + h/2) n to d (z + h/2) (n +1) on the rectangular image, connecting pixel points corresponding to d (z-h/2) (n +1) and d (z + h/2) n on the rectangular image; if the line segment corresponding to d (z-h/2) n to d (z-h/2) (n +1) on the rectangular image is longer than the line segment corresponding to d (z + h/2) n to d (z + h/2) (n +1) on the rectangular image, connecting the pixel points corresponding to d (z-h/2) n and d (z + h/2) (n +1) on the rectangular image; and analogizing in sequence to finish triangular cutting of rectangular images at different depths;

step 12.3: contour texture mapping; and mapping the triangular slices formed by the corresponding scanning points on the rectangular image and the triangular meshes on the expanded head three-dimensional contour in a one-to-one correspondence manner, namely mapping the triangular slices on the rectangular image to the expanded head three-dimensional contour in a scaling and interpolation manner, thereby realizing contour texture mapping.

Part materials and processing requirements:

the upper casing 1 and the lower casing 10 are made of nonmagnetic materials, and stainless steel or polyformaldehyde materials are generally selected.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the protection scope of the present invention, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.