阅读说明：本技术 一种基于点云数据和全站仪的隧道缺陷快速定位方法 (Tunnel defect rapid positioning method based on point cloud data and total station ) 是由 雪宜宾 魏世恭 袁建飞 史爱军 王春 于世龙 于 2019-10-12 设计创作，主要内容包括：本发明涉及一种基于点云数据和全站仪的隧道缺陷快速定位方法,步骤如下：S1,使用激光扫描仪在隧道中采集数据；S2,使用三维激光处理软件进行数据分析；S3,利用便携的缺陷定位设备以及全站仪快速定位。该基于点云数据和全站仪的隧道缺陷快速定位方法利用三维激光扫描后的数据进行分析,生成展开图,利用展开图标识出缺陷部位,提高了缺陷检测的准确度,减少了漏识的概率。利用全站仪,结合算法,通过点击缺陷位置,即可自动快速且准确的指出展开图中缺陷的真实位置,方便隧道修复等后续工作。(The invention relates to a tunnel defect rapid positioning method based on point cloud data and a total station, which comprises the following steps: s1, collecting data in the tunnel by using a laser scanner; s2, performing data analysis by using three-dimensional laser processing software; and S3, rapidly positioning by using portable defect positioning equipment and a total station. According to the tunnel defect rapid positioning method based on the point cloud data and the total station, the data after three-dimensional laser scanning is used for analysis, an expansion map is generated, the expansion map is used for identifying the defect part, the defect detection accuracy is improved, and the missing probability is reduced. By using the total station and combining an algorithm, the real position of the defect in the expansion map can be automatically, quickly and accurately pointed out by clicking the position of the defect, so that the subsequent work such as tunnel repair and the like is facilitated.)

1. A tunnel defect rapid positioning method based on point cloud data and a total station is characterized in that: the method comprises the following steps:

s1, collecting data in the tunnel by using a laser scanner;

s2, performing data analysis by using three-dimensional laser processing software;

and S3, rapidly positioning by using portable defect positioning equipment and a total station.

2. The method for rapidly positioning tunnel defects based on point cloud data and a total station as claimed in claim 1, wherein: the step S1 of collecting data includes:

s101: erecting an instrument, erecting a scanner on a tripod, locking the instrument, placing the instrument in the center of a scanning range, leveling the tripod by using bubbles, leveling a total station and setting a station;

s102: measuring coordinates, erecting two spherical prisms within a radius range of 2-5 meters near a scanner, erecting the two spherical prisms at different heights, and enabling the height difference to be larger than 1 cm;

the distance between the two spherical prisms needs to be more than 5 meters;

the spherical surface of the spherical prism faces the scanner, and the prism faces the total station;

and the total station respectively measures the coordinates of the two spherical prisms, records the two coordinates, and keeps the spherical prisms motionless until the scanning is finished.

S103: scanning data, wherein no person or other interference objects exist in the scanning range.

3. The method for rapidly positioning tunnel defects based on point cloud data and a total station as claimed in claim 2, wherein: the data analysis in the step S2 includes:

s201, importing data and registering coordinates;

importing the three-dimensional laser point cloud data obtained by scanning in the step S1 into three-dimensional laser processing software, recording the two coordinates recorded in the step S102 into the three-dimensional laser processing software, and finishing the registration of the internal coordinates of the scanner to tunnel construction coordinates by using the three-dimensional laser processing software;

s202, analyzing data, importing tunnel design data into three-dimensional laser processing software, selecting a range, and analyzing data such as point cloud data of the range, super-undermining, flatness and the like;

s203, exporting data, namely exporting the data obtained after the analysis in the S202; the data is a list file of defect point coordinates (based on a tunnel construction coordinate system) identified by a user, or a project file containing line data and development diagram data.

4. The method for rapidly positioning tunnel defects based on point cloud data and a total station as claimed in claim 2, wherein: the step S3 includes:

s301: importing data and displaying, namely importing the data exported in the step S203 into defect positioning equipment;

the defect positioning equipment comprises a display module, a control module and a communication module;

s302: preparing an instrument;

s303: and defects are quickly positioned.

Technical Field

The invention relates to the technical field of rapid tunnel defect positioning, in particular to a rapid tunnel defect positioning method based on point cloud data and a total station.

Background

In recent years, China gradually becomes a large tunnel country with the largest number of tunnels, the largest construction scale, the most complex technical conditions and the fastest development speed in the world. However, in the construction and operation process of tunnel engineering, due to complex hydrogeological conditions, topographic conditions, climatic conditions, natural disasters and various possible adverse influence factors in many links such as design, construction and operation, the tunnel engineering has defects (such as lining void, deformation, water leakage, freezing damage and the like) in different degrees, and the construction and operation safety of the tunnel is seriously influenced.

At present, the surface defect detection of tunnel lining concrete mainly adopts personnel inspection, and the coordinates of the defect position are found out through a total station after the defect is found; the existing mode has extremely high labor intensity, can not fully ensure the accuracy of defect identification, particularly for the tunnel with larger depth and higher height, has long time consumption during detection and low working efficiency, and can not obtain complete and full-coverage lining concrete detection data.

Disclosure of Invention

In order to solve the above problems, the present invention aims to provide a method for quickly locating tunnel defects based on point cloud data and a total station.

In order to achieve the purpose, the invention provides the following technical scheme: a tunnel defect rapid positioning method based on point cloud data and a total station comprises the following steps:

s1, collecting data in the tunnel by using a laser scanner;

s2, performing data analysis by using three-dimensional laser processing software;

and S3, rapidly positioning by using portable defect positioning equipment and a total station.

Preferably, the step S1 of collecting data includes:

s101: erecting an instrument, erecting a scanner on a tripod, locking the instrument, placing the instrument in the center of a scanning range, leveling the tripod by using bubbles, leveling a total station and setting a station;

s102: measuring coordinates, erecting two spherical prisms within a radius range of 2-5 meters near a scanner, erecting the two spherical prisms at different heights, and enabling the height difference to be larger than 1 cm;

the distance between the two spherical prisms needs to be more than 5 meters;

the spherical surface of the spherical prism faces the scanner, and the prism faces the total station;

and the total station respectively measures the coordinates of the two spherical prisms, records the two coordinates, and keeps the spherical prisms motionless until the scanning is finished.

S103: scanning data, wherein no person or other interference objects exist in the scanning range.

Preferably, the data analysis in step S2 includes:

s201, importing data and registering coordinates;

importing the three-dimensional laser point cloud data obtained by scanning in the step S1 into three-dimensional laser processing software, recording the two coordinates recorded in the step S102 into the three-dimensional laser processing software, and finishing the registration of the internal coordinates of the scanner to tunnel construction coordinates by using the three-dimensional laser processing software;

s202, analyzing data, importing tunnel design data into three-dimensional laser processing software, selecting a range, and analyzing data such as point cloud data of the range, super-undermining, flatness and the like;

s203, exporting data, namely exporting the data obtained after the analysis in the S202; the data is a list file of defect point coordinates (based on a tunnel construction coordinate system) identified by a user, or a project file containing line data and development diagram data.

Preferably, step S3 includes:

s301: importing data and displaying, namely importing the data exported in the step S203 into defect positioning equipment;

the defect positioning equipment comprises a display module, a control module and a communication module;

s302: preparing an instrument;

s303: and defects are quickly positioned.

Compared with the prior art, the invention has the beneficial effects that: the invention utilizes the data after the three-dimensional laser scanning to analyze and generate the expanded graph, and utilizes the expanded graph to mark the defect part, thereby improving the accuracy of defect detection and reducing the probability of missing identification. By using the total station and combining an algorithm, the real position of the defect in the expansion map can be automatically, quickly and accurately pointed out by clicking the position of the defect, so that the subsequent work such as tunnel repair and the like is facilitated.

Drawings

FIG. 1 is a schematic diagram of coordinate registration according to the present invention;

FIG. 2 is a block diagram of the steps of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides a technical solution: a tunnel defect rapid positioning method based on point cloud data and a total station comprises the following steps:

s1, collecting data in the tunnel by using a laser scanner;

s2, performing data analysis by using three-dimensional laser processing software;

and S3, rapidly positioning by using portable defect positioning equipment and a total station.

Further, the step S1 of collecting data includes:

s101: erecting an instrument, erecting a scanner on a tripod, locking the instrument, placing the instrument in the center of a scanning range, leveling the tripod by using bubbles, leveling a total station and setting a station;

s102: measuring coordinates, erecting two spherical prisms within a radius range of 2-5 meters near a scanner, erecting the two spherical prisms at different heights, and enabling the height difference to be larger than 1 cm;

the distance between the two spherical prisms needs to be more than 5 meters;

the spherical surface of the spherical prism faces the scanner, and the prism faces the total station;

and the total station respectively measures the coordinates of the two spherical prisms, records the two coordinates, and keeps the spherical prisms motionless until the scanning is finished.

S103: scanning data, wherein no person or other interference objects exist in the scanning range.

Further, the data analysis in step S2 includes:

s201, importing data and registering coordinates;

importing the three-dimensional laser point cloud data obtained by scanning in the step S1 into three-dimensional laser processing software, recording the two coordinates recorded in the step S102 into the three-dimensional laser processing software, and finishing the registration of the internal coordinates of the scanner to tunnel construction coordinates by using the three-dimensional laser processing software;

s202, analyzing data, importing tunnel design data into three-dimensional laser processing software, selecting a range, and analyzing data such as point cloud data of the range, super-undermining, flatness and the like;

s203, exporting data, namely exporting the data obtained after the analysis in the S202; the data is a list file of defect point coordinates (based on a tunnel construction coordinate system) identified by a user, or a project file containing line data and development diagram data.

Further, the step S3 includes:

s301: importing data and displaying, namely importing the data exported in the step S203 into defect positioning equipment;

the defect positioning equipment comprises a display module, a control module and a communication module;

the display module is responsible for displaying data such as the overbreak, the flatness, the gray level graph and the like; a user can interact with the equipment by setting a threshold value, clicking a button and the like, so that dynamic color identification and section diagram positioning of the development diagram are realized. The module adopts an LOD technology and a local rendering technology to realize smooth browsing and scaling of the ultra-long mileage development graph; the control module is responsible for calculating the horizontal angle and vertical angle deviation of the coordinates of the measuring points and the measuring stations, outputting a control instruction, and preprocessing expansion diagram data and LOD grading processing under different threshold values; the communication module is mainly responsible for communicating with the total station and controlling the total station through instructions.

S302: preparing an instrument;

the total station mentioned in this step must be provided with an electric motor; erecting a total station, leveling and setting up a station; connect defect positioning device and total powerstation through the mode of bluetooth, ensure that both can normal communication. The total station without the Bluetooth transmission function can be replaced by a serial port-to-Bluetooth middleware

S303: and defects are quickly positioned.

Through pointing or marking a defect point on defect positioning equipment, the defect positioning equipment automatically controls the total station to turn on laser after acquiring the station setting coordinates of the total station, and a control module of the defect positioning equipment outputs a control instruction to the total station through calculation to control the total station to point to the marked defect position. Clicking different point locations, the total station will track the marked point locations in sequence. If the distance exceeds 20M, the defect locating device gives a distance prompt.

The specific calculation is as follows:

let the defective point G coordinate be (G)_x，G_y，G_z)；

Let the total station set the T coordinate of the station as (T)_x，T_y，T_z)；

The vector is scaled to V (x, y, z), where:

x＝G_x-T_x，y＝G_y-T_y，z＝G_z-T_z；

distance between two adjacent plates

The right-angle radian is as follows:

horizontal angle radian:

although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.