Underground space geometric contour fine measurement and evolution process monitoring device and method

Abstract

The invention discloses an underground space geometric profile fine measurement and evolution process monitoring device which comprises a depth winch, a calibration short section, an adjusting cable, a measurement short section, a transmission cable and an industrial personal computer. The invention further discloses an underground space geometric contour fine measurement and evolution process monitoring method. The technical problems of underground space geometric contour fine measurement and evolution process monitoring are solved, the laser technology and the visual technology are combined, fine imaging of the underground space internal geometric contour is achieved, quantitative calculation and visualization of the geometric contour size are achieved in combination with the precise positioning technology, and the measurement precision of the underground space internal geometric contour is improved. Geometric contour information of an underground space can be rapidly captured, and measurement and monitoring of a geometric contour can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of underground space survey, and specifically to a device for finely measuring the geometric contour of an underground space and a monitoring process of its evolution, and also to a method for finely measuring the geometric contour of an underground space and a monitoring process of its evolution. The present invention is suitable for observing, measuring, monitoring and visualizing the geometric contours of various natural and artificial spaces underground, obtaining fine measurement of the geometric contours of various deep underground spaces and monitoring of their evolution, and being able to realize fine measurement and three-dimensional visualization of the geometric contours of underground spaces. Background Art

[0002] With the acceleration of urbanization, land resources are becoming increasingly scarce. The development and utilization of deep underground space can effectively alleviate this pressure, provide new development space for cities, and help achieve intensive and efficient use of land. The development and utilization of deep underground space can significantly enhance the comprehensive carrying capacity of cities. By building underground transportation networks and underground public facilities, urban traffic conditions can be improved, ground traffic congestion can be reduced, and urban operation efficiency can be improved. At the same time, the utilization of underground space can also reduce urban noise, pollution and other problems, and improve the quality of urban environment. Underground space has good thermal stability and sealing, as well as strong disaster resistance and protection performance. When natural disasters such as earthquakes and floods occur, underground space can be used as an emergency shelter to protect people's lives and property. In addition, through the reasonable planning and construction of underground drainage systems, underground water storage facilities, etc., the ability of cities to cope with extreme weather and natural disasters can also be improved. The development and utilization of deep underground space requires advanced technical support and equipment guarantee. This will promote scientific and technological innovation and industrial upgrading in related fields, and drive the research and development and application of new materials, new technologies, and new processes. At the same time, the development of the underground space industry will also give birth to new economic growth points and inject new impetus into economic and social development. The development and utilization of deep underground space helps promote green and low-carbon development. By building underground energy storage facilities, underground sewage treatment plants, etc., energy conservation and recycling can be achieved, and environmental pollution can be reduced. In addition, the development of underground space can also utilize renewable energy such as geothermal energy to reduce the city's dependence on fossil energy and achieve sustainable energy development. In short, the development and utilization of deep underground space can alleviate the pressure on land resources, improve the comprehensive carrying capacity of the city, enhance the city's disaster prevention and mitigation capabilities, promote scientific and technological progress and industrial upgrading, and promote green and low-carbon development. The significance of underground space geometric contour measurement is to provide accurate data support for underground space development, utilization and management, and ensure the safety and stability of underground space. By measuring the geometric contour of underground space, we can understand the structure and characteristics of underground space in detail, provide a scientific basis for relevant decision-making, thereby avoiding potential safety risks and improving the efficiency and quality of underground space. The geometric contour measurement of deep underground space faces challenges such as large spatial range and complex structure, and conventional precision measurement methods are difficult to apply directly. Underground space often has harsh environments such as insufficient light, high air humidity, and large temperature changes. At the same time, the geometric contour has irregular characteristics, which puts higher requirements on the stability and accuracy of the measurement equipment. At present, laser scanning is mainly used to achieve three-dimensional modeling of the geometric contours of underground spaces. However, since the basic data is discrete point cloud data and the contour is reconstructed through interpolation fitting, it is difficult to achieve precise measurement of the geometric contours of deep underground spaces.

[0003] To this end, in view of the current difficulties in fine measurement of underground space geometric contours and monitoring of their evolution, the present invention, with the help of relatively mature high-tech means (optical camera technology and laser technology, etc.), proposes a device and method for fine measurement of deep underground space geometric contours and monitoring of their evolution, which fundamentally solves the difficulties in fine measurement of underground space geometric contours and monitoring of their evolution, and simultaneously realizes fine measurement and three-dimensional visualization of underground space geometric contours. The device combines optical camera technology, laser technology, and precise positioning technology to realize optical imaging of laser beam strips of underground space surface geometric contours, and realizes fine measurement and three-dimensional visualization of underground space geometric contours by organically pairing and fusing optical image data with azimuth and depth data.

[0004] The advantages of a device and method for fine measurement and evolution process monitoring of the geometric contour of a deep underground space are: 1) high measurement accuracy. Due to the use of high-definition optical camera technology, laser technology and precise positioning technology, combined with pixel points as calculation units, the measurement accuracy of the geometric contour can be improved, and the measurement accuracy can be effectively improved while improving the optical camera imaging capability and reducing the sampling interval in the depth direction; 2) wide range of application. This invention patent has a wide range of application prospects and can be applied to tunnel engineering, subway construction, water conservancy projects, mineral resource exploration and other fields. At the same time, it can improve the limitations of traditional optical imaging technology that only relies on single laser point cloud data or a small range; 3) more precise contour measurement. Since the horizontal laser beam is a continuous light band on the rock wall of the underground space, by integrating high-definition optical camera technology with laser technology, the geometric contour information can be converted into continuous image information, which greatly improves the refinement of the measured contour compared with the traditional point cloud method; 4) the measurement method is simple. Only by lowering the calibration pup section, adjusting the cable and measuring pup section through the transmission cable to the area to be measured inside the underground space, the image data carrying the geometric contour information of the underground space can be quickly collected. Combined with the subsequent data processing method, the measurement, monitoring and three-dimensional visualization of the underground space can be realized; 5) The evolution process is more intuitive. The traditional method mainly fits the evolution process through multiple point cloud measurements. The present invention can directly present the continuous geometric contour information at different times, which greatly improves the intuitiveness of monitoring the evolution process of the underground space; 6) The structure is compact, the layout is flexible, the connection is simple, and it is easy to implement. 7) The equipment cost is low. The electronic components required by the present invention are all mature and low-cost components, which can control the hardware cost of the overall device. Summary of the invention

[0005] The purpose of the present invention is to solve the difficult problem of fine measurement of underground space geometric contour and monitoring of its evolution process, to realize fine measurement of geometric contour and monitoring of evolution process of various deep underground spaces, to propose a device for fine measurement of underground space geometric contour and monitoring of its evolution process, and to provide a method for fine measurement of underground space geometric contour and monitoring of its evolution process, so as to realize fine measurement and three-dimensional visualization of underground space geometric contour. The present invention is novel in conception and easy to implement. It is a new method and a new generation of device for underground space measurement technology, and has important technical significance and application prospects. It not only promotes the development and application of precision measurement technology, but also improves the measurement accuracy and efficiency of underground space engineering, and provides a strong guarantee for engineering quality and safety. It has broad application prospects.

[0006] In order to achieve the above object, the present invention adopts the following technical measures:

[0007] The device for fine measurement of the geometric contour of underground space and monitoring the evolution process includes a depth winch, a calibration short section, an adjustment cable, a measurement short section, a transmission cable, and an industrial control computer.

[0008] The calibration sub is used to emit a horizontal calibration laser beam and provide azimuth information.

[0009] Adjustment cable, used to connect the calibration nipple and the measuring nipple,

[0010] The measuring subsection is used to collect image data of the geometric contour of the underground space marked by laser. The upper part of the measuring subsection is wound on the depth winch through the transmission cable, and the transmission cable is connected to the industrial computer.

[0011] The depth winch is used to adjust the retraction and extension size of the transmission cable and collect depth data of horizontal sections at different depths in the underground space.

[0012] As described above, the calibration pup section includes a calibration shell, a laser, a transmission window, a reflector, and a compass module. The laser is located at the bottom of the calibration shell, the transmission window is located in the middle of the calibration shell, the transmission window is cylindrical, the reflector is located inside the calibration shell, the reflector is in the shape of an inverted cone with a cone angle of 45°, and the central axis of the reflector coincides with the central axis of the laser; the compass module is located at the top of the calibration shell.

[0013] As described above, N cameras are arranged at the bottom of the measuring short section; the N cameras are evenly arranged circumferentially on the outer periphery of the bottom of the measuring short section, and the value of N is: N≥360 / θ, where θ is the viewing angle of the camera; the lens of the camera is tilted downward, and the inner side of the viewing angle of the camera coincides with the central axis of the adjustment cable.

[0014] The method for fine measurement of underground space geometric contour and monitoring of its evolution process includes the steps of collecting image data, orientation information and depth data:

[0015] The calibration pup joint, adjustment cable, and measurement pup joint are lowered into the underground space to be measured along the borehole through the transmission cable. When the calibration pup joint is located at the hole mouth, the depth encoder on the depth winch is reset, and the laser, camera, and compass module are started.

[0016] The laser beam is reflected by the reflector, changes its propagation path and emits horizontally. The laser beam passes through the transmission window to form a laser spot on the surface of the underground space. N cameras collect image data of the underground space containing the laser spot information.

[0017] The calibration sub, measurement sub and depth winch transmit the collected position information, image data and depth data to the industrial computer respectively, and the industrial computer synchronously collects, displays, processes and saves the position information, image data and depth data.

[0018] The depth winch slowly lowers the calibration short section through the transmission cable, adjusts the cable, and measures the short section to the set lowering depth △h. If the acquisition of the geometric contour data of the underground space is not completed, repeat the above steps of collecting image data, orientation information and depth data.

[0019] The method for fine measurement of underground space geometric contour and monitoring of its evolution process also includes a data reorganization step:

[0020] a[i] represents the i-th azimuth information collected by the calibration sub 1, f[i][j] represents the image collected by the j-th array camera in the image data of the i-th depth on the measurement sub, h[i] represents the i-th depth data collected by the depth encoder on the depth winch (5), and i is the depth serial number;

[0021] Let image f[i][j] be composed of m*n pixels, where m is greater than n. Define image F[i] with row and column size of 2m*2m. Let all 2m*2m pixels on matrix F[i] be 0.

[0022] Map the N images f[i][j] of the image data of the i-th depth to the image F[i] according to the layout orientation of the camera in the measuring pup joint. The position of the pixel point in the m-th row and m-th column of the image F[i] is consistent with the position corresponding to the pixel point of the central axis of the adjustment cable in the N images f[i][j]. If there are two or more overlapping pixels in the N images f[i][j], the grayscale of the corresponding position of the matrix F[i] is the average grayscale value of the pixel points at the same position.

[0023] The image F[i] is rotated according to the position corresponding to the orientation information a[i], so that the image F[i] represents the geometric outline of the underground space and is presented in a manner where the geographical orientation is north at the top, south at the bottom, west on the left, and east on the right. After the image F[i] is rotated, each pixel point is remapped to the corresponding image FF[i] with a row and column size of 2m*2m according to the rotated orientation.

[0024] The method for fine measurement of underground space geometric contour and monitoring of its evolution process also includes a contour recognition step:

[0025] Perform image processing and binarization on the image FF[i], identify the laser beam contour line and the adjustment cable center axis contained in the image matrix FF[i], and only retain the laser beam contour line and the adjustment cable center axis contained in the image matrix FF[i], and the projection of the adjustment cable center axis on the image FF[i] is a point;

[0026] Take the projection point of the central axis of the adjustment cable as the coordinate origin O, the geographic east as the positive direction of the x-axis, and the geographic north as the positive direction of the y-axis to establish a plane rectangular coordinate system. Set the intersection of the outer contour of the calibration short section and the positive direction of the x-axis as the intersection point P1, and the pixel coordinates of the intersection point P1 are (x1,0); the pixel coordinates of any point PX on the laser beam contour line are (xx,yy); the side length of the square occupied by a single pixel point of the image matrix FF[i] is δ=d / x1,

[0027] The distance between any point PX on the laser beam contour and the central axis of the borehole on the horizontal section at the depth h[i] of the underground space is

[0028] The method for fine measurement of underground space geometric contour and monitoring of its evolution process also includes a step of three-dimensional visualization of the contour:

[0029] Establish a spatial rectangular coordinate system, with the position where the depth data h[i] on the center axis of the borehole is 0 as the coordinate origin, geographic east as the positive direction of the x-axis, and geographic north as the positive direction of the y-axis.

[0030] The coordinate values ​​of each point on the laser beam contour line on each horizontal section of the rock wall at different depths in the underground space are converted into a spatial rectangular coordinate system.

[0031] The coordinates of each point on the laser beam contour line on each horizontal section of the rock wall at different depths in the underground space converted into the spatial rectangular coordinate system are stored in the three-dimensional point cloud coordinate matrix KJ[][][]. The size of the three-dimensional point cloud coordinate matrix KJ[][][] is row*column, the number of rows is the total number of all monitoring points on all laser beam contour lines at all depths, and the number of columns is 3. The first column of the three-dimensional point cloud coordinate matrix KJ[][][] represents the x-axis physical coordinate value of the monitoring point on the laser beam contour line of the rock wall; the second column of the three-dimensional point cloud coordinate matrix KJ[][][] represents the y-axis physical coordinate value of the monitoring point on the laser beam contour line; the third column of the three-dimensional point cloud coordinate matrix KJ[][][] represents the z-axis physical coordinate value of the monitoring point on the laser beam contour line. The three elements of each row of the three-dimensional point cloud coordinate matrix KJ[][][] represent the x-axis, y-axis, and z-axis physical coordinate values ​​of a monitoring point. The physical coordinate values ​​of each monitoring point on the laser beam contour line on the horizontal section of the rock wall at each depth are stored in each row of the three-dimensional point cloud coordinate matrix KJ[][][] clockwise from the monitoring point in the geographic north direction.

[0032] According to the three-dimensional point cloud coordinate matrix KJ[][][], the horizontal section perimeter, horizontal section area, underground space volume, and horizontal section equivalent radius are calculated;

[0033] The three-dimensional point cloud coordinate matrix KJ[][][] is used to generate a three-dimensional model of the underground space.

[0034] The method for fine measurement of underground space geometric contour and monitoring of evolution process also includes the following steps of monitoring the evolution process:

[0035] Establish a spatial rectangular coordinate system, with the position where the depth data h[i] on the center axis of the borehole is 0 as the coordinate origin, geographic east as the positive direction of the x-axis, and geographic north as the positive direction of the y-axis.

[0036] The coordinate values ​​of each point on the laser beam contour line on each horizontal section of the rock wall at different depths in the underground space are converted into a spatial rectangular coordinate system.

[0037] The coordinates of each point on the laser beam contour line on the horizontal section rock wall at the same depth in the underground space converted to the spatial rectangular coordinate system are stored in the matrix T[][][]. The size of the matrix T[][][] is row*column, the number of rows is the total number of all points on the laser beam contour line at the same depth, and the number of columns is 3. The first column of the matrix T[][][] represents the x-axis physical coordinate value of the monitoring point on the laser beam contour line of the rock wall, the second column of the matrix T[][][] represents the y-axis physical coordinate value of the monitoring point on the laser beam contour line, and the third column of the matrix T[][][] represents the z-axis physical coordinate value of the monitoring point on the laser beam contour line. The three elements of each row of the matrix T[][][] represent the x-axis, y-axis, and z-axis physical coordinate values ​​of a monitoring point. The physical coordinate values ​​of each monitoring point on the laser beam contour line on the horizontal section rock wall at the same depth are stored in each row of the matrix T[][][] in a clockwise manner starting from the monitoring point in the geographic north direction; the number of rows between the physical coordinate values ​​of the same monitoring point on the laser beam contour line on the horizontal section rock wall at the same depth at different times in the matrix T[][][] is the total number of monitoring points on the laser beam contour line.

[0038] The physical coordinate value of the monitoring point PJ at time T1 is (xt1, yt1, zt), and the physical coordinate value of the monitoring point PJ at time T2 is (xt2, yt2, zt). The change in the same horizontal depth of the monitoring point from time T1 to time T2 is

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The present invention combines laser technology with visual technology to achieve quantitative measurement and monitoring of geometric contours based on image data, improving the shortcomings of the traditional single-point cloud data-based contour measurement that is imprecise and has errors;

[0041] 2. The optical camera technology of the present invention does not rely on traditional light sources, but instead senses laser beams with good directivity, strong capabilities, and long propagation distances, which can overcome the limitations of traditional optical measurement technology, such as limited measurement range and excessive reliance on light sources;

[0042] 3. The basic technical principle and device adopted by the present invention are simple, and the sensors corresponding to the optical camera technology, laser technology and precise positioning technology are low in cost and have strong versatility. The device can be easily replaced after partial damage;

[0043] 4. The present invention has high efficiency in data processing. It can quickly realize the geometric contour measurement and three-dimensional visualization of underground space by processing only a small amount of depth data, orientation information and image data, and has the measurement and monitoring functions of underground space;

[0044] 5. The device of the present invention is easy to operate and implement, the data obtained are richer, the results obtained are more reliable, and the measurement efficiency is greatly improved;

[0045] The structural system and overall layout of the present invention are simple and easy to implement.

[0046] In summary, the present invention provides a device and method for fine measurement and evolution monitoring of the geometric contour of deep underground space using optical camera technology, laser technology and precise positioning technology, which solves the technical difficulties of fine measurement and evolution monitoring of the geometric contour of underground space. By combining laser technology and visual technology, fine imaging of the internal geometric contour of underground space is achieved. Combined with precise positioning technology, quantitative calculation and visualization of geometric contour size are achieved, and the geometric contour information of underground space can be quickly captured, so that the measurement and monitoring of geometric contour can be achieved. In addition, through clever structural design and algorithm compensation, the whole device uses a laser beam with good directivity, strong ability and long propagation distance as a light source, which can accurately map the morphological characteristics of the geometric contour, improve the limitations of traditional optical imaging technology that only relies on single laser point cloud data or a small range, and greatly improve the adaptability and measurement range of the whole device. The method and device are cleverly designed, rigorously conceived, simple in structure, and easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural block diagram of the device of the present invention;

[0048] Figure 2 This is a schematic diagram of the calibration short section structure;

[0049] Figure 3 This is a schematic diagram of the measurement short section structure;

[0050] Figure 4 It is a schematic diagram of the geometric relationship of the measurement range;

[0051] Figure 5 It is a schematic diagram of reorganizing multiple image data;

[0052] Figure 6 It is a schematic diagram of the matrix image after orientation reorganization;

[0053] Figure 7 It is a schematic diagram of matrix image feature area recognition;

[0054] Figure 8 This is a schematic diagram of coordinate point distribution;

[0055] Fig. 9 It is a schematic diagram of three-dimensional point cloud coordinates;

[0056] Fig.10 It is a schematic diagram for monitoring the geometric profile evolution process;

[0057] In the figure: 1-calibration short section; 2-adjustment cable; 3-measurement short section; 4-transmission cable; 5-depth winch; 6-industrial computer; 1.1-laser; 1.2-transmission window; 1.3-reflector; 1.4-compass module; 3.1-camera. DETAILED DESCRIPTION

[0058] In order to facilitate those skilled in the art to understand and implement the present invention, the present invention is further described in detail below in conjunction with embodiments. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0059] Embodiment 1:

[0060] like Figure 1 As shown, the underground space geometric contour fine measurement and evolution process monitoring device includes a calibration short section 1, an adjustment cable 2, a measuring short section 3, a transmission cable 4, a depth winch 5, and an industrial computer 6. The calibration short section 1 is used to emit a horizontal calibration laser beam and provide azimuth information. The calibration short section 1 is located at the bottom of the monitoring device and is inside the underground space in the working state; the adjustment cable 2 is mainly used to connect the calibration short section 1 and the measuring short section 3, and plays the role of data communication and power supply. At the same time, by adjusting the length of the adjustment cable 2, the fine measurement of the geometric contour of the underground space of different sizes can be achieved; the measuring short section 3 is mainly used to collect image data of the geometric contour of the underground space calibrated by laser, and the upper part of the measuring short section 3 The transmission cable 4 is wound around the depth winch 5; the transmission cable 4 plays the role of data communication and power supply; the depth winch 5 located at the borehole mouth is mainly used to adjust the retraction and extension size of the transmission cable 4, so as to realize the depth data collection of the horizontal sections of different depths of the underground space by the measuring pup section 3, and the depth winch 5 can record the location depth of the calibration pup section 1; the industrial computer 6 is mainly used for a series of tasks such as control, data collection, display, processing, and storage of the monitoring device. The industrial computer 6 and the transmission cable 4 can be connected by wired connection or wireless transmission; the calibration pup section 1 and the measuring pup section 3 can have a built-in power supply, or the calibration pup section 1 and the measuring pup section 3 can be powered by the transmission cable 4 on the ground.

[0061] like Figure 2As shown, the device for fine measurement of the geometric contour of underground space and monitoring its evolution process includes a calibration pup joint 1, which includes a calibration shell, a laser 1.1, a transmission window 1.2, a reflector 1.3, and a compass module 1.4. The laser 1.1 is located at the bottom of the calibration shell. The laser 1.1 mainly provides a continuous laser beam to provide calibration information for the measuring short section 3. The laser 1.1 can emit green light, blue light, red light, etc., but the green light is selected because it has stronger penetration ability and stronger adaptability; the transmission window 1.2 is located in the middle of the calibration shell. The transmission window 1.2 is cylindrical and can ensure the penetration of the laser beam; the reflector 1.3 is located inside the calibration shell. The reflector 1.3 is in the shape of an inverted cone with a cone angle of 45°. The central axis of the reflector 1.3 coincides with the central axis of the laser 1.1; the compass module 1.4 is located at the top of the calibration shell. The compass module 1.4 can be a pointer-type mechanical compass or an electronic compass; if the compass module 1.4 is a mechanical compass, it needs to be matched with a light source to ensure that the measuring short section 3 can collect the pointer orientation of the compass module 1.4, so as to provide orientation data for subsequent analysis.

[0062] like Figure 3 As shown, the device for fine measurement and evolution process monitoring of the geometric contour of underground space includes a measuring pup section 3, at the bottom of which N cameras 3.1 are arranged; the N cameras 3.1 are evenly arranged circumferentially at the bottom of the measuring pup section 3, and the value of N is: N ≥ 360 / θ, wherein θ is the viewing angle of the camera 3.1; full coverage of the 360° viewing angle of the underground space is achieved by arranging the N cameras 3.1; the lens of the camera 3.1 is tilted downward and biased to the outside to ensure that the inner side of the viewing angle of the camera 3.1 coincides with the central axis of the adjustment cable 2.

[0063] like Figure 4 As shown, if the length of the adjustment cable 2 is H, then the range size that the camera 3.1 can capture at the position H directly below in the vertical direction is L, and the corresponding relationship is: L=H*tan(θ), where tan represents the tangent function, then L corresponds to the farthest distance of the underground space contour that can be effectively measured at this depth position that deviates from the borehole; if the farthest distance of the underground space contour at this position that deviates from the borehole is greater than L, the measuring short section 3 cannot collect effective data; if you want to measure and monitor the underground space contour greater than this distance, you can expand the detection capability of the device by delaying the length H of the adjustment cable 2.

[0064] Embodiment 2:

[0065] The method for fine measurement of underground space geometric contour and monitoring of its evolution process, using the device for fine measurement of underground space geometric contour and monitoring of its evolution process described in Example 1, comprises the following steps:

[0066] Data collection steps:

[0067] Step 1: Collection of image data f, orientation information a and depth data h, specifically the following steps:

[0068] Step 1.1: After the assembly of the underground space geometric contour fine measurement and evolution process monitoring device described in Example 1 is completed, the calibration short section 1, the adjustment cable 2, and the measuring short section 3 are lowered into the underground space to be measured along the borehole through the transmission cable 4. When the calibration short section 1 is located at the hole mouth, the depth encoder on the depth winch 5 is cleared, that is, set to depth 0; start the laser 1.1, the camera 3.1, and the compass module 1.4, and enter step 1.2.

[0069] Step 1.2: The laser beam is reflected by the reflector 1.3, and the laser beam changes its propagation path and is emitted horizontally. The laser beam is emitted to the surface of the underground space through the transmission window 1.2, and then a laser spot is formed on the surface of the underground space at the depth position where the calibration short section 1 is located. Since the color of the laser spot is different from that of the underground space, it is very bright; N cameras 3.1 collect image data f of the underground space containing the laser spot information, and enter step 1.3,

[0070] Step 1.3: The calibration sub 1, the measuring sub 3, and the depth winch 5 transmit the acquired position information a, image data f, and depth data h to the industrial computer 6, which synchronously acquires, displays, processes, and saves the position information a, image data f, and depth data h, and then proceeds to step 1.4.

[0071] Step 1.4: The depth winch 5 slowly lowers the calibration short section 1 through the transmission cable 4, adjusts the cable 2, and measures the short section 3 to the set lowering depth △h. If the underground space geometric profile data collection is not completed, go to step 1.2. If the collection is completed, go to step 1.5.

[0072] Step 1.5: Store the collected data, turn off the power of the underground space geometric profile fine measurement and evolution process monitoring device, slowly lift the calibration short section 1, adjust the cable 2, and measure the short section 3 through the depth winch 5, and end the deep underground space geometric profile data collection.

[0073] The above steps are a detailed measurement process of the geometric profile of the underground space. If it is necessary to monitor the evolution process of the geometric section profile at a certain depth of the underground space, there is no need to move the calibration pup section 1, adjust the cable 2, or measure the depth position of the pup section 3. Data can be collected by continuously repeating steps 1.2 and 1.3 for a long time.

[0074] In the above steps, the internal environment of the underground space to which the monitoring device is applicable is a waterless environment or a clean water environment.

[0075] Embodiment 3:

[0076] A method for fine measurement of geometric contours of deep underground space and monitoring of its evolution process, using a device for fine measurement of geometric contours of deep underground space and monitoring of its evolution process as described in Example 1, mainly comprising a data reorganization step, contour recognition, contour three-dimensional visualization, and an evolution process monitoring step,

[0077] The calibration subsection 1, the measuring subsection 3, and the depth winch 5 respectively synchronously collect the azimuth information a, the image data f, and the depth data h, which are represented by matrices a[], f[][], and h[], respectively. a[i] represents the i-th azimuth information collected by the calibration subsection 1, f[i][j] represents the image collected by the j-th array camera 3.1 in the image data of the i-th depth on the measuring subsection 3, and h[i] represents the i-th depth data collected by the depth encoder on the depth winch 5, where i is the depth serial number; each element (azimuth information) in a[] represents the angle value with the geographic north direction;

[0078] The data reorganization includes:

[0079] Step 1: Figure 5 As shown, if the image f[i][j] consists of m*n pixels, and m is greater than n, then define the image F[i] with a row*column size of 2m*2m, that is, the matrix F[i] contains 2m*2m pixels, and let all 2m*2m pixels on the matrix F[i] be 0;

[0080] Step 2: Map the N images f[i][j] of the image data of the i-th depth to the image F[i] according to the layout orientation of the camera 3.1 in the measuring sub 3. The position of the pixel point in the m-th row and m-th column of the image F[i] is consistent with the position corresponding to the pixel point of the central axis of the adjusting cable 2 in the N images f[i][j]. If there are two or more overlapping pixels in the N images f[i][j], the grayscale of the position corresponding to the matrix F[i] is the average grayscale value of the pixel points at the same position.

[0081] Step 3: Figure 6As shown, the image F[i] is rotated according to the position corresponding to the orientation information a[i], so that the image F[i] represents the geographical orientation of the geometric outline of the underground space in the manner of north at the top, south at the bottom, west at the left, and east at the right. After the image F[i] is rotated, each pixel point is remapped to the corresponding image FF[i] containing 2m*2m pixels (rows*columns are 2m*2m) according to the rotated orientation; then the image FF[i] contains the geometric outline information of the underground space corresponding to the depth data h[i]; the central position of the image FF[i] contains the image information of the central axis of the adjustment cable 2; the peripheral position of the image FF[i] contains the laser beam information reflected by the rock wall surface of the underground space; the orientation of the laser beam morphology information presented by the image FF[i] is consistent with the morphology and orientation information of the geometric outline at the depth h[i] of the underground space.

[0082] The contour recognition includes:

[0083] Step 1: Figure 7 As shown, the image FF[i] is processed and binarized, the laser beam contour line and the adjustment cable center axis contained in the image matrix FF[i] are identified, and only the laser beam contour line and the adjustment cable center axis contained in the image matrix FF[i] are retained. At this time, the projection of the adjustment cable 2 center axis on the image FF[i] is a point;

[0084] Step 2: Figure 8 As shown in the figure, the projection point of the central axis of the adjustment cable is taken as the coordinate origin O, the geographic east is the positive direction of the x-axis, and the geographic north is the positive direction of the y-axis. A plane rectangular coordinate system is established. The intersection of the outer contour of the calibration short section 1 and the positive direction of the x-axis is set as the intersection point P1. The pixel coordinates of the intersection point P1 are represented by (x1,0). x1 represents the position of the x1-th pixel point along the positive direction of the x-axis from the pixel point corresponding to the coordinate origin O; the intersection of the laser beam contour line and the positive direction of the x-axis is the intersection point P2. The pixel coordinates of the intersection point P2 are represented by (x2,0). x2 represents represents the position of the x2-th pixel point along the positive direction of the x-axis from the pixel point corresponding to the coordinate origin O; PX represents an arbitrary point on the contour line of the laser beam, and the pixel coordinates of the arbitrary point PX are represented by (xx, yy); xx represents the interval between the pixel point at the position of the projection of the arbitrary point PX on the x-axis and the pixel point corresponding to the coordinate origin O, which is xx; yy represents the interval between the pixel point at the position of the projection of the position of PX on the y-axis and the pixel point corresponding to the coordinate origin O, which is yy;

[0085] Step 3: If the radius of the calibration sub 1 is d, then the side length of the square occupied by a single pixel of the image matrix FF[i] is δ=d / x1; the physical size between the coordinate origin O and the intersection point P2 is δ*x2, indicating that the distance between the intersection of the horizontal section at the depth h[i] of the underground space and the central axis of the borehole and the rock wall in the east direction is δ*x2;

[0086] Step 4: The distance between any point PX on the laser beam contour line and the central axis of the borehole on the horizontal section at the underground space depth h[i] is

[0087] The three-dimensional visualization of the contour includes:

[0088] Step 1: Fig. 9 As shown, a spatial rectangular coordinate system is established, with the position where the depth data h[i] on the central axis of the borehole is 0 as the coordinate origin, the geographic east is the positive direction of the x-axis, and the geographic north is the positive direction of the y-axis. The coordinate values ​​of each monitoring point on the laser beam contour line on the rock wall of each horizontal section at different depths in the underground space are calculated by a computer according to the above-mentioned contour recognition method, and converted into the spatial rectangular coordinate system. The coordinates of each monitoring point on the laser beam contour line on the rock wall of each horizontal section at different depths in the underground space converted into the spatial rectangular coordinate system are stored in a three-dimensional point cloud coordinate matrix KJ[][][]. The size of the three-dimensional point cloud coordinate matrix KJ[][][] is row*column, the number of rows is the total number of all monitoring points on all laser beam contour lines at all depths, and the number of columns is 3. The first column of the three-dimensional point cloud coordinate matrix KJ[][][] represents the monitoring points on the laser beam contour line of the rock wall The x-axis physical coordinate value is taken as δ*x-axis pixel coordinate value; the second column of the three-dimensional point cloud coordinate matrix KJ[][][] represents the y-axis physical coordinate value of the monitoring point on the laser beam contour line, which is taken as δ*y-axis pixel coordinate value; the third column of the three-dimensional point cloud coordinate matrix KJ[][][] represents the z-axis physical coordinate value of the monitoring point on the laser beam contour line. The three elements of each row of the three-dimensional point cloud coordinate matrix KJ[][][] represent the x-axis, y-axis, and z-axis physical coordinate values ​​of a monitoring point. As a preferred solution, the physical coordinate values ​​of each monitoring point on the laser beam contour line on the horizontal section rock wall at each depth are stored in each row of the three-dimensional point cloud coordinate matrix KJ[][][] clockwise from the point in the geographic north direction; the three-dimensional point cloud coordinate matrix KJ[][][] represents the three-dimensional point cloud coordinates of the geometric contour of the underground space;

[0089] Step 2: According to the values ​​of the three-dimensional point cloud coordinate matrix KJ[][][] of the geometric contour of the underground space, characteristic parameters such as the horizontal section perimeter, horizontal section area, underground space volume, and horizontal section equivalent radius of the geometric contour of the underground space can be calculated;

[0090] Step 3: Generate a three-dimensional model of the underground space using the three-dimensional point cloud coordinate matrix KJ[][][] of the geometric outline of the underground space to achieve three-dimensional visualization of the geometric outline of the underground space.

[0091] The evolution process monitoring includes:

[0092] Step 1. Establish a spatial rectangular coordinate system, with the position where the depth data h[i] on the central axis of the borehole is 0 as the coordinate origin, the geographic east as the positive direction of the x-axis, and the geographic north as the positive direction of the y-axis. Use a computer to calculate the coordinate values ​​of each point on the laser beam contour line on each horizontal section of the rock wall at the same depth in the underground space according to the above-mentioned contour recognition method, and convert them into the spatial rectangular coordinate system. The coordinates of each point on the laser beam contour line on the horizontal section of the rock wall at the same depth in the underground space converted into the spatial rectangular coordinate system are stored in a matrix T[][][]. The size of the matrix T[][][] is row*column, the number of rows is the total number of all points on the laser beam contour line at the same depth, and the number of columns is 3. The first column of the matrix T[][][] represents the x-axis physical coordinate value of the monitoring point on the rock wall laser beam contour line, and the value is δ*x-axis pixel. Point coordinate value; the second column of the matrix T[][][] represents the y-axis physical coordinate value of the monitoring point on the laser beam contour line, which is taken as δ*y-axis pixel point coordinate value; the third column of the matrix T[][][] represents the z-axis physical coordinate value of the monitoring point on the laser beam contour line, and the three elements of each row of the matrix T[][][] represent the x-axis, y-axis, and z-axis physical coordinate values ​​of a monitoring point. As a preferred solution, the physical coordinate values ​​of each monitoring point on the laser beam contour line on the horizontal section rock wall of the same depth are stored in each row of the matrix T[][][] in a clockwise manner starting from the monitoring point in the geographic north direction; the number of rows between the physical coordinate values ​​of the same monitoring point on the laser beam contour line on the horizontal section rock wall of the same depth at different times in the matrix T[][][] is the total number of monitoring points on the laser beam contour line.

[0093] Step 2: Fig.10 As shown in the figure, assuming that the physical coordinate value of a monitoring point PJ on the geometric contour of the underground space at time T1 is (xt1, yt1, zt), and the physical coordinate value of the monitoring point PJ at time T2 is (xt2, yt2, zt), then the change in the same horizontal depth of the monitoring point from time T1 to time T2 is The change in the horizontal section of the monitoring point between time T1 and T2 is:

[0094] Step 3: By observing the changes in the contour of the laser beam, one can intuitively understand the evolution of the geometric contour of the deep underground space at different times.

[0095] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A device for finely measuring the geometric contour of an underground space and monitoring its evolution process, comprising a depth winch (5), characterized in that: It also includes a calibration short section (1), an adjustment cable (2), a measurement short section (3), a transmission cable (4), and an industrial control computer (6). The calibration subsection (1) is used to emit a horizontal calibration laser beam and provide azimuth information. Adjustment cable (2), used to connect the calibration nipple (1) and the measuring nipple (3), The measuring short section (3) is used to collect image data of the geometric contour of the underground space marked by laser. The upper part of the measuring short section (3) is wound on the depth winch (5) through a transmission cable (4). The transmission cable (4) is connected to an industrial computer (6). The depth winch (5) is used to adjust the retracted and extended dimensions of the transmission cable (4) and collect depth data of horizontal sections at different depths in the underground space.

2. The underground space geometric contour fine measurement and evolution process monitoring device according to claim 1 is characterized in that: The calibration nipple (1) comprises a calibration shell, a laser (1.1), a transmission window (1.2), a reflector (1.3), and a compass module (1.4); the laser (1.1) is located at the bottom of the calibration shell, the transmission window (1.2) is located in the middle of the calibration shell, the transmission window (1.2) is cylindrical, the reflector (1.3) is located inside the calibration shell, the reflector (1.3) is in the shape of an inverted cone with a cone angle of 45°, and the central axis of the reflector (1.3) coincides with the central axis of the laser (1.1); and the compass module (1.4) is located at the top of the calibration shell.

3. The underground space geometric contour fine measurement and evolution process monitoring device according to claim 1 is characterized in that: N cameras (3.1) are arranged at the bottom of the measuring short section (3); the N cameras (3.1) are evenly arranged in the circumferential direction on the outer periphery of the bottom of the measuring short section (3), and the value of N is: N≥360 / θ, wherein θ is the viewing angle of the camera (3.1); the lens of the camera (3.1) is tilted downward, and the inner side of the viewing angle of the camera (3.1) coincides with the central axis of the adjustment cable (2).

4. A method for finely measuring the geometric contour of underground space and monitoring its evolution process, using the device for finely measuring the geometric contour of underground space and monitoring its evolution process as claimed in claim 3, characterized in that: The steps for collecting image data, orientation information and depth data are as follows: The calibration short section (1), the adjustment cable (2), and the measuring short section (3) are lowered into the underground space to be measured along the borehole through the transmission cable (4). When the calibration short section (1) is located at the hole mouth, the depth encoder on the depth winch (5) is reset, and the laser (1.1), the camera (3.1), and the compass module (1.4) are started. The laser beam is reflected by the reflector (1.3), changes its propagation path and emits horizontally, passes through the transmission window (1.2) to form a laser spot on the surface of the underground space, and N cameras (3.1) collect image data of the underground space containing the laser spot information. The calibration subsection (1), the measuring subsection (3) and the depth winch (5) respectively transmit the acquired position information, image data and depth data to the industrial control computer (6), and the industrial control computer (6) synchronously acquires, displays, processes and saves the position information, image data and depth data. The depth winch (5) slowly lowers the calibration short section (1), the adjustment cable (2), and the measurement short section (3) through the transmission cable (4) to the set lowering depth △h. If the acquisition of the geometric contour data of the underground space is not completed, the above steps of acquiring the image data, the orientation information, and the depth data are repeated.

5. The method for fine measurement of underground space geometric contour and monitoring of its evolution process according to claim 4 is characterized in that: It also includes the data reorganization step: a[i] represents the i-th azimuth information collected by the calibration sub 1, f[i][j] represents the image collected by the j-th array camera (3.1) in the image data of the i-th depth on the measurement sub (3), h[i] represents the i-th depth data collected by the depth encoder on the depth winch (5), and i is the depth serial number; Let image f[i][j] be composed of m*n pixels, where m is greater than n. Define image F[i] with row and column size of 2m*2m. Let all 2m*2m pixels on matrix F[i] be 0. The N images f[i][j] of the image data of the i-th depth are mapped onto the image F[i] according to the layout orientation of the camera (3.1) in the measuring pup joint (3), and the position of the pixel point in the m-th row and the m-th column of the image F[i] is consistent with the position corresponding to the pixel point of the central axis of the adjustment cable (2) in the N images f[i][j]. If there are two or more overlapping pixels in the N images f[i][j], the grayscale of the position corresponding to the matrix F[i] is the average grayscale value of the pixel points at the same position; The image F[i] is rotated according to the position corresponding to the orientation information a[i], so that the image F[i] represents the geometric outline of the underground space and is presented in a manner where the geographical orientation is north at the top, south at the bottom, west on the left, and east on the right. After the image F[i] is rotated, each pixel point is remapped to the corresponding image FF[i] with a row and column size of 2m*2m according to the rotated orientation.

6. The method for fine measurement of underground space geometric contour and monitoring of its evolution process according to claim 5 is characterized in that: It also includes the contour recognition step: Perform image processing and binarization on the image FF[i], identify the laser beam contour line and the central axis of the adjustment cable contained in the image matrix FF[i], and only retain the laser beam contour line and the central axis of the adjustment cable contained in the image matrix FF[i], and the projection of the central axis of the adjustment cable (2) on the image FF[i] is a point; The point of projection of the central axis of the adjustment cable is taken as the coordinate origin O, the geographic east is the positive direction of the x-axis, and the geographic north is the positive direction of the y-axis. A plane rectangular coordinate system is established. The intersection of the outer contour of the calibration short section (1) and the positive direction of the x-axis is set as the intersection point P1. The pixel coordinates of the intersection point P1 are (x1, 0); the pixel coordinates of any point PX on the laser beam contour line are (xx, yy); the side length of the square occupied by a single pixel point of the image matrix FF[i] is δ = d / x1, The distance between any point PX on the laser beam contour and the central axis of the borehole on the horizontal section at the depth h[i] of the underground space is 7. The method for fine measurement of underground space geometric contour and monitoring of its evolution process according to claim 5 is characterized in that: It also includes the steps for 3D visualization of the contours: Establish a spatial rectangular coordinate system, with the position where the depth data h[i] on the center axis of the borehole is 0 as the coordinate origin, geographic east as the positive direction of the x-axis, and geographic north as the positive direction of the y-axis. The coordinate values ​​of each point on the laser beam contour line on each horizontal section of the rock wall at different depths in the underground space are converted into a spatial rectangular coordinate system. The coordinates of each point on the laser beam contour line on each horizontal section of the rock wall at different depths in the underground space converted into the spatial rectangular coordinate system are stored in the three-dimensional point cloud coordinate matrix KJ[][][]. The size of the three-dimensional point cloud coordinate matrix KJ[][][] is row*column, the number of rows is the total number of all monitoring points on all laser beam contour lines at all depths, and the number of columns is 3. The first column of the three-dimensional point cloud coordinate matrix KJ[][][] represents the x-axis physical coordinate value of the monitoring point on the laser beam contour line of the rock wall; the second column of the three-dimensional point cloud coordinate matrix KJ[][][] represents the y-axis physical coordinate value of the monitoring point on the laser beam contour line; the third column of the three-dimensional point cloud coordinate matrix KJ[][][] represents the z-axis physical coordinate value of the monitoring point on the laser beam contour line. The three elements of each row of the three-dimensional point cloud coordinate matrix KJ[][][] represent the x-axis, y-axis, and z-axis physical coordinate values ​​of a monitoring point. The physical coordinate values ​​of each monitoring point on the laser beam contour line on the horizontal section of the rock wall at each depth are stored in each row of the three-dimensional point cloud coordinate matrix KJ[][][] clockwise from the monitoring point in the geographic north direction. According to the three-dimensional point cloud coordinate matrix KJ[][][], the horizontal section perimeter, horizontal section area, underground space volume, and horizontal section equivalent radius are calculated; The three-dimensional point cloud coordinate matrix KJ[][][] is used to generate a three-dimensional model of the underground space.

8. The method for fine measurement of underground space geometric contour and monitoring of its evolution process according to claim 6 is characterized in that: It also includes the following process monitoring steps: Establish a spatial rectangular coordinate system, with the position where the depth data h[i] on the center axis of the borehole is 0 as the coordinate origin, geographic east as the positive direction of the x-axis, and geographic north as the positive direction of the y-axis. The coordinate values ​​of each point on the laser beam contour line on each horizontal section of the rock wall at different depths in the underground space are converted into a spatial rectangular coordinate system. The coordinates of each point on the laser beam contour line on the horizontal section rock wall at the same depth in the underground space converted to the spatial rectangular coordinate system are stored in the matrix T[][][]. The size of the matrix T[][][] is row*column, the number of rows is the total number of all points on the laser beam contour line at the same depth, and the number of columns is 3. The first column of the matrix T[][][] represents the x-axis physical coordinate value of the monitoring point on the laser beam contour line of the rock wall, the second column of the matrix T[][][] represents the y-axis physical coordinate value of the monitoring point on the laser beam contour line, and the third column of the matrix T[][][] represents the z-axis physical coordinate value of the monitoring point on the laser beam contour line. The three elements of each row of the matrix T[][][] represent the x-axis, y-axis, and z-axis physical coordinate values ​​of a monitoring point. The physical coordinate values ​​of each monitoring point on the laser beam contour line on the horizontal section rock wall at the same depth are stored in each row of the matrix T[][][] in a clockwise manner starting from the monitoring point in the geographic north direction; the number of rows between the physical coordinate values ​​of the same monitoring point on the laser beam contour line on the horizontal section rock wall at the same depth at different times in the matrix T[][][] is the total number of monitoring points on the laser beam contour line. The physical coordinate value of the monitoring point PJ at time T1 is (xt1, yt1, zt), and the physical coordinate value of the monitoring point PJ at time T2 is (xt2, yt2, zt). The change in the same horizontal depth of the monitoring point from time T1 to time T2 is

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