A device and method for aligning a rock mass structural surface real-scene model

Abstract

The present invention discloses an orientation correction device and method for a real-life model of a rock structure surface. The device is composed of a first target, a second target, and a third target connected together. Targets one and two are connected by a first profile, and target one and three are connected by a second profile. During use, the device is first assembled, and then multiple images of the relative positions of the measured surface and the device are captured by a camera. A sensor is used to obtain the rotation angles of each coordinate axis of the device in a northeast celestial coordinate system, and the local coordinate values ​​of the bull's-eyes of the three targets of the device are extracted based on the real-life model. The coordinate system of the three-dimensional real-life model of the rock structure surface is converted to a northeast celestial coordinate system based on the recorded posture data. This solution allows for efficient and convenient deployment of the posture correction device at a construction site, rapid data acquisition, and thus conversion of the three-dimensional real-life model from the local coordinate system of the camera at the time of initial capture to a northeast celestial coordinate system.

Description

Technical Field

[0001] The present invention relates to the technical field of rock mass structures of slopes and underground caverns, and in particular to equipment and a method for aligning a real-scene model of a rock mass structure surface. Background Art

[0002] For slope and underground cavern projects, understanding the structural surface of the rock mass is a crucial prerequisite for the safe implementation of geotechnical engineering. Therefore, establishing interactive technology based on real-world models is crucial. Currently, non-contact measurement is an effective method for real-world interaction. Common non-contact measurement methods, such as 3D laser scanning or photogrammetry, obtain slope surface point cloud information or image information. However, non-contact measurement usually requires transforming the scanner's image coordinate system into the Northeast Celestial coordinate system.

[0003] In general, a scanner or camera is required to determine the geodetic coordinates of at least three known points. Three target points are manually determined within the measurement area. After the geodetic coordinates of the target points are measured, the model coordinates are aligned using the target coordinate data, converting the model coordinate system into a geodetic coordinate system. Accurately capturing a realistic model requires sufficient target points, but this task is tedious and requires the collaboration of multiple people. This violates the requirements for efficient and safe implementation in geotechnical engineering.

[0004] Therefore, how to obtain angles from rock mass structural surface information can efficiently and quickly arrange target devices on site and quickly realize the conversion from the camera local coordinate system to the northeast sky coordinate system, which is particularly important for the efficient and safe implementation of slope and tunnel projects. Summary of the Invention

[0005] The purpose of the present invention is to provide a rock structure surface real scene model orientation correction equipment and method, which can complete the posture correction work conveniently and efficiently to solve the defects of the existing real scene model interaction technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A rock structure surface real-scene model orientation correction device is composed of a target 1, a target 2 and a target 3 connected in combination. The target 1 and the target 2 are connected by a piece of profile 1, and the target 1 and the target 3 are connected by a piece of profile 2.

[0008] Furthermore, the target one is a connecting component fixed on the tripod before shooting, and the target one is composed of three positioning blocks, a fixing component and a disc.

[0009] Furthermore, the target 2 is a disc attached to the profile 1, and the profile 1 and the disc are connected by a positioning block and two screws A.

[0010] Furthermore, the target three is a disc attached to the profile two, and the profile two and the disc are connected by a positioning block, a connecting piece, two screws A and two screws B.

[0011] Furthermore, the profile 1 and the profile 2 are connected by a U-shaped seat, a screw C and a screw D.

[0012] Furthermore, a knob plunger is installed on the U-shaped seat, and the knob plunger is used to fix the profile one and the profile two to maintain 90 degrees.

[0013] Furthermore, a sensor is installed on the profile, and the sensor is used to receive signals.

[0014] The present invention provides another technical solution: a method for correcting the orientation of a rock structure surface real-scene model, comprising the following steps:

[0015] S1: Assemble the three-point target posture calibration equipment, connect the fixing parts of target one in the posture calibration equipment to the camera tripod, and after the assembly is completed, you can officially start using the posture calibration equipment;

[0016] S2: Fix the posture calibration equipment in front of the rock mass to be measured, adjust the posture of the calibration equipment accordingly, keep the target facing the shooting angle, and the three target points in the calibration equipment form a complete plane, providing a reference for measuring the three-dimensional morphology of the rock mass structure surface;

[0017] S3: The sensor on the posture correction equipment obtains the rotation matrix R of the correction equipment in the northeast sky coordinate system through signal transmission xyz , and record the pose data Ori (x°, y°, z°). According to the recorded data Ori, the normal vectors N1 = (a1, b1, c1) of the three target points in the northeast celestial coordinate system are calculated, where:

[0018] N1=[0,0,1]×R xyz ;

[0019] S4: Use a camera to take multiple multi-angle images of the target rock mass, and perform three-dimensional reconstruction of the multiple images to obtain a real-scene model of the rock mass structure surface based on the camera's local coordinate system. The coordinate point set of the real-scene model is recorded as E = [X, Y, Z]. Based on the real-scene model, the local coordinate values ​​of the bull's-eye of the three targets of the posture correction equipment are extracted, which are recorded as P1 (x1, y1, z1), P2 (x2, y2, z2), and P3 (x3, y3, z3).

[0020] S5: Calculate the normal vector N2 of the plane formed by the three target centers P1, P2, and P3 of the pose correction equipment extracted based on the real scene model, where:

[0021] N2 = (P2 - P1) × (P3 - P1);

[0022] S6: Calculate the rotation axis Axis = [a, b, c] and angle θ of the normal vector N2 to N1, where:

[0023] Axis=N1×N2

[0024]

[0025] S7: Taking the first target point P1 as the coordinate origin, the coordinates of the three-dimensional real scene model of the rock mass structure obtained in S4 are translated to obtain a translated three-dimensional real scene model, whose point set is E', where

[0026] E'=[X,Y,Z]-P1

[0027] S8: Based on the rotation axis Axis and angle θ calculated in S6, the coordinates of the three-dimensional real scene model of the rock mass structure translated in S7 are rotated by the rotation axis Axis and angle θ to obtain a three-dimensional real scene model of the rock mass structure surface based on the northeast celestial coordinate system.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention provides an orientation correction device and method for a real-life model of a rock structure surface. Compared with traditional target calibration equipment and methods, the present invention greatly saves manpower and material resources during the acquisition of rock structure surfaces such as slopes and underground caverns. It can efficiently and quickly arrange target devices on site and quickly realize the conversion from the camera's local coordinate system to the northeast celestial coordinate system, which is particularly important for the efficient and safe implementation of slope and tunnel projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A front view of the bracket assembly of the calibration equipment of the present invention;

[0031] Figure 2 A side view of the bracket assembly for the calibration equipment of the present invention;

[0032] Figure 3 A top view of the bracket assembly of the calibration equipment of the present invention;

[0033] Figure 4 For the present invention Figure 2 AA cross-section of

[0034] Figure 5 Schematic diagram of the rock mass to be tested in the implementation method of the present invention;

[0035] Figure 6 This is a rock model diagram in the northeast celestial coordinate system without posture correction of the present invention;

[0036] Figure 7 This is the rock model diagram in the northeast celestial coordinate system after posture correction of the present invention.

[0037] In the figure: 1. Target 1; 2. Target 2; 3. Target 3; 4. Profile 1; 5. Profile 2; 6. Positioning block; 7. Fixing piece; 8. Disc; 9. Connecting piece; 10. Screw A; 11. Screw B; 12. U-shaped seat; 13. Screw C; 14. Screw D; 15. Knob plunger. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] See also Figure 1-4 An embodiment of the present invention provides an orientation correction device for a real-life model of a rock structure surface, which is composed of a target 1, a target 2, and a target 3 connected together. Target 1 and target 2 are connected by a profile 1, and target 1 and target 3 are connected by a profile 2, respectively.

[0040] Target 1 in this embodiment is a connecting component fixed to the tripod before shooting. Target 1 is composed of three positioning blocks 6, a fixing member 7, and a disc 8. Target 2 is composed of a disc 8 attached to profile 1 4. Profile 1 4 and disc 8 are connected by a positioning block 6 and two screws A10. The model of screw A10 is GBT819_1_H-2000, M4×12. Target 3 is composed of a disc 8 attached to profile 2 5. Profile 2 5 and disc 8 are connected by a positioning block 6, a connecting member 9, two screws A10, and two screws B11. The model of screw B11 is GB-T70.1-2000, M4X8.

[0041] In this embodiment, profile 1 4 and profile 2 5 are connected by a U-shaped seat 12, a screw C13 and a screw D14; the model of screw C13 is GB-T70.1-2000, M4X12; the model of screw D14 is GB5281-85, 8×40; wherein, a knob plunger 15 is installed on the U-shaped seat 12, and the knob plunger 15 is used to fix profile 1 4 and profile 2 5 to maintain 90°.

[0042] A sensor is also installed on the profile 1 4 in this embodiment, and the sensor is used to receive signals.

[0043] In order to further better explain the embodiments of the present invention, a method for calibrating equipment for aligning a rock mass structural surface real-scene model is also provided, comprising the following steps:

[0044] S1: Assemble the three-point target posture calibration equipment, connect the fixing part 7 of target 1 in the posture calibration equipment to the camera tripod, and after the assembly is completed, the posture calibration equipment can be officially used;

[0045] S2: Fix the posture correction equipment in front of the rock mass to be measured, adjust the posture of the correction equipment accordingly, keep the target facing the shooting angle, and the three target points in the correction equipment form a complete plane to provide a reference for measuring the three-dimensional shape of the rock mass structure surface. Figure 5 As shown;

[0046] S3: The sensor on the posture correction equipment obtains the rotation matrix R of the correction equipment in the northeast sky coordinate system through signal transmission xyz , and record the pose data Ori (x°, y°, z°). According to the recorded data Ori, the normal vectors N1 = (a1, b1, c1) of the three target points in the northeast celestial coordinate system are calculated, where:

[0047] N1=[0,0,1]×R xyz ;

[0048] S4: Use a camera to take multiple multi-angle images of the target rock mass, and reconstruct the multiple images in three dimensions to obtain a real-scene model of the rock mass structure surface based on the camera's local coordinate system. The coordinate point set of the real-scene model is recorded as E = [X, Y, Z]. Based on the real-scene model, the local coordinate values ​​of the three target centers of the posture correction equipment are extracted and recorded as P1 (x1, y1, z1), P2 (x2, y2, z2), and P3 (x3, y3, z3). Among them, the rock mass model in the northeast celestial coordinate system without posture correction is as follows: Figure 6 As shown;

[0049] S5: Calculate the normal vector of the plane formed by the three target centers P1, P2, and P3 of the posture correction equipment extracted based on the real-life model. The relevant data obtained from the sensor can be used to convert the camera local coordinate system to the northeast sky coordinate system. The posture data Ori provided by the three-point posture corrector can be used to correct the posture of the real-life model of the slope rock structure surface.

[0050] Specifically, the normal vector N2 of the plane formed by the three target centers P1, P2, and P3 of the pose correction equipment extracted based on the real scene model is calculated, where:

[0051] N2 = (P2 - P1) × (P3 - P1);

[0052] Calculate the rotation axis Axis = [a, b, c] and angle θ of the normal vector N2 to N1, where:

[0053] Axis=N1×N2

[0054]

[0055] Taking the first target point P1 as the coordinate origin, the coordinates of the three-dimensional real scene model of the rock mass structure obtained in S4 are translated to obtain the translated three-dimensional real scene model, whose point set is E', where

[0056] E'=[X,Y,Z]-P1

[0057] Based on the calculated rotation axis Axis and angle θ, the coordinates of the translated 3D real scene model of the rock mass structure are rotated by the rotation axis Axis and angle θ to obtain the 3D real scene model of the rock mass structure surface based on the Northeast Sky coordinate system. The rock mass model in the Northeast Sky coordinate system after posture correction is as follows: Figure 7 shown.

[0058] To sum up: the equipment and method for azimuth correction of the real-life model of the rock structure surface provided by the present invention can efficiently and quickly arrange the target device on site, and quickly realize the conversion from the local coordinate system of the camera to the northeast sky coordinate system. Compared with the complexity and cumbersomeness of traditional calibration equipment and methods, the present invention can complete the posture correction work conveniently and efficiently, which not only simplifies the correction, but also does not affect the accuracy of the posture correction.

[0059] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A method for calibrating equipment for aligning a rock mass structural surface real-scene model, characterized by: The calibration equipment is composed of target one (1), target two (2) and target three (3) connected in combination. Target one (1) and target two (2) are connected by a profile one (4). Target one (1) and target three (3) are connected by a profile two (5). Target one (1) is a connecting component fixed on a tripod before shooting. Target one (1) is composed of three positioning blocks (6), a fixing member (7) and a disc (8). A sensor is installed on the profile one (4). The sensor is used to receive signals. The following steps are adopted: S1: Assemble the posture correction equipment of the three-point target, connect the fixing part (7) of target one (1) in the posture correction equipment with the camera tripod, and officially start using the posture correction equipment after the assembly is completed; S2: Fix the posture calibration equipment in front of the rock mass to be measured, adjust the posture of the calibration equipment accordingly, keep the target facing the shooting angle, and the three target points in the calibration equipment form a complete plane, providing a reference for measuring the three-dimensional morphology of the rock mass structure surface; S3: The sensor on the posture correction equipment obtains the rotation matrix R of the correction equipment in the northeast sky coordinate system through signal transmission xyz , and record the pose data Ori (x°, y°, z°). According to the recorded data Ori, the normal vectors N1=(a1, b1, c1) of the three target points in the northeast celestial coordinate system are calculated, where: ; S4: Use a camera to take multiple multi-angle images of the target rock mass, and perform three-dimensional reconstruction of the multiple images to obtain a real-scene model of the rock mass structure surface based on the camera's local coordinate system. The coordinate point set of the real-scene model is recorded as E=[X, Y, Z], and the local coordinate values ​​of the three target centers of the posture correction equipment are extracted based on the real-scene model, and are recorded as P1(x1, y1, z1), P2(x2, y2, z2), and P3(x3, y3, z3) respectively; S5: Calculate the normal vector N2 of the plane formed by the three target centers P1, P2, and P3 of the posture correction equipment extracted based on the real-scene model, where: ; S6: Calculate the rotation axis Axis=[a,b,c] and angle of normal vector N2 to N1 ,in: ; S7: Taking the first target point P1 as the coordinate origin, the coordinates of the three-dimensional real scene model of the rock structure obtained in S4 are translated to obtain a translated three-dimensional real scene model, whose point set is ,in ; S8: Based on the rotation axis and angle calculated in S6 , the coordinates of the 3D real scene model of the rock mass structure after translation in S7 are rotated by the axis and angle Rotate to obtain a three-dimensional real-scene model of the rock structure surface based on the northeast celestial coordinate system.

2. The method for calibrating a rock mass structural surface real-scene model orientation calibration device according to claim 1, characterized in that: The target 2 (2) is a disc (8) attached to the profile 1 (4), and the profile 1 (4) and the disc (8) are connected by a positioning block (6) and two screws A (10).

3. The method for calibrating the orientation calibration equipment of a rock mass structural surface real-scene model according to claim 1, characterized in that: The target three (3) is a disc (8) attached to the profile two (5), and the profile two (5) and the disc (8) are connected by a positioning block (6), a connecting piece (9), two screws A (10) and two screws B (11).

4. The method for calibrating a rock mass structural surface real-scene model orientation calibration device according to claim 1, characterized in that: The profile 1 (4) and the profile 2 (5) are connected by a U-shaped seat (12), a screw C (13) and a screw D (14).

5. The method for calibrating the orientation calibration equipment of a rock mass structural surface real-scene model according to claim 4, characterized in that: A knob plunger (15) is installed on the U-shaped seat (12), and the knob plunger (15) is used to fix the profile 1 (4) and the profile 2 (5) to maintain 90 degrees.

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