Device and method for fine measurement of the geometric profile and monitoring of the evolution of underground spaces

Abstract

The application discloses a device for fine measurement of underground space geometric profile and evolution process monitoring, comprising a depth winch, a calibration short section, an adjusting cable, a measurement short section, a transmission cable and an industrial computer. The application also discloses a method for fine measurement of underground space geometric profile and evolution process monitoring. The application solves the technical problem of fine measurement of underground space geometric profile and evolution process monitoring, realizes fine imaging of the underground space geometric profile by combining laser technology and visual technology, realizes quantitative calculation and visualization of the geometric profile size by combining precise positioning technology, can quickly capture the geometric profile information of the underground space, and can realize measurement and monitoring of the geometric profile.

Description

Technical Field

[0001] The present invention relates to the field of underground space exploration technology, and specifically to a device for fine measurement of the geometric contours of underground space and monitoring of its evolution process, and also to a method for fine measurement of the geometric contours of underground space and monitoring of its evolution process. 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 process, 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 contribute to the intensive and efficient use of land. The development and utilization of deep underground space can significantly enhance a city's comprehensive carrying capacity. By building underground transportation networks and underground public facilities, urban traffic conditions can be improved, surface traffic congestion can be reduced, and urban operational efficiency can be enhanced. Furthermore, the utilization of underground space can reduce urban noise, pollution, and other issues, improving the quality of the urban environment. Underground space offers excellent thermal stability and sealing properties, as well as strong disaster resistance and protection. During natural disasters such as earthquakes and floods, underground space can serve as emergency shelters, protecting people's lives and property. Furthermore, the rational planning and construction of underground drainage systems and underground water storage facilities can enhance a city's ability to cope with extreme weather and natural disasters. The development and utilization of deep underground space requires advanced technical support and equipment. This will promote scientific and technological innovation and industrial upgrading in related fields, driving the research and development and application of new materials, technologies, and processes. Furthermore, the development of the underground space industry will generate new economic growth points and inject new impetus into economic and social development. The development and utilization of deep underground space contributes to promoting green and low-carbon development. The construction of underground energy storage facilities and sewage treatment plants can achieve energy conservation and recycling, reducing environmental pollution. Furthermore, the development of underground space can utilize renewable energy sources such as geothermal energy, reducing cities' dependence on fossil fuels and achieving sustainable energy development. In short, the development and utilization of deep underground space can alleviate pressure on land resources, enhance cities' comprehensive carrying capacity, strengthen their 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 lies in providing accurate data support for underground space development, utilization, and management, ensuring its safety and stability. By measuring the geometric contour of underground space, we can gain a detailed understanding of its structure and characteristics, providing a scientific basis for relevant decision-making, thereby avoiding potential safety risks and improving the efficiency and quality of underground space utilization. The geometric contour measurement of deep underground space faces challenges such as large spatial extent and complex structure, making conventional precision measurement methods difficult to apply directly. Underground space often suffers from harsh environments such as low light levels, high humidity, and large temperature fluctuations. Furthermore, the irregular geometric contours place higher demands on the stability and accuracy of 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 finely measuring the geometric contours of underground spaces and monitoring their evolution, the present invention, by leveraging relatively mature high-tech means (optical camera technology and laser technology, etc.), proposes a device and method for finely measuring the geometric contours of deep underground spaces and monitoring their evolution. This fundamentally solves the problem of finely measuring the geometric contours of underground spaces and monitoring their evolution, while simultaneously achieving fine measurement and three-dimensional visualization of the geometric contours of underground spaces. The device combines optical camera technology, laser technology, and precise positioning technology to achieve optical imaging of the surface geometric contours of underground spaces using laser beam strips. By organically pairing and fusing optical image data with azimuth and depth data, it achieves fine measurement and three-dimensional visualization of the geometric contours of underground spaces.

[0004] The advantages of a device and method for fine measurement and evolution monitoring of the geometric contour of a deep underground space are: 1) high measurement accuracy. Due to the cooperation 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. While improving the optical camera imaging capability and reducing the sampling interval in the depth direction, the measurement accuracy can be effectively improved; 2) wide adaptability. This invention patent has broad 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 relies only 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 degree of refinement of the measured contour compared with the traditional point cloud method; 4) the measurement method is simple. By simply lowering the calibration pup section, the adjustment cable and the 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 the monitoring of 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 the geometric contours of underground spaces and monitoring of their evolution processes, to realize fine measurement of the geometric contours of various deep underground spaces and monitoring of their evolution processes, to propose a device for fine measurement of the geometric contours of underground spaces and monitoring of their evolution processes, and to provide a method for fine measurement of the geometric contours of underground spaces and monitoring of their evolution processes, so as to realize fine measurement and three-dimensional visualization of the geometric contours of underground spaces. 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 projects, and provides a strong guarantee for project 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 its 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] Calibration sub, used to emit horizontal calibration laser beam and provide azimuth information,

[0009] Adjusting cable, used to connect the calibration short section and the measuring short section,

[0010] The measuring sub is used to collect the image data of the geometric outline of the underground space marked by laser. The upper part of the measuring sub 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 subsection 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, and the transmission window is cylindrical. The reflector is located inside the calibration shell, and the reflector is in the shape of an inverted cone with a cone angle of 45°. 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 set at the bottom of the measuring short section; the N cameras are evenly distributed circumferentially around 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 camera lens is tilted downward, and the inner side of the camera viewing angle coincides with the central axis of the adjustment cable.

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

[0015] The calibration sub, adjustment cable, and measuring sub are lowered into the underground space to be measured along the borehole through the transmission cable. When the calibration sub is 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. The industrial computer collects, displays, processes and saves the position information, image data and depth data synchronously.

[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 underground space geometric contour data collection 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 contours and monitoring of its evolution process also includes a data reorganization step:

[0020] a[i] represents the i-th orientation 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, and let all 2m*2m pixels on matrix F[i] be 0.

[0022] Map the N images f[i][j] of the image data at the i-th depth to the image F[i] according to the layout orientation of the camera in the measurement pup joint. The position of the pixel in the m-th row and m-th column of the image F[i] is consistent with the position corresponding to the pixel 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 in the matrix F[i] is the average grayscale value of the pixels 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 such that the north is at the top, the south is at the bottom, the west is on the left, and the east is 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 contours and monitoring of their 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] 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 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,

[0027] 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 depth h[i] of the underground space is

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

[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, the geographic east as the positive direction of the x-axis, and the geographic north as the positive direction of the y-axis.

[0030] Convert 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 into a spatial rectangular coordinate system.

[0031] The coordinates of each point on the laser beam contour line of each horizontal section 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 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] Calculate the horizontal section perimeter, horizontal section area, underground space volume, and horizontal section equivalent radius based on the three-dimensional point cloud coordinate matrix KJ[][][];

[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 its 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, the geographic east as the positive direction of the x-axis, and the geographic north as the positive direction of the y-axis.

[0036] Convert 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 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 into 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 order 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 is the total number of monitoring points on the laser beam contour line.

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

[0039] The present invention has the following beneficial effects compared to the prior art:

[0040] 1. This invention combines laser technology and vision technology to achieve quantitative measurement and monitoring of geometric contours based on image data, improving the shortcomings of traditional contour measurement that relies solely on point cloud data and causes imprecise and erroneous measurements;

[0041] 2. The optical imaging technology of the present invention does not rely on traditional light sources, but instead perceives laser beams with good directivity, strong capabilities, and long propagation distances. This overcomes the limitations of traditional optical measurement technologies, such as limited measurement range and excessive reliance on light sources.

[0042] 3. The underlying technical principles and devices used in the present invention are simple. The sensors corresponding to the optical camera technology, laser technology, and precise positioning technology are low in cost and highly versatile. They can be easily replaced if the device is partially damaged.

[0043] 4. The present invention is highly efficient in data processing. By processing only a small amount of depth data, orientation information, and image data, it can quickly achieve geometric contour measurement and three-dimensional visualization of underground spaces, and has the function of measuring and monitoring underground spaces.

[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 of the geometric contours of deep underground spaces and monitoring of their evolution processes using optical camera technology, laser technology, and precise positioning technology, which solves the technical difficulties in fine measurement of the geometric contours of underground spaces and monitoring of their evolution processes. By combining laser technology and visual technology, fine imaging of the internal geometric contours of underground spaces is achieved. Combined with precise positioning technology, quantitative calculation and visualization of geometric contour dimensions are achieved, and the geometric contour information of underground spaces can be quickly captured, enabling measurement and monitoring of geometric contours. In addition, through clever structural design and algorithm compensation, the present invention uses a laser beam with good directivity, strong capability, and long propagation distance as a light source, which can accurately map the morphological features of the geometric contours, improving the limitations of traditional optical imaging technologies that rely solely on single laser point cloud data or a small range, and greatly improving the adaptability and measurement range of the entire 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 This is a structural block diagram of the device of the present invention;

[0048] Figure 2 This is a schematic diagram of the calibration substructure;

[0049] Figure 3 This is a schematic diagram of the measurement substructure;

[0050] Figure 4 Schematic diagram of the geometric relationship of the measurement range;

[0051] Figure 5 Schematic diagram for reorganizing multiple image data;

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

[0053] Figure 7 Schematic diagram for identifying feature regions of matrix images;

[0054] Figure 8 Schematic diagram of coordinate point distribution;

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

[0056] Figure 10 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 embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0059] Example 1:

[0060] like Figure 1 As shown, the device for fine measurement and evolution process monitoring of the geometric contour of underground space includes a calibration pup section 1, an adjustment cable 2, a measurement pup section 3, a transmission cable 4, a depth winch 5, and an industrial control computer 6. The calibration pup section 1 is used to emit a horizontal calibration laser beam and provide orientation information. The calibration pup 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 pup section 1 and the measurement pup 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 underground spaces of different sizes can be achieved. The measurement pup section 3 is mainly used to collect image data of the geometric contour of the underground space calibrated by the laser. The upper part of the measurement pup 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 3, and the depth winch 5 can record the location depth of the calibration pup 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 1 and the measuring pup 3 can have a built-in power supply, or they can be powered by the transmission cable 4 on the ground.

[0061] like Figure 2As shown, the device for fine measurement of underground space geometric contour and monitoring of evolution process includes a calibration subsection 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 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 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 combined 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 of the geometric contour of an underground space and monitoring its evolution process includes a measuring pup joint 3, at the bottom of which N cameras 3.1 are arranged uniformly in a circumferential direction, with the value of N being: N ≥ 360 / θ, where θ is the viewing angle of the camera 3.1. By arranging the N cameras 3.1, full 360° coverage of the underground space is achieved. The lens of the camera 3.1 is tilted downward and outward 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, and then L corresponds to the maximum distance that the underground space contour can effectively measure at this depth position deviates from the borehole; if the maximum distance that the underground space contour at this position deviates from the borehole is greater than L, the measuring short section 3 cannot collect valid 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 adjustment cable 2 length H.

[0064] Example 2:

[0065] The method for finely measuring the geometric contour of an underground space and monitoring its evolution process, using the device for finely measuring the geometric contour of an underground space and monitoring its evolution process described in Example 1, includes the following steps:

[0066] Data collection steps:

[0067] Step 1, image data f, azimuth information a and depth data h collection, as follows:

[0068] Step 1.1: After the underground space geometry profile fine measurement and evolution process monitoring device is assembled, the calibration nipple 1, the adjusting cable 2 and the measuring nipple 3 are lowered into the underground space along the transmission cable 4, and the depth encoder on the depth winch 5 is reset to zero when the calibration nipple 1 is at the orifice, that is, the depth is set to 0 bit; the laser 1.1, the camera 3.1 and the compass module 1.4 are started, and step 1.2 is entered.

[0069] Step 1.2: the laser beam is reflected by the reflector 1.3, the laser beam changes the propagation path and exits horizontally, the laser beam passes through the transmission window 1.2 and is incident on the surface of the underground space, and a laser spot band is formed at the depth position of the calibration nipple 1, because the color of the laser spot band is different from that of the underground space and is very bright; the N cameras 3.1 collect the image data f of the underground space containing the laser spot band information, and step 1.3 is entered.

[0070] Step 1.3: the calibration nipple 1, the measuring nipple 3 and the depth winch 5 respectively transmit the collected azimuth information a, image data f and depth data h to the industrial computer 6, and the industrial computer 6 synchronously collects, displays, processes and saves the azimuth information a, image data f and depth data h, and step 1.4 is entered.

[0071] Step 1.4: the depth winch 5 slowly lowers the calibration nipple 1, the adjusting cable 2 and the measuring nipple 3 through the transmission cable 4 to the set lowering depth Ah, if the underground space geometry profile data collection is not completed, step 1.2 is entered, and if the collection is completed, step 1.5 is entered.

[0072] Step 1.5: store the collected data, turn off the power of the underground space geometry profile fine measurement and evolution process monitoring device, and slowly lift the calibration nipple 1, the adjusting cable 2 and the measuring nipple 3 through the depth winch 5, and the deep underground space geometry profile data collection is completed.

[0073] The above steps are the process of fine measurement of the geometry profile of the underground space, and if the evolution process of the geometry profile of the underground space at a certain depth needs to be monitored, the depth position of the calibration nipple 1, the adjusting cable 2 and the measuring nipple 3 does not need to be moved, and the data collection can be performed through the long-term and continuous steps 1.2 and 1.3.

[0074] In the above steps, the internal environment of the underground space suitable for the monitoring device is a water-free environment or a clear water environment.

[0075] Example 3:

[0076] A deep underground space geometry fine measurement and evolution process monitoring method, using the deep underground space geometry fine measurement and evolution process monitoring device of embodiment 1, mainly including data reorganization steps, contour identification, contour three-dimensional visualization, evolution process monitoring steps,

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

[0078] The data reorganization includes:

[0079] Step 1, as shown in Figure 5 If the image f[i][j] is composed of m*n pixel points, and m is greater than n, then define the size of the row*column as 2m*2m image F[i], that is, the matrix F[i] contains 2m*2m pixel points, and let the 2m*2m pixel points on the matrix F[i] be 0.

[0080] Step 2, map the N images f[i][j] of the i th depth image data to the image F[i] according to the layout direction of the camera 3.1 in the measuring nipple 3, the pixel point in the m th row and m th column of the image F[i] is consistent with the corresponding position of the pixel point of the adjusting cable 2 center axis in the N images f[i][j]; if there are two or more pixel points overlapping in the N images f[i][j], the gray value of the corresponding position of the matrix F[i] is the average value of the gray values of the same position pixel points;

[0081] Step 3, as shown in 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 form of 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] 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 center 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, and 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 center axis of the adjustment cable 2 on the image FF[i] is a point;

[0084] Step 2: Figure 8 As shown in the figure, 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, and 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 starting 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 Indicates the position of the x2-th pixel point along the positive direction of the x-axis starting from the pixel point corresponding to the coordinate origin O; PX represents an arbitrary point on the laser beam contour line, 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 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 point of the image matrix FF[i] is δ=d / x1; the physical dimension 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 depth h[i] of the underground space is

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

[0088] Step 1: Figure 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 each horizontal section of the rock wall 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 each horizontal section of the rock wall 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[][][] in a clockwise direction 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: Based on the values ​​of the three-dimensional point cloud coordinate matrix KJ[][][] of the geometric outline 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 outline of the underground space can be calculated;

[0090] Step 3: Use the three-dimensional point cloud coordinate matrix KJ[][][] of the geometric outline of the underground space to generate a three-dimensional model of the underground space and realize the 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. Calculate the coordinate values ​​of each point on the laser beam contour line on each horizontal section rock wall at the same depth in the underground space by computer 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 rock wall at the same depth in the underground space converted into 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, which 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 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 order 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 is the total number of monitoring points on the laser beam contour line.

[0093] Step 2: Figure 10 As shown in Figure 2, 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 between time T1 and 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 changing process of the laser beam contour line, one can intuitively grasp the evolution process of the geometric contour of the deep underground space at different times.

[0095] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope of the appended claims.

Claims

1. A method for finely measuring and monitoring the geometric contour of an underground space and its evolution process, using a device for finely measuring and monitoring the geometric contour of an underground space and its evolution process, comprising a calibration subsection (1), an adjustment cable (2), a measuring subsection (3), a transmission cable (4), a depth winch (5), and an industrial computer (6), wherein the calibration subsection (1) comprises a calibration housing, a laser (1.1), a transmission window (1.2), a reflector (1.3), and a compass module (1.4), and N cameras (3.1) are provided at the bottom of the measuring subsection (3), characterized in that: The steps for collecting image data, orientation information and depth data are as follows: The calibration subsection (1), the adjustment cable (2), and the measuring subsection (3) are lowered into the underground space to be measured along the borehole through the transmission cable (4). When the calibration subsection (1) is located at the hole mouth, the depth encoder on the depth winch (5) is reset to zero, 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 is emitted horizontally. The laser beam passes through the transmission window (1.2) to form a laser spot on the surface of the underground space. N cameras (3.1) collect image data of the underground space containing information about the laser spot. The calibration sub (1), the measuring sub (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 measuring 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. Also includes data reorganization steps: a[i] represents the i-th orientation 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, and 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 short section (3), and 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 (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 corresponding position of 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 in the form 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 is remapped to the corresponding image FF[i] with a row and column size of 2m*2m according to the rotated orientation. 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 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 (2) center axis 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 line and the central axis of the borehole on the horizontal section at the depth h[i] of the underground space is It also includes the following steps to monitor the evolution process: 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, the geographic east as the positive direction of the x-axis, and the geographic north as the positive direction of the y-axis. Convert 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 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 into 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 order 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 is the total number of monitoring points on the laser beam contour line. The physical coordinate value of monitoring point PJ at time T1 is (xt1, yt1, zt), and the physical coordinate value of monitoring point PJ at time T2 is (xt2, yt2, zt). The change of the monitoring point at the same horizontal depth between time T1 and T2 is 2. The method for fine measurement of underground space geometric contours and monitoring of its evolution process according to claim 1 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, the geographic east as the positive direction of the x-axis, and the geographic north as the positive direction of the y-axis. Convert 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 into a spatial rectangular coordinate system. The coordinates of each point on the laser beam contour line of each horizontal section 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 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. Calculate the horizontal section perimeter, horizontal section area, underground space volume, and horizontal section equivalent radius based on the three-dimensional point cloud coordinate matrix KJ[][][]; The three-dimensional point cloud coordinate matrix KJ[][][] is used to generate a three-dimensional model of the underground space.

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