Three-dimensional vibration measurement method and device for surrounding rock of underground cavern

Abstract

The invention relates to an underground cavern surrounding rock three-dimensional vibration measurement method and device, and the method comprises the steps: generating a light spot meeting a preset clear condition through beam splitting laser; acquiring the vibration condition of the laser source and the vibration condition of the photographic lens; cutting the tracking record image of the light spot, and respectively calculating the relative displacement time history of the feature points and the boundary of the light spot; based on curvature, length and area changes of the circular light spot in different directions, a vertical relative displacement time travel curve of the light spot perpendicular to the surface of the surrounding rock of the target underground cavern is calculated; and differentiating the obtained plane and vertical displacement time histories to obtain corresponding vibration velocity time histories, and combining to construct the actual three-dimensional vibration velocity of each light spot. According to the embodiment of the invention, the monitoring cost is reduced, the field monitoring efficiency and the monitoring data volume are improved, the applicability in the construction environment with poor light of the underground cavern is higher, the defects of a high-speed photographing single lens in three-dimensional data representation are overcome, and effective monitoring and evaluation of three-dimensional vibration of the underground cavern are realized.

Description

Technical Field

[0001] The present application relates to the technical field of non-contact vibration measurement of complex underground cavern structures, and in particular to a three-dimensional vibration measurement method and device for surrounding rocks of underground caverns. Background Art

[0002] In the construction of large underground projects such as hydropower, mining and transportation, there is usually a need for vibration monitoring of the surrounding rock of underground caverns. The range and accuracy of vibration monitoring directly affect the safe and stable control of the formed surrounding rock and the construction safety of other structures under construction. In particular, large and complex cavern groups have a wide contour forming area and huge side wall size, which seriously affects the effective monitoring density and efficiency of surrounding rock vibration. In response to such problems, especially for building structures with inconvenient monitoring locations and high requirements for surrounding rock quality (such as the top arch of hydropower underground powerhouses, rock anchor beam structures, high side wall structures, cavern group intersections, etc.), traditional vibration monitoring methods mainly use the method of arranging vibration sensors at multiple points. The number of monitoring points in the monitoring area is small, the representativeness is insufficient, and a large amount of data monitoring cannot be achieved; at the same time, for large-scale cavern structures, the monitoring arrangement is inconvenient, and effective monitoring arrangement and monitoring effect over long distances and over a large range cannot be achieved.

[0003] In order to collect a large amount of surrounding rock vibration data, high-speed photography is a technology that is being widely used. This technology is mainly manifested in the monitoring advantage at close range. It is necessary to ensure that each monitoring area is easy to identify on the monitoring object. Generally, local fine speckle drawing is used for layout, which is very inconvenient in the on-site construction environment of underground caverns, especially in large-scale underground caverns where the light environment is poor and the brightness is uneven, and the vibration monitoring accuracy cannot be guaranteed. In view of the above problems, it is of great practical significance to develop a surrounding rock vibration monitoring technology that can not only take advantage of the non-contact measurement of high-speed photography, but also ensure that the feature points on the cavern site are easy to arrange and identify. Summary of the invention

[0004] The present application provides a three-dimensional vibration measurement method and device for underground cavern surrounding rock, so as to solve the problem that the traditional underground cavern surrounding rock vibration monitoring method fails to achieve high-precision and large-quantity monitoring of measuring points in a large range.

[0005] In a first aspect, an embodiment of the present application provides a three-dimensional vibration measurement method for the surrounding rock of an underground cavern, comprising the following steps: at a position in the target underground cavern that satisfies a preset safety distance condition, using a split beam laser to generate a light spot that satisfies a preset clarity condition; obtaining the vibration conditions of a laser source and a camera lens; when a blasting operation is performed in the target underground cavern, using the tracking and recording images of the light spot, the vibration conditions of the laser source, and the vibration conditions of the camera lens to generate a laser source displacement time history curve and a camera displacement time history curve; cutting the tracking and recording images of the light spot to generate a cut light spot image, extracting feature points from the cut light spot image, and respectively calculating the relative displacement time history of the feature points and the light spot boundary to obtain a plane relative displacement time history curve; and calculating the relative displacement time history of the feature points and the light spot boundary according to the plane relative position. The plane actual displacement time-history curve of the target underground cavern surrounding rock surface is generated by the displacement time-history curve of the laser source, the displacement time-history curve of the laser source and the photography displacement time-history curve, and the plane vibration velocity time-history curve of the target underground cavern surrounding rock surface is obtained by differentiating the plane actual displacement time-history curve; based on the curvature, length and area changes of the circular light spot in different directions, the vertical relative displacement time-history curve of the light spot perpendicular to the target underground cavern surrounding rock surface is calculated, and the vertical displacement time-history curve of the cavern surface light spot is obtained by combining the vertical displacement time-history of the laser source and the photography lens; the vertical vibration velocity time-history curve of each light spot position in the target underground cavern surrounding rock is obtained by differentiating the vertical displacement time-history curve, and the vertical vibration velocity time-history curve is merged with the plane vibration velocity time-history curve to construct the actual three-dimensional vibration velocity of each light spot.

[0006] Optionally, in one embodiment of the present application, the light spot is expressed as:

[0007] T i =[S i ,ρ i ,θ i ],

[0008] Among them, S i is the area of ​​the light spot, ρ i is the eccentricity of the light spot, θ i is the emission angle of the light spot.

[0009] Optionally, in one embodiment of the present application, the use of split laser to generate a light spot that meets preset clarity conditions includes: obtaining split laser from the laser source; irradiating the split laser on the surface of the target underground cavern surrounding rock to generate the light spot that meets the preset clarity conditions.

[0010] Optionally, in one embodiment of the present application, before obtaining the plane vibration velocity time history curve of the target underground cavern surrounding rock surface by differentiating the plane actual displacement time history curve, it also includes: taking the relationship between the surrounding rock image of the light spot and the light spot boundary as an anchor point, capturing the plane relative displacement time history curve of the feature point and the light spot boundary within the vibration impact time period, so as to generate the plane vibration velocity time history curve by differentiating the plane relative displacement time history curve.

[0011] Optionally, in one embodiment of the present application, the calculation of the vertical relative displacement time-history curve of the light spot perpendicular to the surface of the target underground cavern surrounding rock includes: comparing the light spot shape when the target underground cavern surrounding rock is in vibration, to obtain a compared light spot shape; comparing the area change when the target underground cavern surrounding rock is in vibration, to obtain a compared area change; generating the vertical relative displacement time-history curve based on the compared light spot shape and the compared area change.

[0012] According to a second aspect of the present application, there is provided a three-dimensional vibration measurement device for surrounding rock of an underground cavern, comprising: a light spot generation module, for generating a light spot that meets a preset clarity condition by using a split beam laser at a position that meets a preset safety distance condition in a target underground cavern; an acquisition module, for acquiring the vibration conditions of a laser source and a camera lens; a first curve generation module, for generating a laser source displacement time history curve and a camera displacement time history curve by using a tracking and recording image of the light spot, the vibration conditions of the laser source and the vibration conditions of the camera lens when a blasting operation is performed in the target underground cavern; a cutting module, for cutting the tracking and recording image of the light spot to generate a cut light spot image, extracting feature points from the cut light spot image, and respectively calculating the relative displacement time history of the feature points and the light spot boundary to obtain a plane relative displacement time history curve; and a second curve generation module. A block is used to generate a plane actual displacement time-history curve of the target underground cavern surrounding rock surface according to the plane relative displacement time-history curve, the laser source displacement time-history curve and the photographic displacement time-history curve, and to obtain a plane vibration velocity time-history curve of the target underground cavern surrounding rock surface by differentiating the plane actual displacement time-history curve; a calculation module is used to calculate the vertical relative displacement time-history curve of the circular light spot perpendicular to the target underground cavern surrounding rock surface based on the curvature, length and area changes of the circular light spot in different directions, and to obtain the vertical displacement time-history curve of the cavern surface light spot by combining the vertical displacement time-history of the laser source and the photographic lens; a measurement module is used to obtain a vertical vibration velocity time-history curve of each light spot position in the target underground cavern surrounding rock by differentiating the vertical displacement time-history curve, and to merge the vertical vibration velocity time-history curve with the plane vibration velocity time-history curve to construct the actual three-dimensional vibration velocity of each light spot.

[0013] Optionally, in one embodiment of the present application, the light spot is expressed as:

[0014] T i =[S i ,ρ i ,θ i ],

[0015] Among them, S i is the area of ​​the light spot, ρ i is the eccentricity of the light spot, θ i is the emission angle of the light spot.

[0016] Optionally, in one embodiment of the present application, the light spot generation module includes: an acquisition unit, used to acquire the split laser of the laser source; and a light spot generation unit, used to irradiate the split laser onto the surface of the surrounding rock of the target underground cavern to generate the light spot that meets the preset clarity condition.

[0017] Optionally, in one embodiment of the present application, it also includes: a capture module, which is used to capture the plane relative displacement time history curve of the characteristic point and the light spot boundary within the vibration influence time period with the relationship between the surrounding rock image of the light spot and the light spot boundary as an anchor point before obtaining the plane vibration velocity time history curve of the target underground cavern surrounding rock surface by differentiating the plane actual displacement time history curve, so as to generate the plane vibration velocity time history curve by differentiating the plane relative displacement time history curve.

[0018] Optionally, in one embodiment of the present application, the calculation module includes: a first comparison unit, used to compare the spot shape of the target underground cavern surrounding rock during the vibration period to obtain the compared spot shape; a second comparison unit, used to compare the area change of the target underground cavern surrounding rock during the vibration period to obtain the compared area change; a curve generation unit, used to generate the vertical relative displacement time history curve according to the compared spot shape and the compared area change.

[0019] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the three-dimensional vibration measurement method of the surrounding rock of an underground cavern as described in the above embodiment.

[0020] A fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the above-mentioned three-dimensional vibration measurement method for underground cavern surrounding rock.

[0021] A fifth aspect of the present application provides a computer program product, which stores a computer program that, when executed by a processor, implements the above-mentioned three-dimensional vibration measurement method for the surrounding rock of an underground cavern.

[0022] The embodiment of the present application obtains the vibration distribution of a large number of monitoring points on the surface of the surrounding rock through spot calibration, which reduces the monitoring cost, improves the efficiency of on-site monitoring and the amount of monitoring data, and is more applicable in the construction environment of underground caverns with poor lighting; at the same time, through the high-speed change photography monitoring of the spot shape, it can overcome the shortcomings of a single lens of high-speed photography in three-dimensional data representation, and realize the effective monitoring and evaluation of three-dimensional vibration of underground caverns. Thus, it solves the problem that the traditional underground cavern surrounding rock vibration monitoring method fails to achieve high-precision and large-quantity monitoring of measuring points in a large range.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A flowchart of a three-dimensional vibration measurement method for surrounding rock of an underground cavern provided according to an embodiment of the present application;

[0026] Figure 2 A schematic diagram of spot calibration according to an embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of monitoring the time course change of the vertical displacement of an image along the light source direction according to an embodiment of the present application;

[0028] Figure 4 A schematic diagram of monitoring the time course change of image displacement in a plane according to an embodiment of the present application (the light is perpendicular to the monitoring plane);

[0029] Figure 5 A schematic diagram of monitoring the time course change of image displacement in a plane (the light is at an angle to the monitoring plane) according to an embodiment of the present application;

[0030] Figure 6 It is a structural schematic diagram of a three-dimensional vibration measurement device for surrounding rocks of an underground cavern provided according to an embodiment of the present application;

[0031] Figure 7 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0033] The following describes the three-dimensional vibration measurement method and device of the surrounding rock of underground caverns in the embodiments of the present application with reference to the accompanying drawings. In view of the problem mentioned in the above background technology that the traditional vibration monitoring method of the surrounding rock of underground caverns fails to achieve high-precision and large-scale monitoring of measuring points in a large range, the present application provides a three-dimensional vibration measurement method of the surrounding rock of underground caverns. In this method, the vibration distribution of a large number of monitoring points on the surface of the surrounding rock is obtained through spot calibration, which reduces the monitoring cost, improves the efficiency of on-site monitoring and the amount of monitoring data, and is more applicable in the construction environment of the underground cavern with poor light; at the same time, through the high-speed change of the spot shape photography monitoring, it can overcome the shortcomings of a single lens of high-speed photography in the three-dimensional data representation, and realize the effective monitoring and evaluation of the three-dimensional vibration of the underground cavern. Thus, the problem that the traditional vibration monitoring method of the surrounding rock of underground caverns fails to achieve high-precision and large-scale monitoring of measuring points in a large range is solved.

[0034] Specifically, Figure 1 A schematic flow chart of a method for measuring three-dimensional vibration of surrounding rock of an underground cavern provided in an embodiment of the present application.

[0035] like Figure 1 As shown, the three-dimensional vibration measurement method of the surrounding rock of the underground cavern comprises the following steps:

[0036] In step S101, at a position in a target underground cavern that satisfies a preset safety distance condition, a split beam laser is used to generate a light spot that meets a preset clarity condition.

[0037] It is understandable that, take the vibration monitoring of the high side wall of the underground cavern of a hydropower station as an example. During the excavation of the middle and lower parts of the underground powerhouse, the pre-splitting blasting of the side wall and the step blasting may generate large vibrations, posing a safety threat to the already formed high side wall and rock anchor beam structure in the upper part. It is generally necessary to accurately judge and control the risk of damage that may be induced by blasting and excavation through vibration monitoring of the high side walls and rock anchor beams. Due to the high height of the high side walls, the middle and lower excavations generally face a monitoring height of 10 to 30 meters. The impact range of a single blasting footage is about 100 to 200 meters of monitoring length. The monitoring range is large, and conventional monitoring cannot accurately and conveniently meet this monitoring requirement. To address this problem, the present application has developed a three-dimensional vibration measurement method for the surrounding rock of underground caverns based on spot calibration and high-speed photography, such as Figure 2 shown.

[0038] In the actual implementation process, in the target underground cavern, the embodiment of the present application arranges a laser source and a set of light spot imaging equipment at a safe distance d opposite the monitoring area. Through the combination of laser source irradiation and light spot imaging equipment, a large number of clear light spots that can be identified by high-speed photography are formed on the surface of the cavern surrounding rock within a certain range. For example, in the hydropower underground cavern, the embodiment of the present application can select a measuring point about 100m away from the blasting source to arrange a laser source and a high-speed photography equipment. Through laser source irradiation, 200 (T1, T2, ..., T200) about 0.0004m are formed on the surface of the cavern surrounding rock within a range of 100m in length and 20m in height between the blasting source and the light source point. 2 Clear light spot of different size.

[0039] It should be noted that the preset clear condition can be set by those skilled in the art according to actual conditions and is not specifically limited here.

[0040] In one embodiment of the present application, the expression of the light spot is:

[0041] T i =[S i ,ρ i ,θ i ],

[0042] Among them, S i is the area of ​​the light spot, ρ i is the eccentricity of the light spot, θ i is the emission angle of the light spot.

[0043] Optionally, in one embodiment of the present application, using split laser to generate a light spot that meets preset clarity conditions includes: obtaining split laser from a laser source; irradiating the split laser on the surface of the surrounding rock of the target underground cavern to generate a light spot that meets the preset clarity conditions.

[0044] As a possible implementation method, the embodiment of the present application can obtain a split laser from a laser source and irradiate the split laser on the surface of the surrounding rock of the target underground cavern to generate a clear light spot, thereby providing support for the subsequent acquisition of the vibration distribution of a large number of monitoring points on the surrounding rock surface through light spot calibration.

[0045] It should be noted that the preset clear condition can be set by those skilled in the art according to actual conditions and is not specifically limited here.

[0046] In step S102, the vibration conditions of the laser source and the camera lens are acquired.

[0047] It can be understood that the vibration condition of the photographic lens in the embodiment of the present application can be the vibration condition of the high-speed photographic lens itself; the laser source in the embodiment of the present application can be a laser source device, and the photography can be a high-speed photography device.

[0048] Specifically, the embodiment of the present application can arrange vibration sensors at close distances on the rigid connection structure of the high-speed photography lens and the laser source, respectively, so as to obtain the vibration condition of the laser source while ensuring high-speed photography monitoring V1=[V 1x ,V 1y ,V 1z ] and the lens vibration V2=[V 2x ,V 2y ,V 2z ].

[0049] The embodiment of the present application reduces the monitoring cost, improves the on-site monitoring efficiency and the amount of monitoring data through the vibration distribution of a large number of monitoring points on the surface of the surrounding rock, and is more applicable in the construction environment of underground caverns with poor lighting. At the same time, through high-speed photographic monitoring of the change of the spot shape, it can overcome the shortcomings of a single lens of high-speed photography in the representation of three-dimensional data, and realize the effective monitoring and evaluation of the three-dimensional vibration of the underground cavern.

[0050] In step S103, when a blasting operation is performed in the target underground cavern, a laser source displacement time history curve and a photography displacement time history curve are generated by using the tracking and recording images of the light spot, the vibration of the laser source and the vibration of the camera lens.

[0051] In the actual implementation process, the embodiment of the present application can use spot calibration and high-speed photography to obtain the tracking and recording images of each spot (T = [T1, T2, ..., T200]), the vibration condition V1 of the laser source and the vibration condition V2 of the high-speed photography lens itself in real time during blasting, and integrate to obtain the displacement time history curve L1 = [L 1x ,L 1y ,L 1z ]、L2=[L 2x ,L 2y ,L 2z ].

[0052] In step S104, the tracking record image of the light spot is cut to generate a cut light spot image, and feature points are extracted from the cut light spot image, and the relative displacement time history between the feature points and the light spot boundary is calculated respectively.

[0053] In the actual implementation process, the embodiment of the present application can cut the obtained spot tracking record image, extract the feature points in each spot, and calculate the relative velocity time history of the feature points and the spot boundary respectively, and obtain the plane relative displacement time history curve L 3r =[L 3xr ,L 3yr ], thus providing support for obtaining the actual displacement time history curve later.

[0054] Optionally, in one embodiment of the present application, before obtaining the plane vibration velocity time history curve of the target underground cavern surrounding rock surface by differentiating the plane actual displacement time history curve, it also includes: taking the relationship between the surrounding rock image of the light spot and the light spot boundary as an anchor point, capturing the plane relative displacement time history curve of the feature point and the light spot boundary within the vibration impact time period, so as to generate a plane vibration velocity time history curve by differentiating the plane relative displacement time history curve.

[0055] Specifically, the embodiment of the present application takes the surrounding rock image in the light spot and its relationship with the boundary as anchor points, captures the relative displacement curve between the characteristic points in each light spot and the boundary during the vibration impact time period through high-speed photography, and then obtains the planar relative vibration velocity time history curve of the surrounding rock surface.

[0056] In step S105, a plane actual displacement time history curve of the target underground cavern surrounding rock surface is generated according to the plane relative displacement time history curve, the laser source displacement time history curve and the photographic displacement time history curve, and a plane vibration velocity time history curve of the target underground cavern surrounding rock surface is obtained by differentiating the plane actual displacement time history curve.

[0057] Specifically, the embodiment of the present application can generate the actual displacement time history curve L of the target underground cave surrounding rock surface according to the plane relative displacement time history curve, the laser source displacement time history curve and the photographic displacement time history curve vector calculation. xy ={L 1xy， L 2xy， L 3xy}, where the laser source plane displacement time L 1xy =[L 1x ,L 1y ], the photographic plane displacement time course L 2xy =[L 2x ,L 2y ], the relative displacement time course L of the feature point in the spot 3xy =[L 3x ,L 3y ]. xy Differentiation to obtain the plane vibration velocity time history curve V xy =[V x ,V y ] 。

[0058] In step S106, based on the changes in curvature, length and area of ​​the circular light spot in different directions, the vertical relative displacement time history curve of the light spot perpendicular to the surface of the target underground cavern surrounding rock is calculated, and the vertical displacement time history curve of the light spot on the cavern surface is obtained by combining the vertical displacement time history of the laser source and the camera lens.

[0059] In the actual implementation process, the embodiment of the present application can analyze the shape change of each light spot separately, and analyze and calculate the vertical relative displacement time history curve L of the light spot vertical to the cave surface according to the curvature, length and area changes of the circular light spot in different directions. 3z and relative vibration velocity V 3z , thereby providing support for the subsequent acquisition of a large amount of three-dimensional vibration data on the surface of the surrounding rock of the underground cavern, and thus realizing the effective monitoring and evaluation of the three-dimensional vibration of the underground cavern.

[0060] Optionally, in one embodiment of the present application, a vertical relative displacement time-history curve of a light spot perpendicular to the surface of a target underground cavern surrounding rock is calculated, including: comparing the light spot shape of the target underground cavern surrounding rock during vibration to obtain a compared light spot shape; comparing the area change of the target underground cavern surrounding rock during vibration to obtain a compared area change; and generating a vertical relative displacement time-history curve based on the compared light spot shape and the compared area change.

[0061] As a possible implementation method, the embodiment of the present application can compare the spot shape of the target underground cavern surrounding rock during the vibration period to obtain the compared spot shape, compare the area change of the target underground cavern surrounding rock during the vibration period to obtain the compared area change, and generate a vertical relative displacement time-history curve based on the compared spot shape and the compared area change, so as to analyze and convert the vertical vibration velocity by simultaneously comparing the spot shape and area size change characteristics during the vibration period.

[0062] In step S107, a vertical vibration velocity time history curve of each light spot position in the surrounding rock of the target underground cavern is obtained by differentiating the vertical displacement time history curve, and the vertical vibration velocity time history curve is merged with the plane vibration velocity time history curve to construct the actual three-dimensional vibration velocity of each light spot.

[0063] In this embodiment of the present application, the obtained vertical plane relative displacement curve L 3z With L 1z , L 2z Perform vector sum calculation to obtain L z , differentiate to get the vertical plane relative vibration velocity time history curve V z , combined vertical plane relative vibration velocity time history curve V z And plane vibration velocity time history curve V xy , to generate the actual three-dimensional vibration velocity V = [V x ,V y ,V z ].

[0064] The embodiment of the present application combines the vibration change curves induced by the light source and the camera lens itself, couples the calculation, eliminates the vibration errors caused by high-speed photography and the monitoring reference spot itself, and finally obtains a large amount of three-dimensional vibration data on the surface of the underground cavern surrounding rock, thereby realizing massive tracking of the vibration of the underground cavern surrounding rock. It can be widely used in vibration monitoring induced by large-scale underground cavern excavation and blasting in the fields of mining blasting, water conservancy and hydropower, transportation, etc., and has broad application prospects.

[0065] Specifically, it can be combined Figures 3 to 5 As shown, the working principle of the three-dimensional vibration measurement method of the surrounding rock of the underground cavern in the embodiment of the present application is described in detail with a specific embodiment.

[0066] in, Figure 3 This is a schematic diagram of monitoring the time course change of the vertical displacement of an image along the light source direction according to an embodiment of the present application. Figure 4 This is a schematic diagram of monitoring the time course change of image displacement in a plane (the light is perpendicular to the monitoring plane) according to an embodiment of the present application. Figure 5 The figure is a schematic diagram of monitoring the time course change of image displacement in a plane (the light is at an angle to the monitoring plane) according to an embodiment of the present application.

[0067] According to the three-dimensional vibration measurement method of the surrounding rock of the underground cavern proposed in the embodiment of the present application, the vibration distribution of a large number of monitoring points on the surface of the surrounding rock is obtained through spot calibration, which reduces the monitoring cost, improves the efficiency of on-site monitoring and the amount of monitoring data, and is more applicable in the construction environment of the underground cavern with poor light; at the same time, through the high-speed change photography monitoring of the spot shape, it can overcome the shortcomings of a single lens of high-speed photography in the representation of three-dimensional data, and realize the effective monitoring and evaluation of the three-dimensional vibration of the underground cavern. In this way, the problem that the traditional underground cavern surrounding rock vibration monitoring method fails to achieve high-precision and large-quantity monitoring of measuring points in a large range is solved.

[0068] Next, the three-dimensional vibration measuring device for the surrounding rock of an underground cavern proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0069] Figure 6 It is a schematic structural diagram of a three-dimensional vibration measurement device for underground cavern surrounding rock according to an embodiment of the present application.

[0070] like Figure 6 As shown, the three-dimensional vibration measurement device 10 for the surrounding rock of an underground cavern includes: a spot generation module 100, an acquisition module 200, a first curve generation module 300, a cutting module 400, a second curve generation module 500, a calculation module 600 and a measurement module 700.

[0071] Specifically, the light spot generating module 100 is used to generate a light spot meeting a preset clarity condition by using a split beam laser at a position meeting a preset safety distance condition in a target underground cavern.

[0072] The acquisition module 200 is used to acquire the vibration conditions of the laser source and the camera lens.

[0073] The first curve generating module 300 is used to generate a laser source displacement time history curve and a photography displacement time history curve by using the tracking and recording images of the light spot, the vibration of the laser source and the vibration of the camera lens when performing a blasting operation in a target underground cavern.

[0074] The cutting module 400 is used to cut the tracking record image of the light spot to generate a cut light spot image, extract feature points from the cut light spot image, and respectively calculate the relative displacement time history of the feature points and the light spot boundary to obtain a plane relative displacement time history curve.

[0075] The second curve generating module 500 is used to generate the plane actual displacement time history curve of the target underground cavern surrounding rock surface according to the plane relative displacement time history curve, the laser source displacement time history curve and the photographic displacement time history curve, and to obtain the plane vibration velocity time history curve of the target underground cavern surrounding rock surface by differentiating the plane actual displacement time history curve.

[0076] The calculation module 600 is used to calculate the vertical relative displacement time history curve of the circular light spot perpendicular to the surface of the surrounding rock of the target underground cavern based on the curvature, length and area changes of the circular light spot in different directions, and to obtain the vertical displacement time history curve of the light spot on the cavern surface by combining the vertical displacement time history of the laser source and the camera lens.

[0077] The measurement module 700 is used to obtain the vertical vibration velocity time history curve of each light spot position in the surrounding rock of the target underground cavern by differentiating the vertical displacement time history curve, and merge the vertical vibration velocity time history curve with the plane vibration velocity time history curve to construct the actual three-dimensional vibration velocity of each light spot.

[0078] Optionally, in one embodiment of the present application, the expression of the light spot is:

[0079] T i =[S i ,ρ i ,θ i ],

[0080] Among them, S i is the area of ​​the light spot, ρ i is the eccentricity of the light spot, θ i is the emission angle of the light spot.

[0081] Optionally, in one embodiment of the present application, the light spot generating module 100 includes: an acquiring unit and a light spot generating unit.

[0082] The acquisition unit is used to acquire the split laser beam from the laser source.

[0083] The light spot generating unit is used to irradiate the split-beam laser onto the surface of the surrounding rock of the target underground cavern to generate a light spot that meets the preset clear conditions.

[0084] Optionally, in one embodiment of the present application, the three-dimensional vibration measurement device 10 for underground cavern surrounding rock further includes: a capture module.

[0085] Among them, the capture module is used to capture the plane relative displacement time history curve of the characteristic point and the light spot boundary within the vibration impact time period with the relationship between the surrounding rock image of the light spot and the light spot boundary as an anchor point, so as to generate the plane vibration velocity time history curve by differentiating the plane relative displacement time history curve.

[0086] Optionally, in one embodiment of the present application, the calculation module 600 includes: a first comparison unit, a second comparison unit and a curve generation unit.

[0087] The first comparison unit is used to compare the light spot shape of the target underground cavern surrounding rock during vibration to obtain a compared light spot shape.

[0088] The second comparison unit is used to compare the area change of the surrounding rock of the target underground cavern during the vibration period to obtain the compared area change.

[0089] The curve generating unit is used to generate a vertical relative displacement time course curve according to the contrasted light spot shape and the contrasted area change.

[0090] It should be noted that the above explanation of the embodiment of the three-dimensional vibration measurement method for underground cavern surrounding rock is also applicable to the three-dimensional vibration measurement device for underground cavern surrounding rock of this embodiment, and will not be repeated here.

[0091] According to the three-dimensional vibration measurement device for the surrounding rock of underground caverns proposed in the embodiment of the present application, the vibration distribution of a large number of monitoring points on the surface of the surrounding rock is obtained through spot calibration, which reduces the monitoring cost, improves the efficiency of on-site monitoring and the amount of monitoring data, and is more applicable in the construction environment of underground caverns with poor lighting; at the same time, through high-speed photography monitoring of the shape of the spot ring, it can overcome the shortcomings of a single lens of high-speed photography in the representation of three-dimensional data, and realize the effective monitoring and evaluation of the three-dimensional vibration of underground caverns. In this way, the problem that the traditional method of monitoring the vibration of the surrounding rock of underground caverns fails to achieve high-precision and large-scale monitoring of measuring points in a large range is solved.

[0092] Figure 7A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0093] A memory 701 , a processor 702 , and a computer program stored in the memory 701 and executable on the processor 702 .

[0094] When the processor 702 executes the program, the three-dimensional vibration measurement method of the surrounding rock of the underground cavern provided in the above embodiment is implemented.

[0095] Furthermore, the electronic device further comprises:

[0096] The communication interface 703 is used for communication between the memory 701 and the processor 702 .

[0097] The memory 701 is used to store computer programs that can be executed on the processor 702 .

[0098] The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0099] If the memory 701, the processor 702 and the communication interface 703 are implemented independently, the communication interface 703, the memory 701 and the processor 702 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0100] Optionally, in a specific implementation, if the memory 701, the processor 702 and the communication interface 703 are integrated on a chip, the memory 701, the processor 702 and the communication interface 703 can communicate with each other through an internal interface.

[0101] The processor 702 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0102] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned three-dimensional vibration measurement method of the surrounding rock of an underground cavern is implemented.

[0103] An embodiment of the present application also provides a computer program product, on which a computer program is stored, and when the program is executed by a processor, the three-dimensional vibration measurement method of the surrounding rock of an underground cavern as described above is implemented.

[0104] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0105] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0106] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0107] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0108] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0109] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0110] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0111] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A three-dimensional vibration measurement method for underground cavern surrounding rock, characterized in that: The following steps are involved: At a position in the target underground cavern that meets the preset safety distance condition, a beam splitting laser is used to generate a light spot that meets the preset clarity condition; Obtain the vibration conditions of the laser source and the camera lens; When a blasting operation is performed in the target underground cave, a laser source displacement time history curve and a photography displacement time history curve are generated by using the tracking and recording image of the light spot, the vibration of the laser source and the vibration of the photography lens; Cutting the tracking record image of the light spot to generate a cut light spot image, extracting feature points from the cut light spot image, and calculating the relative displacement time history of the feature points and the light spot boundary respectively to obtain a plane relative displacement time history curve; Generate a plane actual displacement time history curve of the target underground cave surrounding rock surface according to the plane relative displacement time history curve, the laser source displacement time history curve and the photographic displacement time history curve, and obtain a plane vibration velocity time history curve of the target underground cave surrounding rock surface by differentiating the plane actual displacement time history curve; Based on the changes in curvature, length and area of ​​the circular light spot in different directions, a vertical relative displacement time history curve of the light spot perpendicular to the surface of the surrounding rock of the target underground cavern is calculated, and the vertical displacement time history curve of the light spot on the cavern surface is obtained by combining the vertical displacement time history of the laser source and the camera lens; The vertical vibration velocity time history curve of each light spot position in the surrounding rock of the target underground cavern is obtained by differentiating the vertical displacement time history curve, and the vertical vibration velocity time history curve is merged with the plane vibration velocity time history curve to construct the actual three-dimensional vibration velocity of each light spot.

2. The method according to claim 1, characterized in that The expression of the light spot is: T i =[S i ,r i ,i i ], Among them, S i is the area of ​​the light spot, ρ i is the eccentricity of the light spot, θ i is the emission angle of the light spot.

3. The method according to claim 1, characterized in that The method of using split laser beam to generate a light spot that meets a preset clarity condition includes: Obtaining split laser light from the laser source; The split-beam laser is irradiated onto the surface of the surrounding rock of the target underground cavern to generate the light spot that meets the preset clarity condition.

4. The method according to claim 1, characterized in that: Before obtaining the plane vibration velocity time history curve of the target underground cave surrounding rock surface by differentiating the plane actual displacement time history curve, the method further includes: Taking the relationship between the surrounding rock image of the light spot and the boundary of the light spot as an anchor point, the plane relative displacement time history curve of the characteristic point and the boundary of the light spot within the vibration influence time period is captured, so as to generate the plane vibration velocity time history curve by differentiating the plane relative displacement time history curve.

5. The method according to claim 1, characterized in that The calculating of the vertical relative displacement time history curve of the light spot perpendicular to the surface of the surrounding rock of the target underground cavern comprises: Comparing the light spot shape of the target underground cave surrounding rock during the vibration period to obtain a compared light spot shape; Comparing the area change of the surrounding rock of the target underground cavern during the vibration period to obtain a compared area change; The vertical relative displacement time history curve is generated according to the compared light spot shape and the compared area change.

6. A three-dimensional vibration measurement device for underground cavern surrounding rock, characterized in that: include: A light spot generation module is used to generate a light spot that meets a preset clear condition at a position that meets a preset safety distance condition in the target underground cavern using a split beam laser; An acquisition module, used to acquire the vibration conditions of the laser source and the camera lens; A first curve generating module is used to generate a laser source displacement time history curve and a photography displacement time history curve by using the tracking and recording image of the light spot, the vibration of the laser source and the vibration of the photography lens when a blasting detonation operation is performed in the target underground cavern; A calculation module, used for cutting the tracking record image of the light spot to generate a cut light spot image, extracting feature points from the cut light spot image, and respectively calculating the relative displacement time history of the feature points and the light spot boundary to obtain a plane relative displacement time history curve; A second curve generating module generates a plane actual displacement time history curve of the target underground cave surrounding rock surface according to the plane relative displacement time history curve, the laser source displacement time history curve and the photographic displacement time history curve, and obtains a plane vibration velocity time history curve of the target underground cave surrounding rock surface by differentiating the plane actual displacement time history curve; A calculation module, for calculating a vertical relative displacement time history curve of the circular light spot perpendicular to the surface of the surrounding rock of the target underground cavern based on the curvature, length and area changes of the circular light spot in different directions, and combining the vertical displacement time history of the laser source and the camera lens to obtain a vertical displacement time history curve of the light spot on the cavern surface; The measurement module is used to obtain the vertical vibration velocity time history curve of each light spot position in the surrounding rock of the target underground cavern by differentiating the vertical displacement time history curve, and merge the vertical vibration velocity time history curve with the plane vibration velocity time history curve to construct the actual three-dimensional vibration velocity of each light spot.

7. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the three-dimensional vibration measurement method for surrounding rock of an underground cavern as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the three-dimensional vibration measurement method of underground cavern surrounding rock as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that The computer program is executed to implement the three-dimensional vibration measurement method of the surrounding rock of an underground cavern as described in any one of claims 1 to 5.

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