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

Abstract

The present application relates to a three-dimensional vibration measurement method and device for underground cavern surrounding rock, wherein the method includes: using a split beam laser to generate a light spot that meets preset clarity conditions; obtaining the vibration conditions of the laser source and the vibration conditions of the camera lens; cutting the tracking and recording image of the light spot, and respectively calculating the relative displacement time history of the feature point and the light spot boundary; based on the curvature, length and area changes of the circular light spot in different directions, calculating the vertical relative displacement time history curve of the light spot perpendicular to the target underground cavern surrounding rock surface; differentiating the obtained plane and vertical displacement time history to obtain the corresponding vibration velocity time history, and merging to construct the actual three-dimensional vibration velocity of each light spot. The embodiment of the present application reduces the monitoring cost, improves the efficiency of on-site monitoring and the amount of monitoring data, is more applicable in the construction environment of the underground cavern with poor lighting, and overcomes the shortcomings of a single lens of high-speed photography in three-dimensional data representation, thereby realizing effective monitoring and evaluation of three-dimensional vibration of underground caverns.

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 underground cavern surrounding rock. Background Art

[0002] In the construction of large-scale underground projects such as hydropower, mining, and transportation, there is often a need to monitor the vibration 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 sidewall sizes, which seriously affect the effective monitoring density and efficiency of surrounding rock vibration. To address this problem, especially for building structures where monitoring locations are inconvenient to arrange and the surrounding rock quality requirements are high (such as the top arch of hydropower underground powerhouses, rock anchor beam structures, high sidewall 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 it is impossible to achieve large-scale data monitoring. At the same time, for large-scale cavern structures, the monitoring arrangement is inconvenient, and it is impossible to achieve effective monitoring arrangement and monitoring effect over long distances and over a large area.

[0003] High-speed photography is a widely used technology for collecting large amounts of surrounding rock vibration data. This technology primarily demonstrates its advantages in close-range monitoring. However, each monitoring area must be easily identifiable within the monitored object, and this is typically achieved using localized fine speckle mapping. This is highly inconvenient in underground cavern construction environments, particularly in large caverns, where the lighting conditions are poor and brightness is uneven, making vibration monitoring accuracy difficult to guarantee. Given these challenges, developing a surrounding rock vibration monitoring technology that leverages the non-contact measurement advantages of high-speed photography while ensuring easy placement and identification of feature points within the cavern site is of great practical significance. Summary of the Invention

[0004] The present application provides a three-dimensional vibration measurement method and device for underground cavern surrounding rock to solve the problem that traditional underground cavern surrounding rock vibration monitoring methods cannot achieve high-precision and large-scale monitoring of measurement points over a wide range.

[0005] The first embodiment of the present application provides a three-dimensional vibration measurement method for the surrounding rock of an underground cavern, comprising the following steps: generating a light spot that meets a preset clarity condition at a position that meets a preset safety distance condition in a target underground cavern using a split beam laser; acquiring the vibration condition of the laser source and the vibration condition of the photographic lens; generating a laser source displacement time history curve and a photographic displacement time history curve using the tracking and recording image of the light spot, the vibration condition of the laser source and the vibration condition of the photographic lens when a blasting operation is performed in the target underground cavern; 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 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; 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 cave surrounding rock surface is generated by the displacement time history curve, the laser source displacement time history curve and the photographic displacement time history curve, and the plane vibration velocity time history curve of the target underground cave 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 cave surrounding rock surface is calculated, and the vertical displacement time history curve of the light spot on the cave surface is obtained by combining the vertical displacement time history of the laser source and the photographic lens; the vertical vibration velocity time history curve of each light spot position in the target underground cave 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; and irradiating the split laser onto 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 during 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; and generating the vertical relative displacement time-history curve based on the compared light spot shape and the compared area change.

[0012] The second aspect of the present application provides a three-dimensional vibration measurement device for the surrounding rock of an underground cavern, including: a light spot generation module, which is used to generate a light spot that meets a preset clarity condition at a position that meets a preset safety distance condition in the target underground cavern using a split beam laser; an acquisition module, which is used to acquire the vibration conditions of the laser source and the vibration conditions of the photographic lens; a first curve generation module, which is used to generate a laser source displacement time history curve and a photographic displacement time history curve using the tracking and recording image of the light spot, the vibration conditions of the laser source and the vibration conditions of the photographic lens when a blasting operation is performed in the target underground cavern; a cutting module, which is used to cut the tracking and recording 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; 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 for acquiring the split laser of the laser source; and a light spot generation unit for irradiating the split laser onto the surface of the target underground cavern surrounding rock to generate the light spot that meets the preset clarity conditions.

[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 based on 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 on 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. When the program is executed by a processor, it implements the above-mentioned three-dimensional vibration measurement method of the surrounding rock of an underground cavern.

[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 present embodiment uses spot calibration to obtain the vibration distribution of a large number of monitoring points on the surrounding rock surface, reducing monitoring costs, improving on-site monitoring efficiency and the amount of monitoring data, and is more applicable in the poorly lit construction environment of underground caverns. Furthermore, through high-speed photographic monitoring of spot shape changes, the limitations of a single high-speed photography lens in representing three-dimensional data can be overcome, enabling effective monitoring and evaluation of three-dimensional vibration in underground caverns. This solves the problem that traditional underground cavern surrounding rock vibration monitoring methods fail to achieve high-precision, large-scale monitoring of measurement points over a wide 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 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 This is a flow chart of a three-dimensional vibration measurement method for underground cavern surrounding rock provided in an embodiment of the present application;

[0026] Figure 2 Schematic diagram of light spot calibration according to one 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 one embodiment of the present application;

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

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

[0030] Figure 6 Schematic diagram of the structure of a three-dimensional vibration measurement device for underground cavern surrounding rock provided according to an embodiment of the present application;

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

[0032] The following describes in detail embodiments of the present application. 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 an underground cavern in an embodiment of the present application with reference to the accompanying drawings. In response to the problem mentioned in the above background technology that the traditional vibration monitoring method of the surrounding rock of an underground cavern 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 an underground cavern. In this method, the vibration distribution of a large number of monitoring points on the surface of the surrounding rock is obtained by 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 lighting; at the same time, through high-speed photography monitoring of the shape of the spot, the shortcomings of a single lens of high-speed photography in the three-dimensional data representation can be overcome, and effective monitoring and evaluation of the three-dimensional vibration of the underground cavern can be achieved. Thus, the problem that the traditional vibration monitoring method of the surrounding rock of an underground cavern 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 three-dimensional vibration measurement 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 includes the following steps:

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

[0037] It is understandable that the vibration monitoring of the high side walls of the underground caverns of a hydropower station is taken as an example. During the excavation of the middle and lower parts of the underground powerhouse, both the pre-splitting blasting of the side walls and the step blasting may generate large vibrations, posing a safety threat to the already formed high side walls and rock anchor beam structures in the upper part. Generally, vibration monitoring of high side walls and rock anchor beams is required to accurately judge and control the damage risks that may be induced by blasting excavation. Due to the high height of the high side walls, the middle and lower excavations will 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, this application has developed a three-dimensional vibration measurement method for underground cavern surrounding rocks 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 shadowing equipment at a safe distance d opposite the monitoring area. Through the combination of laser source irradiation and light spot shadowing 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) of 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 sizes.

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

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

[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 exit angle of the light spot.

[0043] Optionally, in one embodiment of the present application, a light spot that meets preset clarity conditions is generated using a split laser, including: obtaining a split laser from a laser source; and irradiating the split laser on the surface of the surrounding rock of a 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 conditions can be set by those skilled in the art according to actual conditions and are 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 in close proximity to the rigid connection structure of the high-speed photography lens and the laser source, so as to obtain the vibration condition of the laser source 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 monitoring costs, improves on-site monitoring efficiency and the amount of monitoring data by monitoring the vibration distribution of a large number of monitoring points on the surface of the surrounding rock, and is more applicable in construction environments with poor lighting in underground caverns. At the same time, through high-speed photographic monitoring of changes in the shape of the patch, it can overcome the shortcomings of a single lens of high-speed photography in three-dimensional data representation, and realize effective monitoring and evaluation of three-dimensional vibrations in underground caverns.

[0050] In step S103, when a blasting operation is performed in the target underground cavern, a laser source displacement time history curve and a photographic displacement time history curve are generated using the tracking and recording images of the light spot, the vibration of the laser source, and the vibration of the photographic 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 record image 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 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 histories of the feature points and the light spot boundary are 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 to 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 in the future.

[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 uses the image of the surrounding rock in the light spot and its relationship with the boundary as an anchor point, captures the relative displacement curve of 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 based on 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 based on 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 ], 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 target underground cavern surrounding rock surface is calculated. Combined with the vertical displacement time history of the laser source and the camera lens, the vertical displacement time history curve of the light spot on the cavern surface is obtained.

[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 the light spot perpendicular to the surface of the 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, 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.

[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 get L z , differentiate to get the vertical plane relative 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 Schematic diagram of monitoring the time course change of image displacement in a plane (light is perpendicular to the monitoring plane) according to one embodiment of the present application. Figure 5 Schematic diagram of monitoring the time course change of image displacement in a plane (light forms an angle with the monitoring plane) according to one embodiment of the present application.

[0067] The three-dimensional vibration measurement method for underground cavern surrounding rock proposed in the embodiments of this application uses spot calibration to obtain the vibration distribution of a large number of monitoring points on the surrounding rock surface, reducing monitoring costs, improving on-site monitoring efficiency and the amount of monitoring data, and making it more applicable in construction environments with poor lighting in underground caverns. Furthermore, through high-speed photographic monitoring of spot shape changes, the shortcomings of a single high-speed photography lens in representing three-dimensional data can be overcome, enabling effective monitoring and evaluation of three-dimensional vibration in underground caverns. This solves the problem that traditional underground cavern surrounding rock vibration monitoring methods fail to achieve high-precision, large-scale monitoring of measurement points over a wide range.

[0068] Next, a three-dimensional vibration measurement device for underground cavern surrounding rock 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 structural schematic 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 underground cavern surrounding rock includes: a light 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 at a position meeting a preset safety distance condition in a target underground cavern using a split beam laser.

[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 photographic 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 photographic 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 calculate the relative displacement time history between 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 a plane actual displacement time history curve of the target underground cavern surrounding rock surface based on 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.

[0076] 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 target underground cavern surrounding rock based on the curvature, length and area changes of the circular light spot in different directions, and combine the vertical displacement time history of the laser source and the camera lens to obtain the vertical displacement time history curve of the light spot on the cavern surface.

[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 according to the differentiation of 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 light spot is expressed as:

[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 exit 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 laser beam onto the surface of the surrounding rock of the target underground cavern to generate a light spot that meets the preset clarity 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 during the vibration impact time period with the relationship between the surrounding rock image of the light spot and the light spot boundary as the anchor point, so as to generate the plane vibration velocity time history curve according to the differentiation of 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 compared spot shape and the compared 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] The three-dimensional vibration measurement device for underground cavern surrounding rock proposed in the embodiments of this application obtains the vibration distribution of a large number of monitoring points on the surrounding rock surface through spot calibration, reducing monitoring costs, improving on-site monitoring efficiency and the amount of monitoring data, and making it more applicable in the construction environment of underground caverns with poor lighting. At the same time, through high-speed photography monitoring of spot shape changes, it can overcome the shortcomings of a single high-speed photography lens in representing three-dimensional data, and achieve effective monitoring and evaluation of underground cavern three-dimensional vibration. This solves the problem that traditional underground cavern surrounding rock vibration monitoring methods cannot achieve high-precision and large-scale monitoring of measurement points over a large area.

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

[0093] Memory 701 , processor 702 , and computer programs 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 includes:

[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 run 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, processor 702, and communication interface 703 are implemented independently, the communication interface 703, memory 701, and processor 702 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be divided into address buses, data buses, control buses, 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 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), 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 having a computer program stored thereon. When the program is executed by a processor, the three-dimensional vibration measurement method of the surrounding rock of an underground cavern is implemented as described above.

[0103] An embodiment of the present application also provides a computer program product, which stores a computer program and, when executed by a processor, implements the above-mentioned three-dimensional vibration measurement method of the surrounding rock of an underground cavern.

[0104] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0105] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise 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 a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0107] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc 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 can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

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

[0109] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0110] In addition, the functional units in the various embodiments 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 a 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 is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to 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 location in the target underground cavern that meets the preset safety distance conditions, a split beam laser is used to generate a light spot that meets the preset clarity conditions; Obtain the vibration conditions of the laser source and the camera lens; When a blasting operation is performed in the target underground cavern, a laser source displacement time history curve and a photographic displacement time history curve are generated using the tracking and recording image of the light spot, the vibration of the laser source, and the vibration of the photographic 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 between the feature points and the light spot boundary to obtain a plane relative displacement time history curve; generating 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 obtaining a plane vibration velocity time history curve of the target underground cavern 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 target underground cavern surrounding rock surface 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 laser is irradiated on the surface of the target underground cavern surrounding rock to generate the light spot that meets the preset clarity condition.

4. The method according to claim 1, wherein 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, the method further includes: Taking the relationship between the surrounding rock image of the light spot and the boundary of the light spot as the anchor point, the plane relative displacement time history curve of the characteristic point and the boundary of the light spot during 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, wherein 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 cavern surrounding rock during the vibration period to obtain a compared light spot shape; Comparing the area change of the target underground cavern surrounding rock 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 preset clarity conditions at a position in the target underground cavern that meets preset safety distance conditions 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, configured to generate a laser source displacement time history curve and a photographic displacement time history curve by using the tracking recorded image of the light spot, the vibration of the laser source, and the vibration of the photographic lens when a blasting detonation operation is performed in the target underground cavern; a calculation module, configured 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 between the feature points and the light spot boundary to obtain a plane relative displacement time history curve; a second curve generating module, which generates a plane actual displacement time history curve of the target underground cavern surrounding rock surface based on 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 cavern 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 target underground cavern surrounding rock surface 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 according to the differentiation of 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 underground cavern surrounding rock according to any one of claims 1 to 5.

Images