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基于线激光扫描的岩石激光钻孔的三维重建和可视化

官东林 文国军 王玉丹 童志伟 吴玲玲 罗耀坤

官东林, 文国军, 王玉丹, 童志伟, 吴玲玲, 罗耀坤. 基于线激光扫描的岩石激光钻孔的三维重建和可视化[J]. 地质科技通报, 2021, 40(3): 173-183. doi: 10.19509/j.cnki.dzkq.2021.0310
引用本文: 官东林, 文国军, 王玉丹, 童志伟, 吴玲玲, 罗耀坤. 基于线激光扫描的岩石激光钻孔的三维重建和可视化[J]. 地质科技通报, 2021, 40(3): 173-183. doi: 10.19509/j.cnki.dzkq.2021.0310
Guan Donglin, Wen Guojun, Wang Yudan, Tong Zhiwei, Wu Lingling, Luo Yaokun. 3D reconstruction and visualization for laser drilling hole on rock based on line laser scanning[J]. Bulletin of Geological Science and Technology, 2021, 40(3): 173-183. doi: 10.19509/j.cnki.dzkq.2021.0310
Citation: Guan Donglin, Wen Guojun, Wang Yudan, Tong Zhiwei, Wu Lingling, Luo Yaokun. 3D reconstruction and visualization for laser drilling hole on rock based on line laser scanning[J]. Bulletin of Geological Science and Technology, 2021, 40(3): 173-183. doi: 10.19509/j.cnki.dzkq.2021.0310

基于线激光扫描的岩石激光钻孔的三维重建和可视化

doi: 10.19509/j.cnki.dzkq.2021.0310
基金项目: 

国家自然科学基金项目 41972325

国家自然科学基金项目 41672155

湖北省自然科学基金杰出青年基金项目 2018CFA092

详细信息
    作者简介:

    官东林(1993-), 男, 现正攻读机械工程专业硕士学位, 主要从事激光钻进、点云处理、三维重建等研究工作。E-mail: guandonglin@cug.edu.cn

    通讯作者:

    文国军(1978-), 男, 教授, 博士生导师, 主要从事激光钻进、智能定向钻进、虚拟现实、煤层气近水平孔钻进等方面的教学与科研工作。E-mail: wenguojun@cug.edu.cn

  • 中图分类号: P631.7

3D reconstruction and visualization for laser drilling hole on rock based on line laser scanning

  • 摘要: 激光钻进岩石形成的钻孔的孔形较为复杂,具有较小的孔直径和较高的孔壁粗糙度,使得利用传统方法进行钻孔尺寸的测量较为困难。为了精确钻孔测量和方便孔形研究,提出了一种基于线激光扫描及逆向建模的钻孔建模方法。首先,搭建了线激光扫描平台,建立了空间坐标系,以获取钻孔的三维坐标,构建了钻孔的初始点云数据。其次,在MATLAB中对获取的点云数据进行无效点移除及多视角点云配准,其中,无效点移除利用顺序查找法实现,多视角点云配准则基于迭代最近点(ICP)算法,包括初始配准和精确配准两个阶段。最后,基于Delaunay三角网格划分及曲面重建算法,实现了钻孔模型的重建和可视化。此外,还采用滴液法和切割法进行实际钻孔容积值测量及钻孔轮廓线获取,并与由点云重建的钻孔模型上获取的测算结果进行对比分析,以验证所述方法建立的钻孔模型的精度。结果表明:重建的钻孔模型与实际钻孔之间的误差小于4%,重建的模型能够满足激光岩石钻进钻孔的测量要求,证实了所述方法的可行性。与传统测量方法相比,所述方法属于非接触、非破坏性方法,可重复性测量。

     

  • 图 1  线激光扫描仪的原理

    Figure 1.  Principle of line laser scanner

    图 2  线激光扫描平台

    Figure 2.  Line laser scanning stage

    图 3  三维坐标系建立及坐标值获取

    Figure 3.  Establishment of the 3D Coordinate system acquisition of the coordinate value

    图 4  无效点移除

    a.岩石激光钻孔;b.包含无效点的点云数据;c.移除无效点后的点云数据

    Figure 4.  Removal of invalid points

    图 5  MATLAB中移除无效点的流程

    Figure 5.  Flowchart of invalid points removal in MATLAB software

    图 6  多视角扫描获得的钻孔点云

    a.贴有辅助标志点的钻孔;b.视角1得到的点云;c.视角2得到的点云

    Figure 6.  Point cloud of the drilling hole from multi-view scanning

    图 7  点云配准的流程

    Figure 7.  Flowchart of point cloud registration

    图 8  点云配准的效果

    Figure 8.  Final registration effect point cloud

    图 9  钻孔点云的Delaunay三角网格划分

    a.钻孔点云及X-Y上的Delaunay三角网格;b.三维钻孔Delaunay三角网格

    Figure 9.  Delaunay triangulation mesh of the point cloud of the drilling hole

    图 10  曲面重建的流程

    Figure 10.  Process of surface reconstruction

    图 11  钻孔模型重建

    a.岩石上的真实钻孔; b.所建立的钻孔模型

    Figure 11.  Implementation examples of model reconstruction of the drilling hole

    图 12  点云数据与模型间的误差分析

    Figure 12.  Deviation analysis between the point cloud data and the reconstructed model

    图 13  钻孔三维可视化界面

    Figure 13.  3D visualization interface of the drilling hole

    图 14  岩石上钻孔容积测量

    a.试验所用的滴定管和食用油;b.充满食用油的钻孔

    Figure 14.  Volume measurement on the rock drilling hole

    图 15  模型上钻孔容积测量

    a.布尔交集运算;b.模型上测得的钻孔的容积

    Figure 15.  Volume measurement of the drilling hole on the model

    图 16  钻孔轮廓线获取

    a.岩样上钻孔的轮廓线;b.钻孔模型上的轮廓线

    Figure 16.  Contour line of the drilling hole

    图 17  10对轮廓线对

    Figure 17.  10 pairs of hole contour lines

    图 18  各轮廓线对在同一坐标系下的拟合结果

    Figure 18.  Contour lines pairs matching results in the same coordinate system

    表  1  钻孔容积测量结果

    Table  1.   Measurement results of the volume of the drilling holes

    孔序号 1# 2# 3# 4# 5# 6#
    VT/mm3 278 160 54 260 180 236
    VM/mm3 287.08 156.63 52.86 264.59 184.47 241.59
    EA/mm3 -9.08 3.37 1.14 -4.59 -4.47 5.59
    ER/% 3.27 2.11 2.16 1.77 2.48 2.37
    下载: 导出CSV

    表  2  轮廓线匹配结果

    Table  2.   Results of contour lines matching

    轮廓线对序号 Fréchet距离值δdF/mm Pearson相关系数ρX, Y
    0.163 0.987
    0.248 0.975
    0.081 0.992
    0.290 0.971
    0.196 0.979
    0.187 0.979
    0.163 0.985
    0.274 0.973
    0.186 0.974
    0.162 0.982
    下载: 导出CSV
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