留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

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
  • [1] Xu Z Y, Yamashita Y, Reed C B. Two-dimensional modeling of laser spallation drilling of rocks[C]//ICALEO 2005: 24th International Congress on Laser Materials Processing and Laser Microfabrication, 2005.
    [2] 李璐. 激光辅助钻井破岩机理及可钻性研究[D]. 山东: 中国石油大学, 2015.

    Li L. Mechanism of removing rock by laser and the study on drillability[D]. Shandong: China University of Petroleum, 2015(in Chinese with English abstract).
    [3] Bharatish A, Kumar B K, Rajath R, et al. Investigation of effect of CO2 laser parameters on drilling characteristics of rocks encountered during mining-ScienceDirect[J]. Journal of King Saud University-Engineering Sciences, 2019, 31(4): 395-401. doi: 10.1016/j.jksues.2017.12.003
    [4] Li M Y, Han B, Zhang S Y, et al. Investigation into Laser Perforation of Rock for Petroleum Exploitation[J]. Lasers in Engineering, 2018, 41(1): 73-99.
    [5] Zhang H, Yin S D. Poroelastoplastic borehole modeling by tangent stiffness matrix method[J]. International Journal of Geomechanics, 2020, 20(3): 1-11. http://www.sciencedirect.com/science/article/pii/S2405656120300808
    [6] 张建芳, 范柱国. 基于ArcGIS的钻孔三维可视化展示及地质体的建模过程[J]. 中国水运, 2020, 20(4): 35-36. https://www.cnki.com.cn/Article/CJFDTOTAL-ZSUX202004017.htm

    Zhang J F, Fan Z G. 3D visualization display of borehole and modeling process of geological body based on ArcGIS[J]. China Water Transport, 2020, 20(in Chinese with English abstrac). https://www.cnki.com.cn/Article/CJFDTOTAL-ZSUX202004017.htm
    [7] 李程, 吴志春, 杨羿, 等. 基于GOCAD的钻孔数据建模方法与实例研究[J]. 江西科学, 2019, 37(1): 125-130, 135. https://www.cnki.com.cn/Article/CJFDTOTAL-JSKX201901026.htm

    Li C, Wu Z C, Yang Y, et al. Drilling data modeling method and case study based on GOCAD[J]. Jiangxi Science, 2019, 37(1): 125-130, 135(in Chinese with English abstract). https://www.cnki.com.cn/Article/CJFDTOTAL-JSKX201901026.htm
    [8] 张夏林, 师志龙, 吴冲龙, 等. 基于移动设备的野外地质大数据智能采集和可视化技术[J]. 地质科技通报, 2020, 39(4): 21-28. http://dzkjqb.cug.edu.cn/CN/abstract/abstract9995.shtml

    Zhang X L, Shi Z L, Wu C L. Intelligent data acquisition and visualizati-on technology of field geology based on mobile devices[J]. Bulletin of Geological Science and Technology, 2020, 39(4): 21-28(in Chinese with English abstract). http://dzkjqb.cug.edu.cn/CN/abstract/abstract9995.shtml
    [9] 万剑华, 王朝, 刘善伟, 等. 倾斜摄影测量构建地质数字露头[J]. 地质科技情报, 2019, 38(1): 258-264. https://www.cnki.com.cn/Article/CJFDTOTAL-DZKQ201901029.htm

    Wan J H, Wang C, Liu S W, et al. Reconsting geological digital outcrops with oblique photogrammetry[J]. Geological Science and Technology Information, 2019, 38(1): 258-264(in Chinese with English abstract). https://www.cnki.com.cn/Article/CJFDTOTAL-DZKQ201901029.htm
    [10] Lemon A M, Jones N L. Building solid models from boreholes and user defined cross section[J]. Computers&Geosciences, 2003, 29(5): 547-555. http://www.sciencedirect.com/science/article/pii/S0098300403000517
    [11] 田宜平, 吴冲龙, 翁正平, 等. 地质大数据可视化关键技术探讨[J]. 地质科技通报, 2020, 39(4): 29-36. http://dzkjqb.cug.edu.cn/CN/abstract/abstract9996.shtml

    Tian Y P, Wu C L, Weng Z P. Key technologies of geological big data visualization[J]. Bulletin of Geological Science and Technology, 2020, 39(4): 29-36(in Chinese with English abstract). http://dzkjqb.cug.edu.cn/CN/abstract/abstract9996.shtml
    [12] 迟克浩, 陈梦雯, 吴彦达, 等. 基于双三角测距原理的双线激光三维扫描系统的研制[J]. 物理与工程, 2019, 29(6): 71-76. https://www.cnki.com.cn/Article/CJFDTOTAL-GKWL201906013.htm

    Chi K H, Chen M W, Wu Y D, et al. Development of three-dimensional scanner with double line lasers based on triangle measurement method of distance[J]. Physics and Engineering, 2019, 29(6): 71-76(in Chinese with English abstract). https://www.cnki.com.cn/Article/CJFDTOTAL-GKWL201906013.htm
    [13] Zhao Y H, Supri T B M, Song Y, et al. A new static method of calibration for low-cost laser triangulation systems[J]. Measurement, 2020, 156: 1-9. http://www.sciencedirect.com/science/article/pii/S0263224120301500
    [14] Yao B, Cai Z, Lu J, et al. Novel laser triangulation measurement method for screw rotor profile under multi-factor constraints[J]. Measurement, 2020, 152: 1-14. http://www.sciencedirect.com/science/article/pii/S0263224119311819
    [15] 李现坤, 曾德标, 孟华林, 等. 基于2D激光扫描的基准检测技术研究[J]. 机械制造与自动化, 2020, 49(1): 195-197. https://www.cnki.com.cn/Article/CJFDTOTAL-ZZHD202001053.htm

    Li X K, Zeng D B, Meng H L, et al. Research on benchmark detection technology based on 2D line laser scanning[J]. Machine Building & Automation, 2020, 49(1): 195-197(in Chinese with English abstract). https://www.cnki.com.cn/Article/CJFDTOTAL-ZZHD202001053.htm
    [16] Yao C L, Ying L, Rui S, et al. Multi-view point cloud registration with adaptive convergence threshold and its application in 3D model retrieval[J]. Multimedia Tools and Applications, 2019, 79(1): 793-810. doi: 10.1007/s11042-019-7524-5
    [17] 薛耀红, 赵建平, 蒋振刚, 等. 点云数据配准及曲面细分技术[M]. 北京: 国防工业出版社, 2011.

    Xue Y H, Zhao J P, Jiang Z G, et al. Point cloud data registration and surface subdivision[M]. Beijing: Nation Defense Industry Press, 2011(in Chinese).
    [18] 徐兆阳. 三维重建中的点云配准技术研究[D]. 四川: 电子科技大学, 2020.

    Xu Z Y. Research on point cloud registration in 3D reconstruction[D]. Sichuan: University of electronic science and technology, 2020(in Chinese with English abstract).
    [19] Li P, Wang R S, Wang Y X, et al. Fast method of registration for 3D RGB point cloud with improved four initial point pairs algorithm[J]. Sensors, 2020, 20(1): 1-25. doi: 10.1109/JSEN.2019.2959158
    [20] Perumal L. New approaches for Delaunay triangulation and optimization[J]. Heliyon, 2019, 5(8): 1-18. http://www.sciencedirect.com/science/article/pii/S2405844019359791
    [21] Kim J, Cho J. Delaunay triangulation-based spatial clustering technique for enhanced adjacent boundary detection and segmentation of LiDAR 3D point clouds[J]. Sensors, 2019, 19(18): 1-12. doi: 10.1109/JSEN.2019.2920795
    [22] 孔德武. 点云数据的三角剖分及计算机三维重建[J]. 西南师范大学学报: 自然科学版, 2019, 44(7): 87-92. https://www.cnki.com.cn/Article/CJFDTOTAL-XNZK201907015.htm

    Kong D W. Triangulation and computer three-dimensional reconstruction of point cloud data[J]. Journal of Southwest China Normal University(Natural Science Edition), 2019, 44(7): 87-92(in Chinese with English abstract). https://www.cnki.com.cn/Article/CJFDTOTAL-XNZK201907015.htm
    [23] 张蓓蓓, 李国清, 冯梅, 等. 基于Delaunay三角剖分的多尺度POI提取技术研究与实现[J]. 测绘与空间地理信息, 2018, 41(6): 119-121, 125. doi: 10.3969/j.issn.1672-5867.2018.06.035

    Zhang B B, Li G Q, Feng M. Extraction technology research and implementation of multi-scale POI based on Delaunay triangulation[J]. Geomatics & Spatial Information Technology, 2018, 41(6): 119-121, 125(in Chinese with English abstract). doi: 10.3969/j.issn.1672-5867.2018.06.035
    [24] 成思源, 杨雪荣. Geomagic studio逆向建模技术及应用[M]. 北京: 清华大学出版社, 2016.

    Cheng S Y, Yang X R. Reverse modeling technology and application of Geomagic studio[M]. Beijing: Tsinghua University Press, 2016(in Chinese).
    [25] Bringmann K, Künnemann M, Nusser A. Walking the dog fast in practice: Algorithm engineering of the Fréchet distance[J]. ArXiv, 2019, 17(1): 1-34. http://arxiv.org/abs/1901.01504
    [26] Wylie T R, Zhu B H. Intermittent map matching with the discrete fréchet distance[J]. ArXiv, 2014, 1409(2456): 1-11. http://arxiv.org/abs/1409.2456
    [27] Wylie T R. The discrete Fréchet distance and applications[D]. Bozeman Montana USA: Bozeman Montena State University, 2013.
    [28] 朱洁, 黄樟灿, 彭晓琳. 基于离散Fréchet距离的判别曲线相似性的算法[J]. 武汉大学学报: 理学版, 2009, 55(2): 227-232. doi: 10.3321/j.issn:1671-8836.2009.02.020

    Zhu J, Huang Z C, Peng X L. Curve similarity judgment based on the discrete fréchet distance[J]. Journal of Wuhan University (Natural Science Edition), 2009, 55(2)(in Chinese with English abstract). doi: 10.3321/j.issn:1671-8836.2009.02.020
    [29] Mu Y S, Liu X D, Wang L D. A Pearson's correlation coefficient-based decision tree and its parallel implementation[J]. Information Sciences, 2017, 435: 40-58. http://smartsearch.nstl.gov.cn/paper_detail.html?id=afb17e37ca1fae5c9927ae93a6d209f8
  • 加载中
图(18) / 表(2)
计量
  • 文章访问数:  98
  • HTML全文浏览量:  23
  • PDF下载量:  604
  • 被引次数: 0
出版历程
  • 收稿日期:  2020-08-10

目录

    /

    返回文章
    返回