Tunnel injection volume estimation method based on point cloud data processing

Abstract

The invention provides a tunnel injection volume estimation method based on point cloud data processing, and belongs to the technical field of tunnel engineering. The method comprises the following steps: step 1, carrying out point cloud translation; step 2, designing point cloud preprocessing; step 3, preprocessing the scanning point cloud; step 4, enabling the triangular patches to grow into triangular frustums; and step 5, carrying out square quantity estimation. According to the invention, the point cloud is discretized by triangularizing the set point cloud and growing the triangular patch into the triangular truncated cone; high-accuracy calculation of the total to-be-sprayed square quantity and the local to-be-sprayed square quantity is achieved, environmental perception support isprovided for full-automatic unmanned tunnel guniting operation, and high practical significance is achieved for tunnel engineering machinery automation.

Description

technical field [0001] The invention relates to a tunnel injection square estimation method based on point cloud data processing, and belongs to the technical field of tunnel engineering. Background technique [0002] At present, most of the tunnel spraying support operations are manually controlled by the spraying robot arm. The working environment is extremely harsh, the working conditions are poor, and the process takes a long time, which seriously endangers the health of workers. especially important. In order to realize fully automatic unmanned operation, the acquisition of tunnel status information is one of the most important links. Three-dimensional laser scanning technology has the characteristics of non-contact, high efficiency, high precision and large amount of information, and is suitable for the measurement of tunnel parameters. Huge tunnel point cloud data can be obtained through the application of 3D laser scanning technology. How to efficiently extract the...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to propose a method for estimating the tunnel injection volume based on point cloud data processing, so as to solve the problem that the existing method is only applicable to the type of arch without steel, and cannot meet the requirements of tunnel point cloud data for fully automatic unmanned operation of the tunnel. The high accuracy of the analysis and the ability to calculate the demand for the local injection volume

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