Method for projecting tunnel excavation contour through multi-beam visible laser

Abstract

The invention belongs to the technical field of tunnel excavation, and particularly relates to a method for projecting a tunnel excavation contour through multi-beam visible laser. Comprises: S1, establishing a tunnel line model; s2, establishing a two-dimensional rectangular coordinate system on the excavation section of the tunnel; s3, arranging more than three target positioning points on the excavation section of the tunnel, and installing reflecting lenses on the target positioning points; s4, converting the space coordinates of the target positioning point obtained in the step S3 under the construction engineering coordinate system into a two-dimensional rectangular coordinate system; s5, converting the two-dimensional rectangular coordinates of each point of the theoretical tunnel contour model into three-dimensional space coordinates; s6, erecting a laser projection device; s7, calculating the horizontal angle and the vertical angle obtained in the step S5 by the laser projection device, and controlling a motor to quickly adjust the angles of the reflecting lenses of the X axis and the Y axis respectively; s8, adjusting the angles of the reflecting lenses of the X axis and the Y axis of the related positioning point; and S9, averaging the mileage of the target positioning point of each total station obtained in the step S4, and taking the averaged mileage as the mileage of the current excavation face to carry out informatization management.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel excavation, and in particular is a method for projecting tunnel excavation contours with multi-beam visible lasers. Background Art

[0002] Excavation is a key process in tunnel construction. The accuracy of excavation contour control has a great impact on safety, quality and construction costs. When over-excavation occurs, not only will the project cost increase due to the increase in slag discharge and lining volume, but also stress concentration will occur due to local over-excavation, affecting the stability of the surrounding rock. Under-excavation directly affects the lining thickness, which is time-consuming and labor-intensive to handle. When the flatness of the primary support contour is insufficient, it will affect the loose fit between the waterproof board and the primary support surface, causing quality problems such as lining voids. It is also one of the important conditions to ensure the tunnel line shape, uniform structural force and long-lasting and effective waterproofing during operation.

[0003] Traditional excavation face contour lofting usually adopts total station single-point lofting, measuring the three-dimensional coordinates of a point near the excavation contour line of the face, inversely deriving the mileage offset and the designed height difference through the coordinates, calculating the difference between the theoretical offset and the actual offset, and determining the theoretical contour point after repeated adjustment and measurement. The excavation contour line is formed by connecting the contour points at a certain interval, and the number of each blasthole is determined according to the relative position. In the contour of a large-section tunnel, there may be nearly 200 peripheral holes, groove holes, bottom plate holes, auxiliary holes, etc. The traditional lofting method can guarantee the single-point accuracy. If each blasthole is released one by one, the operating efficiency cannot be guaranteed. If only a few feature points are lofted, and the remaining blastholes are determined according to the relative position of the feature points, the blasthole accuracy cannot be guaranteed. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a method for projecting tunnel excavation contours using multiple beams of visible lasers.

[0005] The present invention adopts the following technical solution: a method for projecting tunnel excavation contours using multi-beam visible lasers, comprising: S1: Establish a tunnel line model, which includes a tunnel plane line theoretical model, a tunnel longitudinal line theoretical model and a tunnel broken chain theoretical model; S2: Establish a two-dimensional rectangular coordinate system in the tunnel excavation section, with the design elevation reference line as the X-axis and the reference line perpendicular to the X-axis through the tunnel centerline as the Y-axis, and establish a theoretical contour model of the tunnel under the two-dimensional rectangular coordinate system; S3: Use a total station to set up more than three target positioning points on the tunnel excavation section, and install reflective lenses on the target positioning points; S4: converting the spatial coordinates of the target positioning points obtained in step S3 in the construction engineering coordinate system into a two-dimensional rectangular coordinate system, and obtaining the mileage and offset of each target positioning point; S5: convert the two-dimensional rectangular coordinates of each point of the tunnel theoretical contour model into three-dimensional space coordinates; S6: Setting up a laser projection device, using an industrial area array camera on the laser projection device to identify the target positioning point determined in step S4, and determining the three-dimensional spatial coordinates and direction of the laser projection device in the engineering construction coordinate system, and the reflective lens reflects the reflected light back to the original direction, thereby generating a high-contrast sign image in the laser projection device; S7: Based on the theoretical tunnel contour model obtained in step S5 and step S6 and the three-dimensional spatial coordinates of the laser projection device, the horizontal and vertical angles of the laser projection device obtained in step S5 are calculated, and the motor is controlled to quickly adjust the angles of the reflective lenses of the X-axis and Y-axis respectively, so as to realize the rapid scanning and projection of the laser beam after lens collimation and color modulation on the tunnel working surface; S8: Due to the contour position deviation caused by the mileage difference of individual excavation faces not covered by the total station target positioning points, the reflective lens angles of the X-axis and Y-axis of the relevant positioning points are adjusted to achieve individual laser beam calibration; S9: The mileage of each total station target positioning point obtained in step S4 is averaged and used as the current excavation face mileage for information management to complete the laser projection positioning work at that time.

[0006] In some embodiments, in step S1, the tunnel line model includes a tunnel plane linear theoretical model, a tunnel longitudinal linear theoretical model and a tunnel broken link theoretical model.

[0007] In some embodiments, in step S3, the principle of selecting the target positioning point is: 1) The target positioning points should cover the entire working surface; 2) Due to the unevenness caused by blasting on the excavation working face, there will be differences in the front and rear mileages of different positions on the entire working face. The target positioning points must cover the front and rear positions.

[0008] In some embodiments, step S4 includes: S41: The spatial coordinates of the target positioning point of field data collection in the construction engineering coordinate system; S42: A complete standard curve includes five curve units: the front straight line, the front transition curve, the circular curve, the rear transition curve and the straight line. Determine on which curve unit the point to be found is located; S43: Determine the mileage and offset of the point to be found according to which curve unit the point to be found is on.

[0009] In some embodiments, step S42 includes: When , the point to be found is located on the straight line in the front section; and When , the point to be found is located on the front transition curve; and When , the point to be found is located on the circular curve; and When , the point to be found is located on the rear transition curve; , the point to be found is located on the rear end straight line; in, , , , , , ; , is the construction coordinate of the straight and slow point, T is the tangent length, is the tangent azimuth, R is the curve radius, p is the circular curve inward displacement, f is the curve direction, right turn is +1, left turn is -1, , The construction coordinates of the point to be found.

[0010] In some embodiments, step S43 includes: When the point to be found is located on the front and rear straight lines: in, , L 待 : Mileage of the point to be found; P 待 : offset of the point to be determined; L ZH : straight mileage; D ZH~待 : the distance from the point to be found; A ZH~待 : The azimuth from the point to be found; A 切 : Azimuth of the tangent line at the straight and slow point; X 待 : X coordinate of the point to be found; Y 待 : Y coordinate of the point to be found; X ZH : X coordinate of the vertical point, Y ZH : Y coordinate of the vertical point; When the point to be found is located on the front transition curve and the rear transition curve: 1) Calculate the construction coordinates of the first simulation point; : X coordinate of the first simulation point; DZH~待 : The chord distance from the point to be determined to the transition point: C: The curve radius multiplied by the transition curve length; : Y coordinate of the first simulation point; D ZH~待 : The chord distance from the point to be found to the straight and slow point; 2) Calculate the chord tangent angle of the first simulation point; : The chord tangent angle of the first simulation point; 3) Calculate the calculation error of the tangent direction of the first simulation point relative to the point to be calculated; f: Curve direction, a1 and b1 are the errors in two mutually perpendicular directions from the simulation point to the point to be calculated; 4) Compare a1 with Add and calculate the coordinates of the second simulation point as well as a2 and b2. When a2 meets the accuracy requirements, a2+ That is, the mileage of the point to be calculated, b2 is the offset, which is negative on the left and positive on the right; if the value of a2 does not meet the accuracy requirement, repeat step 4) until the accuracy is met; When the point to be found is located in a circular curve unit: L HY : Slow dot mileage; A O~待 : Azimuth from the center of the circle to the point to be found; A O~HY : azimuth from the center of the circle to the slow point; Π: pi; R: radius of the circular curve.

[0011] In some embodiments, step S5 includes: S51: judging whether the point to be found belongs to a straight line segment, a transition curve segment or a circular curve segment according to the mileage of the two-dimensional section, and calculating the coordinates according to the different curve units; If it is a straight line segment: X 中 : The X value of the pile in the line corresponding to the point to be found; Y 中 : Y value of the pile in the line corresponding to the point to be found; X ZH : X value of the vertical point; Y ZH : Y value of the vertical point; L ZH : Straight-through mileage; L 待 : Mileage of the point to be found; A 切 : Azimuth of the tangent line of the straight and slow points; If it is a transition curve: X 中 : The X value of the pile in the line corresponding to the point to be found; Y 中 : Y value of the pile in the line corresponding to the point to be found; X ZH : X value of the vertical point; Y ZH : Y value of the vertical point; L ZH : Straight-through mileage; L 待 : Mileage of the point to be determined: C: curve radius multiplied by the length of the transition curve; A 切 : Azimuth of the tangent line of the pile in the line corresponding to the point to be found; ZH : Direction of tangent line at the straight and slow point; If it is a circular curve segment: X 中 : The X value of the pile in the line corresponding to the point to be found; Y 中 : Y value of the pile in the line corresponding to the point to be found; X HY :X value of the slow point;Y HY : Y value of the transition point; ai: center angle; A-tangent: azimuth of the tangent line of the pile point in the line; α1: chord tangent angle of the pile point in the line; β: inclination of the transition curve; p: offset value of the transition curve; m: extension value of the transition curve; S52: Use the offset of the two-dimensional rectangular coordinate system to transform the plane coordinates of the construction coordinate system of the point: X 施 : Construction coordinate system X value; Y 施 : Y value of construction coordinate system; x: offset; X 中 : X value of the center pile; Y 中 : Y value of the middle pile; A 切 : azimuth of the tangent line of the middle pile; S53: Use the height difference of the two-dimensional rectangular coordinate system to convert the construction coordinate system elevation of the point to be determined: Hshi: elevation of the point to be determined; Hqi: starting elevation of the slope change point; α: slope; L 待 : Mileage of the point to be found; L 起 : Mileage of slope change point; y: Vertical curve correction value.

[0012] In some embodiments, step S6 includes: The three-dimensional space coordinates of the laser projection device in the engineering construction coordinate system are: Among them, x pis the x-axis coordinate of the laser projection device in the engineering construction coordinate system, y p is the y-axis coordinate of the laser projection device in the engineering construction coordinate system, is the approximate x-axis coordinate of the laser projection device in the engineering construction coordinate system, is the approximate y-axis coordinate of the laser projection device in the engineering construction coordinate system, , Approximate coordinates of unknown points , number of corrections; In the formula, is the azimuth of the PB edge, is the azimuth of the PB edge, , (x i 0 ,y i 0 ) is the observation coordinate of the target positioning point in the two-dimensional rectangular coordinate system, (x i ,y i ) is the original known coordinate of the target positioning point in the two-dimensional rectangular coordinate system).

[0013] In some embodiments, step S7 includes: S71: Calculate the distance from the point to be projected to the instrument: S72: The reflective lens angle of the X-axis is calculated as follows: S73: The reflective lens angle of the Y axis is calculated as follows: D 施 : The distance from the projection point to the instrument; x 施 : x value of the point to be projected; y 施 : y value of the point to be projected; x 仪 : instrument point x value; y 仪 : y value of instrument point; A 水平 : X-axis reflection lens angle; A 竖直 : The angle of the reflective lens on the Y axis; H 施 : elevation of the point to be determined; H 仪 : Instrument elevation.

[0014] In some embodiments, the adjustment angle of the reflective lens is calculated in step S8 by the following formula: , is the projection angle before correction, is the distance from the instrument to the projection point, x: the x value that needs to be corrected; y: the y value that needs to be corrected.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention uses a laser projection device to project onto the tunnel cross section, and at the same time simulates and calculates the angles of the reflective lenses of the X-axis and Y-axis, so as to realize the rapid scanning and projection of the laser beam after lens collimation and color modulation on the tunnel working surface. This method can accurately and quickly project the points to be laid out onto the tunnel cross section, thereby solving the problem of low efficiency of the traditional laying out method. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the process of the present invention; Figure 2 It is a schematic diagram of the standard curve; Figure 3 It is a schematic diagram of the derivation of the HY front curve unit; Figure 4 It is a schematic diagram for the derivation of the transition curve unit; Figure 5 It is a schematic diagram for the derivation of the circular curve unit; Figure 6 Schematic diagram of coordinate calculation for laser galvanometer device. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] like Figure 1 As shown, a method for projecting a tunnel excavation profile using a multi-beam visible laser comprises: S1: Establish a tunnel line model, which includes a tunnel plane line theoretical model, a tunnel longitudinal line theoretical model and a tunnel broken chain theoretical model; S2: Establish a two-dimensional rectangular coordinate system in the tunnel excavation section, with the design elevation reference line as the X-axis and the reference line perpendicular to the X-axis through the tunnel centerline as the Y-axis, and establish a theoretical contour model of the tunnel under the two-dimensional rectangular coordinate system; S3: Use a total station to set up more than three target positioning points on the tunnel excavation section, and install reflective lenses on the target positioning points; S4: converting the spatial coordinates of the target positioning points obtained in step S3 in the construction engineering coordinate system into a two-dimensional rectangular coordinate system, and obtaining the mileage and offset of each target positioning point; S5: convert the two-dimensional rectangular coordinates of each point of the tunnel theoretical contour model into three-dimensional space coordinates; S6: Setting up a laser projection device, using an industrial area array camera on the laser projection device to identify the target positioning point determined in step S4, and determining the three-dimensional spatial coordinates and direction of the laser projection device in the engineering construction coordinate system, and the reflective lens reflects the reflected light back to the original direction, thereby generating a high-contrast sign image in the laser projection device; S7: Based on the theoretical tunnel contour model obtained in step S5 and step S6 and the three-dimensional spatial coordinates of the laser projection device, the horizontal and vertical angles of the laser projection device obtained in step S5 are calculated, and the motor is controlled to quickly adjust the angles of the reflective lenses of the X-axis and Y-axis respectively, so as to realize the rapid scanning and projection of the laser beam after lens collimation and color modulation on the tunnel working surface; S8: Due to the contour position deviation caused by the mileage difference of individual excavation faces not covered by the total station target positioning points, the reflective lens angles of the X-axis and Y-axis of the relevant positioning points are adjusted to achieve individual laser beam calibration; S9: The mileage of each total station target positioning point obtained in step S4 is averaged and used as the current excavation face mileage for information management to complete the laser projection positioning work at that time.

[0019] Specifically, in step S1: First, enter the starting mileage and coordinates in the "Tunnel Laser Projection Database Management Software V1.0", and then enter the azimuth, length, curve radius and other elements of different line elements such as straight lines, transition curves, circular curves, etc. in turn to complete the establishment of the tunnel plane benchmark model.

[0020] Based on the design data and the 1985 National Elevation Datum, the vertical reference line of the tunnel line is digitally modeled. The starting mileage and elevation are entered in the Tunnel Laser Projection Database Management Software V1.0, and then the mileage of the slope change point, the elevation of the slope change point, the vertical curve radius and other parameters are entered in turn to complete the establishment of the tunnel vertical reference model.

[0021] When there is a broken link in the line design, the broken link digital model is established through the "Tunnel Laser Projection Database Management Software V1.0". The mileage before and after each long or short link is entered in sequence to complete the establishment of the broken link model.

[0022] Specifically, in step S2: A two-dimensional rectangular coordinate system is established in the tunnel excavation section, with the design elevation reference line as the X-axis and the reference line perpendicular to the X-axis through the tunnel centerline as the Y-axis. Using the "Tunnel Excavation Contour Modeling Software V1.0", a tunnel theoretical contour model is established in the two-dimensional rectangular coordinate system of the excavation section according to the theoretical excavation contour of the tunnel. Determine the offset value between the line plane and elevation reference and the theoretical contour model, input the coordinates, radius, angle and other parameters of the circle, line, arc and other elements in turn, determine the color attributes required for each cross-section element, complete the digital modeling of the theoretical excavation contour of the tunnel, and realize the batch extraction of coordinates and color attributes of any point in the theoretical contour.

[0023] Specifically, in step S3: Use a total station to lay out more than three target positioning points on the tunnel excavation section, covering the entire projection range, taking into account the different mileage differences of the tunnel excavation surface, and laying them out in a three-dimensional space at different heights, while measuring and recording their three-dimensional spatial coordinates in the engineering construction coordinate system. The target positioning point selects a reflective lens with a retroreflective function, which is composed of microcrystalline cubic corners and can reflect the reflected light back to the original direction, generating a high-contrast mark image in the laser projection device, and achieving fast, accurate and reliable positioning.

[0024] The principles for selecting target positioning points are: 1) The target positioning points should cover the entire working surface; 2) Due to the unevenness caused by blasting on the excavation working face, there will be differences in the front and rear mileages of different positions on the entire working face. The target positioning points must cover the front and rear positions.

[0025] Specifically, step S4 includes: S41: The spatial coordinates of the target positioning point of field data collection in the construction project coordinate system.

[0026] S42: A complete standard curve includes five curve units: the front straight line, the front transition curve, the circular curve, the rear transition curve and the straight line. Determine which curve unit the point to be found is on; the calculation method and formula used in each curve unit are different. Therefore, in the early stage of derivation, it is necessary to first determine the curve unit where the point to be found is located before proceeding to the next step of derivation.

[0027] Step S42 includes: like Figure 2 As shown, for the convenience of calculation, first establish an assumed coordinate system with O as the origin and O~JD as the X axis. In the assumed coordinate system, the azimuths of O~HY and O~YH are derived according to the azimuths of ZH~JD and the steering angle. According to the azimuth of the point to be found, it can be judged whether the point to be found is before HY, between HY and YH, or after YH, and then the next step of deduction is carried out according to the corresponding calculation method.

[0028] The coordinates of the intersection point are calculated as follows: The coordinates of the center of the circle are calculated as follows: The azimuth from the center of the circle to the intersection point is calculated as follows: The azimuth from the center of the circle to the straight point is calculated as follows: The azimuth from the center of the circle to the slow circle point is calculated as follows: The azimuth from the center of the circle to the slow point of the circle is calculated as follows: The azimuth from the center of the circle to the straight point is calculated as follows: The azimuth from the center of the circle to the point to be found is calculated as follows: The position of the point to be found is calculated according to the following formula: When , the point to be found is located on the straight line in the front segment; and When , the point to be found is located on the front transition curve; and When , the point to be found is located on the circular curve; and When , the point to be found is located on the rear transition curve; , the point to be found is located on the rear end straight line; in, , , , , , ; , is the construction coordinate of the straight and slow point, T is the tangent length, is the tangent azimuth, R is the curve radius, p is the circular curve inward displacement, f is the curve direction, right turn is +1, left turn is -1, , The construction coordinates of the point to be found.

[0029] S43: Determine the mileage and offset of the point to be found according to which curve unit the point to be found is on.

[0030] Step S43 includes: like Figure 3 As shown, first, take ZH as the coordinate origin and ZH~JD as the X axis to perform coordinate translation and rotation on the point X to be determined, and then determine the distance a from X along the tangent direction to ZH and the perpendicular distance b from the tangent. If a is a negative value, it means that X is located in the linear unit, a is the mileage difference between X and ZH, and b is the offset difference between X and ZH. The mileage offset of X can be determined by direct calculation.

[0031] When the point to be found is located on the front and rear straight lines: in, , L 待 : Mileage of the point to be found; P 待 : offset of the point to be determined; L ZH : straight mileage; D ZH~待 : the distance from the point to be found; A ZH~待 : The azimuth from the point to be found; A 切 : Azimuth of the tangent line at the straight and slow point; X 待 : X coordinate of the point to be found; Y 待 : Y coordinate of the point to be found; X ZH : X coordinate of the vertical point, Y ZH : Y coordinate of the vertical point; like Figure 4 As shown, first, the a value calculated after X is rotated and translated is assumed to be the mileage difference between X and ZH, and the center stake coordinates of the first simulation point X1 are calculated. With X1 as the coordinate origin and the tangent advancing direction as the X axis, the point X to be calculated is rotated and translated again, and a1 and b1 are calculated. a1 is the approximate mileage difference between the simulation point and the point to be calculated. The size of a1 can be used to determine whether the mileage accuracy meets the tolerance requirements (the tolerance can be determined by the layout accuracy requirements). If it cannot be met, the sum of a and a1 is assumed to be the mileage difference between the second simulation point X2 and ZH and the center stake coordinates of X2 are calculated. The a2 calculated from X2 is used to determine whether the mileage accuracy meets the limit again. This cycle is repeated until the accuracy requirements required for layout are met. At this point, the sum of ∑ai and ZH mileage is the mileage of the point to be calculated, and bi is the offset.

[0032] When the point to be found is located on the front transition curve and the rear transition curve: 1) Calculate the construction coordinates of the first simulation point; : X coordinate of the first simulation point; D ZH~待 : The chord distance from the point to be determined to the transition point: C: The curve radius multiplied by the transition curve length; : Y coordinate of the first simulation point; D ZH~待 : The chord distance from the point to be found to the straight and slow point; 2) Calculate the chord tangent angle of the first simulation point; : The chord tangent angle of the first simulation point; 3) Calculate the calculation error of the tangent direction of the first simulation point relative to the point to be calculated; f: Curve direction, a1 and b1 are the errors in two mutually perpendicular directions from the simulation point to the point to be calculated; 4) Compare a1 with Add and calculate the coordinates of the second simulation point as well as a2 and b2. When a2 meets the accuracy requirements, a2+ That is the mileage of the point to be calculated, b2 is the offset, negative on the left and positive on the right; if the value of a2 does not meet the accuracy requirement, loop step 4) until the accuracy is met.

[0033] like Figure 5 As shown, the circle center coordinate system is still used. The corresponding arc length a is calculated according to the angle α between the point X and HY. The mileage of X can be derived from a and the mileage of HY. The offset of X can be calculated through the relationship between the distance from the center o to the point x and the radius R.

[0034] When the point to be found is located in a circular curve unit: L HY : Slow dot mileage; A O~待 : Azimuth from the center of the circle to the point to be found; A O~HY : azimuth from the center of the circle to the slow point; Π: pi; R: radius of the circular curve.

[0035] Specifically, step S5 includes: S51: judging whether the point to be found belongs to a straight line segment, a transition curve segment or a circular curve segment according to the mileage of the two-dimensional section, and calculating the coordinates according to the different curve units; If it is a straight line segment: X 中 : The X value of the pile in the line corresponding to the point to be found; Y中 : Y value of the pile in the line corresponding to the point to be found; X ZH : X value of the vertical point; Y ZH : Y value of the vertical point; L ZH : Straight-through mileage; L 待 : Mileage of the point to be found; A 切 : Azimuth of the tangent line of the straight and slow points; If it is a transition curve: X 中 : The X value of the pile in the line corresponding to the point to be found; Y 中 : Y value of the pile in the line corresponding to the point to be found; X ZH : X value of the vertical point; Y ZH : Y value of the vertical point; L ZH : Straight-through mileage; L 待 : Mileage of the point to be determined: C: curve radius multiplied by the length of the transition curve; A 切 : Azimuth of the tangent line of the pile in the line corresponding to the point to be found; ZH : Direction of tangent line at the straight and slow point; If it is a circular curve segment: X 中 : The X value of the pile in the line corresponding to the point to be found; Y 中 : Y value of the pile in the line corresponding to the point to be found; X HY :X value of the slow point;Y HY : Y value of the transition point; ai: center angle; A-tangent: azimuth of the tangent line of the pile point in the line; α1: chord tangent angle of the pile point in the line; β: inclination of the transition curve; p: offset value of the transition curve; m: extension value of the transition curve; S52: Use the offset of the two-dimensional rectangular coordinate system to transform the plane coordinates of the construction coordinate system of the point: X 施 : Construction coordinate system X value; Y 施 : Y value of construction coordinate system; x: offset; X 中 : X value of the center pile; Y 中 : Y value of the middle pile; A 切 : azimuth of the tangent line of the middle pile; S53: Use the height difference of the two-dimensional rectangular coordinate system to convert the construction coordinate system elevation of the point to be determined: Hshi: elevation of the point to be determined; Hqi: starting elevation of the slope change point; α: slope; L 待 : Mileage of the point to be found; L 起 : Mileage of slope change point; y: Vertical curve correction value.

[0036] Specifically, the laser galvanometer device is composed of an X, Y optical scanning head, an electronic drive amplifier, and an optical reflective lens. The set tunnel contour and blasthole position graphics are encoded in digital signals (row and field directions) under the management and control of the computer, and then the digital-to-analog D / A conversion and analog-to-digital A / D conversion are performed, and then amplified by the isolation power amplifier, and the motor of the laser scanning galvanometer is controlled to drive the X-axis reflector and the Y-axis reflector. The two reflective lenses can scan along the XY axis respectively, thereby achieving the deflection of the laser beam and reflecting the incident laser beam to a specific area. The scanning pattern is a two-dimensional effect pattern, so the scanning motor is controlled by two X and Y motors. The position of a point is determined at one moment, and the position of different points at different times is controlled by the scanning frequency to achieve the transformation of the entire scanning pattern. The lower the scanning frequency (speed), the more obvious the pattern flickering.

[0037] The step S6 comprises: The correction equations of the intersection points and their weights are: In the formula is the azimuth of each side, is the side length, , Approximate coordinates of unknown points , number of corrections, ,and , the observed coordinates of the known points , The displacement value of the known point is inconsistent with the original known coordinate value, because the observed coordinates of each known point , is through and the approximate coordinates of the unknown points, so .

[0038] like Figure 6 As shown, point P is the position of the laser galvanometer device, and points A, B, and C are three target positioning points.

[0039] According to the indirect adjustment principle, according to the formula: The scalar form is: The composition equation, where B, P, e, and X are: The calculation formula for the adjustment of the intersection point of the same measurement of corners is derived: Right now The formula for the composition is: but The final coordinates of the laser galvanometer device are: .

[0040] Specifically, step S7 includes: S71: Calculate the distance from the point to be projected to the instrument: S72: The reflective lens angle of the X-axis is calculated as follows: S73: The reflective lens angle of the Y axis is calculated as follows: D 施 : The distance from the projection point to the instrument; x 施 : x value of the point to be projected; y 施 : y value of the point to be projected; x 仪 : instrument point x value; y 仪 : y value of instrument point; A 水平 : X-axis reflection lens angle; A 竖直 : The angle of the reflective lens on the Y axis; H 施 : elevation of the point to be determined; H 仪 : Instrument elevation.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for projecting tunnel excavation contours using multi-beam visible lasers, characterized in that: include: S1: Establish tunnel line model; S2: Establish a two-dimensional rectangular coordinate system in the tunnel excavation section, with the design elevation reference line as the X-axis and the reference line perpendicular to the X-axis through the tunnel centerline as the Y-axis, and establish a theoretical contour model of the tunnel under the two-dimensional rectangular coordinate system; S3: Use a total station to set up more than three target positioning points on the tunnel excavation section, and install reflective lenses on the target positioning points; S4: converting the spatial coordinates of the target positioning points obtained in step S3 in the construction engineering coordinate system into a two-dimensional rectangular coordinate system, and obtaining the mileage and offset of each target positioning point; S5: convert the two-dimensional rectangular coordinates of each point of the tunnel theoretical contour model into three-dimensional space coordinates; S6: Setting up a laser projection device, using an industrial area array camera on the laser projection device to identify the target positioning point determined in step S4, and determining the three-dimensional spatial coordinates and direction of the laser projection device in the engineering construction coordinate system, and the reflective lens reflects the reflected light back to the original direction, thereby generating a high-contrast sign image in the laser projection device; S7: Based on the theoretical tunnel contour model obtained in step S5 and step S6 and the three-dimensional spatial coordinates of the laser projection device, the horizontal and vertical angles of the laser projection device obtained in step S5 are calculated, and the motor is controlled to quickly adjust the angles of the reflective lenses of the X-axis and Y-axis respectively, so as to realize the rapid scanning and projection of the laser beam after lens collimation and color modulation on the tunnel working surface; S8: Due to the contour position deviation caused by the mileage difference of individual excavation faces not covered by the total station target positioning points, the reflective lens angles of the X-axis and Y-axis of the relevant positioning points are adjusted to achieve individual laser beam calibration; S9: The mileage of each total station target positioning point obtained in step S4 is averaged and used as the current excavation face mileage for information management to complete the laser projection positioning work at that time.

2. The method for projecting tunnel excavation contours using a visible light beam laser according to claim 1, characterized in that: In the step S1, the tunnel line model includes a tunnel plane linear theoretical model, a tunnel longitudinal linear theoretical model and a tunnel broken link theoretical model.

3. The method for projecting tunnel excavation contour using visible laser beam according to claim 1, characterized in that: In step S3, the principle of selecting the target positioning point is: 1) The target positioning points should cover the entire working surface; 2) Due to the unevenness caused by blasting on the excavation working face, there will be differences in the front and rear mileages of different positions on the entire working face. The target positioning points must cover the front and rear positions.

4. The method for projecting tunnel excavation contours using a visible light beam laser according to claim 1, characterized in that: The step S4 comprises: S41: The spatial coordinates of the target positioning point of field data collection in the construction engineering coordinate system; S42: A complete standard curve includes five curve units: the front straight line, the front transition curve, the circular curve, the rear transition curve and the straight line. Determine on which curve unit the point to be found is located; S43: Determine the mileage and offset of the point to be found according to which curve unit the point to be found is on.

5. The method for projecting tunnel excavation contours using a visible laser beam according to claim 4, characterized in that: The step S42 comprises: When , the point to be found is located on the straight line in the front section; and When , the point to be found is located on the front transition curve; and When , the point to be found is located on the circular curve; and When , the point to be found is located on the rear transition curve; , the point to be found is located on the rear end straight line; in, , , , , , ; , is the construction coordinate of the straight and slow point, T is the tangent length, is the tangent azimuth, R is the curve radius, p is the circular curve inward displacement, f is the curve direction, right turn is +1, left turn is -1, , The construction coordinates of the point to be found.

6. The method for projecting tunnel excavation contours using a visible light beam laser according to claim 5, characterized in that: The step S43 comprises: When the point to be found is located on the front and rear straight lines: in, , L 待 : Mileage of the point to be found; P 待 : offset of the point to be determined; L ZH : straight mileage; D ZH~待 : the distance from the point to be found; A ZH~待 : Direction to the point to be found; A 切 : Azimuth of the tangent line at the straight and slow point; X 待 : X coordinate of the point to be found; Y 待 : Y coordinate of the point to be found; X ZH : X coordinate of the vertical point, Y ZH : Y coordinate of the vertical point; When the point to be found is located on the front transition curve and the rear transition curve: 1) Calculate the construction coordinates of the first simulation point; : X coordinate of the first simulation point; D ZH~待 : The chord distance from the point to be determined to the transition point: C: The curve radius multiplied by the transition curve length; : Y coordinate of the first simulation point; D ZH~待 : The chord distance from the point to be found to the straight and slow point; 2) Calculate the chord tangent angle of the first simulation point; : The chord tangent angle of the first simulation point; 3) Calculate the calculation error of the tangent direction of the first simulation point relative to the point to be calculated; f: Curve direction, a1 and b1 are the errors in two mutually perpendicular directions from the simulation point to the point to be calculated; 4) Compare a1 with Add and calculate the coordinates of the second simulation point as well as a2 and b2. When a2 meets the accuracy requirements, a2+ That is, the mileage of the point to be calculated, b2 is the offset, which is negative on the left and positive on the right; if the value of a2 does not meet the accuracy requirement, repeat step 4) until the accuracy is met; When the point to be found is located in a circular curve unit: L HY : Slow dot mileage; A O~待 : Azimuth from the center of the circle to the point to be found; A O~HY : azimuth from the center of the circle to the slow point; Π: pi; R: radius of the circular curve.

7. The method of projecting tunnel excavation contours using a visible light beam laser according to claim 1, characterized in that: The step S5 comprises: S51: judging whether the point to be found belongs to a straight line segment, a transition curve segment or a circular curve segment according to the mileage of the two-dimensional section, and calculating the coordinates according to the different curve units; If it is a straight line segment: X 中 : The X value of the pile in the line corresponding to the point to be found; Y 中 : Y value of the pile in the line corresponding to the point to be found; X ZH : X value of the vertical point; Y ZH : Y value of the vertical point; L ZH : Straight-through mileage; L 待 : Mileage of the point to be found; A 切 : Azimuth of the tangent line of the straight and slow points; If it is a transition curve: X 中 : The X value of the pile in the line corresponding to the point to be found; Y 中 : Y value of the pile in the line corresponding to the point to be found; X ZH : X value of the vertical point; Y ZH : Y value of the vertical point; L ZH : Straight-through mileage; L 待 : Mileage of the point to be determined: C: curve radius multiplied by the length of the transition curve; A 切 : Azimuth of the tangent line of the pile in the line corresponding to the point to be found; ZH : Direction of tangent line at the straight and slow point; If it is a circular curve segment: X 中 : The X value of the pile in the line corresponding to the point to be found; Y 中 : Y value of the pile in the line corresponding to the point to be found; X HY :X value of the slow point;Y HY : Y value of the transition point; ai: center angle; A-tangent: azimuth of the tangent line of the pile point in the line; α1: chord tangent angle of the pile point in the line; β: inclination of the transition curve; p: offset value of the transition curve; m: extension value of the transition curve; S52: Use the offset of the two-dimensional rectangular coordinate system to transform the plane coordinates of the construction coordinate system of the point: X 施 : Construction coordinate system X value; Y 施 : Y value of construction coordinate system; x: offset; X 中 : X value of the center pile; Y 中 : Y value of the middle pile; A 切 : azimuth of the tangent line of the middle pile; S53: Use the height difference of the two-dimensional rectangular coordinate system to convert the construction coordinate system elevation of the point to be determined: Hshi: elevation of the point to be determined; Hqi: starting elevation of the slope change point; α: slope; L 待 : Mileage of the point to be found; L 起 : Mileage of slope change point; y: Vertical curve correction value.

8. The method of projecting tunnel excavation contours using a visible laser beam according to claim 1, characterized in that: The step S6 comprises: The three-dimensional space coordinates of the laser projection device in the engineering construction coordinate system are: Among them, x p is the x-axis coordinate of the laser projection device in the engineering construction coordinate system, y p is the y-axis coordinate of the laser projection device in the engineering construction coordinate system, is the approximate x-axis coordinate of the laser projection device in the engineering construction coordinate system, is the approximate y-axis coordinate of the laser projection device in the engineering construction coordinate system, , Approximate coordinates of unknown points , number of corrections; In the formula, is the azimuth of the PB edge, is the azimuth of the PB edge, , (x i 0 ,y i 0 ) is the observation coordinate of the target positioning point in the two-dimensional rectangular coordinate system, (x i ,y i ) is the original known coordinate of the target positioning point in the two-dimensional rectangular coordinate system).

9. The method of projecting tunnel excavation contours using a visible light beam laser according to claim 1, characterized in that: The step S7 comprises: S71: Calculate the distance from the point to be projected to the instrument: S72: The reflective lens angle of the X-axis is calculated as follows: S73: The reflective lens angle of the Y axis is calculated as follows: D 施 : The distance from the projection point to the instrument; x 施 : x value of the point to be projected; y 施 : y value of the point to be projected; x 仪 : instrument point x value; y 仪 : y value of instrument point; A 水平 : X-axis reflection lens angle; A 竖直 : The angle of the reflective lens on the Y axis; H 施 : elevation of the point to be determined; H 仪 : Instrument elevation.

10. The method for projecting tunnel excavation contours using a visible light beam laser according to claim 1, characterized in that: In step S8, the adjustment angle of the reflective lens is calculated by the following formula: , is the projection angle before correction, is the distance from the instrument to the projection point, x: the x value that needs to be corrected; y: the y value that needs to be corrected.

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