Intelligent control method for over-excavation and under-excavation of tunnel

Abstract

The invention relates to the technical field of blasting construction, and particularly discloses a tunnel back break intelligent control method which comprises the following steps: S1, scanning a tunnel face to be blasted to generate high-precision point cloud data; s2, constructing a tunnel face BIM model according to the high-precision point cloud data, and performing space coordinate registration; judging whether blasting is carried out for the first time or not, and if blasting is not carried out for the first time, displaying a blast hole of last blasting on the tunnel face BIM model; s3, receiving input of blast hole space coordinate data of the blasting, and creating blast holes of the blasting on the tunnel face BIM model according to blast hole space coordinates; s4, installing an intelligent laser projector in the tunnel; s5, a reference control point is arranged on the arch crown of the tunnel, projection parameters are calculated, and blast holes of the blasting on the tunnel face BIM model are projected to the actual tunnel face; and S6, drilling is conducted according to the projection, explosives are installed, and blasting is conducted. By the adoption of the technical scheme, the blast hole layout change can be accurately positioned, and the blasting precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of blasting construction, in particular to a tunnel overbreak and underbreak intelligent control method. BACKGROUND

[0002] The tunnel overbreak and underbreak phenomenon will have adverse effects on the stability of surrounding rock. The tunnel overbreak and underbreak phenomenon makes the tunnel contour uneven, not smooth, and prone to quality problems and material overconsumption. Some overbreak phenomena are caused by excessive charging, at this time, the impact generated by blasting may cause the relaxation of surrounding rock, which is not conducive to protecting the original bearing capacity of the surrounding rock. When overbreak occurs, it is difficult to effectively guarantee the backfill quality during actual construction. Especially for the tunnel crown and haunch parts, it is difficult to achieve dense backfill due to construction reasons, resulting in poor contact between the support and the surrounding rock, and even large voids. These gaps and voids make the surrounding rock and support in point contact state, which is difficult to limit the deformation of the surrounding rock, thereby causing excessive deformation or even collapse of the surrounding rock.

[0003] To control the precision of the tunnel contour, the traditional method usually measures the hole arrangement with a total station, manually marks the blast hole position on the working face (such as spraying red paint), and then performs drilling operations. However, this method relies on manual operation, and the precision is limited, and it is difficult to fully reuse and compare the results of the previous blasting. If the previous blasting has overbreak and underbreak problems, the optimization and adjustment of the next round of blast hole position lack data support, and the adjustment effect depends on experience judgment, which has great uncertainty.

[0004] Therefore, an intelligent tunnel blasting control method is needed, which can intuitively display the change of blast hole arrangement, improve blasting precision, and effectively control overbreak and underbreak, to realize dynamic optimization of excavation precision and real-time monitoring of overbreak and underbreak. SUMMARY

[0005] The present application provides a tunnel overbreak and underbreak intelligent control method, which can intuitively display the change of blast hole arrangement and improve blasting precision.

[0006] To solve the above technical problems, the present application provides the following technical solutions:

[0007] A tunnel overbreak and underbreak intelligent control method, comprising the following steps:

[0008] S1, using a three-dimensional laser scanner to scan the tunnel working face to be blasted, and generating high-precision point cloud data;

[0009] S2, constructing a tunnel working face BIM model according to the high-precision point cloud data, and performing spatial coordinate registration; determining whether it is the first blasting, if it is not the first blasting, displaying the blast hole of the last blasting on the working face BIM model;

[0010] S3, receiving input of spatial coordinate data of the blast hole of this time, and creating the blast hole of this time on the BIM model of the working face according to the spatial coordinate of the blast hole;

[0011] S4, installing an intelligent laser projector in the tunnel;

[0012] S5, setting a reference control point at the tunnel vault, calculating projection parameters, generating a dynamic light spot array, and projecting the blast hole of this time on the BIM model of the working face on the actual working face;

[0013] S6, drilling and installing explosives according to the projection, and performing blasting.

[0014] Further, it further comprises:

[0015] S7, scanning the profile after blasting to generate point cloud data of the profile after blasting;

[0016] S8, generating a BIM model of the profile after blasting according to the point cloud data of the profile after blasting, judging whether there is an overbreak area and an underbreak area, and if so, marking the overbreak area and the underbreak area.

[0017] Further, the step S2 specifically comprises: preprocessing the point cloud data, and converting the preprocessed point cloud data into a coordinate system consistent with the tunnel design drawing;

[0018] Importing the point cloud into a BIM modeling software, using a point cloud surface extraction tool to generate a tunnel working face curve, and using a control point to align the point cloud coordinates with the tunnel design coordinates;

[0019] From the pre-created blast hole database, it is judged whether there is position information of the blast hole of the last time, if not, it is judged as the first blasting, if yes, it is judged as non-first blasting, the position information of the blast hole of the last time is called from the blast hole database, and the blast hole coordinate points are superimposed on the current BIM working face model in different colors.

[0020] Further, in the step S3, the input mode includes manual input and automatic input; the blast hole parameters inputted manually include: number, spatial coordinate, hole diameter, hole depth, angle; and the inputted blast hole parameters are stored in the blast hole database;

[0021] The inputted blast hole is mapped to the spatial position of the BIM model of the working face; and a three-dimensional blast hole entity model is generated on the BIM model.

[0022] Further, the step S5 specifically comprises: setting not less than three reference control points in the tunnel; after the control points are installed, their spatial positions are measured by a total station, and coordinate registration is performed;

[0023] Based on the spatial coordinates of the blast hole in the BIM model, the position of the control point and the projector coordinates, a three-dimensional geometric inversion calculation is performed to determine the projection parameters, including the projection angle, position and posture of the projector, the projection range and the scaling ratio, and the corresponding projection point of each blast hole on the actual working face.

[0024] The projection parameters are input into the laser projector to generate and project a dynamic spot array, and the blast holes of this blasting are projected on the actual working face.

[0025] Further, the S8 specifically comprises: importing a designed excavation contour surface to construct a BIM model of the designed excavation contour surface; after pre-processing the point cloud data after blasting, spatial coordinate registration is performed to accurately align the point cloud and the BIM model of the designed excavation contour surface in the same coordinate system;

[0026] For each point P in the post-blasting point cloud, the closest perpendicular distance d from the point to the designed excavation contour surface is calculated:

[0027] If d>+Δ, it is determined as an overbreak point;

[0028] If d<–Δ, it is determined as an underbreak point;

[0029] If –Δ≤d≤+Δ, it is determined as a qualified point;

[0030] Where Δ is the error tolerance;

[0031] A spatial clustering algorithm is used to cluster all overbreak points and underbreak points to form overbreak regions and underbreak regions.

[0032] Further, in the step S3, when it is not the first blasting, the current input blast hole is automatically associated with the blast hole of the last blasting, and it is determined whether the distance between the associated blast holes exceeds a threshold value. If the distance exceeds the threshold value, a warning prompt is issued.

[0033] The present scheme generates high-precision point cloud data by laser scanning and constructs a BIM model to realize the real restoration of the actual topography of the working face, and can also superimpose the blast hole information of the previous blasting to provide data basis and comparison basis for the present blasting scheme, which helps to improve the convenience and accuracy of user blast hole adjustment. With the help of the laser projector, the position of the present blast hole can be dynamically projected to the actual working face, which can improve the intuitiveness and precision of drilling construction and avoid manual marking errors to control the overbreak and underbreak problem from the source. By scanning and comparing the post-blasting working face, the overbreak and underbreak regions are identified and marked to provide correction basis for subsequent blasting, which helps to realize dynamic optimization of the blasting scheme and continuous improvement of construction precision. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 A flowchart of a tunnel overbreak and underbreak intelligent control method embodiment. DETAILED DESCRIPTION

[0035] The following is further described in detail through specific implementation methods:

[0036] Example 1

[0037] like Figure 1 As shown, a tunnel over-break and under-break intelligent control method of this embodiment includes the following steps:

[0038] S1. Use a 3D laser scanner to scan the tunnel face to be blasted and generate high-precision point cloud data;

[0039] Specifically, a standing laser scanning method is used, with a 3D laser scanner set up in an unobstructed location within 10-15 meters of the tunnel face. If there are shadowed areas on the tunnel face (e.g., equipment obstruction), multiple 3D laser scanner stations are set up to ensure coverage of all surfaces.

[0040] After the 3D laser scanner is set up, the relative position relationship between the 3D laser scanner and the tunnel face is recorded. In the subsequent setting process, this relative position relationship should be used in principle (the position can be adjusted when there is a new shadow area).

[0041] The 3D laser scanner is started and horizontally calibrated. After calibration, the tunnel face and the support around the tunnel face are scanned. In this embodiment, the scanning resolution is 1 cm point spacing.

[0042] After scanning is complete, the original point cloud data is exported. If multiple 3D laser scanners are used for scanning, the point clouds from each 3D laser scanner need to be stitched and registered to obtain the final point cloud data.

[0043] S2. Build a tunnel face BIM model based on high-precision point cloud data and perform spatial coordinate registration. Determine whether this is the first blast. If not, display the blastholes from the previous blast on the tunnel face BIM model.

[0044] Specifically, the point cloud data is preprocessed, including noise removal and smoothing; the preprocessed point cloud data is converted into a coordinate system consistent with the tunnel design drawings to facilitate positioning.

[0045] Import the point cloud into the BIM modeling software and use the point cloud surface extraction tool to generate the tunnel face surface; use control points to align the point cloud coordinates with the tunnel design coordinates; control points include tunnel axis control points, reflection targets, etc.

[0046] From the pre-created blast hole database, retrieve whether there is last time's blast hole position information, if not, judge as first blasting, if yes, judge as non-first blasting, call last time's blast hole position information from the blast hole database, and superimpose its blast hole coordinate points on the current BIM working face model in the form of different colors (such as blue). In this embodiment, the blast hole position information includes spatial coordinates, hole diameter, depth, angle, etc. By displaying the blast holes of the last blasting, it is convenient for the construction personnel to analyze the previous blasting results, and to provide a reference for optimizing the blast hole arrangement for this time blasting.

[0047] If it is non-first blasting, in other embodiments, according to user needs, it can also be set to display the blast holes of multiple times of blasting in different colors.

[0048] S3, receiving the input of this time's blast hole spatial coordinate data, creating this time's blast hole on the working face BIM model according to the blast hole spatial coordinates;

[0049] Specifically, the input mode includes manual input and automatic input;

[0050] Manual input includes single input and batch import; single input: input blast hole parameters one by one in the system interface, including: number, spatial coordinates (X, Y, Z), hole diameter (mm), hole depth (m), angle (included angle with working face normal), explosive charge (kg), blasting round; when batch import, support importing blast hole parameter list of this time's blasting design from Excel or CSV format file;

[0051] Automatic input: the system automatically generates this time's blast hole arrangement scheme according to the last time's blast hole position information, the user can adjust it by selecting and dragging, and real-time display corresponding parameters when dragging, and the user can also adjust the parameters to simplify the input process.

[0052] The system automatically maps the input blast hole coordinates to the spatial position of the working face BIM model; and generates a three-dimensional blast hole entity model on the BIM model, each blast hole is displayed as a cylindrical structure, the attributes include: spatial coordinates, direction, vector length (hole depth), radius (hole diameter), auxiliary information (number, charge parameter, blasting round, etc.). The user can click any blast hole to display its attributes.

[0053] Store the input blast hole parameters into the blast hole database;

[0054] In this embodiment, the input blast holes of this time are displayed in red to distinguish from the historical blast holes. If there are overbreak and underbreak situations in the previous blasting, it is convenient for the user to compare with the historical blast holes to adjust the blast holes of this time.

[0055] S4, installing a laser projector in the tunnel;

[0056] Specifically, a laser projector is installed in a region 10-15 meters in front of the tunnel face, free from obstructions, and with stable geology, the laser projector is fixed on a tripod, and the projection range is ensured to cover the entire tunnel face; in actual application, a single or multiple laser projectors can be used to work together according to the size of the tunnel section being excavated.

[0057] S5, a reference control point is set at the tunnel vault, projection parameters are calculated, a dynamic light spot array is generated, and the blast holes on the tunnel face BIM model are projected on the actual tunnel face;

[0058] Specifically, at least three high-precision reflective reference control points are arranged at the tunnel vault or sidewall, the control points need to be consistent with the coordinates set in the BIM model, forming a three-dimensional coordinate reference of “control point-actual space-model”; after the control points are installed, their spatial positions are measured by a total station, and the coordinates are input into the system for coordinate registration.

[0059] Based on the spatial coordinates of the blast holes in the BIM model, the positions of the control points, and the coordinates of the projector, three-dimensional geometric inversion calculation is performed to determine the projection parameters, including the projection angle, position and attitude of the projector, the projection range and scaling ratio, and the corresponding projection point of each blast hole on the actual tunnel face.

[0060] The projection parameters are input into the laser projector for automatic calibration, and after automatic calibration, a dynamic light spot array is generated and projected, realizing the projection of the blast holes on the actual tunnel face.

[0061] S6, workers drill holes and install explosives according to the projection, and perform blasting;

[0062] S7, the contour surface after blasting is scanned to generate point cloud data of the contour surface after blasting; refer to step S1. The contour surface is the surface formed by the design excavation line, which defines the ideal shape and size of the tunnel to be excavated.

[0063] S8, a contour surface BIM model after blasting is generated according to the point cloud data of the contour surface after blasting, whether there are overbreak areas and underbreak areas is determined, and if so, the overbreak areas and underbreak areas are marked.

[0064] Specifically, the design excavation contour surface is imported, and a design excavation contour surface BIM model is constructed,

[0065] After the point cloud data after blasting is preprocessed, spatial coordinate registration is performed to accurately align the point cloud and the excavation contour surface BIM model in the same coordinate system.

[0066] For each point P in the point cloud after blasting, the nearest perpendicular distance d to the design excavation contour surface is calculated:

[0067] If d>+Δ, it is determined as an overbreak point;

[0068] If d < -Δ, it is determined as an underbreak point;

[0069] If -Δ≤d≤+Δ, it is a qualified point.

[0070] Wherein, Δ is an error tolerance, which is set according to relevant construction specifications or project requirements.

[0071] The spatial clustering algorithm is used to cluster all overbreak points and underbreak points to form overbreak regions and underbreak regions; in this embodiment, the overbreak regions are displayed in the BIM model by superimposing red translucent blocks, and the underbreak regions are displayed by superimposing blue translucent blocks. When the mouse hovers over the overbreak or underbreak region, parameter information including the maximum deviation value, area, volume, etc. is displayed.

[0072] The scheme of this embodiment makes the designed blast hole positions visually present on the actual tunnel face by applying laser projection technology, simplifies the operation process of workers, and enhances the executability and intuitiveness of hole arrangement. After the blasting is completed, the post-blasting topography of the tunnel face is collected by three-dimensional scanning technology, and the point cloud data is compared and analyzed with the designed excavation contour to automatically identify the overbreak and underbreak regions. This enables construction personnel to intuitively master the blasting result deviation, provides a quantitative basis for the next round of blast hole optimization, and forms a positive feedback mechanism. This scheme establishes a closed-loop control system, so that each round of blasting can be continuously optimized on the basis of the data of the previous round, realizing dynamic precision control of the tunnel excavation process. This feedback-adjustment-re-execution iterative mode helps to improve the precision of blasting and reduce overbreak and underbreak regions.

[0073] Embodiment Two

[0074] The difference between this embodiment and Embodiment One is that in step S3 of this embodiment, the current input blast hole is automatically associated with the blast hole of the last blasting when it is not the first blasting, and it is determined whether the distance between the associated blast holes exceeds a threshold value. If it exceeds the threshold value, a warning prompt is issued. When associating, all current blast holes are traversed and spatially matched with the blast holes in the last blasting record; for each current blast hole, the nearest blast hole of the last blasting is searched; it is determined whether there is a unique mapping relationship in the spatial position; if the conditions are met, an association relationship is established. The threshold value can be set according to actual conditions. This embodiment can remind the designer to check whether the blast hole position is reasonable by determining whether the distance between the blast holes of the last two times is too large.

[0075] The above is only an embodiment of the present application, the present application is not limited to this embodiment The field to which the embodiment relates, common knowledge of specific structures and characteristics in the scheme, etc. is not described in detail here The ordinary skilled person in the art knows all the ordinary technical knowledge in the field to which the present application belongs before the filing date or the priority date, can know all the prior art in the field, and has the ability to apply conventional experimental means before that date The ordinary skilled person in the art can perfect and implement the present scheme under the guidance of the present application, in combination with their own ability Some typical known structures or known methods should not be an obstacle to the implementation of the present application by the ordinary skilled person in the art It should be noted that, for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can also be made, which should also be considered as the protection scope of the present application, which will not affect the effect and practicality of the patent The scope of protection claimed in the present application should be subject to the content of its claims The specific implementation in the specification can be used to explain the content of the claims

Claims

1. A tunnel overbreakage intelligent control method, characterized in that, The method comprises the following steps: S1, using a three-dimensional laser scanner to scan the tunnel face to be blasted, and generating high-precision point cloud data; S2, constructing a tunnel face BIM model according to the high-precision point cloud data, and performing spatial coordinate registration; determining whether it is the first blasting, if it is not the first blasting, displaying the blast hole of the last blasting on the tunnel face BIM model; S3, receiving the input of the spatial coordinate data of the blast hole of the current blasting, and creating the blast hole of the current blasting on the tunnel face BIM model according to the spatial coordinate of the blast hole; S4, installing an intelligent laser projector in the tunnel; S5, setting a reference control point on the tunnel vault, calculating the projection parameters, generating a dynamic light spot array, and projecting the blast hole of the current blasting on the actual tunnel face on the tunnel face BIM model; S6, drilling according to the projection, installing explosives, and blasting.

2. The tunnel overbreakage intelligent control method according to claim 1, characterized in that: Further comprising: S7, scanning the profile after blasting to generate point cloud data of the profile after blasting; S8, generating a profile BIM model after blasting according to the point cloud data of the profile after blasting, and determining whether there is an overbreak area and an underbreak area, if there is, marking the overbreak area and the underbreak area.

3. The intelligent control method for tunnel overbreak / underbreak according to claim 2, characterized in that: The step S2 specifically comprises: preprocessing the point cloud data, and converting the preprocessed point cloud data into a coordinate system consistent with the tunnel design drawing; Importing the point cloud into a BIM modeling software, using a point cloud surface extraction tool to generate a tunnel face curved surface; using control points to align the point cloud coordinates with the tunnel design coordinates; From the pre-created blast hole database, it is determined whether there is last blast hole position information, if not, it is determined that it is the first blasting, if there is, it is determined that it is not the first blasting, the last blast hole position information is called from the blast hole database, and the blast hole coordinate points are superimposed on the current BIM tunnel face model in different color forms.

4. The intelligent control method for tunnel super-excavation according to claim 3, characterized in that: In the step S3, the input mode includes manual input and automatic input; the blast hole parameters inputted manually include: number, spatial coordinate, hole diameter, hole depth, angle; the inputted blast hole parameters are stored in the blast hole database; The inputted blast hole is mapped to the spatial position of the tunnel face BIM model; and a three-dimensional blast hole entity model is generated on the BIM model.

5. The intelligent control method for tunnel super-excavation according to claim 4, characterized in that: The step S5 specifically comprises: arranging not less than three reference control points in the tunnel; after the control points are installed, measuring their spatial positions by a total station, and performing coordinate registration; Based on the spatial coordinates of the blast hole of the current blasting, the position of the control points and the coordinates of the projector in the BIM model, three-dimensional geometric inversion calculation is performed to determine the projection parameters, including the projection angle, position and attitude of the projector, the projection range and the scaling ratio, and the corresponding projection point of each blast hole on the actual tunnel face; The projection parameters are inputted into the laser projector to generate and project a dynamic light spot array, and the blast hole of the current blasting is projected on the actual tunnel face.

6. The intelligent control method for tunnel super-excavation according to claim 5, characterized in that: The S8 specifically comprises: importing a design excavation profile, and constructing a design excavation profile BIM model; after the point cloud data after blasting is preprocessed, spatial coordinate registration is performed to accurately align the point cloud and the excavation profile BIM model in the same coordinate system; For each point P in the point cloud after blasting, the closest perpendicular distance d from the point P to the design excavation profile is calculated: If d>+Δ, it is determined as overbreak point; If d<-Δ, it is determined as underbreak point; If-Δ≤d≤+Δ, it is determined as qualified point; Wherein, Δ is error tolerance; Using spatial clustering algorithm to cluster all overbreak points and underbreak points, forming overbreak area and underbreak area.

7. The intelligent control method for tunnel super-excavation according to claim 6, characterized in that: In the step S3, the current input hole is also associated with the hole of the last blasting when the blasting is not the first time, whether the distance of the associated holes exceeds the threshold value is judged, and a warning prompt is sent if the threshold value is exceeded.

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