Methods, systems, storage media, and terminals for detecting over-excavation and under-excavation in tunnel surrounding rock.

Abstract

This invention relates to the field of tunnel inspection technology, and particularly to a method and system for detecting over- and under-excavation of tunnel surrounding rock, a storage medium, and a terminal. The method includes: dividing the tunnel surrounding rock into multiple tunnel segments; acquiring photographic data and 3D point cloud data of the tunnel segments, wherein the photographic data and 3D point cloud data corresponding to each tunnel segment have the same time imprint; acquiring design data of the tunnel surrounding rock, and establishing a design 3D model of the tunnel surrounding rock based on the design data; establishing a scene 3D model of the tunnel surrounding rock based on the photographic data, and establishing a real 3D model of the tunnel surrounding rock based on the 3D point cloud data; comparing the real 3D model with the design 3D model to obtain an over- and under-excavation 3D model composed of the 3D point cloud data; and marking the over- and under-excavation 3D model and its parameters at corresponding positions in the scene 3D model according to the time imprint.

Description

Technical Field

[0001] This invention relates to the field of tunnel inspection technology, and in particular to a method and system for detecting over- or under-excavation of tunnel surrounding rock, a storage medium, and a terminal. Background Technology

[0002] Over-excavation and under-excavation of tunnels refer to the deviation between the contour of the surrounding rock formed during the tunnel excavation process and the designed excavation contour. The portion of the surrounding rock contour outside the designed excavation contour is called over-excavation, and the portion inside the designed excavation contour is called under-excavation.

[0003] Over-excavation and under-excavation are common phenomena during tunnel excavation. Over-excavation and under-excavation not only increase construction costs but also cause localized stress concentration in the surrounding rock, affecting the overall stability of the tunnel. Three-dimensional laser scanning technology, a novel technology discovered this century, is widely used in surveying. Utilizing the principle of laser ranging, it records the three-dimensional coordinates, reflectivity, and texture information of a large number of dense points on the surface of the object being measured. This allows for the rapid reconstruction of a three-dimensional model of the target object, as well as various graphic data such as lines, surfaces, and volumes. This technology possesses unique technical characteristics and is currently being studied in depth in the field of tunnel surveying.

[0004] However, existing methods for detecting over- or under-excavation in tunnels cannot quickly and accurately determine the specific location and parameter data of over- or under-excavation in the tunnel. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a method and system for detecting over-excavation and under-excavation of tunnel surrounding rock, a storage medium, and a terminal.

[0006] This invention adopts the following technical solution: a method for detecting over-excavation and under-excavation of tunnel surrounding rock, the method comprising:

[0007] The surrounding rock of the tunnel is divided into multiple tunnel sections;

[0008] Acquire photographic data and 3D point cloud data of the tunnel segment, wherein the photographic data and 3D point cloud data corresponding to each tunnel segment have the same time imprint;

[0009] Obtain the design data of the tunnel surrounding rock, and establish a three-dimensional design model of the tunnel surrounding rock based on the design data;

[0010] A 3D scene model of the tunnel surrounding rock is established based on the photographic data, and a real 3D model of the tunnel surrounding rock is established based on the 3D point cloud data.

[0011] The actual 3D model is compared with the design 3D model to obtain a 3D model of over- and under-excavation volume composed of the 3D point cloud data;

[0012] The over- and under-excavation 3D model and its model parameters are marked at the corresponding positions in the scene 3D model according to the time imprint.

[0013] An embodiment of the present invention provides a method for detecting over- and under-excavation in tunnel surrounding rock. Based on photographic data, a 3D model of the scene can be determined; based on 3D point cloud data, a true 3D model can be determined; and based on design data, a design 3D model of the tunnel surrounding rock can be determined. By analyzing and comparing the true 3D model and the design 3D model, a 3D model of over- and under-excavation can be determined. Since the 3D model of over- and under-excavation is determined by the true 3D model and the design 3D model, it can correspond to the true 3D model. The true 3D model is determined by 3D point cloud data, and the 3D point cloud data and photographic data are associated with time imprints. Therefore, the 3D model of over- and under-excavation can correspond to the scene 3D model through time imprints. The 3D model of over- and under-excavation and its model parameters can be marked at corresponding positions in the scene 3D model. In this way, designers can quickly and accurately see the marked 3D model of over- and under-excavation and its model parameters in the scene 3D model. Furthermore, they can quickly and accurately locate the over- and under-excavation areas in the tunnel and quickly and accurately analyze and judge the over- and under-excavation areas based on the model parameters, promptly identify risks, and effectively improve work efficiency.

[0014] Furthermore, the steps for acquiring the photographic data and 3D point cloud data of the tunnel section specifically include:

[0015] S201: Associate the multi-channel imaging device with the three-dimensional laser scanning device, so that the multi-channel imaging device and the three-dimensional laser scanning device are started synchronously at the end of the tunnel section near the entrance of the tunnel surrounding rock; wherein, the imaging range of the multi-channel imaging device covers at least the range of a single tunnel section, the scanning range of the three-dimensional laser scanning device covers at least the range of a single tunnel section, and the initial position of the multi-channel imaging device and the three-dimensional laser scanning device is at the entrance of the tunnel surrounding rock;

[0016] S202: Start the multi-channel imaging device and the three-dimensional laser scanning device to begin static imaging and static scanning;

[0017] S203: Use the timestamp of the multi-channel photography device or the three-dimensional laser scanning device when it is started as the timestamp, and associate the timestamp with the photo data and the three-dimensional point cloud data generated in the tunnel section respectively;

[0018] S204: When the multi-channel photography device and the three-dimensional laser scanning device have completed static photography and static scanning at one end of the tunnel section respectively, the multi-channel photography device and the three-dimensional laser scanning device are turned off and moved to the end of the next tunnel section near the entrance of the tunnel surrounding rock.

[0019] S205: Repeat steps S202 to S204 above to obtain multiple sets of photo data and multiple sets of three-dimensional point cloud data corresponding to multiple tunnel segments.

[0020] Furthermore, the steps of establishing a 3D scene model of the tunnel surrounding rock based on the photographic data, and establishing a realistic 3D model of the tunnel surrounding rock based on the 3D point cloud data, specifically include:

[0021] Each set of photographic data is used to create a 3D model of the tunnel segment scene corresponding to the tunnel segment using oblique photography technology;

[0022] The three-dimensional model of the tunnel section scene is stitched together according to the time imprint order to obtain the three-dimensional model of the scene corresponding to the surrounding rock of the tunnel.

[0023] The 3D point cloud data is denoised using the difference method and the mean method.

[0024] Each set of 3D point cloud data after noise reduction is used to establish a real 3D model of the tunnel segment corresponding to the tunnel segment using the Delaunay triangulation modeling method.

[0025] The real three-dimensional models of the tunnel section are spliced ​​together according to the time imprint order to obtain the real three-dimensional model corresponding to the surrounding rock of the tunnel.

[0026] Furthermore, the step of comparing the actual 3D model with the designed 3D model to obtain a 3D model of over- and under-mining volume composed of the 3D point cloud data specifically includes:

[0027] The feature lines shared by the real 3D model and the designed 3D model or the points with the same distribution characteristics are overlapped.

[0028] The method of elimination is used to preprocess the real 3D model and the design 3D model;

[0029] The three-dimensional point cloud data that overlaps with the design three-dimensional model in the real three-dimensional model after preprocessing by the aforementioned elimination method are deleted. The model composed of the remaining three-dimensional point cloud data in the real three-dimensional model is the over- and under-excavation three-dimensional model.

[0030] Furthermore, the steps of the elimination method specifically include:

[0031] Multiple equidistant points are selected on the central axis of the tunnel in the real 3D model. These equidistant points are then extended along the radius of the real 3D model to obtain a first intersection point that intersects with the real 3D model and a second intersection point that intersects with the designed 3D model.

[0032] Calculate the intersection distance between the first intersection point and the second intersection point. If the intersection distance is greater than a preset threshold distance, delete the 3D point cloud data corresponding to the first intersection point and delete the design data corresponding to the second intersection point.

[0033] If the distance between the intersection points is less than or equal to a preset threshold distance, then the first intersection point and the second intersection point are retained.

[0034] Furthermore, the step of marking the over- and under-excavation 3D model and its parameters at the corresponding positions in the scene 3D model according to the time imprint specifically includes:

[0035] The over- and under-excavation 3D model is made to correspond to the scene 3D model based on the time imprint;

[0036] Obtain the model parameters of the three-dimensional model of over-excavation and under-excavation, wherein the model parameters include over-excavation and under-excavation amounts, over-excavation risk value, and under-excavation risk value;

[0037] The over- and under-excavation 3D model and the model parameters are marked at the corresponding positions of the scene 3D model using color annotation or shading annotation.

[0038] Furthermore, the steps for obtaining the model parameters of the three-dimensional model of the over- and under-excavation volume specifically include:

[0039] The over- and under-excavation 3D model is reversed to obtain a model that overlaps with the actual 3D model and the design 3D model.

[0040] Obtain a cross-sectional view when the actual 3D model and the design 3D model coincide, place the cross-sectional view in the first quadrant of the 2D coordinate system, and obtain the over-excavation and under-excavation amounts D. i :

[0041]

[0042] in,( i y i ) represents the coordinates of the i-th point on the cross-sectional contour of the real 3D model in the cross-sectional view. k y k ), ( j y jThese are the coordinates of the k-th and j-th points, respectively, when the i-th point is connected to the origin of the two-dimensional coordinate system, intersecting the cross-sectional contour of the designed three-dimensional model. The j-th point is closer to the origin of the two-dimensional coordinate system. If the over-excavation / under-excavation amount D... i A value greater than 0 indicates that the area is an over-excavated area. If the over-excavation / under-excavation amount D... i A value less than 0 indicates that the area is an under-excavated area. If the over-excavation / under-excavation amount D... i An equal value of 0 indicates that the region is a standard region;

[0043] According to the over- and under-excavation amount D i The over-excavation risk value F is obtained. i and the under-excavation risk value E i :

[0044]

[0045]

[0046] Where maxA i maxA is the maximum allowable over-excavation value. i >|G i |, maxB i maxB is the maximum allowable under-dig value. i >|G i |

[0047] This invention also proposes a system for detecting over- or under-excavation of tunnel surrounding rock, the system comprising:

[0048] The segmentation module is used to divide the surrounding rock of the tunnel into multiple tunnel segments;

[0049] The first acquisition module is used to acquire photo data and three-dimensional point cloud data of the tunnel segment, wherein the photo data and three-dimensional point cloud data corresponding to each tunnel segment have the same time imprint;

[0050] The second acquisition module is used to acquire the design data of the tunnel surrounding rock and to establish a three-dimensional design model of the tunnel surrounding rock based on the design data.

[0051] A module is established to create a 3D scene model of the tunnel surrounding rock based on the photo data, and to create a real 3D model of the tunnel surrounding rock based on the 3D point cloud data.

[0052] The comparison module is used to compare the real 3D model with the design 3D model to obtain a 3D model of over- or under-excavation volume composed of the 3D point cloud data.

[0053] The marking module is used to mark the over- and under-excavation 3D model and its model parameters at the corresponding positions in the scene 3D model according to the time imprint.

[0054] An embodiment of the tunnel surrounding rock over- and under-excavation detection system of the present invention can determine a scene 3D model based on photographic data, a real 3D model based on 3D point cloud data, and a design 3D model of the tunnel surrounding rock based on design data. By analyzing and comparing the real 3D model and the design 3D model, the over- and under-excavation 3D model can be determined. Since the over- and under-excavation 3D model is determined by the real 3D model and the design 3D model, the over- and under-excavation 3D model can correspond to the real 3D model. The real 3D model is determined by 3D point cloud data, and the 3D point cloud data and photographic data are associated with time imprints. Therefore, the over- and under-excavation 3D model can correspond to the scene 3D model through time imprints. The over- and under-excavation 3D model and its model parameters can be marked at the corresponding positions in the scene 3D model. In this way, the designer can quickly and accurately see the marked over- and under-excavation 3D model and its model parameters in the scene 3D model. Consequently, the location of the over- and under-excavation area in the tunnel can be quickly and accurately located, and the over- and under-excavation area can be quickly and accurately analyzed and judged based on the model parameters, allowing for timely risk identification and effectively improving work efficiency.

[0055] A computer-readable storage medium includes instructions that, when executed on a computer, cause the computer to perform the aforementioned method for detecting over- or under-excavation of tunnel surrounding rock.

[0056] A terminal, comprising: a processor and a memory; wherein the processor and the memory communicate with each other;

[0057] The memory is used to store instructions;

[0058] The processor is used to execute the instructions in the memory to perform the above-described method for detecting over- or under-excavation of tunnel surrounding rock. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a flowchart of the method for detecting over-excavation and under-excavation of tunnel surrounding rock according to the first embodiment of the present invention;

[0061] Figure 2 This is a flowchart illustrating the acquisition of photographic data and three-dimensional point cloud data in the tunnel surrounding rock over-excavation and under-excavation detection method according to the first embodiment of the present invention.

[0062] Figure 3 This is a cross-sectional view of the method for detecting over-excavation and under-excavation of tunnel surrounding rock according to the first embodiment of the present invention;

[0063] Figure 4 These are two cross-sectional views from the tunnel surrounding rock over-excavation and under-excavation detection method of the first embodiment of the present invention;

[0064] Figure 5 This is a structural block diagram of the tunnel surrounding rock over-excavation and under-excavation detection system according to the second embodiment of the present invention. Detailed Implementation

[0065] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain embodiments of the present invention, and should not be construed as limiting the present invention.

[0066] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0067] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0068] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0069] Example 1

[0070] Reference Figures 1 to 4According to the first embodiment of the present invention, a method for detecting over-excavation and under-excavation of tunnel surrounding rock includes:

[0071] S1: Divide the surrounding rock of the tunnel into multiple tunnel sections;

[0072] In this embodiment, considering the long surrounding rock of the tunnel, the shooting range of the multi-channel photography device is limited, and if the shooting range is too large, the photo data will not be clear enough, thus affecting the clarity of the determined scene 3D model. Therefore, the surrounding rock of the tunnel can be segmented first. In specific implementation, the surrounding rock of the tunnel can be segmented along the extension direction of the surrounding rock of the tunnel at a preset distance. Moreover, it should be noted that the more segments the surrounding rock of the tunnel is divided into, the more accurate the scene 3D model and the real 3D model will be.

[0073] S2: Acquire photo data and 3D point cloud data for each tunnel segment, where the photo data and 3D point cloud data for each tunnel segment have the same time stamp; specific steps include:

[0074] S201: Associate the multi-channel imaging device with the 3D laser scanning device so that the multi-channel imaging device and the 3D laser scanning device start synchronously at the end of the tunnel section near the tunnel entrance; wherein, the imaging range of the multi-channel imaging device covers at least the range of a single tunnel section, the scanning range of the 3D laser scanning device covers at least the range of a single tunnel section, and the initial position of the multi-channel imaging device and the 3D laser scanning device is at the entrance of the tunnel entrance.

[0075] S202: Start the multi-channel photography equipment and 3D laser scanning equipment to begin static photography and static scanning;

[0076] S203: Use the timestamp of the multi-channel photography device or 3D laser scanning device when it is started as a timestamp, and associate the timestamp with the photo data and 3D point cloud data generated in the tunnel section respectively;

[0077] S204: When the multi-channel photography equipment and the three-dimensional laser scanning equipment have completed static photography and static scanning at one end of the tunnel section, turn off the multi-channel photography equipment and the three-dimensional laser scanning equipment and move them to the end of the next tunnel section near the entrance of the tunnel surrounding rock.

[0078] S205: Repeat steps S202 to S204 above to obtain multiple sets of photo data and multiple sets of 3D point cloud data corresponding to multiple tunnel sections.

[0079] In this embodiment, the multi-channel imaging device and the 3D laser scanning device are both mounted on the same vehicle-mounted device. The multi-channel imaging device can capture images of the internal condition of the tunnel surrounding rock from multiple angles. In specific implementation, four imaging devices can be set up to capture images of the tunnel surrounding rock from all directions. The 3D laser scanning device can utilize the principle of laser ranging to quickly reconstruct a 3D model of the target object by recording information such as the 3D coordinates, reflectivity, and texture of points on the surface of the object being measured. In this embodiment, a combination of technologies such as 3D laser scanning device, Global Positioning System (GPS), Inertial Measurement Unit (IMU), and odometer is used to scan the tunnel surrounding rock. Specifically, GPS is used to provide positioning information outside the tunnel, and IMU and odometer are used to provide positioning information inside the tunnel when the GPS signal is lost.

[0080] S3: Obtain the design data of the tunnel surrounding rock and establish a three-dimensional design model of the tunnel surrounding rock based on the design data;

[0081] In this embodiment, the design data is the data generated by the designer based on the safety standards for designing the surrounding rock of the tunnel.

[0082] S4: Create a 3D scene model of the tunnel surrounding rock based on the photo data, and create a realistic 3D model of the tunnel surrounding rock based on the 3D point cloud data; the specific steps include:

[0083] Each set of photo data was used to create a 3D model of the tunnel section scene corresponding to the tunnel section using oblique photography technology;

[0084] The 3D model of the tunnel section scene is stitched together according to the time imprint order to obtain the 3D model of the scene corresponding to the tunnel surrounding rock.

[0085] The 3D point cloud data is denoised using the difference method and the mean method. This is because the air inside the tunnel surrounding rock is relatively turbid and contains a lot of particulate matter, and there are many construction objects inside the tunnel surrounding rock. Therefore, the acquired 3D point cloud data also needs to be denoised.

[0086] Each set of 3D point cloud data after noise reduction is used to establish a real 3D model of the tunnel segment corresponding to the tunnel segment using the Delaunay triangulation modeling method.

[0087] The real 3D models of the tunnel section are stitched together according to the time imprint sequence to obtain a real 3D model corresponding to the surrounding rock of the tunnel.

[0088] S5: Compare the actual 3D model with the design 3D model to obtain a 3D model of the over- and under-excavation volume composed of 3D point cloud data; the specific steps include:

[0089] Overlap the feature lines or points with the same distribution characteristics between the real 3D model and the designed 3D model;

[0090] The method of elimination is used to preprocess the real 3D model and the design 3D model;

[0091] The three-dimensional point cloud data that overlaps with the design three-dimensional model in the real three-dimensional model after the elimination method is deleted. The model composed of the remaining three-dimensional point cloud data in the real three-dimensional model is the over- and under-excavation three-dimensional model.

[0092] The specific steps of the elimination method include:

[0093] Multiple equidistant points are selected on the central axis of the tunnel in the real 3D model. These equidistant points are then extended along the radius of the real 3D model to obtain the first intersection point with the real 3D model and the second intersection point with the designed 3D model.

[0094] Calculate the intersection distance between the first intersection point and the second intersection point. If the intersection distance is greater than a preset threshold distance, delete the 3D point cloud data corresponding to the first intersection point and delete the design data corresponding to the second intersection point.

[0095] If the distance between the intersection points is less than or equal to the preset threshold distance, then the first and second intersection points will be retained.

[0096] In this embodiment, the accuracy of the real 3D model can be improved by using the elimination method to delete 3D points and data with large errors. In this embodiment, the tunnel centerline of the real 3D model is made to coincide with the tunnel centerline of the design 3D model, so that the real 3D model and the design 3D model can roughly coincide, and the non-overlapping model area is the over- or under-excavation 3D model.

[0097] S6: Mark the over- and under-excavation 3D models and their parameters in the corresponding positions of the scene 3D model according to the time imprint; the specific steps include:

[0098] Based on the time imprint, the 3D model of over-excavation and under-excavation volume is made to correspond with the 3D model of the scene;

[0099] Obtain the model parameters of the 3D model of over-excavation and under-excavation, including the over-excavation and under-excavation amounts, over-excavation risk value, and under-excavation risk value;

[0100] Mark the over- and under-excavation 3D model and model parameters at the corresponding positions of the scene 3D model using color annotation or shading annotation;

[0101] The specific steps for obtaining the model parameters of the 3D model of over- and under-excavation volume include:

[0102] The over- and under-excavation 3D model is reversed to obtain a model that overlaps with the actual 3D model and the design 3D model.

[0103] Obtain a cross-sectional view when the actual 3D model and the design 3D model coincide. Place the cross-sectional view in the first quadrant of the 2D coordinate system to obtain the over-excavation and under-excavation amounts D. i :

[0104]

[0105] Among them, (x i y i Let C1 be the coordinate of the i-th point on the cross-sectional profile of the real 3D model in the cross-sectional view. k y k ), (x j y j These are the coordinates of the k-th and j-th points, respectively, where the i-th point intersects the cross-sectional contour of the designed 3D model when connected to the origin of the 2D coordinate system. These are denoted as C2 and C3, respectively. The j-th point is closer to the origin of the 2D coordinate system. Figures 3 to 4 As shown; if the over- or under-excavation amount D i A value greater than 0 indicates that the area is an over-excavated area. If the over-excavation / under-excavation amount D... i A value less than 0 indicates that the area is under-excavated; if the over- or under-excavation amount D... i An equal value of 0 indicates that the region is a standard region;

[0106] Based on over- and under-excavation amount D i Obtain the over-excavation risk value F i and under-excavation risk value E i :

[0107]

[0108]

[0109] Where maxA i maxA is the maximum allowable over-excavation value. i >|G i |, maxB i maxB is the maximum allowable under-dig value. i >|G i |

[0110] In this embodiment, the cross-sectional view is a plane obtained by projecting the actual 3D model and the design 3D model onto a plane perpendicular to the extension direction of the tunnel surrounding rock. In this cross-sectional view, the actual cross-sectional outline of the tunnel surrounding rock, the design cross-sectional outline of the tunnel surrounding rock, the over-excavation area, and the under-excavation area can be seen. In specific implementation, the over-excavation and under-excavation amounts can be marked in the scene 3D model. Workers can use display devices to intuitively see the over-excavation and under-excavation amounts in the over-excavation and under-excavation areas. Larger over-excavation and under-excavation values ​​(over-excavation risk values) and smaller over-excavation and under-excavation values ​​(under-excavation risk values) can be distinguished by different colors when marking, so that workers can target the areas with the greatest safety risks in the tunnel surrounding rock and investigate risks in a timely manner, which can improve work efficiency to a certain extent.

[0111] In this embodiment, the maximum allowable over-excavation value maxA i and the maximum allowable under-excavation value maxB i The over-excavation risk value G can be obtained by staff through analysis combining their own experience, professional skills, geological survey data, and mechanical knowledge. i and under-excavation risk value E i The larger the value, the higher the safety risk of the surrounding rock of the tunnel; in specific implementation, the over-excavation risk value F can be marked. i and under-excavation risk value E i The areas in the 3D model of the scene are arranged according to the level of safety risk, so as to remind the designer to make timely repairs according to the level of safety risk and to avoid risks to a certain extent.

[0112] In this embodiment, a three-dimensional coordinate system can also be established in the tunnel surrounding rock, with the direction of the tunnel surrounding rock axis as the Z-axis. Based on the aforementioned cross-sectional diagram, the difference S between the actual cross-sectional area of ​​the tunnel surrounding rock and the designed cross-sectional area of ​​the tunnel surrounding rock can be calculated. A1 Calculate the sum S of the over-excavated area and the under-excavated area. A2 Wherein, the actual cross-sectional area of ​​the tunnel surrounding rock is the area enclosed by the actual cross-sectional outline of the tunnel surrounding rock, and the designed cross-sectional area of ​​the tunnel surrounding rock is the area enclosed by the designed cross-sectional outline of the tunnel surrounding rock; then S A1 With S A2 It can be calculated using the following formula:

[0113]

[0114]

[0115] Where, x a -x a Let y represent the x-coordinates of the leftmost and rightmost points in the actual cross-section of the tunnel surrounding rock, respectively. aLet represent the ordinate of point a in the actual cross-section of the tunnel surrounding rock, R represent the design radius of the designed cross-section of the tunnel surrounding rock, and x represent the abscissa of a point in the designed cross-section of the tunnel surrounding rock.

[0116] Through S A1 With S A2 The over-mining value S can also be obtained. 超 and under-dig value S 欠 ;

[0117] Over-mining value S 超 :

[0118]

[0119] Under-dig value S 欠 :

[0120]

[0121] The volume of over- or under-excavation, v, can be obtained using the following formula:

[0122]

[0123] Where, d L This represents the perimeter of the designed cross-section of the tunnel surrounding rock. In practical applications, the over-excavation / under-excavation volume v obtained using the above formula can also be marked at the corresponding position in the scene's 3D model.

[0124] An embodiment of the present invention provides a method for detecting over- and under-excavation in tunnel surrounding rock. Based on photographic data, a 3D model of the scene can be determined; based on 3D point cloud data, a true 3D model can be determined; and based on design data, a design 3D model of the tunnel surrounding rock can be determined. By analyzing and comparing the true 3D model and the design 3D model, a 3D model of over- and under-excavation can be determined. Since the 3D model of over- and under-excavation is determined by the true 3D model and the design 3D model, it can correspond to the true 3D model. The true 3D model is determined by 3D point cloud data, and the 3D point cloud data and photographic data are associated with time imprints. Therefore, the 3D model of over- and under-excavation can correspond to the scene 3D model through time imprints. The 3D model of over- and under-excavation and its model parameters can be marked at corresponding positions in the scene 3D model. In this way, designers can quickly and accurately see the marked 3D model of over- and under-excavation and its model parameters in the scene 3D model. Furthermore, they can quickly and accurately locate the over- and under-excavation areas in the tunnel and quickly and accurately analyze and judge the over- and under-excavation areas based on the model parameters, promptly identify risks, and effectively improve work efficiency.

[0125] Example 2

[0126] This invention also proposes a system for detecting over-excavation and under-excavation of tunnel surrounding rock, the system comprising:

[0127] The segmentation module is used to divide the surrounding rock of the tunnel into multiple tunnel segments;

[0128] The first acquisition module is used to acquire photo data and 3D point cloud data of the tunnel segment, wherein the photo data and 3D point cloud data corresponding to each tunnel segment have the same time imprint;

[0129] The second acquisition module is used to acquire the design data of the tunnel surrounding rock and to build a three-dimensional design model of the tunnel surrounding rock based on the design data.

[0130] A module is built to create a 3D scene model of the tunnel surrounding rock based on photo data, and to create a realistic 3D model of the tunnel surrounding rock based on 3D point cloud data.

[0131] The comparison module is used to compare the real 3D model with the design 3D model to obtain a 3D model of over- or under-excavation volume composed of 3D point cloud data.

[0132] The marking module is used to mark the over- and under-excavation 3D models and their parameters at the corresponding positions in the scene 3D model based on the time imprint.

[0133] The first acquisition module is specifically used for:

[0134] S201: Associate the multi-channel imaging device with the 3D laser scanning device so that the multi-channel imaging device and the 3D laser scanning device start synchronously at the end of the tunnel section near the tunnel entrance; wherein, the imaging range of the multi-channel imaging device covers at least the range of a single tunnel section, the scanning range of the 3D laser scanning device covers at least the range of a single tunnel section, and the initial position of the multi-channel imaging device and the 3D laser scanning device is at the entrance of the tunnel entrance.

[0135] S202: Start the multi-channel photography equipment and 3D laser scanning equipment to begin static photography and static scanning;

[0136] S203: Use the timestamp of the multi-channel photography device or 3D laser scanning device when it is started as a timestamp, and associate the timestamp with the photo data and 3D point cloud data generated in the tunnel section respectively;

[0137] S204: When the multi-channel photography equipment and the three-dimensional laser scanning equipment have completed static photography and static scanning at one end of the tunnel section, turn off the multi-channel photography equipment and the three-dimensional laser scanning equipment and move them to the end of the next tunnel section near the entrance of the tunnel surrounding rock.

[0138] S205: Repeat steps S202 to S204 above to obtain multiple sets of photo data and multiple sets of 3D point cloud data corresponding to multiple tunnel sections.

[0139] In this embodiment, the multi-channel imaging device and the 3D laser scanning device are both mounted on the same vehicle-mounted device. The multi-channel imaging device can capture images of the internal condition of the tunnel surrounding rock from multiple angles. In specific implementation, four imaging devices can be set up to capture images of the tunnel surrounding rock from all directions. The 3D laser scanning device can utilize the principle of laser ranging to quickly reconstruct a 3D model of the target object by recording information such as the 3D coordinates, reflectivity, and texture of points on the surface of the object being measured. In this embodiment, a combination of technologies such as 3D laser scanning device, Global Positioning System (GPS), Inertial Measurement Unit (IMU), and odometer is used to scan the tunnel surrounding rock. Specifically, GPS is used to provide positioning information outside the tunnel, and IMU and odometer are used to provide positioning information inside the tunnel when the GPS signal is lost.

[0140] The module is specifically used for:

[0141] Each set of photo data was used to create a 3D model of the tunnel section scene corresponding to the tunnel section using oblique photography technology;

[0142] The 3D model of the tunnel section scene is stitched together according to the time imprint order to obtain the 3D model of the scene corresponding to the tunnel surrounding rock.

[0143] Noise reduction processing of 3D point cloud data is performed using the difference method and the mean method;

[0144] Each set of 3D point cloud data after noise reduction is used to establish a real 3D model of the tunnel segment corresponding to the tunnel segment using the Delaunay triangulation modeling method.

[0145] The real 3D models of the tunnel section are stitched together according to the time imprint sequence to obtain a real 3D model corresponding to the surrounding rock of the tunnel.

[0146] The comparison module is specifically used for:

[0147] Overlap the feature lines or points with the same distribution characteristics between the real 3D model and the designed 3D model;

[0148] The method of elimination is used to preprocess the real 3D model and the design 3D model;

[0149] After preprocessing using the elimination method, the overlapping 3D point cloud data with the design 3D model in the real 3D model is deleted. The model composed of the remaining 3D point cloud data in the real 3D model is the over- and under-excavation 3D model.

[0150] The specific steps of the elimination method include:

[0151] Multiple equidistant points are selected on the central axis of the tunnel in the real 3D model. These equidistant points are then extended along the radius of the real 3D model to obtain the first intersection point with the real 3D model and the second intersection point with the designed 3D model.

[0152] Calculate the intersection distance between the first intersection point and the second intersection point. If the intersection distance is greater than a preset threshold distance, delete the 3D point cloud data corresponding to the first intersection point and delete the design data corresponding to the second intersection point.

[0153] If the distance between the intersection points is less than or equal to the preset threshold distance, then the first and second intersection points will be retained.

[0154] In this embodiment, the accuracy of the real 3D model can be improved by using the elimination method to delete 3D points and data with large errors. In this embodiment, the tunnel centerline of the real 3D model is made to coincide with the tunnel centerline of the design 3D model, so that the real 3D model and the design 3D model can roughly coincide, and the non-overlapping model area is the over- or under-excavation 3D model.

[0155] The tagging module is specifically used for:

[0156] Based on the time imprint, the 3D model of over-excavation and under-excavation volume is made to correspond with the 3D model of the scene;

[0157] Obtain the model parameters of the 3D model of over-excavation and under-excavation, including the over-excavation and under-excavation amounts, over-excavation risk value, and under-excavation risk value;

[0158] Mark the over- and under-excavation 3D model and model parameters at the corresponding positions on the scene 3D model using color annotation or shading annotation.

[0159] The specific steps for obtaining the model parameters of the 3D model of over- and under-excavation volume include:

[0160] The over- and under-excavation 3D model is reversed to obtain a model that overlaps with the actual 3D model and the design 3D model.

[0161] Obtain a cross-sectional view when the actual 3D model and the design 3D model coincide. Place the cross-sectional view in the first quadrant of the 2D coordinate system to obtain the over-excavation and under-excavation amounts D. i :

[0162]

[0163] Among them, (x i y i Let (x) be the coordinates of the i-th point on the cross-sectional profile of the real 3D model in the cross-sectional view, and (x) be the coordinates of the i-th point on the cross-sectional profile of the real 3D model in the cross-sectional view. k y k ), (x j y jThese are the coordinates of the k-th and j-th points, respectively, when the i-th point is connected to the origin of the two-dimensional coordinate system, intersecting the cross-sectional contour of the designed three-dimensional model. The j-th point is closer to the origin of the two-dimensional coordinate system. If the over-excavation or under-excavation amount D... i A value greater than 0 indicates that the area is an over-excavated area. If the over-excavation / under-excavation amount D... i A value less than 0 indicates that the area is under-excavated; if the over- or under-excavation amount D... i An equal value of 0 indicates that the region is a standard region;

[0164] Based on over- and under-excavation amount D i Obtain the over-excavation risk value F i and under-excavation risk value i i :

[0165]

[0166]

[0167] Where maxA i maxA is the maximum allowable over-excavation value. i >|G i |, maxB i maxB is the maximum allowable under-dig value. i >|G i |

[0168] In this embodiment, the cross-sectional view is a plane obtained by projecting the actual 3D model and the design 3D model onto a plane perpendicular to the extension direction of the tunnel surrounding rock. In this cross-sectional view, the actual cross-sectional outline of the tunnel surrounding rock, the design cross-sectional outline of the tunnel surrounding rock, the over-excavation area, and the under-excavation area can be seen. In specific implementation, the over-excavation and under-excavation amounts can be marked in the scene 3D model. Workers can use display devices to intuitively see the over-excavation and under-excavation amounts in the over-excavation and under-excavation areas. Larger over-excavation and under-excavation values ​​(over-excavation risk values) and smaller over-excavation and under-excavation values ​​(under-excavation risk values) can be distinguished by different colors when marking, so that workers can target the areas with the greatest safety risks in the tunnel surrounding rock and investigate risks in a timely manner, which can improve work efficiency to a certain extent.

[0169] In this embodiment, the maximum allowable over-excavation value maxA i and the maximum allowable under-excavation value maxB i The over-excavation risk value F can be obtained by staff through analysis combining their own experience, professional skills, geological survey data, and mechanical knowledge. i and under-excavation risk value E i The larger the value, the higher the safety risk of the surrounding rock of the tunnel; in specific implementation, the over-excavation risk value F can be marked. i and under-excavation risk value E iThe areas in the 3D model of the scene are arranged according to the level of safety risk, so as to remind the designer to make timely repairs according to the level of safety risk and to avoid risks to a certain extent.

[0170] In this embodiment, a three-dimensional coordinate system can also be established in the tunnel surrounding rock, with the direction of the tunnel surrounding rock axis as the Z-axis. Based on the aforementioned cross-sectional diagram, the difference SA1 between the actual cross-sectional area of ​​the tunnel surrounding rock and the area of ​​the designed cross-section of the tunnel surrounding rock can be calculated, and the sum S of the over-excavated area and the under-excavated area can be calculated. A2 Wherein, the actual cross-sectional area of ​​the tunnel surrounding rock is the area enclosed by the actual cross-sectional outline of the tunnel surrounding rock, and the designed cross-sectional area of ​​the tunnel surrounding rock is the area enclosed by the designed cross-sectional outline of the tunnel surrounding rock; then S A1 With S A2 It can be calculated using the following formula:

[0171]

[0172]

[0173] Where, x a , - a Let y represent the x-coordinates of the leftmost and rightmost points in the actual cross-section of the tunnel surrounding rock, respectively. a Let represent the ordinate of point a in the actual cross-section of the tunnel surrounding rock, R represent the design radius of the designed cross-section of the tunnel surrounding rock, and x represent the abscissa of a point in the designed cross-section of the tunnel surrounding rock.

[0174] Through S A1 With S A2 The over-mining value S can also be obtained. 超 and under-dig value S 欠 ;

[0175] Over-mining value S 超 :

[0176]

[0177] Under-dig value S 欠 :

[0178]

[0179] The volume of over- or under-excavation, v, can be obtained using the following formula:

[0180]

[0181] Where, d L This represents the perimeter of the designed cross-section of the tunnel surrounding rock. In practical applications, the over-excavation / under-excavation volume v obtained using the above formula can also be marked at the corresponding position in the scene's 3D model.

[0182] An embodiment of the tunnel surrounding rock over- and under-excavation detection system of the present invention can determine a scene 3D model based on photographic data, a real 3D model based on 3D point cloud data, and a design 3D model of the tunnel surrounding rock based on design data. By analyzing and comparing the real 3D model and the design 3D model, the over- and under-excavation 3D model can be determined. Since the over- and under-excavation 3D model is determined by the real 3D model and the design 3D model, the over- and under-excavation 3D model can correspond to the real 3D model. The real 3D model is determined by 3D point cloud data, and the 3D point cloud data and photographic data are associated with time imprints. Therefore, the over- and under-excavation 3D model can correspond to the scene 3D model through time imprints. The over- and under-excavation 3D model and its model parameters can be marked at the corresponding positions in the scene 3D model. In this way, the designer can quickly and accurately see the marked over- and under-excavation 3D model and its model parameters in the scene 3D model. Consequently, the location of the over- and under-excavation area in the tunnel can be quickly and accurately located, and the over- and under-excavation area can be quickly and accurately analyzed and judged based on the model parameters, allowing for timely risk identification and effectively improving work efficiency.

[0183] Example 3

[0184] Based on the same inventive concept, the present invention proposes a computer-readable storage medium, including instructions that, when executed on a computer, cause the computer to perform the above-described method for detecting over- or under-excavation of tunnel surrounding rock.

[0185] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means containing storage, communication, propagation, or transmission programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0186] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0187] The memory may include a large-capacity storage device for data or instructions. For example, and not limitingly, the memory may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory may include removable or non-removable (or fixed) media. Where appropriate, the memory may be internal or external to the data processing device. In a particular embodiment, the memory is non-volatile memory. In a particular embodiment, the memory includes read-only memory (ROM) and random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), an electrically alterable read-only memory (EAROM), or flash memory, or a combination of two or more of these. Where appropriate, the RAM can be Static Random-Access Memory (SRAM) or Dynamic Random-Access Memory (DRAM). DRAM can be Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), Extended Data Out Dynamic Random-Access Memory (EDODRAM), Synchronous Dynamic Random-Access Memory (SDRAM), etc.

[0188] Example 4

[0189] Based on the same inventive concept, this invention proposes a terminal, which includes: a processor and a memory; the processor and the memory communicate with each other; the memory is used to store instructions; the processor is used to execute the instructions in the memory to execute the above-mentioned method for detecting over-excavation and under-excavation of tunnel surrounding rock.

[0190] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0191] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for detecting overbreak of tunnel surrounding rock, characterized in that, The method includes: The surrounding rock of the tunnel is divided into multiple tunnel sections; Acquire photographic data and 3D point cloud data of the tunnel segment, wherein the photographic data and 3D point cloud data corresponding to each tunnel segment have the same time imprint; Obtain the design data of the tunnel surrounding rock, and establish a three-dimensional design model of the tunnel surrounding rock based on the design data; A 3D scene model of the tunnel surrounding rock is established based on the photographic data, and a real 3D model of the tunnel surrounding rock is established based on the 3D point cloud data. The actual 3D model is compared with the design 3D model to obtain a 3D model of over- and under-excavation volume composed of the 3D point cloud data; Based on the time imprint, mark the over- and under-excavation 3D model and its model parameters at the corresponding positions in the scene 3D model; The specific steps for obtaining the photographic data and 3D point cloud data of the tunnel section include: S201: Associate the multi-channel imaging device with the three-dimensional laser scanning device, so that the multi-channel imaging device and the three-dimensional laser scanning device are started synchronously at the end of the tunnel section near the entrance of the tunnel surrounding rock; wherein, the imaging range of the multi-channel imaging device covers at least the range of a single tunnel section, the scanning range of the three-dimensional laser scanning device covers at least the range of a single tunnel section, and the initial position of the multi-channel imaging device and the three-dimensional laser scanning device is at the entrance of the tunnel surrounding rock; S202: Start the multi-channel imaging device and the three-dimensional laser scanning device to begin static imaging and static scanning; S203: Use the timestamp of the multi-channel photography device or the three-dimensional laser scanning device when it is started as the timestamp, and associate the timestamp with the photo data and the three-dimensional point cloud data generated in the tunnel section respectively; S204: When the multi-channel photography device and the three-dimensional laser scanning device have completed static photography and static scanning at one end of the tunnel section respectively, the multi-channel photography device and the three-dimensional laser scanning device are turned off and moved to the end of the next tunnel section near the entrance of the tunnel surrounding rock. S205: Repeat steps S202 to S204 above to obtain multiple sets of photo data and multiple sets of three-dimensional point cloud data corresponding to multiple tunnel segments; The steps of establishing a 3D scene model of the tunnel surrounding rock based on the photographic data and establishing a realistic 3D model of the tunnel surrounding rock based on the 3D point cloud data specifically include: Each set of photographic data is used to create a 3D model of the tunnel segment scene corresponding to the tunnel segment using oblique photography technology; The three-dimensional model of the tunnel section scene is stitched together according to the time imprint order to obtain the three-dimensional model of the scene corresponding to the surrounding rock of the tunnel. The 3D point cloud data is denoised using the difference method and the mean method. Each set of 3D point cloud data after noise reduction is used to establish a real 3D model of the tunnel segment corresponding to the tunnel segment using the Delaunay triangulation modeling method. The real three-dimensional models of the tunnel section are spliced ​​together according to the time imprint order to obtain the real three-dimensional model corresponding to the surrounding rock of the tunnel. The specific steps of comparing the actual 3D model with the designed 3D model to obtain a 3D model of over- or under-excavation volume composed of the 3D point cloud data include: The feature lines shared by the real 3D model and the designed 3D model or the points with the same distribution characteristics are overlapped. The method of elimination is used to preprocess the real 3D model and the design 3D model; The three-dimensional point cloud data that overlaps with the design three-dimensional model in the real three-dimensional model after the preprocessing of the elimination method are deleted, and the model composed of the remaining three-dimensional point cloud data in the real three-dimensional model is the over- and under-excavation three-dimensional model. The step of marking the over- or under-excavation 3D model and its model parameters at the corresponding positions in the scene 3D model according to the time imprint specifically includes: The over- and under-excavation 3D model is made to correspond to the scene 3D model based on the time imprint; Obtain the model parameters of the three-dimensional model of over-excavation and under-excavation, wherein the model parameters include over-excavation and under-excavation amounts, over-excavation risk value, and under-excavation risk value; The over- and under-excavation 3D model and the model parameters are marked at the corresponding positions of the scene 3D model using color annotation or shading annotation. The steps for obtaining the model parameters of the three-dimensional model of the over- and under-excavation volume specifically include: The over- and under-excavation 3D model is reversed to obtain a model that overlaps with the actual 3D model and the design 3D model. acquiring a section view when the real three-dimensional model coincides with the design three-dimensional model, placing the section view in the first quadrant of a two-dimensional coordinate system, and obtaining an over / undercut value : in, The first [unclear] on the cross-sectional profile of the real three-dimensional model in the cross-sectional view. Point coordinates, , They are the first When a point is connected to the origin of the two-dimensional coordinate system, the first point that intersects with the cross-sectional profile of the designed three-dimensional model is... Point coordinates and the Point coordinates, the first The point is close to the origin of the two-dimensional coordinate system; if the over- or under-excavation amount A value greater than 0 indicates that the area is an over-excavated area. If the over-excavation / under-excavation amount... A value less than 0 indicates that the area is under-excavated; if the over-excavation / under-excavation amount is... An equal value of 0 indicates that the region is a standard region; According to the over-undertunneling amount obtaining the over-tunneling risk value and the undertunneling risk value : wherein is the maximum allowed overbreak value, , is the maximum allowed underbreak value, .

2. The method of claim 1, wherein the tunnel surrounding rock overbreak detection method is characterized by, The steps of the elimination method specifically include: Multiple equidistant points are selected on the central axis of the tunnel in the real 3D model. These equidistant points are then extended along the radius of the real 3D model to obtain a first intersection point that intersects with the real 3D model and a second intersection point that intersects with the designed 3D model. Calculate the intersection distance between the first intersection point and the second intersection point. If the intersection distance is greater than a preset threshold distance, delete the 3D point cloud data corresponding to the first intersection point and delete the design data corresponding to the second intersection point. If the distance between the intersection points is less than or equal to a preset threshold distance, then the first intersection point and the second intersection point are retained.

3. A system for detecting overbreak and underbreak of tunnel surrounding rock, which adopts the method for detecting overbreak and underbreak of tunnel surrounding rock according to claim 1, characterized in that, The system includes: The segmentation module is used to divide the surrounding rock of the tunnel into multiple tunnel segments; The first acquisition module is used to acquire photo data and three-dimensional point cloud data of the tunnel segment, wherein the photo data and three-dimensional point cloud data corresponding to each tunnel segment have the same time imprint; The second acquisition module is used to acquire the design data of the tunnel surrounding rock and to establish a three-dimensional design model of the tunnel surrounding rock based on the design data. A module is established to create a 3D scene model of the tunnel surrounding rock based on the photo data, and to create a real 3D model of the tunnel surrounding rock based on the 3D point cloud data. The comparison module is used to compare the real 3D model with the design 3D model to obtain a 3D model of over- or under-excavation volume composed of the 3D point cloud data. The marking module is used to mark the over- and under-excavation 3D model and its model parameters at the corresponding positions in the scene 3D model according to the time imprint.

4. A computer-readable storage medium, characterized in that, Includes instructions that, when run on a computer, cause the computer to perform the method of any one of claims 1 to 2.

5. A terminal, characterized by comprising: The terminal includes: a processor and a memory; the processor and the memory communicate with each other; The memory is used to store instructions; The processor is used to execute the instructions in the memory to perform the method according to any one of claims 1 to 2.

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