A three-dimensional tunnel model forming device based on an airborne two-dimensional laser and a method thereof

Abstract

The application discloses a kind of three-dimensional roadway model forming devices based on airborne two-dimensional laser, comprising: laser scanning structure and airborne controller, laser scanning structure is arranged in the side of the body of cantilever type heading machine with pose detection function, and laser scanning structure includes: laser scanning component fixed slot, scanning structure matched straight teeth, support plate, support plate drive motor, fixed big arm, rotary arm drive motor, rotary arm, laser transmitter, the body of heading machine is provided with airborne controller, and airborne controller is connected with rotary arm drive motor and support plate drive motor, and the control system of heading machine is connected with airborne controller, the application takes heading machine as carrier, and three-dimensional modeling is carried out to roadway by setting two-dimensional laser scanning device, and laser scanning structure is directly erected on the body of heading machine, without adding remaining equipment, and the whole detection system is simpler, and the difficulty of corresponding control is low, and the cost is low.

Description

Technical Field

[0001] This invention relates to the technical field of three-dimensional model forming methods for coal mine roadways, specifically a three-dimensional roadway model forming device and method based on airborne two-dimensional laser. Background Technology

[0002] During actual tunneling, the cutting head experiences varying forces and vibrations depending on the type of surrounding rock encountered. Although the cutting trajectory is planned smoothly, the resulting tunnel is not perfectly smooth. Strictly speaking, the tunnel's direction is known, but its specific shape is unknown. From the perspective of the need for a 3D tunnel model, this model can guide the operation of subsequent intelligent equipment, such as the movement of hydraulic supports. Furthermore, by connecting the model to the actual tunnel, the location information of each piece of equipment and the tunnel's shape can be more clearly displayed, which can assist in improving the development of remote monitoring interfaces.

[0003] Methods for measuring tunnel shape using auxiliary equipment have been proposed, such as using laser scanning modules on aircraft or underground vehicles. For example, patent number CN202210428491.4 describes a three-dimensional tunnel model system and its generation method, and patent number CN201610384423.7 describes a high-precision three-dimensional model scanning device and method for underground tunnels. These patents introduce vehicles and aircraft as auxiliary equipment, and the selected laser scanning modules should be three-dimensional laser scanning modules. However, adding additional auxiliary equipment will increase the complexity of the entire system. In comparison, installing tunnel scanning equipment on existing underground engineering machinery and completing tunnel shaping while working is a more ideal approach. Summary of the Invention

[0004] The purpose of this invention is to provide a three-dimensional tunnel model forming device and method based on airborne two-dimensional laser to solve the above-mentioned problems.

[0005] The technical solution of this invention is:

[0006] A three-dimensional tunnel model forming device based on airborne two-dimensional laser includes: a laser scanning structure disposed on one side of the body of a cantilever tunneling machine with pose detection function; the laser scanning structure includes: a laser scanning component fixing groove disposed on the body of the cantilever tunneling machine; a spur gear matching the scanning structure disposed on the inner side of the groove wall; a support plate slidably disposed on the laser scanning component fixing groove; and a support plate drive motor disposed on the support plate, the output shaft of which passes through the surface of the support plate and is fitted with a gear, the gear meshing with the tooth groove surface of the spur gear matching the scanning structure. The support plate drive motor is equipped with a support plate drive motor encoder; the fixed boom is vertically mounted on the support plate; the rotating arm drive motor is located on the side of the fixed boom near the top, and the output shaft of the rotating arm drive motor passes through the fixed boom, and the rotating arm drive motor is equipped with a rotating arm drive motor encoder; the rotating arm is connected at one end to the output end of the rotating arm drive motor; a laser emitter is located at the other end of the rotating arm; the tunneling machine is equipped with an onboard controller, which is connected to the rotating arm drive motor and the support plate drive motor, and the onboard controller is connected to the tunneling machine's control system.

[0007] Furthermore, a laser scanning structure is installed on the other side of the cantilever tunneling machine, and the two laser scanning structures are arranged symmetrically.

[0008] Furthermore, the laser scanning component fixing groove has strip-shaped grooves on both sides of the groove wall, the support plate is π-shaped, and the lower protrusion of the support plate is inserted into the strip-shaped groove.

[0009] Furthermore, an elongated sheet metal is provided on the bottom surface of the laser scanning component fixing groove, and the elongated sheet metal is fixed to the outside of the track side plate by bolts.

[0010] A method for scanning a three-dimensional tunnel model forming device based on an airborne two-dimensional laser includes the following steps:

[0011] After the tunneling machine has completed tunneling operations on one side, it remains stationary in place, and the specific position and posture of the tunneling machine body are measured by the body posture detection device.

[0012] Once the orientation of the tunneling machine is known, the laser scanning structures on both sides of the machine adjust the pitch angle of the laser emitter through the rotating arm drive motor, so that the lasers on both sides can scan the tunnel in a planar form. By considering the specific installation positions of the two laser scanning structures, the coordinates of the laser emitter in the tunnel coordinate system can be calculated from the orientation of the tunneling machine.

[0013] Once the coordinates of the laser emitter are known, by combining the output of the encoder of the rotary arm drive motor built into the rotary arm drive motor with the distance measured by the laser, the coordinate data of the tunnel cross-section point at each rotation angle can be found.

[0014] The coordinates of each point form the point cloud data of the tunnel cross section. After the data processing unit in the airborne controller processes the data, the shape of the cross section is obtained. First, the obtained point coordinates are classified according to the Y-direction displacement of the tunneling machine obtained by the detection system. The points under the same y coordinate are then fitted according to the x and z coordinates to obtain a cross section curve. Then, the cross section curves under multiple y coordinates are combined to form a three-dimensional model of the tunnel. Driven by the fixed boom, the laser emitter moves along the fixed groove of the laser scanning component towards the cutting surface to obtain the shape of multiple tunnel cross sections in this section. Then, the three-dimensional model of this section of the tunnel is obtained through data fitting.

[0015] After obtaining the tunnel model for this section, the tunneling machine continues to advance. After the operation is completed, the above process is repeated to continuously scan the tunnel and finally obtain a three-dimensional model of the entire tunnel.

[0016] A method for scanning a three-dimensional tunnel model based on an airborne two-dimensional laser, wherein the airborne controller controls the laser scanning structure, and the method includes the following steps:

[0017] Once the tunneling machine's posture is detected, the onboard controller controls the boom drive motor to rotate the boom, compensating for changes in the laser surface caused by variations in the tunneling machine's pitch angle. This ensures the laser remains perpendicular to the tunnel floor. When the yaw angle β=0, it directly scans all points in the tunnel, calculating L based on the time it takes for the laser emitter to emit and receive the reflected laser. 测 When a yaw angle exists, L=L 测 ×cosβ、B=L 测 ×sinβ, the laser emitter rotates continuously. Based on the different angles recorded by the encoder built into the laser emitter's rotating arm drive motor and the distance measured by the laser, the two-dimensional coordinates (x and z) of multiple points on the tunnel cross-section are obtained. Combined with the Y-direction displacement data obtained by the pose detection system, the three-dimensional coordinates of multiple points can be obtained. When the number of points obtained is sufficient to fit the shape of the tunnel wall, the onboard controller controls the support plate drive motor to move the robotic arm in the Y direction to continue acquiring the three-dimensional points of multiple cross-sections. Then, based on the y-coordinates, the point data of the same cross-section are summarized together to obtain the point coordinates of multiple cross-sections. The data summarization and tunnel surface fitting are performed in the data processing unit of the onboard controller. As the tunneling machine continues to advance, the y-coordinates continuously increase, and the coordinates of different tunnel cross-section points are continuously acquired. Based on the points, the cross-sections are fitted, and the cross-sections are connected to obtain the three-dimensional model of the entire tunnel section.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. This invention uses a tunneling machine as a carrier and sets up a two-dimensional laser scanning device to perform three-dimensional modeling of the tunnel. The laser scanning structure is directly mounted on the body of the tunneling machine, eliminating the need for additional equipment. This simplifies the entire detection system and reduces the difficulty and cost of control. Since the body of the tunneling machine will block the two-dimensional laser, a laser emitter is set on each of the left and right sides of the tunneling machine to scan the tunnels on the left and right sides of the machine. There will be overlapping parts during the scanning. The average value of the overlapping parts can be calculated to further improve the scanning accuracy.

[0020] 2. This invention proposes a specific laser scanning structure. Since this invention uses a two-dimensional laser emitter, in order to ensure that the laser plane is always perpendicular to the centerline of the tunnel, a rotating arm is set in the structure. The pitch angle of the laser emitter is adjusted by the rotating arm to ensure that the laser plane is always perpendicular to the centerline of the tunnel, thereby completing the modeling of a certain section of the tunnel. The tunneling machine is stationary in place, and the laser emitter can move back and forth to scan multiple sections. By merging multiple sections together, a three-dimensional model of a section of the tunnel can be obtained. The laser emitter also moves forward continuously with the tunneling machine, thereby completing the modeling of the entire section of the tunnel.

[0021] 3. Since a two-dimensional laser emitter can only scan one tunnel cross-section, this invention incorporates a fixed groove structure in its mechanical design, allowing the laser to move back and forth. By combining the scanned cross-sections, a section of the tunnel can be 3D-shaped without the tunneling machine remaining stationary. As the tunneling machine advances, the 3D modeling of the entire tunnel section is completed.

[0022] 4. The laser scanning structure is installed on both sides of the tunneling machine. When the tunneling machine is automated, the position and orientation of the machine are known. Therefore, the coordinates of the laser emitter in the tunnel are also known, and the coordinates of each point in the tunnel cross-section are relatively easy to measure. Compared with other detection methods, the method proposed in this invention makes full use of the existing data. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0024] Figure 2 This is a perspective view of the structural schematic diagram of the present invention;

[0025] Figure 3 This is a schematic diagram of the laser scanning structure of the present invention;

[0026] Figure 4 This is a flowchart of the process of the present invention;

[0027] Figure 5 This is a three-dimensional model diagram of the tunnel in this invention;

[0028] Figure 6 This is a schematic diagram of the tunneling machine of the present invention in a roadway.

[0029] Among them, 1-laser scanning structure; 101-straight gear matching the scanning structure; 102-laser emitter; 103-laser emitter rotary motor; 104-support plate; 105-rotating arm; 106-rotating arm drive motor; 107-rotating arm drive motor encoder; 108-support plate drive motor encoder; 109-support plate drive motor; 110-laser scanning component fixing slot; 111-fixed boom; 2. airborne controller. Detailed Implementation

[0030] The following is in conjunction with the appendix Figure 1 To the attached Figure 6 The specific embodiments of the present invention will be described in detail below. In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0031] 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 this invention, unless otherwise stated, "a plurality of" means two or more.

[0032] It should be noted that the circuit connections involved in this invention all adopt conventional circuit connection methods and do not involve any innovation.

[0033] Example

[0034] like Figures 1 to 3As shown, a three-dimensional tunnel model forming device based on airborne two-dimensional laser includes: a laser scanning structure 1 and an airborne controller 2. The laser scanning structure 1 is installed on one side of the body of a cantilever tunneling machine with pose detection function. The laser scanning structure 1 includes: a laser scanning component fixing groove 110, a scanning structure matching spur gear 101, a support plate 104, a support plate drive motor 109, a fixed boom 111, a rotating arm drive motor 106, a rotating arm 105, and a laser emitter 102. The laser scanning component fixing groove 110 is installed on the body of the cantilever tunneling machine; the scanning structure matching spur gear 101 is installed inside the groove wall of the laser scanning component fixing groove 110; the support plate 104 is slidably installed on the laser scanning component fixing groove 110; the support plate drive motor 109 is installed on the support plate 104, and its output shaft passes through the plate surface of the support plate 104 and is fitted with a gear. The gear and the scanning structure are matched. The tooth grooves of the spur gear 101 mesh, and the support plate drive motor 109 is equipped with a support plate drive motor encoder 108; the fixed boom 111 is vertically mounted on the support plate 104; the rotating arm drive motor 106 is located on the side of the fixed boom 111 near the top, and the output shaft of the rotating arm drive motor 106 passes through the fixed boom 111, and the rotating arm drive motor 106 is equipped with a rotating arm drive motor encoder 107; one end of the rotating arm 105 is connected to the output end of the rotating arm drive motor 106, and the pitch angle is compensated by the rotating arm, so that the two-dimensional laser always scans the tunnel in a plane; the laser emitter 102 is located on the other end of the rotating arm 105; the machine body of the tunneling machine is equipped with an onboard controller 2, which is connected to the rotating arm drive motor 106 and the support plate drive motor 109, and the onboard controller 2 is connected to the control system of the tunneling machine.

[0035] Preferably, to improve scanning accuracy, a laser scanning structure 1 is installed on the other side of the cantilever tunneling machine. The two laser scanning structures 1 are symmetrically arranged, and the tunnel is scanned using two laser emitters. The overlapping portions are then averaged. During the scanning process, the roof is typically scanned twice; averaging the results improves measurement accuracy.

[0036] Preferably, in order to make the support plate 104 slide more smoothly, the two sides of the groove wall of the laser scanning component fixing groove 110 are provided with strip-shaped grooves, the support plate 104 is π-shaped, and the lower protrusion of the support plate 104 is inserted into the strip-shaped groove.

[0037] Specifically, an elongated sheet metal is provided on the bottom surface of the laser scanning component fixing groove 110, and the elongated sheet metal is fixed to the outside of the track side plate by bolts.

[0038] A method for scanning a three-dimensional tunnel model forming device based on an airborne two-dimensional laser includes the following steps:

[0039] After the tunneling machine has completed tunneling operations on one side, it remains stationary in place, and the specific position and posture of the tunneling machine body are measured by the body posture detection device.

[0040] After the orientation of the tunneling machine body is known, the laser scanning structure 1 on both sides of the body adjusts the pitch angle of the laser emitter 102 through the rotating arm drive motor 106, so that the lasers on both sides can scan the roadway in a planar form. By referring to the specific installation positions of the two laser scanning structures, the coordinates of the laser emitter 102 in the roadway coordinate system can be calculated from the orientation of the tunneling machine body.

[0041] After knowing the coordinates of the laser emitter 102, by combining the output of the encoder 107 of the rotary arm drive motor 106 built into the rotary arm drive motor 106 with the distance measured by the laser, the coordinate data of the tunnel cross-section point at each rotation angle can be found.

[0042] The coordinates of each point form the point cloud data of the tunnel cross section. After the data is processed by the data processing unit in the airborne controller 2, the shape of the cross section is obtained. First, the obtained point coordinates are classified according to the Y-direction displacement of the tunneling machine obtained by the detection system. The points under the same y coordinate are then fitted according to the x and z coordinates to obtain a cross section curve. Then, the cross section curves under multiple y coordinates are combined to form a three-dimensional model of the tunnel. The laser emitter 102 moves along the fixed groove 110 of the laser scanning component towards the cutting surface under the drive of the fixed boom 111 to obtain the shape of multiple tunnel cross sections under this section. Then, the three-dimensional model of this section of the tunnel is obtained through data fitting.

[0043] After obtaining the tunnel model for this section, the tunneling machine continues to advance. After the operation is completed, the above process is repeated to continuously scan the tunnel and finally obtain a three-dimensional model of the entire tunnel.

[0044] The control method of the airborne controller 2 over the laser scanning structure 1 includes the following steps:

[0045] like Figure 6 As shown, after detecting the tunneling machine's posture, the onboard controller 2 controls the rotating arm drive motor 106 to drive the rotating arm 105 to rotate, compensating for the change in the laser surface caused by the tunneling machine's pitch angle, ensuring that the laser is always perpendicular to the tunnel floor. When the yaw angle β=0, it directly scans each point in the tunnel, and calculates L based on the time it takes for the laser emitter 102 to emit and receive the reflected laser. 测 When a yaw angle exists, L=L 测 ×cosβ、B=L 测×sinβ, the laser emitter 102 rotates continuously. Based on the different angles recorded by the encoder built into the laser emitter rotating arm drive motor 106 and the distance measured by the laser, the two-dimensional coordinates x and z coordinates of multiple points on the tunnel cross-section are obtained. By combining the Y-direction displacement data obtained by the pose detection system, the three-dimensional coordinates of multiple points can be obtained. When the number of points obtained by scanning is sufficient to fit the shape of the tunnel inner wall, the onboard controller 2 controls the support plate drive motor 109 to drive the robotic arm to move in the Y direction, and continues to obtain the three-dimensional points of multiple cross-sections. Then, based on the y coordinates, the point data of the same cross-section are summarized together to obtain the point coordinates of multiple cross-sections. The data summarization and tunnel surface fitting are performed in the data processing unit of the onboard controller. As the tunneling machine continues to advance, the y coordinates continue to increase, and the coordinates of different tunnel cross-section points are continuously obtained. The cross-sections are fitted based on the points, and the cross-sections are connected to obtain the three-dimensional model of the entire tunnel.

[0046] The above-disclosed embodiments are merely preferred embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A method for scanning a three-dimensional tunnel model forming device based on an airborne two-dimensional laser, characterized in that, The 3D tunnel model forming device includes: A laser scanning structure (1) is disposed on one side of the body of a cantilever tunneling machine with pose detection function. The laser scanning structure (1) includes: Laser scanning component fixing slot (110) is provided on the body of the cantilever tunneling machine; The scanning structure is equipped with straight teeth (101), which are disposed on the inner side of the groove wall of the laser scanning component fixing groove (110); The support plate (104) is slidably disposed on the laser scanning component fixing groove (110); A support plate drive motor (109) is mounted on the support plate (104). Its output shaft passes through the surface of the support plate (104) and is fitted with a gear. The gear meshes with the tooth groove surface of the spur gear (101) of the scanning structure. The support plate drive motor (109) is equipped with a support plate drive motor encoder (108). The fixed boom (111) is vertically mounted on the support plate (104); A rotating arm drive motor (106) is located on the side of the fixed arm (111) near the top, and the output shaft of the rotating arm drive motor (106) passes through the fixed arm (111). A rotating arm drive motor encoder (107) is provided on the rotating arm drive motor (106). The rotating arm (105) is connected at one end to the output end of the rotating arm drive motor (106); A laser emitter (102) is disposed at the other end of the rotating arm (105); The tunneling machine is equipped with an onboard controller (2), which is connected to the rotating arm drive motor (106) and the support plate drive motor (109). The onboard controller (2) is also connected to the tunneling machine's control system. The method includes the following steps: After the tunneling machine has completed tunneling operations on one side, it remains stationary in place, and the specific position and posture of the tunneling machine body are measured by the body posture detection device. After the orientation of the tunneling machine body is known, the laser scanning structures (1) on both sides of the body adjust the pitch angle of the laser emitter (102) through the rotating arm drive motor (106), so that the lasers on both sides can scan the roadway in a planar form. By referring to the specific installation positions of the two laser scanning structures, the coordinates of the laser emitter (102) in the roadway coordinate system can be calculated from the orientation of the tunneling machine body. After knowing the coordinates of the laser emitter (102), by combining the output of the encoder (107) of the rotary arm drive motor (106) built into the rotary arm drive motor (106) with the distance measured by the laser, the coordinate data of the tunnel cross-section point at each rotation angle can be found. The coordinates of each point form the point cloud data of the tunnel cross section. After the data is processed by the data processing unit in the airborne controller (2), the shape of the cross section is obtained. First, the obtained point coordinates are classified according to the Y-direction displacement of the tunneling machine obtained by the detection system. The points under the same y coordinate are then fitted according to the x and z coordinates to obtain a cross section curve. Then, the cross section curves under multiple y coordinates are combined together to form a three-dimensional model of the tunnel. The laser emitter (102) moves along the fixed groove (110) of the laser scanning component towards the cutting surface under the drive of the fixed boom (111) to obtain the shape of multiple tunnel cross sections under this section. Then, the three-dimensional model of this section of the tunnel is obtained through data fitting. After obtaining the tunnel model for this section, the tunneling machine continues to advance. After the operation is completed, the above process is repeated to continuously scan the tunnel and finally obtain a three-dimensional model of the entire tunnel.

2. The scanning method of the three-dimensional tunnel model forming device based on airborne two-dimensional laser according to claim 1, characterized in that, A laser scanning structure (1) is set on the other side of the cantilever tunneling machine, and the two laser scanning structures (1) are arranged symmetrically.

3. The scanning method of the three-dimensional tunnel model forming device based on airborne two-dimensional laser according to claim 1, characterized in that, The laser scanning component fixing groove (110) has strip-shaped grooves on both sides of the groove wall. The support plate (104) is π-shaped, and the lower protrusion of the support plate (104) is inserted into the strip-shaped groove.

4. The scanning method of the three-dimensional tunnel model forming device based on airborne two-dimensional laser according to claim 1, characterized in that, An elongated sheet metal is provided on the bottom surface of the laser scanning component fixing groove (110), and the elongated sheet metal is fixed to the outside of the track side plate by bolts.

5. The scanning method of a three-dimensional tunnel model forming device based on an airborne two-dimensional laser according to claim 1, characterized in that, The control method of the airborne controller (2) over the laser scanning structure (1) includes the following steps: After the tunneling machine's position is detected, the onboard controller (2) controls the rotating arm drive motor (106) to drive the rotating arm (105) to rotate, compensating for the change in the laser surface caused by the change in the tunneling machine's pitch angle, so that the laser is always perpendicular to the tunnel floor. When the yaw angle β=0, it directly scans each point in the tunnel, and calculates L based on the time of laser emission from the laser emitter (102) and the time of receiving the reflected laser. 测 When a yaw angle exists, L=L 测 ×cosβ、B=L 测 ×sinβ, the laser emitter (102) rotates continuously. Based on the different angles recorded by the encoder in the laser emitter rotating arm drive motor (106) and the distance measured by the laser, the two-dimensional coordinates x and z coordinates of multiple points on the tunnel cross section are obtained. By connecting the Y-direction displacement data obtained by the pose detection system, the three-dimensional coordinates of multiple points can be obtained. When the number of points obtained by scanning is sufficient to fit the shape of the tunnel inner wall, the onboard controller (2) controls the support plate drive motor (109) to drive the robotic arm to move in the Y direction and continue to obtain the three-dimensional points of multiple cross sections. Then, based on the y coordinates, the point data of the same cross section are summarized together to obtain the point coordinates on multiple cross sections. The data summarization and tunnel surface fitting are carried out in the data processing unit in the onboard controller. As the tunneling machine continues to tunnel, the y coordinates continue to increase, and the coordinates of different tunnel cross section points are continuously obtained. The cross section is fitted based on the points, and the cross sections are connected to obtain the three-dimensional model of the entire tunnel.

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