A tunnel overbreak and underbreak detection method and device, computer equipment and storage medium

Abstract

The application relates to the field of tunnel engineering construction, and discloses a tunnel over-under excavation detection method, device, computer equipment and storage medium, the method comprises the following steps: scanning a tunnel point cloud model, and vertically projecting each point in the tunnel point cloud model onto a tunnel section; inputting a contour line of the tunnel section, and segmenting the contour line to obtain a plurality of line elements, the line elements comprising arc line segments and / or straight line segments; defining the same direction for the line elements in the contour line, the direction being a clockwise direction or an anticlockwise direction; calculating the distances from a current projection point to the line elements, and determining the minimum distance; judging the left-right relationship of the current projection point relative to the line element with the minimum distance; determining the over-under excavation state of the current projection point based on the left-right relationship and the direction of the line element with the minimum distance, and taking the minimum distance as the over-under excavation value corresponding to the over-under excavation state of the current projection point. The application improves the calculation accuracy of the over-under excavation value of a tunnel with a straight line contour.

Description

Technical Field

[0001] This invention relates to the field of tunnel engineering construction, specifically to a method, apparatus, computer equipment, and storage medium for detecting over-excavation and under-excavation in tunnels. Background Technology

[0002] Drill-and-blast method is a commonly used excavation method in tunnel construction. It involves drilling holes at the tunnel face and blasting with explosives to excavate the tunnel. Due to borehole deviation and uncontrollable factors during blasting, the excavated chamber space may differ from the designed space, resulting in localized over-excavation or under-excavation. Under-excavated rock masses need to be removed, while severely over-excavated areas require backfilling. Therefore, measuring the over- and under-excavation status of the tunnel is a crucial indicator for evaluating tunnel excavation quality and for acceptance testing.

[0003] Currently, research on detecting over- and under-excavation in tunnels is extensive. For example, document CN115482211A discloses a method for detecting over- and under-excavation in tunnels. This method uses laser to measure the three-dimensional point cloud of the tunnel, and then, based on the ideally designed tunnel excavation face information and the measured three-dimensional point cloud, calculates the over- and under-excavation of each point in the point cloud using the polar coordinate method. However, this document calculates the over- and under-excavation of tunnels with a completely circular arc profile. When the actual tunnel profile is straight, this method is not applicable. Figure 1 As shown, when the tunnel profile is a straight line with a circular arc at the top, if an over-excavation point is P and the profile point determined by the polar coordinate method is P', the over-excavation value calculated by the polar coordinate method is the difference L1 between OP and OP'. However, the actual over-excavation value should be the vertical distance L2 from the over-excavation point P to the straight profile. Therefore, when this method is applied to tunnels with straight profiles, it will lead to inaccurate calculation of over-excavation and under-excavation values. Summary of the Invention

[0004] In view of this, the present invention provides a method, apparatus, computer equipment and storage medium for detecting over-excavation and under-excavation in tunnels, in order to solve the problem of inaccurate calculation of over-excavation and under-excavation values ​​for tunnels with straight profiles.

[0005] In a first aspect, the present invention provides a method for detecting over- or under-excavation in tunnels, comprising: scanning a tunnel point cloud model and vertically projecting each point in the tunnel point cloud model onto a tunnel cross-section; inputting the contour line of the tunnel cross-section and dividing the contour line into several line elements, the line elements including arc segments and / or straight line segments; defining the same direction for the line elements in the contour line, the direction being clockwise or counterclockwise; calculating the distance from the current projection point to each line element and determining the minimum distance among them; determining the left-right relationship of the current projection point relative to the line element with the minimum distance; determining the over- or under-excavation state of the current projection point based on the left-right relationship and the direction of the line element with the minimum distance, and using the minimum distance as the over- or under-excavation value corresponding to the over- or under-excavation state of the current projection point.

[0006] This implementation divides the contour line of a tunnel cross-section with arbitrary contours, independently dividing discontinuous straight or curved segments into several line elements. Then, a clockwise or counterclockwise direction is defined for each line element. When each point of the tunnel point cloud model is projected onto the tunnel cross-section, the distance from the projection point to each line element is calculated for any projection point. The line element with the smallest distance is considered closest to the projection point and thus serves as the contour for determining over- or under-excavation. Since the line elements have predefined directions, the left-right relationship between the projection point and the line element with the smallest distance can determine whether the projection point is inside or outside the tunnel contour, thereby determining the over- or under-excavation state of the projection point. The corresponding smallest distance is then used as the over- or under-excavation value. In this way, regardless of whether the tunnel cross-section contour line is curved, straight, or a mixture of both, the over- or under-excavation state and value of each point can be accurately identified, avoiding inaccurate calculations of over- or under-excavation values ​​and significantly improving the accuracy of tunnel over- or under-excavation detection.

[0007] In one alternative implementation, defining the same direction for line elements in the contour line includes: establishing a two-dimensional coordinate system on the tunnel cross-section; and defining the direction of the line elements based on the coordinate values ​​of the line element endpoints in the two-dimensional coordinate system.

[0008] In this embodiment, a two-dimensional coordinate system is established on the tunnel cross-section, and then the coordinates of each line element endpoint in the two-dimensional coordinate system are determined. Since the coordinate values ​​of each line element endpoint are different, as the line element takes points along the clockwise or counterclockwise direction on the two-dimensional coordinate line, the coordinate values ​​of the line element endpoints exhibit a certain size variation pattern. Thus, the computer device can automatically define the direction of the line element by reading the variation pattern of the coordinate values ​​of the line element endpoints.

[0009] In one optional implementation, when the origin of the two-dimensional coordinate system is the point on the tunnel cross-section where the tunnel's central axis lies, and the horizontal axis of the two-dimensional coordinate system is positively directed to the right along the bottom horizontal line of the tunnel cross-section, and the vertical axis is positively directed upwards along the vertical line in space, the direction of the line element is defined based on the coordinate values ​​of the line element endpoints in the two-dimensional coordinate system. This includes: searching for the target line element with the largest endpoint vertical coordinate among the contour lines, and setting the endpoint with the larger or smaller horizontal coordinate among the target line elements as the line element's starting point, and setting the other endpoint among the target line elements as the line element's ending point; searching for the remaining line elements that coincide with the line element's ending point. The process involves identifying coincident endpoints and designating the line element corresponding to these endpoints as the first line element. Then, the other endpoint of the first line element is designated as its end point, and the coincident endpoint is designated as its starting point. The process continues until the starting and ending points of all line elements in the contour line are determined, resulting in line elements in either a counterclockwise or clockwise direction.

[0010] This implementation establishes a two-dimensional coordinate system with the point on the tunnel cross-section where the tunnel's central axis lies as the origin, the horizontal line at the bottom of the tunnel cross-section as the horizontal axis (positive to the right), and the vertical line in space as the vertical axis (positive upward). Based on this, for any shape of contour line, the endpoint of one line element is determined as the starting point, and the other endpoint as the ending point, according to the clockwise / counterclockwise direction. Then, the endpoint of the next line element that coincides with the ending point of the current line element is taken as the starting point of the next line element, and so on. Through iteration, each line element of the complete contour line is automatically defined as clockwise / counterclockwise. The starting point of the first line element is determined by first searching for the target line element with the largest endpoint ordinate in the contour line, and then setting the endpoint with the larger or smaller horizontal coordinate of the target line element as the starting point. Through the above steps, this embodiment provides a fast and accurate automated method for generating the direction of the tunnel cross-section contour line based on the endpoint coordinates of line elements.

[0011] In one optional implementation, determining the left-right relationship of the current projection point relative to the minimum distance line element includes: when the minimum distance line element is a straight line segment, determining two discriminant vectors in a two-dimensional coordinate system, with the starting point of the minimum distance line element as the vector starting point and the current projection point and the ending point of the minimum distance line element as the vector ending points; calculating the dot product of the two discriminant vectors; determining the left-right relationship of the current projection point relative to the minimum distance line element based on the sign of the dot product; when the minimum distance line element is an arc segment, calculating the distance from the current projection point to the center of the arc segment, and calculating the difference between the center distance and the corresponding radius of the arc segment; determining the left-right relationship of the current projection point relative to the minimum distance line element based on the sign of the difference.

[0012] Specifically, after determining the minimum distance from the projection point to a certain straight line element, although this distance value is relatively accurate, it may be an over-excavation or under-excavation value. Therefore, it is necessary to accurately identify the over-excavation or under-excavation state of the projection point based on its left-right relationship with the minimum distance line element. Based on the two-dimensional coordinate system and the definition of the counterclockwise direction of the line element established in the above implementation method, this implementation method constructs a discrimination vector and calculates the dot product of two discrimination vectors based on the sign characteristics of the discrimination vector in the two-dimensional coordinate system. The left-right relationship of the current projection point relative to the minimum distance line element is determined according to the sign of the dot product, thus accurately realizing the automatic identification of whether the projection point is to the left or right of the minimum distance line element. In addition, when the minimum distance line element is an arc segment, the left-right relationship of the current projection point relative to the minimum distance line element is determined according to whether the circular distance from the projection point to the arc segment exceeds the radius of the arc segment. Through the above steps, the over-excavation or under-excavation state of each projection point can be accurately identified for any contour line.

[0013] In one optional implementation, determining the left-right relationship of the current projection point relative to the minimum distance element based on the sign of the vector dot product includes: when the direction of the minimum distance element is defined as counterclockwise, if the vector dot product is positive, then the current projection point is determined to be on the right side of the minimum distance element; when the direction of the minimum distance element is defined as counterclockwise, if the vector dot product is negative, then the current projection point is determined to be on the left side of the minimum distance element; determining the left-right relationship of the current projection point relative to the minimum distance element based on the sign of the difference includes: when the direction of the minimum distance element is defined as counterclockwise, if the difference is positive, then the current projection point is determined to be on the right side of the minimum distance element; when the direction of the minimum distance element is defined as counterclockwise, if the difference is negative, then the current projection point is determined to be on the left side of the minimum distance element.

[0014] In one optional implementation, when the minimum distance line element is defined as the counterclockwise direction, the over- or under-excavation status of the current projection point is determined based on the left-right relationship and the direction of the minimum distance line element, including: when the current projection point is to the right of the minimum distance line element, the over- or under-excavation status of the current projection point is determined to be over-excavation; when the current projection point is to the left of the minimum distance line element, the over- or under-excavation status of the current projection point is determined to be under-excavation.

[0015] In one optional implementation, calculating the distance from the current projection point to each line element includes: for a line element that is a straight line segment, if the foot of the perpendicular from the current projection point is on the current line element, calculating the length of the perpendicular from the current projection point to the current line element as the distance from the current projection point to the current line element; for a line element that is an arc segment, if the current projection point is within the central angle range of the arc segment, calculating the distance from the current projection point to the center of the arc segment, and calculating the difference between the center distance and the corresponding radius of the arc segment as the distance from the current projection point to the current line element; for a line element that is either a straight line segment or an arc segment, if the foot of the perpendicular from the current projection point is not on any straight line segment and the current projection point is not within the central angle range of any arc segment, calculating the endpoint distances from the current projection point to the two endpoints of the current line element, and taking the smaller endpoint distance as the distance from the current projection point to the current line element.

[0016] For the projection point at the junction of the arc and the straight line, there may be situations where the foot of the perpendicular does not fall on the straight line and the point is not within the range of the central angle of the arc, or where the foot of the perpendicular falls on the straight line and the point is within the range of the central angle of the arc. If the over- or under-excavation value for these special cases is determined solely by calculating the perpendicular distance or the radius difference, the error in the over- or under-excavation value will be large. Therefore, this embodiment first identifies the above special cases, then calculates the endpoint distances from the current projection point to the two endpoints of the current line element, and takes the smaller endpoint distance as the distance from the current projection point to the current line element, which can significantly improve the accuracy of the over- or under-excavation value for these special cases.

[0017] Secondly, the present invention provides a tunnel over-excavation and under-excavation detection device, the device comprising: a tunnel data acquisition module for scanning a tunnel point cloud model and vertically projecting each point in the tunnel point cloud model onto the tunnel cross-section; a line element segmentation module for inputting the contour line of the tunnel cross-section and segmenting the contour line to obtain several line elements, the line elements including arc segments and / or straight line segments; a direction definition module for defining the same direction for the line elements in the contour line, the direction being clockwise or counterclockwise; a distance calculation module for calculating the distance from the current projection point to each line element and determining the minimum distance among them; a relative position determination module for determining the left-right relationship of the current projection point relative to the line element with the minimum distance; and an over-excavation and under-excavation result output module for determining the over-excavation and under-excavation state of the current projection point based on the left-right relationship and the direction of the line element with the minimum distance, and using the minimum distance as the over-excavation and under-excavation value corresponding to the over-excavation and under-excavation state of the current projection point.

[0018] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform a tunnel over-excavation and under-excavation detection method according to the first aspect or any corresponding embodiment described above.

[0019] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute a tunnel over-excavation and under-excavation detection method according to the first aspect or any corresponding embodiment described above. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram illustrating the effect of detecting over-excavation and under-excavation in tunnels using the polar coordinate method based on relevant technologies.

[0022] Figure 2 This is a flowchart illustrating a method for detecting over-excavation and under-excavation in tunnels according to an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of the projection of point cloud onto the tunnel cross section according to an embodiment of the present invention;

[0024] Figure 4 This is another schematic projection of the point cloud onto the tunnel cross-section according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram illustrating the direction definition of the tunnel cross-section outline according to an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the partitioning of projection points on the tunnel cross section according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram illustrating the effect of determining the point-to-line element by projecting the A area points according to an embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of the discriminant vector structure according to an embodiment of the present invention;

[0029] Figure 9 This is a schematic diagram of the structure of a tunnel over-excavation and under-excavation detection device according to an embodiment of the present invention;

[0030] Figure 10 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] According to an embodiment of the present invention, a method for detecting over-excavation and under-excavation in tunnels is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0033] Over- or under-excavation conditions in tunnels are not easily discernible by the naked eye. To improve the efficiency of over- or under-excavation detection, automated computer detection algorithms have emerged. However, some computer-based identification methods suffer from inaccurate over- or under-excavation value calculations, especially when the tunnel profile includes both straight lines and curves. The automated over- or under-excavation detection logic of related technologies has significant flaws, making it difficult for computers to accurately determine the over- or under-excavation status at each location within the tunnel and calculate accurate over- or under-excavation values.

[0034] This embodiment provides a method for detecting over-excavation and under-excavation in tunnels, which can be used in computer devices such as mobile terminals, personal computers, and servers. Figure 2This is a flowchart of a tunnel over-excavation and under-excavation detection method according to an embodiment of the present invention, as follows: Figure 2 As shown, the process includes the following steps:

[0035] Step S101: Scan the tunnel point cloud model and project each point in the tunnel point cloud model vertically onto the tunnel cross-section.

[0036] Specifically, in this embodiment, a 3D laser scanner is used to acquire a tunnel point cloud model, and the points in the tunnel laser point cloud are projected onto a model such as... Figure 3 The tunnel cross-section is shown. A specific projection method involves converting the points in the point cloud from relative coordinates to engineering coordinates, then obtaining the starting coordinates P1 and ending coordinates P2 of the corresponding axis segment based on the axis parameters, establishing a spatial rectangular coordinate system hvz, and then vertically projecting the points in the point cloud onto the hv plane, for example... Figure 4 Point a in the tunnel point cloud model. This embodiment is only an example and is not limited to it. Any method that can vertically project each point in the tunnel point cloud model onto the tunnel cross-section is acceptable.

[0037] Step S102: Input the outline of the tunnel cross section and divide the outline into several line elements, including arc segments and / or straight line segments.

[0038] Specifically, for scenarios with irregular tunnel cross-sectional contours, this embodiment first extracts the complete contour line of the tunnel cross-section. In the contour line, there are usually connection points at a certain angle between straight lines and between straight lines and arcs. Therefore, this embodiment divides the contour line into several line elements based on the connection points of the line elements, and each line element is an arc segment or a straight line segment.

[0039] Step S103: Define the same direction for the line elements in the contour line, which is either clockwise or counterclockwise.

[0040] Specifically, such as Figure 5 Taking the tunnel shown as an example, this step defines the direction for each line element. It should be noted that the direction of each line element must be the same, that is, each line element is either clockwise or counterclockwise. In other words, after defining the clockwise or counterclockwise direction for the entire outline, each line element must conform to that direction.

[0041] In some optional implementations, step S103 above includes:

[0042] Step a1: Establish a two-dimensional coordinate system on the tunnel cross-section.

[0043] Step a2: Define the direction of the line element based on the coordinates of its endpoints in the two-dimensional coordinate system.

[0044] Specifically, to enable the computer to define the direction of line elements, this embodiment first establishes a two-dimensional coordinate system on the tunnel cross-section. For example, a two-dimensional coordinate system can be established with the bottom edge of the tunnel outline as the horizontal axis and the direction perpendicular to the tunnel's central axis as the vertical axis. Alternatively, the entire tunnel cross-section outline can be placed on the positive half-axis of the horizontal and vertical axes to establish a coordinate system. This embodiment does not impose any special limitations on the horizontal and vertical directions of the two-dimensional coordinate system. Through the established two-dimensional coordinate system, the coordinates of each line element endpoint in the two-dimensional coordinate system can be determined. Since the coordinate values ​​of each line element endpoint are different, as the line element takes points along the two-dimensional coordinate line in a clockwise or counterclockwise direction, the coordinate values ​​of the line element endpoints exhibit a certain variation pattern. This allows the computer device to accurately and quickly define the direction of the line element automatically by reading the variation pattern of the coordinate values ​​of the line element endpoints.

[0045] In some optional implementations, when the origin of the two-dimensional coordinate system is the point on the tunnel cross-section where the tunnel's central axis lies, and the horizontal axis of the two-dimensional coordinate system is positively directed to the right along the bottom horizontal line of the tunnel cross-section, and the vertical axis is positively directed upwards along the vertical line in space, step a2 above includes:

[0046] Step b1: Search for the target line element with the largest ordinate of the endpoint in the contour line, and set the endpoint with the larger or smaller abscissa of the target line element as the starting point of the line element, and set the other endpoint of the target line element as the ending point of the line element.

[0047] Step b2: Search for the overlapping endpoints of the remaining line elements that coincide with the endpoint of the line element, and take the line element corresponding to the overlapping endpoint as the first line element. Then take the other endpoint of the first line element as the endpoint of the first line element and the overlapping endpoint as the starting point of the first line element.

[0048] Step b3: Take the first line element as the target line element and return to step b2 until the start and end points of all line elements in the contour are determined, thus obtaining line elements in the counterclockwise or clockwise direction.

[0049] Specifically, considering that if the horizontal and vertical axis angles defined in the two-dimensional coordinate system of the tunnel cross-section are too skewed, it will be difficult to statistically analyze the coordinate value changes of the endpoints of the line elements, thus increasing the difficulty of defining the direction of the line elements. For example... Figure 5 As shown, this embodiment establishes a two-dimensional coordinate system with the point on the tunnel cross-section where the tunnel's central axis lies as the origin, the horizontal line at the bottom of the tunnel cross-section as the horizontal axis (positive to the right), and the vertical line in space as the vertical axis (positive upward). This reduces the difficulty of defining the direction of line elements, thereby defining the direction of each line element by defining its start and end points. Specifically, the starting point of the first line element is determined by searching for the target line element with the largest endpoint ordinate in the contour line, and setting the endpoints with larger or smaller horizontal ordinates among the target line elements as the starting point. Figure 5Taking a tunnel cross-section contour line consisting of three straight lines and one arc as an example, if the computer defines the line elements as counterclockwise, it first searches for the target line element (arc segment) with the largest endpoint ordinate in the contour line. Then, it sets the endpoint with the larger abscissa of the arc segment as the start point of the line element and the other endpoint as the end point. The remaining line elements are then connected end-to-end to determine their start and end points sequentially. That is, the endpoint of the next line element that coincides with the end point of the current line element is taken as the start point of the next line element, and so on. Through iteration, the line elements of the complete contour line are automatically defined as counterclockwise. If the computer defines the line elements as clockwise, it searches for the target line element (arc segment) with the largest endpoint ordinate in the contour line. Then, it sets the endpoint with the smaller abscissa of the arc segment as the start point of the line element and the other endpoint as the end point. The remaining line elements are then connected end-to-end to determine their start and end points sequentially, thereby achieving the automatic definition of the clockwise direction. Through the above steps, this embodiment provides a method for accurately and quickly generating the direction of a tunnel cross-section contour line based on the endpoint coordinates of line elements.

[0050] Step S104: Calculate the distance from the current projection point to each line element, and determine the minimum distance among them.

[0051] Step S105: Determine the left-right relationship of the current projection point relative to the minimum distance line element.

[0052] Step S106: Determine the over- or under-excavation status of the current projection point based on the left-right relationship and the direction of the minimum distance line element, and use the minimum distance as the over- or under-excavation value corresponding to the over- or under-excavation status of the current projection point.

[0053] Specifically, steps S101 to S103 above constitute the data preparation process for over-excavation and under-excavation detection, while steps S104 to S106 constitute the formal detection process. Based on the tunnel cross-section contour line being cut into different straight line elements and curved line elements, for any projection point, the distance from the projection point to each straight line element and curved line element is calculated. Then, the distances are compared, and the line element corresponding to the minimum distance indicates that the current projection point is closest to that minimum distance line element. For example, if the current projection point is closest to a certain straight line element, then it can be considered that the current projection point is closest to the current straight line element. Therefore, it is reasonable to determine that the actual location of the tunnel corresponding to that projection point is being excavated using the current straight line element as the contour. This minimum distance line element can be used as the standard line for judging over-excavation and under-excavation at the current projection point, and the minimum distance can be used as the over-excavation and under-excavation value. Although using the calculated minimum distance as the over-excavation and under-excavation value solves the problem of inaccurate calculation of over-excavation and under-excavation values ​​using the polar coordinate method, it is still impossible to determine whether the minimum distance is actually an over-excavation value or an under-excavation value through the above process. Therefore, this embodiment needs to further determine the over-excavation and under-excavation status of the projection point. Identifying over- or under-excavation essentially involves determining whether the projected point is located inside or outside the tunnel. To enable the computer to determine this logic, this embodiment automates the identification by considering the relative left-right relationship between the projected point and the line element. Normally, whether the projected point is to the left or right of the minimum distance line element is a relative rather than absolute relationship. However, this embodiment pre-defines the direction of the minimum distance line element through step S103, thus identifying the projected point based on the line element's direction. This embodiment can qualitatively define the "left-right" relative relationship, determining whether the current projected point is to the left or right of the minimum distance line element. Then, based on the left-right relationship and the direction of the minimum distance line element, it can be determined whether the current projected point is outside or inside the tunnel outline, thereby determining the over- or under-excavation state. For example... Figure 5 As shown, when the minimum distance line element is in a counter-clockwise direction, the projection point to the left of the line element is the inner side, and the state of this point is under-excavation; the projection point to the right of the line element is the outer side, and the state of this point is over-excavation. When the minimum distance line element is in a clockwise direction, the judgment of over-excavation and under-excavation states is reversed. Through the above state identification, it is further determined whether the minimum distance is specifically used as the under-excavation value or the over-excavation value. With the method provided by the embodiments of the present invention, regardless of whether the contour line of the tunnel cross-section is an arc, a straight line, or a mixed contour line of arc and straight line, the over-excavation and under-excavation state and over-excavation value of each point can be accurately identified, avoiding the situation of inaccurate calculation of over-excavation and under-excavation values, and significantly improving the accuracy of tunnel over-excavation and under-excavation detection.

[0054] In some optional implementations, step S104 above includes:

[0055] Step c1: For the current line element as a straight line segment, if the foot of the perpendicular from the current projection point is on the current line element, calculate the length of the perpendicular from the current projection point to the current line element as the distance from the current projection point to the current line element.

[0056] Step c2: For the current line element being an arc segment, if the current projection point is within the central angle range of the arc segment, calculate the distance from the current projection point to the center of the arc segment, and calculate the difference between the center distance and the corresponding radius of the arc segment as the distance from the current projection point to the current line element.

[0057] Step c3: For the current line element, if the foot of the perpendicular of the current projection point is not on any straight line segment and the current projection point is not within the central angle range of any arc segment, calculate the endpoint distances from the current projection point to the two endpoints of the current line element, and take the smaller endpoint distance as the distance from the current projection point to the current line element.

[0058] Specifically, in calculating the distance from the current projection point to each line element, the embodiments of the present invention divide the calculation into the following three main categories. For example... Figure 6 As shown, in the first case, if the current line element is a straight line segment, the distance from the projection point to the straight line segment is calculated by first determining whether the foot of the perpendicular line drawn from the projection point to the straight line segment falls on the straight line segment. If the foot of the perpendicular falls on the straight line segment (regions C and B), then the distance from the current projection point to the current line element is determined to be the length of the perpendicular line. In the second case, if the current line element is an arc segment, the distance from the projection point to the arc segment is calculated by first determining whether the projection point falls within the central angle range of the arc segment. If the projection point falls within the central angle range (regions D and B), then the distance from the current projection point to the arc segment is determined to be the difference between the center distance and the radius of the arc segment (where the center distance is the distance from the current projection point to the center of the arc segment). This difference is the shortest distance from the current projection point to the current line element, and therefore, it is appropriate to use this difference as the distance from the current projection point to the current line element. The third category, namely step c3, involves the projection point at the junction of the arc segment and the straight segment. The foot of the perpendicular from the projection point does not fall on the straight segment, and the point is not within the central angle range of the arc (area A). Directly calculating the perpendicular distance or radius difference to determine the over- or under-cut value in this special case is inappropriate because the calculated distance is not the closest distance between the projection point and the contour line, resulting in a large error in the over- or under-cut value. Therefore, this embodiment calculates the endpoint distances from the current projection point to the two endpoints of the current line element (straight segment or arc segment) for this special case, and uses the smaller endpoint distance as the distance from the current projection point to the current line element. Figure 7 The points shown in area A in the middle make the calculated distance better represent the situation where the projected point is close to the tunnel cross-section outline, which can significantly improve the accuracy of over-excavation and under-excavation values ​​in this special case.

[0059] In some optional embodiments, according to the direction definition method of steps b1 to b3 above, step S105 includes:

[0060] Step d1: When the minimum distance line element is a straight line segment, take the starting point of the minimum distance line element as the vector starting point, and take the current projection point and the ending point of the minimum distance line element as the vector ending points, and determine two discrimination vectors in the two-dimensional coordinate system.

[0061] Step d2: Calculate the dot product of the two discriminant vectors.

[0062] Step d3: Determine the left-right relationship of the current projection point relative to the minimum distance line element based on the sign of the vector dot product.

[0063] Step d4: When the minimum distance line element is an arc segment, calculate the distance from the current projection point to the center of the arc segment, and calculate the difference between the center distance and the corresponding radius of the arc segment.

[0064] Step d5: Determine the left-right relationship of the current projection point relative to the minimum distance line element based on the sign of the difference.

[0065] Specifically, when the minimum distance line element is a straight line segment, this embodiment establishes two discrimination vectors in the two-dimensional coordinate system created in steps b1 to b3 above, such as... Figure 8 As shown, one discriminant vector starts at the minimum distance element and ends at the current projection point, while the other discriminant vector starts at the minimum distance element and ends at the minimum distance element. The dot product of the two discriminant vectors is then calculated. In the current 2D coordinate system, the left-right relationship of the projection point relative to the minimum distance element directly affects the sign of the dot product (in other 2D coordinate systems, the dot product's value may vary within a certain threshold range). The sign of the dot product determines whether the projection point is to the left or right of the minimum distance element. It is important to note that the left-right relationship of the projection point is related to the direction of the line element. When the direction of the minimum distance line element is defined as counterclockwise, if the vector dot product is positive, the current projection point is determined to be to the right of the minimum distance line element; if the vector dot product is negative, the current projection point is determined to be to the left of the minimum distance line element. When the direction of the minimum distance line element is defined as clockwise, if the vector dot product is positive, the current projection point is determined to be to the left of the minimum distance line element; if the vector dot product is negative, the current projection point is determined to be to the right of the minimum distance line element. Thus, through the vector calculation process, a simple, easy-to-determine, and accurate method for identifying the left-right relationship of the current projection point relative to the line element is achieved.

[0066] Furthermore, when the minimum distance line element is an arc segment, the distance from the current projection point to the center of the arc segment is calculated, and the difference between this center distance and the corresponding radius of the arc segment is calculated. Then, based on the sign of the difference, the left-right relationship of the current projection point relative to the minimum distance line element is determined. Similarly, the left-right relationship of the projection point is related to the direction of the line element. When the direction of the minimum distance line element is defined as counterclockwise, if the difference is positive, the current projection point is determined to be on the right side of the minimum distance line element; if the difference is negative, the current projection point is determined to be on the left side. When the direction of the minimum distance line element is defined as clockwise, if the difference is positive, the current projection point is determined to be on the left side of the minimum distance line element; if the difference is negative, the current projection point is determined to be on the right side of the minimum distance line element.

[0067] Based on steps d1 to d5 above, the specific identification process of step S106 is as follows: When the minimum distance element is defined as counterclockwise, if the current projection point is to the right of the minimum distance element, then the current projection point is actually outside the tunnel outline, and the over-excavation / under-excavation state of the current projection point is determined to be over-excavation; when the current projection point is to the left of the minimum distance element, then the current projection point is actually inside the tunnel outline, and the over-excavation / under-excavation state of the current projection point is determined to be under-excavation. Similarly, when the minimum distance element is defined as clockwise, if the current projection point is to the right of the minimum distance element, then the current projection point is actually inside the tunnel outline, and the over-excavation / under-excavation state of the current projection point is determined to be under-excavation; when the current projection point is to the left of the minimum distance element, then the current projection point is actually outside the tunnel outline, and the over-excavation / under-excavation state of the current projection point is determined to be over-excavation.

[0068] Thus, through the above steps, the over-excavation and under-excavation state detection method provided by this embodiment of the invention can, regardless of whether the contour line of the tunnel cross-section is only an arc, only a straight line, or a mixed contour line of arc and straight line, enable the computer to identify whether each projection point is on the left or right side of the contour line according to the two-dimensional coordinate system of the tunnel cross-section and the defined contour line direction, thereby accurately identifying the over-excavation and under-excavation state and over-excavation and under-excavation value of each point. This embodiment adopts a reverse approach, first calculating a relatively accurate over-excavation and under-excavation value by the minimum distance, and then determining whether the over-excavation and under-excavation value is actually an over-excavation value or an under-excavation value by the left-right relationship of the projection point relative to the contour line. Ultimately, it solves the problem of inaccurate calculation of over-excavation and under-excavation values ​​and significantly improves the accuracy of tunnel over-excavation and under-excavation detection.

[0069] This embodiment also provides a tunnel over- or under-excavation detection device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0070] This embodiment provides a tunnel over-excavation and under-excavation detection device, such as... Figure 9 As shown, it includes:

[0071] The tunnel data acquisition module 901 is used to scan the tunnel point cloud model and project each point in the tunnel point cloud model vertically onto the tunnel cross-section. For details, please refer to the relevant description of step S101 in the above method embodiment, which will not be repeated here.

[0072] The line element segmentation module 902 is used to input the contour line of the tunnel cross-section and segment the contour line to obtain several line elements, including arc segments and / or straight line segments. For details, please refer to the relevant description of step S102 in the above method embodiment, which will not be repeated here.

[0073] The direction definition module 903 is used to define the same direction for line elements in the contour line, which can be clockwise or counterclockwise. For details, please refer to the relevant description of step S103 in the above method embodiment, which will not be repeated here.

[0074] The distance calculation module 904 is used to calculate the distance from the current projection point to each line element and determine the minimum distance among them. For details, please refer to the relevant description of step S104 in the above method embodiment, which will not be repeated here.

[0075] The relative position determination module 905 is used to determine the left-right relationship of the current projection point relative to the minimum distance line element. For details, please refer to the relevant description of step S105 in the above method embodiment, which will not be repeated here.

[0076] The over- or under-excavation result output module 906 is used to determine the over- or under-excavation status of the current projection point based on the left-right relationship and the direction of the minimum distance line element, and uses the minimum distance as the over- or under-excavation value corresponding to the over- or under-excavation status of the current projection point. For details, please refer to the relevant description of step S106 in the above method embodiment, which will not be repeated here.

[0077] The tunnel over-excavation and under-excavation detection device in this embodiment is presented in the form of a functional unit. Here, a unit refers to an ASIC circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0078] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0079] This invention also provides a computer device having the above-described features. Figure 9 The tunnel over-excavation and under-excavation detection device shown.

[0080] Please see Figure 10 , Figure 10This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 10 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 10 Take a processor 10 as an example.

[0081] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0082] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0083] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0084] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0085] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0086] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0087] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for detecting over-excavation and under-excavation in tunnels, characterized in that, The method includes: Scan the tunnel point cloud model and project each point in the tunnel point cloud model vertically onto the tunnel cross-section; Input the outline of the tunnel cross section, and divide the outline into several line elements, the line elements including arc segments and straight line segments; The line elements in the contour line are defined with the same direction, which is either clockwise or counterclockwise. Calculate the distance from the current projection point to each line element, and determine the minimum distance among them; the calculation of the distance from the current projection point to each line element includes: for the current line element being a straight line segment, if the foot of the perpendicular from the current projection point is on the current line element, calculate the length of the perpendicular from the current projection point to the current line element as the distance from the current projection point to the current line element; for the current line element being an arc segment, if the current projection point is within the central angle range of the arc segment, calculate the distance from the current projection point to the center of the arc segment, and calculate the difference between the center distance and the corresponding radius of the arc segment as the distance from the current projection point to the current line element; for the current line element being either a straight line segment or an arc segment, if the foot of the perpendicular from the current projection point is not on any straight line segment and the current projection point is not within the central angle range of any arc segment, calculate the endpoint distances from the current projection point to the two endpoints of the current line element, and take the smaller endpoint distance as the distance from the current projection point to the current line element; Determine the left-right relationship of the current projection point relative to the minimum distance line element; The over- or under-excavation state of the current projection point is determined based on the left-right relationship and the direction of the minimum distance line element, and the minimum distance is used as the over- or under-excavation value corresponding to the over- or under-excavation state of the current projection point.

2. The method according to claim 1, characterized in that, The definition of the same direction for the line elements in the contour line includes: Establish a two-dimensional coordinate system on the tunnel cross-section; The direction of the line element is defined based on the coordinate values ​​of its endpoints in the two-dimensional coordinate system.

3. The method according to claim 2, characterized in that, When the origin of the two-dimensional coordinate system is the point on the tunnel cross-section where the tunnel's central axis lies, and the horizontal axis of the two-dimensional coordinate system is positively oriented to the right along the bottom horizontal line of the tunnel cross-section, and the vertical axis is positively oriented upwards along the vertical line in space, defining the direction of the line element based on the coordinate values ​​of its endpoints in the two-dimensional coordinate system includes: Search for the target line element with the largest endpoint ordinate in the contour line, and set the endpoint with the larger or smaller x-coordinate in the target line element as the starting point of the line element, and set the other endpoint in the target line element as the ending point of the line element. Search for the overlapping endpoints of the remaining line elements that coincide with the endpoint of the line element, and take the line element corresponding to the overlapping endpoint as the first line element. Then take the other endpoint of the first line element as the endpoint of the first line element and the overlapping endpoint as the starting point of the first line element. The first line element is used as the target line element. The overlapping endpoint of the remaining search line elements that coincides with the endpoint of the line element is returned. The line element corresponding to the overlapping endpoint is used as the first line element. Then, the other endpoint of the first line element is used as the endpoint of the first line element and the overlapping endpoint is used as the starting point of the first line element. This process is repeated until the starting and ending points of all line elements in the contour line are determined, resulting in line elements in a counterclockwise or clockwise direction.

4. The method according to claim 3, characterized in that, The determination of the left-right relationship of the current projection point relative to the minimum distance line element includes: When the minimum distance line element is a straight line segment, the starting point of the minimum distance line element is taken as the vector starting point, and the current projection point and the ending point of the minimum distance line element are taken as the vector ending points, and two discrimination vectors are determined in the two-dimensional coordinate system. Calculate the dot product of two discriminant vectors; The left-right relationship of the current projection point relative to the minimum distance line element is determined based on the sign of the vector dot product. When the minimum distance line element is an arc segment, calculate the distance from the current projection point to the center of the arc segment, and calculate the difference between the center distance and the corresponding radius of the arc segment; Based on the sign of the difference, the left-right relationship of the current projection point relative to the minimum distance line element is determined.

5. The method according to claim 4, characterized in that, Determining the left-right relationship of the current projection point relative to the minimum distance line element based on the sign of the vector dot product includes: When the direction of the minimum distance line element is defined as counterclockwise, if the vector dot product is positive, then the current projection point is determined to be to the right of the minimum distance line element. When the direction of the minimum distance line element is defined as counterclockwise, if the vector dot product is negative, then the current projection point is determined to be to the left of the minimum distance line element. Determining the left-right relationship of the current projection point relative to the minimum distance line element based on the sign of the difference includes: When the direction of the minimum distance line element is defined as counterclockwise, if the difference is positive, it is determined that the current projection point is to the right of the minimum distance line element. When the direction of the minimum distance line element is defined as counterclockwise, if the difference value is negative, then the current projection point is determined to be to the left of the minimum distance line element.

6. The method according to claim 5, characterized in that, When the minimum distance line element is defined as a counterclockwise direction, determining the over- or under-excavation status of the current projection point based on the left-right relationship and the direction of the minimum distance line element includes: When the current projection point is to the right of the minimum distance line element, the over-digmentation / under-digmentation state of the current projection point is determined to be over-digmentation; When the current projection point is to the left of the minimum distance line element, the over-drilling and under-drilling state of the current projection point is determined to be under-drilling.

7. A tunnel over-excavation and under-excavation detection device, characterized in that, The device includes: The tunnel data acquisition module is used to scan the tunnel point cloud model and project each point in the tunnel point cloud model vertically onto the tunnel cross-section. The line element segmentation module is used to input the outline of the tunnel cross section and segment the outline to obtain several line elements, the line elements including arc segments and straight line segments; The direction definition module is used to define the same direction for the line elements in the contour line, wherein the direction is either clockwise or counterclockwise. The distance calculation module is used to calculate the distance from the current projection point to each line element and determine the minimum distance among them. The calculation of the distance from the current projection point to each line element includes: for a straight line segment, if the foot of the perpendicular from the current projection point lies on the current line element, calculating the length of the perpendicular from the current projection point to the current line element as the distance from the current projection point to the current line element; for an arc segment, if the current projection point is within the central angle range of the arc segment, calculating the distance from the current projection point to the center of the arc segment, and calculating the difference between the center distance and the corresponding radius of the arc segment as the distance from the current projection point to the current line element; for a straight line segment or an arc segment, if the foot of the perpendicular from the current projection point is not on any straight line segment and the current projection point is not within the central angle range of any arc segment, calculating the endpoint distances from the current projection point to the two endpoints of the current line element, and taking the smaller endpoint distance as the distance from the current projection point to the current line element. The relative position determination module is used to determine the left-right relationship of the current projection point relative to the minimum distance line element; The over- or under-excavation result output module is used to determine the over- or under-excavation state of the current projection point based on the left-right relationship and the direction of the minimum distance line element, and to use the minimum distance as the over- or under-excavation value corresponding to the over- or under-excavation state of the current projection point.

8. A computer device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to perform the method of any one of claims 1 to 6.

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