A method and device for determining the thickness of a primary support, a computer device and a storage medium

Abstract

The application relates to the technical field of tunnel detection, and discloses a primary support thickness determination method and device, computer equipment and a storage medium, the method comprising the following steps: acquiring a first point cloud set and a second point cloud set; based on the relationship between the point cloud data corresponding to the first point cloud and a first preset height, the second point cloud closest to the first point cloud is screened out from the second point cloud set; based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud, the primary support thickness corresponding to the first point cloud is determined; based on the relationship between the point cloud data corresponding to the first point cloud and a second preset height, the primary support thickness is determined as a vault primary support thickness or a side wall primary support thickness, and the primary support thickness is added to the corresponding set; the vault primary support thickness at the target position is determined according to the vault primary support thickness set, and the side wall primary support thickness at the target position is determined according to the side wall primary support thickness set. The primary support thickness is accurately classified through the above method, and the accuracy of the primary support thickness is ensured.

Description

Technical Field

[0001] This invention relates to the field of tunnel inspection technology, specifically to a method, apparatus, computer equipment, and storage medium for determining the initial support thickness. Background Technology

[0002] In tunnel drilling and blasting construction, shotcrete and anchor support is often used for initial support. While shotcrete and anchor support is convenient and low-cost, the lack of formwork can lead to issues such as excessive or insufficient sprayed concrete. To meet design requirements and improve construction quality and precision, it is usually necessary to test the thickness and volume of the shotcrete and use the test results to guide subsequent construction.

[0003] In recent years, with the continuous maturation of 3D laser scanning technology, researchers have developed a method for detecting the thickness and volume of shotcrete in the initial support based on a 3D scanner. However, since the required shotcrete thickness at the tunnel arch differs from that at the sidewalls, calculating the initial support shotcrete thickness at all locations on a given cross-section without differentiation can easily lead to significant errors.

[0004] Therefore, accurately and precisely determining the thickness of the sprayed concrete in different parts of the tunnel has become a problem that needs to be solved. Summary of the Invention

[0005] In view of this, the present invention provides a method, apparatus, computer equipment and storage medium for determining the initial support thickness, so as to solve the problem in the related art that the initial support thickness in the tunnel cross section cannot be accurately and precisely determined.

[0006] In a first aspect, the present invention provides a method for determining the initial support thickness, the method comprising:

[0007] Acquire the first point cloud set formed by all point clouds within the target area after initial support and the second point cloud set formed by all point clouds within the target area before initial support. The target area is a preset range of the target location. Based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height, select the second point cloud that is closest to the first point cloud from the second point cloud set. The first point cloud is any point cloud in the first point cloud set. Based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud, determine the initial support thickness corresponding to the first point cloud. Based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, determine the initial support thickness as either the arch initial support thickness or the sidewall initial support thickness, and add the initial support thickness to the corresponding set. Determine the arch initial support thickness at the target location based on the arch initial support thickness set, and determine the sidewall initial support thickness at the target location based on the sidewall initial support thickness set.

[0008] The method for determining the initial support thickness provided in this embodiment, after acquiring the first point cloud set within the target area after initial support and the second point cloud set within the target area before initial support, determines the second point cloud set that is closest to the first point cloud set based on the relationship between the point cloud data of the first point cloud set and the first preset height. Then, the initial support thickness corresponding to the first point cloud is determined using the point cloud data of both the first and second point clouds. Afterward, based on the relationship between the point cloud data of the first point cloud and the second preset height, it is determined whether the initial support thickness belongs to the arch initial support thickness or the sidewall initial support thickness, and this initial support thickness is added to the corresponding set. After determining the initial support thickness corresponding to all point clouds within the target area, the arch initial support thickness and the sidewall initial support thickness at the target location are determined based on the data in the final arch initial support thickness set and sidewall initial support thickness set. Since the first preset height corresponds to the tunnel shape, the second point cloud selected based on the relationship between the point cloud data and the first preset height has higher accuracy. After determining the initial support thickness based on the point cloud data of the first and second point clouds, the relationship between the point cloud data and the second preset height makes the classification of the initial support thickness more accurate. This results in higher accuracy and greater reference value for the final initial support thicknesses of the arch and sidewalls based on the arch initial support thickness set and the sidewall initial support thickness set.

[0009] In one optional implementation, obtaining a first point cloud set formed by all point clouds within the target area after initial support and a second point cloud set formed by all point clouds within the target area before initial support includes:

[0010] Acquire the third point cloud set formed by all point clouds in the tunnel after initial support and the fourth point cloud set formed by all point clouds in the tunnel before initial support; select the third point cloud within the target range from the third point cloud set, and form the first point cloud set from the point cloud data corresponding to the selected third point cloud; select the fourth point cloud within the target range from the fourth point cloud set, and form the second point cloud set from the point cloud data corresponding to the selected fourth point cloud.

[0011] In one optional implementation, obtaining the third point cloud set formed by all point clouds within the tunnel after initial support and the fourth point cloud set formed by all point clouds within the tunnel before initial support includes:

[0012] The process involves obtaining the first coordinates of each point cloud in the tunnel after initial support and the second coordinates of each point cloud in the tunnel before initial support; initializing the first coordinates according to a preset rule to obtain the third coordinates; initializing the second coordinates according to a preset rule to obtain the fourth coordinates; forming point cloud data after initial support from the first and third coordinates; forming a third point cloud set from the point cloud data of all point clouds after initial support; forming point cloud data before initial support from the second and fourth coordinates; and forming a fourth point cloud set from the point cloud data of all point clouds before initial support.

[0013] In one optional implementation, the first coordinates are initialized according to a preset rule to obtain the third coordinates, including:

[0014] Obtain the coordinates of the arch center of the section to which the point cloud belongs, and the height of the arch center from the bottom of the tunnel; determine the distance between the point cloud and the arch center based on the first coordinate and the arch center coordinate, both of which are three-dimensional coordinates; determine the offset angle of the point cloud relative to the arch center based on the distance, the vertical coordinate of the first coordinate, and the vertical coordinate of the arch center; determine the point cloud height based on the height, the vertical coordinate of the first coordinate, and the vertical coordinate of the arch center; project the point cloud onto the preset tunnel axis, and determine the distance between the projected position and the preset tunnel center as the mileage length of the point cloud; form the third coordinate of the point cloud from the distance, offset angle, point cloud height, and mileage length.

[0015] The method for determining the initial support thickness provided in this embodiment makes the way of identifying point clouds more diverse by initializing the coordinates of the point cloud. Moreover, it is more direct and convenient to filter and classify subsequent point cloud data using the initialized point cloud coordinates, which also indirectly improves the efficiency of determining the initial support thickness.

[0016] In one optional implementation, based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height, a second point cloud that is closest to the first point cloud is selected from the second point cloud set, including:

[0017] Obtain the point cloud height from the point cloud data of the first point cloud; compare the point cloud height with a first preset height to generate a comparison result; determine the filtering strategy corresponding to the comparison result based on the preset mapping relationship; and filter out the second point cloud that is closest to the first point cloud from the second point cloud set according to the filtering strategy.

[0018] In one optional implementation, selecting the second point cloud that is closest to the first point cloud from the second point cloud set according to a filtering strategy includes:

[0019] When the comparison result shows that the point cloud height is greater than or equal to the first preset height, the target point cloud data with the smallest offset angle deviation from the first point cloud is selected from the second point cloud dataset, and the point cloud to which the target point cloud data belongs is determined as the second point cloud that is closest to the first point cloud.

[0020] In one optional implementation, selecting the second point cloud that is closest to the first point cloud from the second point cloud set according to a filtering strategy further includes:

[0021] When the comparison result shows that the point cloud height is less than the first preset height, at least one candidate point cloud with the smallest point cloud height deviation from the first point cloud is selected from the second point cloud dataset; the distance between each candidate point cloud and the first point cloud is calculated, and the minimum distance is determined from all distances; the minimum distance is compared with a preset distance threshold, and when the minimum distance is less than or equal to the preset distance threshold, the candidate point cloud corresponding to the minimum distance is determined as the second point cloud that is closest to the first point cloud.

[0022] The method for determining the initial support thickness provided in this embodiment determines a screening strategy corresponding to the comparison result between point cloud data and a first preset height. Based on this screening strategy, a second point cloud that is closest to the first point cloud is selected from the second point cloud set. Since the first preset height is set based on the actual conditions of the tunnel, the second point cloud determined in the above manner is closest to the first point cloud. This makes the subsequent calculation of the initial support thickness based on the point cloud data of the first and second point clouds more accurate, resulting in a more accurate and meaningful initial support thickness result at the final target location.

[0023] In one optional implementation, determining the initial support thickness corresponding to the first point cloud based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud includes:

[0024] Based on the first coordinates of the first point cloud and the second coordinates of the second point cloud, the distance between the first point cloud and the second point cloud is determined; the distance is then defined as the initial support thickness corresponding to the first point cloud.

[0025] In this embodiment, determining the distance between the first point cloud and the second point cloud using the first and second coordinates is simpler and more efficient.

[0026] In one optional implementation, based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, the initial support thickness is determined to be either the initial support thickness of the arch or the initial support thickness of the sidewall, and the initial support thickness is added to the corresponding set, including:

[0027] The point cloud height of the first point cloud is compared with the second preset height to generate a second comparison result. When the second comparison result is that the point cloud height is greater than or equal to the second preset height, the initial support thickness corresponding to the first point cloud is determined as the initial support thickness of the arch, and the initial thickness of the arch is increased to the initial support thickness concentration of the arch. When the second comparison result is that the point cloud height is less than the second preset height, the initial support thickness corresponding to the first point cloud is determined as the initial support thickness of the sidewall, and the initial thickness of the sidewall is increased to the initial support thickness concentration of the sidewall.

[0028] In one optional implementation, determining the initial support thickness of the arch at the target location based on the initial support thickness set of the arch crown, and determining the initial support thickness of the sidewall at the target location based on the initial support thickness set of the sidewall, includes:

[0029] The first average value is obtained by averaging all the initial support thicknesses in the initial support thickness set of the arch crown, and the first average value is determined as the initial support thickness of the arch crown at the target location; the second average value is obtained by averaging all the initial support thicknesses in the initial support thickness set of the sidewalls, and the second average value is determined as the initial support thickness of the sidewalls at the target location.

[0030] The method for determining the initial support thickness provided in this embodiment classifies the first point cloud by comparing its height with a second preset height, thereby classifying the initial support thickness corresponding to the first point cloud. This embodiment achieves precise classification of the initial support thickness in this way, solving the problem in existing technologies where the initial support thickness in a tunnel cross-section cannot be precisely determined.

[0031] Secondly, the present invention provides an apparatus for determining the initial support thickness, the apparatus comprising:

[0032] The acquisition module is used to acquire the first point cloud set formed by all point clouds within the target area after initial support and the second point cloud set formed by all point clouds within the target area before initial support, where the target area is a preset range of the target location; the filtering module is used to filter out the second point cloud set that is closest to the first point cloud from the second point cloud set based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height, where the first point cloud is any point cloud in the first point cloud set; the first determination module is used to determine the initial support thickness corresponding to the first point cloud based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud; the second determination module is used to determine the initial support thickness as the arch crown initial support thickness or the sidewall initial support thickness based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, and add the initial support thickness to the corresponding set; the third determination module is used to determine the arch crown initial support thickness at the target location based on the arch crown initial support thickness set and the sidewall initial support thickness at the target location based on the sidewall initial support thickness set.

[0033] In one alternative implementation, the acquisition module includes:

[0034] The acquisition submodule is used to acquire the third point cloud set formed by all point clouds in the tunnel after initial support and the fourth point cloud set formed by all point clouds in the tunnel before initial support; the first filtering submodule is used to filter out the third point cloud within the target range from the third point cloud set, and the point cloud data corresponding to the filtered third point cloud form the first point cloud set; the second filtering submodule is used to filter out the fourth point cloud within the target range from the fourth point cloud set, and the point cloud data corresponding to the filtered fourth point cloud form the second point cloud set.

[0035] In one alternative implementation, the acquisition submodule includes:

[0036] The acquisition unit is used to acquire the first coordinates corresponding to each point cloud in the tunnel after initial support and the second coordinates corresponding to each point cloud in the tunnel before initial support; the first initialization unit is used to initialize the first coordinates according to preset rules to obtain the third coordinates; the second initialization unit is used to initialize the second coordinates according to preset rules to obtain the fourth coordinates; the first determination unit is used to form the point cloud data after initial support from the first coordinates and the third coordinates, and to form the third point cloud set from the point cloud data of all point clouds after initial support; the second determination unit is used to form the point cloud data before initial support from the second coordinates and the fourth coordinates, and to form the fourth point cloud set from the point cloud data of all point clouds before initial support.

[0037] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method for determining the initial support thickness as described in the first aspect or any corresponding embodiment.

[0038] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method for determining the initial support thickness as described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0039] 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.

[0040] Figure 1 This is a flowchart illustrating the method for determining the initial support thickness according to an embodiment of the present invention;

[0041] Figure 2 This is a flowchart illustrating another method for determining the initial support thickness according to an embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of a horseshoe-shaped tunnel cross-section according to an embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of the cross-section of a city gate-type tunnel according to an embodiment of the present invention;

[0044] Figure 5 This is a flowchart illustrating another method for determining the initial support thickness according to an embodiment of the present invention;

[0045] Figure 6 This is a flowchart illustrating a method for determining the initial support thickness according to an embodiment of the present invention.

[0046] Figure 7 This is a structural block diagram of the device for determining the initial support thickness according to an embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0048] 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.

[0049] In related technologies, the thickness of shotcrete for initial support is typically detected using 3D scanners. However, this method is more suitable for circular tunnels because they do not require differentiation between the arch and sidewalls. When the tunnel is horseshoe-shaped or archway-shaped, the required concrete thickness for the arch and sidewalls differs. If the initial support thickness is calculated using the same method, the determined thickness will be inaccurate and have a large error. Therefore, this application proposes a method, apparatus, computer equipment, and storage medium for determining the initial support thickness. By comparing the point cloud data after initial support with a first preset height and a second preset height, the initial support thickness corresponding to the point cloud data is determined. It then determines whether this initial support thickness belongs to the arch or sidewall. Finally, based on the set of arch and sidewall initial support thicknesses, the arch and sidewall initial support thicknesses at the target location are determined, resulting in a more refined and accurate final initial support thickness.

[0050] According to an embodiment of the present invention, a method for determining the initial support thickness 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.

[0051] This embodiment provides a method for determining the initial support thickness, which can be used in computer equipment. Figure 1 This is a flowchart of a method for determining the initial support thickness according to an embodiment of the present invention, as shown below. Figure 1 As shown, the process includes the following steps:

[0052] Step S101: Obtain the first point cloud set formed by all point clouds within the target area after initial support and the second point cloud set formed by all point clouds within the target area before initial support.

[0053] Specifically, the target range is a preset range of the target location. The target location can be any location within the tunnel, and the preset range is a custom range defined according to actual needs. For example, if the target location is determined to be 100 meters from the tunnel entrance, and the preset range is set to 2 cm, then the final target range will be 99.98m-100m, 99.99m-101m, or 100m-100.02m. In actual applications, the rules for determining the target range can be chosen independently; in this embodiment, 99.98m-100m is used as the target range.

[0054] Specifically, the first and second point cloud sets include point cloud data that identifies the point cloud, and the point cloud data consists of point cloud coordinates.

[0055] Step S102: Based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height, select the second point cloud that is closest to the first point cloud from the second point cloud set.

[0056] Specifically, the first point cloud is any point cloud within the first point cloud set. The first preset height is obtained from the design parameters in the tunnel design drawings; the specific determination method is common knowledge to those skilled in the art and is not specifically limited here. It should be noted that due to the influence of the tunnel shape, the method for selecting the second point cloud at different locations within the same tunnel is not the same. Therefore, this step, by setting the first preset height, uses different methods to select the second point cloud based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height. The selected second point cloud is the one closest to the first point cloud. Therefore, the second point cloud can be understood as the point cloud before initial support, corresponding to the location of the first point cloud after initial support.

[0057] Step S103: Based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud, determine the initial support thickness corresponding to the first point cloud.

[0058] Specifically, the initial support thickness is the thickness of the shotcrete at a certain location. Therefore, the initial support thickness can be determined by the relationship between the point cloud coordinates of the first point cloud after initial support and the point cloud coordinates of the second point cloud at the corresponding first point cloud location after initial support.

[0059] Step S104: Based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, determine the initial support thickness as either the initial support thickness of the arch or the initial support thickness of the sidewall, and add the initial support thickness to the corresponding set.

[0060] Specifically, the second preset height is the boundary point between the height of the tunnel arch and the sidewalls. Therefore, based on the relationship between the point cloud data of the first point cloud and the second preset height, it can be determined whether the location of the first point cloud is the arch or the sidewall, thereby determining the initial support thickness as either the arch initial support thickness or the sidewall initial support thickness. The tunnel type and tunnel design parameters both affect the determination of the second preset height. This embodiment does not specifically limit the method for determining the second preset height; those skilled in the art can calculate it based on the actual tunnel type and tunnel design parameters.

[0061] Step S105: Determine the initial support thickness of the arch crown at the target location based on the initial support thickness set of the arch crown, and determine the initial support thickness of the sidewall at the target location based on the initial support thickness set of the sidewall.

[0062] Specifically, after obtaining the initial support thickness corresponding to each point cloud within the target range and adding the initial support thickness to the corresponding set, the initial support thickness of the arch at the target location can be determined based on the final set of initial support thicknesses of the arch, and the initial support thickness of the sidewall at the target location can be determined based on the final set of initial support thicknesses of the sidewall.

[0063] The method for determining the initial support thickness provided in this embodiment, after acquiring the first point cloud set within the target area after initial support and the second point cloud set within the target area before initial support, determines the second point cloud set that is closest to the first point cloud set based on the relationship between the point cloud data of the first point cloud set and the first preset height. Then, the initial support thickness corresponding to the first point cloud is determined using the point cloud data of both the first and second point clouds. Afterward, based on the relationship between the point cloud data of the first point cloud and the second preset height, it is determined whether the initial support thickness belongs to the arch initial support thickness or the sidewall initial support thickness, and this initial support thickness is added to the corresponding set. After determining the initial support thickness corresponding to all point clouds within the target area, the arch initial support thickness and the sidewall initial support thickness at the target location are determined based on the data in the final arch initial support thickness set and sidewall initial support thickness set. Since the first preset height corresponds to the tunnel shape, the second point cloud selected based on the relationship between the point cloud data and the first preset height has higher accuracy. After determining the initial support thickness based on the point cloud data of the first and second point clouds, the relationship between the point cloud data and the second preset height makes the classification of the initial support thickness more accurate. This results in higher accuracy and greater reference value for the final initial support thicknesses of the arch and sidewalls based on the arch initial support thickness set and the sidewall initial support thickness set.

[0064] This embodiment provides a method for determining the initial support thickness, which can be used in the aforementioned mobile terminals, such as mobile phones and tablets. Figure 2 This is a flowchart of a method for determining the initial support thickness according to an embodiment of the present invention, as shown below. Figure 2 As shown, the process includes the following steps:

[0065] Step S201: Obtain the first point cloud set formed by all point clouds within the target area after initial support and the second point cloud set formed by all point clouds within the target area before initial support.

[0066] Specifically, step S201 includes:

[0067] Step S2011: Obtain the third point cloud set formed by all point clouds in the tunnel after initial support and the fourth point cloud set formed by all point clouds in the tunnel before initial support.

[0068] In some optional implementations, step S2011 above includes:

[0069] Step a1: Obtain the first coordinates of each point cloud in the tunnel after initial support and the second coordinates of each point cloud in the tunnel before initial support.

[0070] Specifically, both the first and second coordinates are three-dimensional coordinates, in the form of (x, y, z).

[0071] Specifically, the formation process of the first coordinate and the second coordinate is the same. Taking the first coordinate as an example, its formation process will be briefly explained.

[0072] For example, the first coordinates are obtained by combining a 3D laser scanner, spherical targets, and a total station. The specific implementation process is as follows: First, the spherical targets are placed at two different locations within the tunnel, and the total station acquires the absolute positions of the two spherical targets. Then, the absolute positions of the two spherical targets are input into the 3D laser scanner, which scans the tunnel to obtain the relative positions of each point cloud within the tunnel and the two spherical targets. Finally, the relative positions of each point cloud are combined with the absolute positions of the two spherical targets to obtain the absolute positions of each point cloud within the tunnel, i.e., the first coordinates corresponding to each point cloud.

[0073] Step a2: Initialize the first coordinate according to the preset rules to obtain the third coordinate.

[0074] Specifically, step a2 above includes:

[0075] Step a21: Obtain the coordinates of the arch center of the cross section to which the point cloud belongs, and the height of the arch center from the bottom of the tunnel.

[0076] Specifically, the coordinates of the arch center and the height of the arch center from the bottom of the tunnel can be obtained from the tunnel design drawings.

[0077] Step a22: Based on the first coordinate and the coordinates of the arch center, determine the distance between the point cloud and the arch center.

[0078] Specifically, both the first coordinate and the coordinates of the arch center are three-dimensional coordinates. Let the first coordinate of a point cloud be (x1, y1, z1), and the coordinates of the arch center be (x0, y0, z0). Then, according to the distance formula between two points, the distance r between the point cloud and the arch center is determined as follows:

[0079]

[0080] For example, such as Figure 3 As shown, in a horseshoe-shaped tunnel, the distance between a point cloud A at a certain cross-section and the center of the arch arc O1 is as follows: Figure 3 As shown in r1. (As per...) Figure 4 As shown, in a tunnel with a gate-shaped arch, the distance between point B at a certain cross-section and the center of the arch O2 is as follows: Figure 4 As shown in r2.

[0081] Step a23: Based on the distance, the vertical coordinate of the first coordinate, and the vertical coordinate of the arch center, determine the offset angle of the point cloud relative to the arch center.

[0082] Specifically, the vertical coordinate of the first coordinate system is the Z-axis coordinate value, such as z1; the vertical coordinate of the arch crown center is the Z-axis coordinate value, such as z0. The offset angle is determined as follows:

[0083]

[0084] For example, in Figure 3 In the horseshoe-shaped tunnel shown, the offset angle of point A relative to the arch center O1 is as follows: Figure 3 As shown in θ1. In Figure 4 In the arch-shaped tunnel shown, the offset angle of point B relative to the arch center O2 is as follows: Figure 4 As shown in θ2.

[0085] Step a24: Determine the point cloud height based on the height, the vertical coordinate of the first coordinate, and the vertical coordinate of the arch center.

[0086] Specifically, in this embodiment, the height refers to the height h0 between the center of the arch and the bottom of the tunnel. The point cloud height is determined as follows:

[0087] h = h0 + z1 - z0

[0088] For example, in Figure 3 In the horseshoe-shaped tunnel shown, the point cloud height of point cloud A is as follows: Figure 3 As shown in h1; Figure 4 In the city gate-shaped tunnel shown, the point cloud height of point cloud B is as follows: Figure 4 As shown in h2.

[0089] Step a25: Project the point cloud onto the preset tunnel axis, and determine the distance between the projection position and the preset tunnel center as the mileage length of the point cloud.

[0090] Specifically, the preset tunnel axis is the line connecting the center points of each tunnel cross-section, and the preset tunnel center is the tunnel center of the cross-section formed by the tunnel entrance. The mileage length is the distance between the projection position of the point cloud on the preset tunnel axis and the preset tunnel center. Therefore, it can be seen that the mileage length corresponding to the point cloud at different positions on the same cross-section is the same.

[0091] Step a26: The third coordinates of the point cloud are formed by the distance, offset angle, point cloud height, and mileage.

[0092] Specifically, the coordinate form of the third coordinate is (l, θ, r, h), where l is the mileage length, θ is the offset angle of the point cloud relative to the center of the arch, r is the distance between the point cloud and the center of the arch, and h is the height of the point cloud.

[0093] Step a3: Initialize the second coordinate according to the preset rules to obtain the fourth coordinate.

[0094] Specifically, the process of initializing the second coordinate to obtain the fourth coordinate is as described in steps a21 to a26, and will not be repeated here.

[0095] Step a4: The point cloud data after initial support is formed from the first coordinate and the third coordinate, and the third point cloud set is formed from the point cloud data of all points after initial support.

[0096] For example, if 1000 point clouds are obtained after the initial support of a tunnel, then there are 1000 sets of point cloud data in the third point cloud set, and each set of point cloud data includes the first coordinate (x... i y i , z i ) and the third coordinate (l i θ i r i h i ).

[0097] Step a5: The point cloud data before the initial support is formed from the second coordinate and the fourth coordinate, and the fourth point cloud set is formed from the point cloud data of all the point clouds before the initial support.

[0098] For example, as described in the embodiment corresponding to step a4, if 1050 point clouds are obtained before the initial support of a tunnel, then there are 1050 sets of point cloud data in the fourth point cloud set, and each set of point cloud data includes the first coordinate (x... j y j , z j ) and the third coordinate (l j θ j rj h j ).

[0099] Step S2012: Select the third point cloud within the target range from the third point cloud set, and form the first point cloud set from the point cloud data corresponding to the selected third point cloud.

[0100] Specifically, firstly, the mileage range of the point cloud is determined based on the target range. Generally, the target range is the same as the mileage range. For example, if the target range is 99.98m to 100.00m, then the mileage range is also 99.98m to 100.00m. Then, the mileage length l is selected from the third coordinates corresponding to each point cloud in the third point cloud set. i The point cloud is located in the range of 99.98m to 100.00m. Finally, the point cloud data corresponding to the selected point clouds are used to form the first point cloud set.

[0101] Step S2013: Select the fourth point cloud within the target range from the fourth point cloud set, and form the second point cloud set from the point cloud data corresponding to the selected fourth point cloud.

[0102] Specifically, the formation process of the second point cluster is similar to that of the first point cluster, and the details can be found in the embodiment of step S2012.

[0103] Step S202: Based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height, select the second point cloud from the second point cloud set that is closest to the first point cloud. For details, please refer to [link to details]. Figure 1 Step S102 of the illustrated embodiment will not be described again here.

[0104] Step S203: Based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud, determine the initial support thickness corresponding to the first point cloud. For details, please refer to [link to details]. Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0105] Step S204: Based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, determine whether the initial support thickness is the initial support thickness of the arch or the initial support thickness of the sidewall, and add the initial support thickness to the corresponding set. For details, please refer to [link to relevant documentation]. Figure 1 Step S104 of the illustrated embodiment will not be described again here.

[0106] Step S205: Determine the initial support thickness of the arch crown at the target location based on the initial support thickness set of the arch crown, and determine the initial support thickness of the sidewalls at the target location based on the initial support thickness set of the sidewalls. For details, please refer to [link to relevant documentation]. Figure 1 Step S105 of the illustrated embodiment will not be described again here.

[0107] The method for determining the initial support thickness provided in this embodiment makes the way of identifying point clouds more diverse by initializing the coordinates of the point cloud. Moreover, it is more direct and convenient to filter and classify subsequent point cloud data using the initialized point cloud coordinates, which also indirectly improves the efficiency of determining the initial support thickness.

[0108] This embodiment provides a method for determining the initial support thickness, which can be used in computer equipment. Figure 5 This is a flowchart of a method for determining the initial support thickness according to an embodiment of the present invention, as shown below. Figure 5 As shown, the process includes the following steps:

[0109] Step S501: Obtain the first point cloud set formed by all point clouds within the target area after initial support and the second point cloud set formed by all point clouds within the target area before initial support. For details, please refer to [link to relevant documentation]. Figure 2 Step S201 of the illustrated embodiment will not be described again here.

[0110] Step S502: Based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height, select the second point cloud that is closest to the first point cloud from the second point cloud set.

[0111] Specifically, step S502 includes:

[0112] Step S5021: Obtain the point cloud height from the point cloud data of the first point cloud.

[0113] Specifically, the point cloud height h is obtained from the third coordinate of the first point cloud. i .

[0114] Step S5022: Compare the point cloud height with the first preset height to generate a comparison result.

[0115] Specifically, the first preset height is related to the tunnel type and tunnel design parameters. For example, in... Figure 3 In the horseshoe-shaped tunnel shown, the first preset height is In a city gate-shaped tunnel, the first preset height is

[0116] Step S5023: Based on the preset mapping relationship, determine the filtering strategy corresponding to the comparison result.

[0117] Specifically, the preset mapping relationship is the mapping between the comparison result and the filtering strategy. When the comparison result is that the point cloud height is greater than or equal to the first preset height, the corresponding filtering strategy is based on the offset angle. When the comparison result is that the point cloud height is less than the first preset height, the corresponding filtering strategy is based on the point cloud height and distance.

[0118] Step S5024: Select the second point cloud that is closest to the first point cloud from the second point cloud set according to the filtering strategy.

[0119] For example, if the second point cloud is the point cloud at position B before the initial support, the point cloud at position B after the initial support is applied is the first point cloud, that is, the first point cloud is the closest point cloud to the second point cloud.

[0120] In some alternative implementations, step S5024 includes:

[0121] Step b1: When the comparison result is that the point cloud height is greater than or equal to the first preset height, the target point cloud data with the smallest offset angle deviation from the first point cloud is selected from the second point cloud dataset, and the point cloud to which the target point cloud data belongs is determined as the second point cloud that is closest to the first point cloud.

[0122] Step b2: When the comparison result shows that the point cloud height is less than the first preset height, at least one candidate point cloud with the smallest deviation from the point cloud height of the first point cloud is selected from the second point cloud dataset.

[0123] For example, if there are 3 point clouds in the second point cloud dataset that have the smallest point cloud height deviation from the first point cloud, then these 3 point clouds are determined as the first candidate point cloud, the second candidate point cloud, and the third candidate point cloud, respectively.

[0124] Step b3: Calculate the distance between each candidate point cloud and the first point cloud, and determine the minimum distance from all distances.

[0125] For example, taking the embodiment in step b2 as an example, the first distance between the first candidate point cloud and the first point cloud is calculated, the second distance between the second candidate point cloud and the second point cloud is calculated, the third distance between the third candidate point cloud and the first point cloud is calculated, and the minimum value is selected from the first distance, the second distance and the third distance.

[0126] Step b4: Compare the minimum distance with a preset distance threshold. When the minimum distance is less than or equal to the preset distance threshold, determine the candidate point cloud corresponding to the minimum distance as the second point cloud that is closest to the first point cloud.

[0127] Specifically, the preset distance threshold is the maximum distance between two point clouds that form the initial support thickness. This preset distance threshold can be determined by those skilled in the art based on the actual tunnel conditions, and is not specifically limited here.

[0128] For example, in this embodiment, the preset distance threshold is 1m. The minimum value selected in step b3 is compared with 1m. When the minimum value is less than or equal to 1m, the point cloud corresponding to the minimum value is determined as the second point cloud closest to the first point cloud. When the minimum value is greater than 1m, candidate point clouds are selected again. Specifically, the selection method is to select the point cloud with the second smallest height deviation from the first point cloud in the second point cloud dataset (the second smallest being less than the minimum). The selection method described in steps b3 to b4 is repeated until the second point cloud closest to the first point cloud is determined.

[0129] For example, if the height deviations from the first point cloud are 1mm, 2mm, 3mm, etc., from smallest to largest, then the smallest deviation is 1mm and the second smallest deviation is 2mm. First, point clouds with a height deviation of 1mm are selected as candidate point clouds for screening. If the screening fails, point clouds with a height deviation of 2mm are selected as candidate point clouds for re-screening, until the second point cloud that is closest to the first point cloud is finally selected.

[0130] Step S503: Based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud, determine the initial support thickness corresponding to the first point cloud. For details, please refer to [link to relevant documentation]. Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0131] Step S504: Based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, determine whether the initial support thickness is the initial support thickness of the arch or the initial support thickness of the sidewall, and add the initial support thickness to the corresponding set. For details, please refer to [link to relevant documentation]. Figure 1 Step S104 of the illustrated embodiment will not be described again here.

[0132] Step S505: Determine the initial support thickness of the arch crown at the target location based on the initial support thickness set of the arch crown, and determine the initial support thickness of the sidewalls at the target location based on the initial support thickness set of the sidewalls. For details, please refer to [link to relevant documentation]. Figure 1 Step S105 of the illustrated embodiment will not be described again here.

[0133] The method for determining the initial support thickness provided in this embodiment determines a screening strategy corresponding to the comparison result between point cloud data and a first preset height. Based on this screening strategy, a second point cloud that is closest to the first point cloud is selected from the second point cloud set. Since the first preset height is set based on the actual conditions of the tunnel, the second point cloud determined in the above manner is closest to the first point cloud. This makes the subsequent calculation of the initial support thickness based on the point cloud data of the first and second point clouds more accurate, resulting in a more accurate and meaningful initial support thickness result at the final target location.

[0134] This embodiment provides a method for determining the initial support thickness, which can be used in computer equipment. Figure 6 This is a flowchart of a method for determining the initial support thickness according to an embodiment of the present invention, as shown below. Figure 6 As shown, the process includes the following steps:

[0135] Step S601: Obtain the first point cloud set formed by all point clouds within the target area after initial support and the second point cloud set formed by all point clouds within the target area before initial support. For details, please refer to [link to relevant documentation]. Figure 2 Step S201 of the illustrated embodiment will not be described again here.

[0136] Step S602: Based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height, select the second point cloud from the second point cloud set that is closest to the first point cloud. For details, please refer to [link to details]. Figure 5 Step S502 of the illustrated embodiment will not be described again here.

[0137] Step S603: Based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud, determine the initial support thickness corresponding to the first point cloud.

[0138] Specifically, step S603 includes:

[0139] Step S6031: Based on the first coordinates of the first point cloud and the second coordinates of the second point cloud, determine the distance between the first point cloud and the second point cloud. This embodiment simplifies and improves efficiency in determining the distance between the first and second point clouds using the first and second coordinates.

[0140] Step S6032: Determine the distance as the initial support thickness corresponding to the first point cloud.

[0141] Specifically, since the first point cloud and the second point cloud are a set of corresponding point clouds before and after the initial support, the distance between the two point clouds is the initial support thickness corresponding to the first point cloud.

[0142] Step S604: Based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, determine the initial support thickness as either the initial support thickness of the arch or the initial support thickness of the sidewall, and add the initial support thickness to the corresponding set.

[0143] Specifically, step S604 includes:

[0144] Step S6041: Compare the point cloud height of the first point cloud with the second preset height to generate a second comparison result.

[0145] Specifically, the second preset height serves as the boundary point distinguishing between the arch and the sidewalls. By comparing the height of the first point cloud with the second preset height, the category of the first point cloud can be clearly distinguished, i.e., whether the first point cloud belongs to the arch apex cloud or the sidewall point cloud. Based on the category of the first point cloud, the category of the initial support thickness corresponding to the first point cloud can be determined.

[0146] For example, in such Figure 3 In the horseshoe-shaped tunnel shown, the first preset height is In a city gate-shaped tunnel, the first preset height is

[0147] Step S6042: When the second comparison result is that the point cloud height is greater than or equal to the second preset height, the initial support thickness corresponding to the first point cloud is determined as the initial support thickness of the arch, and the initial thickness of the arch is increased to the initial support thickness concentration of the arch.

[0148] Specifically, when the point cloud height is greater than or equal to the second preset height, the first point cloud is determined to be the arch apex cloud. Then, the corresponding initial support thickness of the first point cloud is the arch apex initial support thickness, and this arch apex initial support thickness is added to the arch apex initial support thickness set.

[0149] Step S6043: When the second comparison result is that the point cloud height is less than the second preset height, the initial support thickness corresponding to the first point cloud is determined as the initial support thickness of the side wall, and the initial thickness of the side wall is increased to the initial support thickness concentration of the side wall.

[0150] Specifically, when the point cloud height is less than the second preset height, the first point cloud is determined to be the sidewall point cloud. Correspondingly, the initial support thickness of the first point cloud is the initial support thickness of the sidewall, and the initial sidewall thickness is increased to the setpoint of the initial support thickness of the sidewall.

[0151] Step S605: Determine the initial support thickness of the arch crown at the target location based on the initial support thickness set of the arch crown, and determine the initial support thickness of the sidewall at the target location based on the initial support thickness set of the sidewall.

[0152] Specifically, step S605 includes:

[0153] Step S6051: Perform an average calculation on all the initial support thicknesses in the initial support thickness set of the arch crown to obtain a first average value, and determine the first average value as the initial support thickness of the arch crown at the target location.

[0154] Step S6052: Average all the initial support thicknesses in the initial support thickness set of the sidewall to obtain a second average value, and determine the second average value as the initial support thickness of the sidewall at the target location.

[0155] The method for determining the initial support thickness provided in this embodiment classifies the first point cloud by comparing its height with a second preset height, thereby classifying the initial support thickness corresponding to the first point cloud. This embodiment achieves precise classification of the initial support thickness in this way, solving the problem in existing technologies where the initial support thickness in a tunnel cross-section cannot be precisely determined.

[0156] This embodiment also provides a device for determining the initial support thickness, 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.

[0157] This embodiment provides a device for determining the initial support thickness, such as... Figure 7 As shown, it includes:

[0158] The acquisition module 701 is used to acquire the first point cloud set formed by all point clouds within the target range after initial support and the second point cloud set formed by all point clouds within the target range before initial support. The target range is a preset range of the target location.

[0159] The filtering module 702 is used to filter out the second point cloud that is closest to the first point cloud from the second point cloud set based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height. The first point cloud is any point cloud in the first point cloud set.

[0160] The first determining module 703 is used to determine the initial support thickness corresponding to the first point cloud based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud.

[0161] The second determining module 704 is used to determine the initial support thickness as either the arch initial support thickness or the sidewall initial support thickness based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, and to add the initial support thickness to the corresponding set.

[0162] The third determining module 705 is used to determine the initial support thickness of the arch crown at the target location based on the initial support thickness set of the arch crown, and to determine the initial support thickness of the sidewall at the target location based on the initial support thickness set of the sidewall.

[0163] In one optional implementation, the acquisition module 701 includes:

[0164] The acquisition submodule is used to acquire the third point cloud set formed by all point clouds in the tunnel after initial support and the fourth point cloud set formed by all point clouds in the tunnel before initial support.

[0165] The first filtering submodule is used to filter out the third point cloud within the target range from the third point cloud set, and the point cloud data corresponding to the filtered third point cloud form the first point cloud set.

[0166] The second filtering submodule is used to filter out the fourth point cloud within the target range from the fourth point cloud set, and the point cloud data corresponding to the filtered fourth point cloud form the second point cloud set.

[0167] In one alternative implementation, the acquisition submodule includes:

[0168] The acquisition unit is used to acquire the first coordinates of each point cloud in the tunnel after initial support and the second coordinates of each point cloud in the tunnel before initial support.

[0169] The first initialization unit is used to initialize the first coordinate according to a preset rule to obtain the third coordinate.

[0170] The second initialization unit is used to initialize the second coordinate according to a preset rule to obtain the fourth coordinate.

[0171] The first determining unit is used to form point cloud data after initial support from the first coordinate and the third coordinate, and to form a third point cloud set from the point cloud data of all point clouds after initial support.

[0172] The second determining unit is used to form point cloud data before initial support from the second coordinate and the fourth coordinate, and to form the fourth point cloud set from the point cloud data of all point clouds before initial support.

[0173] In one optional implementation, the first initialization unit includes:

[0174] Obtain sub-units to obtain the coordinates of the arch center of the cross section to which the point cloud belongs, and the height of the arch center from the bottom of the tunnel.

[0175] The first determining sub-unit is used to determine the distance between the point cloud and the center of the arch based on the first coordinate and the coordinate of the center of the arch. Both the first coordinate and the coordinate of the center of the arch are three-dimensional coordinates.

[0176] The second determining sub-unit is used to determine the offset angle of the point cloud relative to the center of the arch based on the distance, the vertical coordinate of the first coordinate, and the vertical coordinate of the arch center.

[0177] The third determining sub-unit is used to determine the point cloud height based on the height, the vertical coordinate of the first coordinate, and the vertical coordinate of the arch center.

[0178] The fourth determining subunit is used to project the point cloud onto the preset tunnel axis and determine the distance between the projection position and the preset tunnel center as the mileage length of the point cloud.

[0179] It forms a sub-unit, which is used to form the third coordinate of the point cloud from the distance, offset angle, point cloud height and mileage.

[0180] In one alternative implementation, the filtering module 702 includes:

[0181] The comparison submodule is used to obtain the point cloud height from the point cloud data of the first point cloud.

[0182] The generation submodule is used to compare the point cloud height with the first preset height and generate the comparison result.

[0183] The first determination submodule is used to determine the filtering strategy corresponding to the comparison results based on the preset mapping relationship.

[0184] The filtering submodule is used to filter out the second point cloud that is closest to the first point cloud from the second point cloud set according to the filtering strategy.

[0185] In one alternative implementation, the filtering submodule includes:

[0186] The first filtering unit is used to filter out the target point cloud data with the smallest offset angle deviation from the first point cloud from the second point cloud dataset when the comparison result is that the point cloud height is greater than or equal to the first preset height, and determine the point cloud to which the target point cloud data belongs as the second point cloud that is closest to the first point cloud.

[0187] In one alternative implementation, the filtering submodule further includes:

[0188] The second filtering unit is used to filter at least one candidate point cloud from the second point cloud dataset whose point cloud height deviation from the first point cloud is the smallest when the comparison result is that the point cloud height is less than the first preset height.

[0189] The third determining unit is used to calculate the distance between each candidate point cloud and the first point cloud, and to determine the minimum distance from all distances.

[0190] The fourth determining unit is used to compare the minimum distance with a preset distance threshold. When the minimum distance is less than or equal to the preset distance threshold, the candidate point cloud corresponding to the minimum distance is determined as the second point cloud that is closest to the first point cloud.

[0191] In one optional implementation, the first determining module 703 includes:

[0192] The fifth determining unit is used to determine the distance between the first point cloud and the second point cloud based on the first coordinates of the first point cloud and the second coordinates of the second point cloud.

[0193] The sixth determining unit is used to determine the distance as the initial support thickness corresponding to the first point cloud.

[0194] In one optional implementation, the second determining module 704 includes:

[0195] The comparison submodule is used to compare the point cloud height of the first point cloud with the second preset height to generate a second comparison result.

[0196] The second determining submodule is used to determine the initial support thickness corresponding to the first point cloud as the initial support thickness of the arch when the second comparison result is that the point cloud height is greater than or equal to the second preset height, and to increase the initial thickness of the arch to the initial support thickness set of the arch.

[0197] The third determining submodule is used to determine the initial support thickness corresponding to the first point cloud as the initial support thickness of the side wall when the second comparison result is that the point cloud height is less than the second preset height, and to increase the initial thickness of the side wall to the initial support thickness set of the side wall.

[0198] In one optional implementation, the third determining module 705 includes:

[0199] The fourth determination submodule is used to perform an average calculation on all the initial support thicknesses in the initial support thickness set of the arch crown to obtain the first average value, and to determine the first average value as the initial support thickness of the arch crown at the target location.

[0200] The fifth determination submodule is used to perform an average calculation on all the initial support thicknesses in the initial support thickness set of the sidewall to obtain a second average value, and to determine the second average value as the initial support thickness of the sidewall at the target location.

[0201] 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.

[0202] In this embodiment, the device for determining the initial support thickness is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0203] This invention also provides a computer device having the above-described features. Figure 7 The apparatus shown is for determining the initial support thickness.

[0204] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 8As 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 8 Take a processor 10 as an example.

[0205] 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.

[0206] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0207] 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. 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, and these remote memories may 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.

[0208] 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.

[0209] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0210] 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.

[0211] 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 determining the initial support thickness, characterized in that, The method includes: The first point cloud set formed by all point clouds within the target area after initial support and the second point cloud set formed by all point clouds within the target area before initial support are obtained, wherein the target area is a preset range of the target location; Based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height, the second point cloud that is closest to the first point cloud is selected from the second point cloud set, where the first point cloud is any point cloud in the first point cloud set. Based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud, the initial support thickness corresponding to the first point cloud is determined. Based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, the initial support thickness is determined to be either the initial support thickness of the arch or the initial support thickness of the sidewall, and the initial support thickness is added to the corresponding set. The initial support thickness of the arch at the target location is determined based on the initial support thickness set of the arch, and the initial support thickness of the sidewall at the target location is determined based on the initial support thickness set of the sidewall.

2. The determination method according to claim 1, characterized in that, The acquisition of the first point cloud set formed by all point clouds within the target area after initial support and the second point cloud set formed by all point clouds within the target area before initial support includes: Obtain the third point cloud set formed by all point clouds in the tunnel after initial support and the fourth point cloud set formed by all point clouds in the tunnel before initial support. A third point cloud within the target range is selected from the third point cloud set, and the point cloud data corresponding to the selected third point cloud forms a first point cloud set; The fourth point cloud within the target range is selected from the fourth point cloud set, and the point cloud data corresponding to the selected fourth point cloud forms the second point cloud set.

3. The determination method according to claim 2, characterized in that, The acquisition of the third point cloud set formed by all point clouds in the tunnel after initial support and the fourth point cloud set formed by all point clouds in the tunnel before initial support includes: Obtain the first coordinates of each point cloud in the tunnel after initial support and the second coordinates of each point cloud in the tunnel before initial support. The first coordinate is initialized according to a preset rule to obtain the third coordinate; The second coordinate is initialized according to the preset rules to obtain the fourth coordinate; The first coordinate and the third coordinate form the point cloud data after initial support, and the point cloud data of all the point clouds after initial support form the third point cloud set; The point cloud data before the initial support is formed by the second coordinate and the fourth coordinate, and the fourth point cloud set is formed by the point cloud data of all the point clouds before the initial support.

4. The determination method according to claim 3, characterized in that, The process of initializing the first coordinates according to a preset rule to obtain the third coordinates includes: Obtain the coordinates of the crown arc center of the section to which the point cloud belongs, and the height of the crown arc center from the bottom of the tunnel; Based on the first coordinates and the coordinates of the arch center, the distance between the point cloud and the arch center is determined, where the first coordinates and the arch center coordinates are both three-dimensional coordinates; Based on the distance, the vertical coordinate of the first coordinate, and the vertical coordinate of the arch center, the offset angle of the point cloud relative to the arch center is determined; The point cloud height is determined based on the height, the vertical coordinate of the first coordinate, and the vertical coordinate of the arch center. The point cloud is projected onto a preset tunnel axis, and the distance between the projection position and the center of the preset tunnel is determined as the mileage length of the point cloud; The third coordinates of the point cloud are formed by the distance, the offset angle, the point cloud height, and the mileage length.

5. The determination method according to claim 4, characterized in that, The step of filtering out the second point cloud that is closest to the first point cloud from the second point cloud set based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height includes: Obtain the point cloud height from the point cloud data of the first point cloud; The point cloud height is compared with the first preset height to generate a comparison result; Based on the preset mapping relationship, the filtering strategy corresponding to the comparison result is determined; According to the filtering strategy, the second point cloud that is closest to the first point cloud is selected from the second point cloud set.

6. The determination method according to claim 5, characterized in that, The step of selecting the second point cloud that is closest to the first point cloud from the second point cloud set according to the filtering strategy includes: When the comparison result is that the point cloud height is greater than or equal to the first preset height, the target point cloud data with the smallest offset angle deviation from the first point cloud is selected from the second point cloud dataset, and the point cloud to which the target point cloud data belongs is determined as the second point cloud that is closest to the first point cloud.

7. The determination method according to claim 5, characterized in that, The step of selecting the second point cloud that is closest to the first point cloud from the second point cloud set according to the filtering strategy further includes: When the comparison result is that the point cloud height is less than the first preset height, at least one candidate point cloud with the smallest deviation from the point cloud height of the first point cloud is selected from the second point cloud dataset. Calculate the distance between each candidate point cloud and the first point cloud, and determine the minimum distance from all distances; The minimum distance is compared with a preset distance threshold. When the minimum distance is less than or equal to the preset distance threshold, the candidate point cloud corresponding to the minimum distance is determined as the second point cloud that is closest to the first point cloud.

8. The determining method according to any one of claims 3 to 7, characterized in that, The step of determining the initial support thickness corresponding to the first point cloud based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud includes: Based on the first coordinates of the first point cloud and the second coordinates of the second point cloud, determine the distance between the first point cloud and the second point cloud; The distance is determined as the initial support thickness corresponding to the first point cloud.

9. The determining method according to any one of claims 4 to 7, characterized in that, Based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, the initial support thickness is determined to be either the initial support thickness of the arch or the initial support thickness of the sidewall, and the initial support thickness is added to the corresponding set, including: The point cloud height of the first point cloud is compared with the second preset height to generate a second comparison result; When the second comparison result is that the point cloud height is greater than or equal to the second preset height, the initial support thickness corresponding to the first point cloud is determined as the initial support thickness of the arch, and the initial thickness of the arch is increased to the initial support thickness of the arch. When the second comparison result is that the point cloud height is less than the second preset height, the initial support thickness corresponding to the first point cloud is determined as the initial support thickness of the side wall, and the initial thickness of the side wall is increased to the initial support thickness of the side wall.

10. The determination method according to claim 9, characterized in that, The step of determining the initial support thickness of the arch at the target location based on the initial support thickness set of the arch, and determining the initial support thickness of the sidewall at the target location based on the initial support thickness set of the sidewall, includes: The average thickness of all the initial support thicknesses in the initial support thickness set of the arch is calculated to obtain a first average value, and the first average value is determined as the initial support thickness of the arch at the target location. The average thickness of all initial support thicknesses in the set of initial support thicknesses of the sidewall is calculated to obtain a second average value, and the second average value is determined as the initial support thickness of the sidewall at the target location.

11. A device for determining the initial support thickness, characterized in that, The device includes: The acquisition module is used to acquire the first point cloud set formed by all point clouds within the target range after initial support and the second point cloud set formed by all point clouds within the target range before initial support, wherein the target range is a preset range of the target location; The filtering module is used to filter out the second point cloud that is closest to the first point cloud from the second point cloud set based on the relationship between the point cloud data corresponding to the first point cloud in the first point cloud set and the first preset height. The first point cloud is any point cloud in the first point cloud set. The first determining module is used to determine the initial support thickness corresponding to the first point cloud based on the point cloud data corresponding to the first point cloud and the point cloud data corresponding to the second point cloud. The second determining module is used to determine, based on the relationship between the point cloud data corresponding to the first point cloud and the second preset height, whether the initial support thickness is the initial support thickness of the arch or the initial support thickness of the sidewall, and to add the initial support thickness to the corresponding set. The third determining module is used to determine the initial support thickness of the arch at the target location based on the initial support thickness set of the arch, and to determine the initial support thickness of the sidewall at the target location based on the initial support thickness set of the sidewall.

12. The determining device according to claim 11, characterized in that, The acquisition module includes: The acquisition submodule is used to acquire the third point cloud set formed by all point clouds in the tunnel after the initial support and the fourth point cloud set formed by all point clouds in the tunnel before the initial support. The first filtering submodule is used to filter out the third point cloud within the target range from the third point cloud set, and form the first point cloud set from the point cloud data corresponding to the filtered third point cloud; The second filtering submodule is used to filter out the fourth point cloud within the target range from the fourth point cloud set, and form a second point cloud set from the point cloud data corresponding to the filtered fourth point cloud.

13. The determining device according to claim 12, characterized in that, The acquisition submodule includes: The acquisition unit is used to acquire the first coordinates of each point cloud in the tunnel after initial support and the second coordinates of each point cloud in the tunnel before initial support. The first initialization unit is used to initialize the first coordinates according to a preset rule to obtain the third coordinates; The second initialization unit is used to initialize the second coordinate according to the preset rule to obtain the fourth coordinate; The first determining unit is used to form point cloud data after initial support from the first coordinate and the third coordinate, and to form a third point cloud set from the point cloud data of all point clouds after initial support. The second determining unit is used to form point cloud data before initial support from the second coordinate and the fourth coordinate, and to form a fourth point cloud set from the point cloud data of all point clouds before initial support.

14. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory storing computer instructions, and the processor executing the computer instructions to perform the method for determining the initial support thickness as described in any one of claims 1 to 10.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to perform the method for determining the initial support thickness as described in any one of claims 1 to 10.

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