A method, system, electronic equipment and medium for determining tunnel excavation layout points

Abstract

This invention relates to a method, system, electronic device, and medium for determining tunnel excavation layout points. The method includes acquiring first three-dimensional coordinates and a station-north direction; determining the tunnel face mileage based on the first three-dimensional coordinates and the coordinates of any point on the tunnel face measured by a surveying robot in prism-free measurement mode; determining the second three-dimensional coordinates of the point to be laid out based on the tunnel face mileage, a preset horizontal offset, and a preset vertical offset; determining the pointing position and measuring the actual three-dimensional coordinates of the pointing position based on the first three-dimensional coordinates, the second three-dimensional coordinates, the station-north direction, the inversely calculated horizontal direction value, and the inversely calculated vertical direction value; determining the over-excavation / under-excavation value based on the actual three-dimensional coordinates and the tunnel face mileage; if the over-excavation / under-excavation value meets preset conditions, the pointing position is used as the target layout point; if the over-excavation / under-excavation value does not meet the preset conditions, the actual three-dimensional coordinates and the tunnel face mileage are determined. This method solves the problem that existing methods rely on manual adjustment based on field experience for over-excavation / under-excavation value adjustments, which are cumbersome and inefficient.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to a method, system, electronic device and medium for determining tunnel excavation layout points. Background Technology

[0002] During tunnel construction, using a surveying robot (total station) for excavation and setting out is a necessary step. The existing tunnel excavation and setting out technology mainly involves manually operating the surveying robot for observation, and then manually adjusting the over-excavation and under-excavation values ​​calculated by the supporting software until the over-excavation and under-excavation values ​​are within a reasonable range. The adjustment range mainly relies on on-site experience for manual adjustment, which is cumbersome and inefficient. Summary of the Invention

[0003] To overcome the problem that existing methods for adjusting over- and under-excavation values ​​mainly rely on manual adjustments based on on-site experience, which are cumbersome and inefficient, this invention provides a method, system, electronic equipment, and medium for determining tunnel excavation layout points.

[0004] Firstly, in order to solve the above-mentioned technical problems, the present invention provides a method for determining tunnel excavation layout points, comprising:

[0005] S1. Obtain the first three-dimensional coordinates and the north direction of the station when the measuring robot is set up at a preset distance in front of the tunnel face;

[0006] S2. Based on the first three-dimensional coordinates and the coordinates of any point on the working face measured by the measuring robot in the prism-free measurement mode, the working face mileage is determined by back-calculation of the route.

[0007] S3. Based on the tunnel face mileage, preset horizontal offset, and preset vertical offset, determine the second three-dimensional coordinates of each point to be laid out on the excavation profile at the tunnel face mileage through forward line calculation.

[0008] S4. For each point to be laid out, based on the first three-dimensional coordinates, the second three-dimensional coordinates, the north direction of the station, the inverse horizontal direction value, and the inverse vertical direction value, determine the pointing position of the indicator laser of the measuring robot pointing to the point to be laid out, and measure the actual three-dimensional coordinates of the pointing position.

[0009] S5. For each point to be laid out, determine the over-excavation or under-excavation value based on the actual three-dimensional coordinates and the mileage of the working face;

[0010] S6. For each point to be laid out, if the over-excavation or under-excavation value meets the preset conditions, the position indicated when the over-excavation or under-excavation value meets the preset conditions is taken as the target laying out point. If the over-excavation or under-excavation value does not meet the preset conditions, the actual three-dimensional coordinates are updated to obtain the updated three-dimensional coordinates. The updated three-dimensional coordinates are used to perform line back calculation to calculate the actual mileage of the point to be laid out. The actual mileage is used to update the working face mileage, and S3-S5 are repeated until the over-excavation or under-excavation value meets the preset conditions.

[0011] Secondly, the present invention also provides a system for determining tunnel excavation layout points, comprising:

[0012] The first three-dimensional coordinate determination module is used to obtain the first three-dimensional coordinates of the measuring robot and the north direction of the station when the measuring robot is set up at a preset distance in front of the tunnel face;

[0013] The face mileage determination module is used to determine the face mileage by back-calculation of the route based on the first three-dimensional coordinates and the coordinates of any point on the face measured by the measuring robot in the prism-free measurement mode.

[0014] The second three-dimensional coordinate determination module is used to determine the second three-dimensional coordinates of each point to be laid out on the excavation profile at the working face mileage, the preset horizontal offset, and the preset vertical offset through forward calculation of the line.

[0015] The actual three-dimensional coordinate determination module is used to determine the pointing position of the measuring robot's indicator laser towards the point to be laid out for each point, based on the first three-dimensional coordinate, the second three-dimensional coordinate, the north direction of the station, the inverse horizontal direction value, and the inverse vertical direction value, and to determine the actual three-dimensional coordinates of the pointing position.

[0016] The over-excavation and under-excavation value determination module is used to determine the over-excavation and under-excavation values ​​for each point to be laid out, based on the actual three-dimensional coordinates and the mileage of the working face.

[0017] The target staking point determination module is used to determine the target staking point for each staking point. If the over-excavation or under-excavation value meets the preset conditions, the actual three-dimensional coordinates when the over-excavation or under-excavation value meets the preset conditions are used as the target staking point. If the over-excavation or under-excavation value does not meet the preset conditions, the actual three-dimensional coordinates are updated to obtain the updated three-dimensional coordinates. The updated three-dimensional coordinates are used to perform route back calculation to calculate the actual mileage of the staking point. The actual mileage is used to update the working face mileage. The functions corresponding to the second three-dimensional coordinate determination module, the actual three-dimensional coordinate determination module, and the over-excavation or under-excavation value determination module are repeatedly executed until the over-excavation or under-excavation value meets the preset conditions.

[0018] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of the tunnel excavation layout method described above.

[0019] Fourthly, the present invention also provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform the steps of a tunnel excavation layout method.

[0020] The beneficial effects of this invention are as follows: By setting up a surveying robot at a preset distance in front of the tunnel face, the first three-dimensional coordinates and the north direction of the station can be obtained. Then, the tunnel face mileage can be automatically obtained by using the first three-dimensional coordinates and the coordinates of any point on the tunnel face measured by the surveying robot in prism-free measurement mode. Based on the tunnel face mileage, the second three-dimensional coordinates of each point to be laid out on the excavation contour can be obtained. At this time, the indicator laser of the surveying robot can be pointed to all the laying out points to determine the pointing position and the actual three-dimensional coordinates of each pointing position. Based on the actual three-dimensional coordinates and the tunnel face mileage, the over-excavation and under-excavation values ​​of each point to be laid out can be obtained. At this time, by repeatedly judging whether the over-excavation and under-excavation values ​​meet the preset conditions, the actual three-dimensional coordinates can be iteratively updated. The actual mileage of the point to be laid out can be calculated by back-calculating the route by updating the three-dimensional coordinates. The tunnel face mileage is updated with the actual mileage. Finally, the pointing position when the over-excavation and under-excavation values ​​meet the preset conditions is taken as the target laying out point. By iteratively updating the actual three-dimensional coordinates, the accuracy of the target laying out point is improved. Moreover, the whole method is completed automatically without the need for manual adjustment of the over-excavation and under-excavation values. This solves the problem that the existing over-excavation and under-excavation value adjustment mainly relies on manual adjustment based on on-site experience, which is cumbersome and inefficient. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 This is a flowchart illustrating a method for determining tunnel excavation layout points according to an embodiment of the present invention.

[0023] Figure 2 A flowchart illustrating a method for determining tunnel excavation layout points according to another embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of a tunnel excavation layout point determination system according to an embodiment of the present invention. Detailed Implementation

[0025] The following embodiments are further explanations and supplements to the present invention and do not constitute any limitation on the present invention.

[0026] The following describes, with reference to the accompanying drawings, a method, system, electronic device, and medium for determining tunnel excavation layout points according to an embodiment of the present invention.

[0027] like Figure 1 As shown, this embodiment of the invention provides a method for determining tunnel excavation layout points, including:

[0028] S1. Obtain the first three-dimensional coordinates of the measuring robot and the north direction of the station when the measuring robot is set up at a preset distance in front of the tunnel face.

[0029] The tunnel face refers to the working face excavated in the direction of tunnel excavation, that is, the rock face directly facing the workers as the tunnel is excavated along the tunnel route.

[0030] The north direction of the station refers to the due north direction when the measuring robot is set up at a preset distance in front of the working face.

[0031] In this invention, the preset distance is 5 to 20 meters.

[0032] The first three-dimensional coordinates and the north direction of the station are determined by resection. Resection means setting up a measuring robot at any position, leveling the instrument, observing the horizontal direction, horizontal distance and elevation difference of at least two known points, and calculating the three-dimensional coordinates and north direction of the station (i.e. the position of the measuring robot) through intersection.

[0033] S2. Based on the first three-dimensional coordinates and the coordinates of any point on the tunnel face measured by the measuring robot in the prism-free measurement mode, the mileage of the tunnel face is determined by back-calculation of the route.

[0034] S3. Based on the tunnel face mileage, preset horizontal offset, and preset vertical offset, determine the second three-dimensional coordinates of each point to be laid out on the excavation profile at the tunnel face mileage through forward line calculation.

[0035] The preset horizontal offset (defined in advance by the software based on the design drawing) refers to the horizontal distance between the point to be laid out and the design horizontal curve;

[0036] The preset vertical offset (defined in advance by the software based on the design drawing) refers to the vertical distance between the point to be laid out and the design horizontal curve.

[0037] S4. For each point to be laid out, based on the first three-dimensional coordinates, the second three-dimensional coordinates, the north direction of the station, the inverse horizontal direction value, and the inverse vertical direction value, determine the pointing position of the indicator laser of the measuring robot pointing to the corresponding direction of the point to be laid out, and determine the actual three-dimensional coordinates of the pointing position.

[0038] The inverse horizontal direction value refers to the direction value of the horizontal circle that the telescope axis of the measuring robot should rotate to point to the point to be laid out, given the current coordinates of the measuring robot and the coordinates of the point to be laid out. It is calculated based on the current north direction value of the station, the current coordinates of the measuring robot, and the coordinates of the point to be laid out. The coordinate azimuth angle of the line connecting the point to be laid out and the measuring robot is obtained by inverse calculation based on the plane coordinates of the current measuring robot and the plane coordinates of the point to be laid out. The required inverse horizontal direction value is obtained by subtracting the current north direction value of the station from the coordinate azimuth angle (if it is negative, 360 degrees must be added to the result to make it positive).

[0039] The reverse-calculated vertical direction value refers to the vertical circle direction value that the telescope axis of the measuring robot should rotate to point towards the point to be laid out, given the current coordinates of the measuring robot and the coordinates of the point to be laid out. It is calculated based on the coordinates of the current measuring robot and the coordinates of the point to be laid out. The height difference and horizontal distance between the three-dimensional coordinates of the current measuring robot and the three-dimensional coordinates of the point to be laid out can be calculated. Then, using trigonometric functions, the vertical angle at which the telescope axis should point towards the point to be laid out can be obtained (the angle between the target direction and the horizontal direction is called the vertical angle, and the vertical angle ranges from -90° to 90°. When the target direction is above the horizontal direction, it is the elevation angle, with a positive sign; when the target direction is below the horizontal direction, it is the depression angle, with a negative sign). The zenith distance = 90° - vertical angle, and the zenith distance is the required reverse-calculated vertical direction value.

[0040] S5. For each point to be laid out, determine the over-excavation or under-excavation value based on the actual three-dimensional coordinates and the mileage of the working face.

[0041] Over-excavation and under-excavation refer to the distance between the actual measured point and the baseline, with the designed excavation outline as the reference. Points measured outside the baseline are called over-excavation, while those measured inside the baseline are called under-excavation.

[0042] S6. For each point to be laid out, if the over-excavation or under-excavation value meets the preset conditions, the position indicated when the over-excavation or under-excavation value meets the preset conditions is taken as the target laying out point. If the over-excavation or under-excavation value does not meet the preset conditions, the actual three-dimensional coordinates are updated to obtain the updated three-dimensional coordinates. The updated three-dimensional coordinates are used to perform line back calculation to calculate the actual mileage of the point to be laid out. The actual mileage is used to update the working face mileage, and S3-S5 are repeated until the over-excavation or under-excavation value meets the preset conditions.

[0043] In this example, the preset condition is whether the over- or under-digging values ​​meet the tolerance limit (limit error).

[0044] In this example, by setting up a surveying robot at a preset distance in front of the tunnel face, the first three-dimensional coordinates and the north direction of the station can be obtained. Then, using the first three-dimensional coordinates and the coordinates of any point on the tunnel face measured by the surveying robot in prism-free measurement mode, the tunnel face mileage can be automatically obtained. Based on the tunnel face mileage, the second three-dimensional coordinates of each point to be laid out on the excavation outline can be obtained. At this time, the indicator laser of the surveying robot can be pointed to all the laying out points to determine the pointing position and the actual three-dimensional coordinates of each pointing position. Based on the actual three-dimensional coordinates and the tunnel face mileage, the over-excavation and under-excavation values ​​of each point to be laid out can be obtained. Then, by repeatedly judging whether the over-excavation and under-excavation values ​​meet the preset conditions, the actual three-dimensional coordinates can be iteratively updated. The actual mileage of the point to be laid out can be calculated by back-calculating the route using the updated three-dimensional coordinates. The tunnel face mileage is updated with the actual mileage. Finally, the pointing position when the over-excavation and under-excavation values ​​meet the preset conditions is used as the target laying out point. By iteratively updating the actual three-dimensional coordinates, the accuracy of the target laying out point is improved. The whole method is completed automatically without the need for manual adjustment of the over-excavation and under-excavation values. This solves the problem that the existing over-excavation and under-excavation value adjustment mainly relies on manual adjustment based on on-site experience, which is cumbersome and inefficient.

[0045] Optionally, for each point to be staked out, if the over-excavation or under-excavation value does not meet the preset conditions, the actual three-dimensional coordinates are updated to obtain updated three-dimensional coordinates. The updated three-dimensional coordinates are used to perform line back calculation to calculate the actual mileage of the point to be staked out. The actual mileage is used to update the working face mileage, and S3-S5 is repeated. This includes: if the over-excavation or under-excavation value does not meet the preset conditions, the actual mileage is determined by line back calculation based on the actual three-dimensional coordinates, and the updated three-dimensional coordinates of the pointing position are determined by the actual mileage. The updated three-dimensional coordinates are used as the new second three-dimensional coordinates, and the actual mileage is used as the new working face mileage. S3-S5 is repeated until the over-excavation or under-excavation value meets the preset conditions.

[0046] The target layout point is determined based on the mileage of the working face. However, due to the unevenness of the working face, the over-excavation and under-excavation values ​​do not meet the tolerance limits, resulting in inaccurate target layout points. Therefore, it is necessary to continuously update the actual mileage and the second and third-dimensional coordinates through iterative updates, thereby adjusting the aiming direction of the measuring robot to ensure that the over-excavation and under-excavation values ​​meet the tolerance limits and improve the accuracy of the target layout point.

[0047] Optionally, the updated three-dimensional coordinates of the pointing position are determined by the actual mileage, including: determining the updated three-dimensional coordinates of the pointing position based on the actual mileage, a preset horizontal offset, and a preset vertical offset.

[0048] By incorporating preset horizontal and vertical offsets into the update of actual 3D coordinates, the final updated 3D coordinates are more accurate.

[0049] Optionally, for each point to be laid out, the over-excavation and under-excavation values ​​are determined based on the actual three-dimensional coordinates and tunnel face mileage, including: determining the third three-dimensional coordinates and normal direction of the centerline point corresponding to the point to be laid out through forward calculation based on the tunnel face mileage and tunnel line parameters; determining the spatial plane equation perpendicular to the design line at the point to be laid out based on the third three-dimensional coordinates and normal direction; determining the two-dimensional coordinates corresponding to the actual three-dimensional coordinates by projecting the actual three-dimensional coordinates onto the projection space based on the spatial plane equation; determining the tunnel design outline corresponding to the tunnel face mileage based on the tunnel face mileage and cross-section distribution table; and using the vertical distance from the two-dimensional coordinates to the tunnel design outline as the over-excavation and under-excavation values ​​of the point to be laid out.

[0050] In this embodiment, if the over-excavation / under-excavation value is negative, it means that the target layout point is located within the excavation outline, i.e., under-excavation. If the over-excavation / under-excavation value is positive, it means that the target layout point is outside the excavation outline, i.e., over-excavation.

[0051] Optionally, for each point to be laid out, the method further includes: if the number of times S5 is repeated exceeds a preset number, determining whether the indicator laser of the measuring robot is on the working face; if the indicator laser is not on the working face, determining that the target point to be laid out has failed; if the indicator laser of the measuring robot is on the working face, determining the horizontal distance between the pointing position and the excavation design section; and using the pointing position as the starting point, shifting the position horizontally in the excavation direction by a distance to the new target point to be laid out.

[0052] Due to the unevenness of the working face, even with continuous iteration and updates to the working face mileage and actual three-dimensional coordinates, the over-excavation and under-excavation values ​​still cannot meet the tolerance limits, indicating that the current measuring robot's indicator laser has deviated significantly from the target layout point and cannot determine the target layout point.

[0053] The present invention will be described in detail below with a specific example, such as... Figure 2 As shown, the method for determining tunnel excavation layout points includes the following steps:

[0054] S1. Input tunnel line parameters, cross-section parameters, control point coordinates and other data, set the limits for over-excavation and under-excavation values, and connect the measuring robot to the terminal device (computer) via Bluetooth or Wi-Fi. Among them, the tunnel line parameters include the design horizontal curve, the cross-section parameters include the cross-section distribution table and the tunnel design outline, and the control point coordinates include the first three-dimensional coordinates of the point where the measuring robot will be placed.

[0055] S2. Set up the measuring robot 5-20m in front of the tunnel face.

[0056] S3. The measuring robot levels the ground and uses the resection method to set up the station, obtaining the total station's three-dimensional coordinates (first three-dimensional coordinates) and the north direction of the station.

[0057] S4. The measuring robot measures the coordinates of any point on the tunnel face in prism-free mode, and calculates the tunnel face mileage K1 by combining the first three-dimensional coordinates and back-calculating the route.

[0058] S5. Calculate the coordinates (second and third-dimensional coordinates) of each point to be laid out on the excavation profile at the working face mileage K1, and draw a two-dimensional coordinate map of the set of points to be laid out on a touch screen computer for user convenience.

[0059] S6. Users can specify the point to be laid out via a computer touchscreen, which will cause the measuring robot to point the laser in the direction corresponding to the point to be laid out.

[0060] S7. By using the three-dimensional coordinates (second three-dimensional coordinates) of the point to be laid out, the three-dimensional coordinates (first three-dimensional coordinates) of the measuring robot, the north direction of the station, the inverse horizontal direction value, and the inverse vertical direction value, the pointing position of the measuring robot's indicator laser pointing to the point to be laid out can be determined, and the actual three-dimensional coordinates of the pointing position can be determined.

[0061] S8. Determine the over-excavation and under-excavation values ​​based on the actual three-dimensional coordinates and the mileage of the working face.

[0062] S9. Determine whether the over- or under-excavation values ​​meet the tolerance limits.

[0063] S10. If the over- or under-excavation value meets the tolerance limit, mark the indicator laser position (pointing position) on the working face with spray paint as the target layout point.

[0064] S11. If the over-mining and under-mining values ​​do not meet the tolerance limit, determine whether the number of iterations for the over-mining and under-mining values ​​exceeds the preset iteration value (preset number of iterations).

[0065] S12. If the number of iterations for the over-excavation and under-excavation values ​​does not exceed the preset iteration value, then the actual mileage K2 is determined by back-calculation of the route based on the actual three-dimensional coordinates. The updated three-dimensional coordinates of the pointing position are determined by the actual mileage K2, the design horizontal offset H1 (preset horizontal offset) of the measurement point, and the design vertical offset V1 (preset vertical offset). The updated three-dimensional coordinates are used as the new second three-dimensional coordinates, and the actual mileage is used as the new working face mileage. S7-S12 are repeated.

[0066] S13. If the number of iterations for the over-excavation and under-excavation values ​​exceeds the preset iteration value, determine whether the laser pointer of the measuring robot is on the working face. If it is, calculate the horizontal distance H2 (the horizontal distance from the pointing position to the excavation design section).

[0067] S14. Using the laser pointer at the working face as a reference (pointing position as the starting point), mark the position at a horizontal distance in the excavation direction with paint, and use it as the new target to be laid out.

[0068] S15. If it is determined that the laser pointer of the measuring robot is not on the working face, then the determination of the target placement point has failed.

[0069] like Figure 3 As shown, the present invention provides a system for determining tunnel excavation layout points, comprising:

[0070] The first three-dimensional coordinate determination module 101 is used to obtain the first three-dimensional coordinates of the measuring robot and the north direction of the station when the measuring robot is set up at a preset distance in front of the tunnel face;

[0071] The face mileage determination module 102 is used to determine the face mileage by back-calculation of the route based on the first three-dimensional coordinates and the coordinates of any point on the face measured by the measuring robot in the prism-free measurement mode.

[0072] The second three-dimensional coordinate determination module 103 is used to determine the second three-dimensional coordinates of each point to be laid out on the excavation profile at the working face mileage, the preset horizontal offset and the preset vertical offset through forward calculation of the line.

[0073] The actual three-dimensional coordinate determination module 104 is used to determine the pointing position of the indicator laser of the measuring robot pointing to the corresponding direction of the point to be laid out for each point to be laid out, based on the first three-dimensional coordinate, the second three-dimensional coordinate, the north direction of the station, the inverse horizontal direction value, and the inverse vertical direction value, and to determine the actual three-dimensional coordinate of the pointing position.

[0074] The over- or under-excavation value determination module 105 is used to determine the over- or under-excavation value for each point to be laid out based on the actual three-dimensional coordinates and the mileage of the working face.

[0075] The target staking point determination module 106 is used to determine the target staking point for each staking point. If the over-excavation or under-excavation value meets the preset conditions, the actual three-dimensional coordinates when the over-excavation or under-excavation value meets the preset conditions are used as the target staking point. If the over-excavation or under-excavation value does not meet the preset conditions, the actual three-dimensional coordinates are updated to obtain the updated three-dimensional coordinates. The updated three-dimensional coordinates are used to perform route back calculation to calculate the actual mileage of the staking point. The actual mileage is used to update the working face mileage. The functions corresponding to the second three-dimensional coordinate determination module, the actual three-dimensional coordinate determination module, and the over-excavation or under-excavation value determination module are repeatedly executed until the over-excavation or under-excavation value meets the preset conditions.

[0076] Optionally, the target stakeout point determination module is specifically used for:

[0077] If the over- or under-excavation values ​​do not meet the preset conditions, the actual mileage is determined by reverse calculation of the route based on the actual three-dimensional coordinates, and the updated three-dimensional coordinates of the pointing position are determined by the actual mileage. The updated three-dimensional coordinates are used as the new second three-dimensional coordinates, and the actual mileage is used as the new working face mileage. The functions corresponding to the second three-dimensional coordinate determination module, the actual three-dimensional coordinate determination module, and the over- or under-excavation value determination module are repeatedly executed until the over- or under-excavation values ​​meet the preset conditions.

[0078] Optionally, the target stakeout point determination module is specifically used for:

[0079] Based on the actual mileage, preset horizontal offset, and preset vertical offset, the updated three-dimensional coordinates of the pointing position are determined.

[0080] Optionally, the over- or under-dig value determination module is specifically used for:

[0081] Based on the tunnel face mileage and tunnel route parameters, the third and third-dimensional coordinates and normal directions of the centerline points of the route corresponding to the points to be laid out are determined by forward route calculation.

[0082] Based on the third three-dimensional coordinates and the normal direction, determine the spatial plane equation perpendicular to the design line at the point to be laid out;

[0083] Based on the spatial plane equation, the actual three-dimensional coordinates are projected onto the projection space to determine the corresponding two-dimensional coordinates.

[0084] Based on the tunnel face mileage and cross-section distribution table, determine the tunnel design outline corresponding to the tunnel face mileage;

[0085] The vertical distance from the two-dimensional coordinates to the tunnel design outline is used as the over- or under-excavation value of the point to be laid out.

[0086] Optionally, the system also includes a judgment module, specifically used for:

[0087] If the number of times the function corresponding to the over-excavation and under-excavation value determination module is executed exceeds the preset number, it is determined whether the indicator laser of the measuring robot is on the working face. If the indicator laser is not on the working face, it is determined that the target to be laid out point has failed to be determined. If the indicator laser of the measuring robot is on the working face, the horizontal distance of the pointing position from the excavation design section is determined.

[0088] Starting from the indicated position, the position at which the excavation direction is shifted horizontally by a distance is taken as the new target point to be laid out.

[0089] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements some or all of the steps of the tunnel excavation layout method described above.

[0090] The electronic device can be a computer, and its program is computer software. The parameters and steps of the electronic device of the present invention can be referred to the parameters and steps of the embodiment of the tunnel excavation layout method above, and will not be repeated here.

[0091] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this disclosure can be embodied in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, the invention can also be implemented as a computer program product contained in one or more computer-readable media, which contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to—electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof.

[0092] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0093] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for determining tunnel excavation layout points, characterized in that, include: S1. Obtain the first three-dimensional coordinates and the north direction of the station when the measuring robot is set up at a preset distance in front of the tunnel face; S2. Based on the first three-dimensional coordinates and the coordinates of any point on the working face measured by the measuring robot in the prism-free measurement mode, the working face mileage is determined by reverse calculation of the route. S3. Based on the tunnel face mileage, preset horizontal offset, and preset vertical offset, determine the second three-dimensional coordinates of each point to be laid out on the excavation profile at the tunnel face mileage through forward line calculation. S4. For each of the points to be laid out, based on the first three-dimensional coordinates, the second three-dimensional coordinates, the north direction of the station, the inversely calculated horizontal direction value, and the inversely calculated vertical direction value, determine the pointing position of the indicator laser of the measuring robot pointing to the corresponding direction of the point to be laid out, and determine the actual three-dimensional coordinates of the pointing position. S5. For each of the points to be laid out, determine the over-excavation or under-excavation value based on the actual three-dimensional coordinates and the mileage of the working face; S6. For each of the points to be laid out, if the over-excavation and under-excavation values ​​meet the preset conditions, the pointing position when the over-excavation and under-excavation values ​​meet the preset conditions is taken as the target laying out point. If the over-excavation and under-excavation values ​​do not meet the preset conditions, the actual three-dimensional coordinates are updated to obtain updated three-dimensional coordinates. The updated three-dimensional coordinates are used to perform line back calculation to calculate the actual mileage of the point to be laid out. The actual mileage is used to update the working face mileage, and S3-S5 are repeated until the over-excavation and under-excavation values ​​meet the preset conditions.

2. The method according to claim 1, characterized in that, For each of the points to be laid out, if the over-excavation / under-excavation value does not meet the preset conditions, the actual three-dimensional coordinates are updated to obtain updated three-dimensional coordinates. The updated three-dimensional coordinates are then used to perform route back-calculation to calculate the actual mileage of the point to be laid out. The actual mileage is then used to update the working face mileage, and S3-S5 are repeated until the over-excavation / under-excavation value meets the preset conditions, including: If the over- or under-excavation value does not meet the preset conditions, the actual mileage is determined by reverse calculation of the route based on the actual three-dimensional coordinates, and the updated three-dimensional coordinates of the pointing position are determined by the actual mileage. The updated three-dimensional coordinates are used as the new second actual three-dimensional coordinates, and the actual mileage is used as the new working face mileage. S3-S5 are repeated until the over- or under-excavation value meets the preset conditions.

3. The method according to claim 2, characterized in that, The process of determining the updated three-dimensional coordinates of the pointing position through actual mileage includes: The updated three-dimensional coordinates of the pointing position are determined based on the actual mileage, the preset horizontal offset, and the preset vertical offset.

4. The method according to claim 1, characterized in that, For each of the points to be laid out, the over-excavation and under-excavation values ​​are determined based on the actual three-dimensional coordinates and the working face mileage, including: Based on the tunnel face mileage and tunnel route parameters, the third three-dimensional coordinates and normal direction of the centerline point corresponding to the point to be laid out are determined by forward route calculation. Based on the third three-dimensional coordinates and the normal direction, determine the spatial plane equation perpendicular to the design line at the point to be laid out; Based on the spatial plane equation, the actual three-dimensional coordinates are projected onto the projection space to determine the corresponding two-dimensional coordinates. Based on the table of tunnel face mileage and cross-section distribution, determine the tunnel design outline corresponding to the tunnel face mileage; The vertical distance from the two-dimensional coordinates to the tunnel design outline is used as the over- or under-excavation value of the point to be laid out.

5. The method according to claim 2, characterized in that, For each of the points to be laid out, the following is also included: If the number of times S5 is repeated exceeds the preset number, it is determined whether the indicator laser of the measuring robot is on the working face. If the indicator laser is not on the working face, it is determined that the target to be laid out point has failed to be determined. If the indicator laser of the measuring robot is on the working face, the horizontal distance of the pointing position from the excavation design section is determined. Starting from the indicated position, the position at the horizontal distance shifted in the excavation direction is taken as the new target point to be laid out.

6. A system for determining tunnel excavation layout points, characterized in that, include: The first three-dimensional coordinate determination module is used to obtain the first three-dimensional coordinates of the measuring robot and the north direction of the station when the measuring robot is set up at a preset distance in front of the tunnel face; The face mileage determination module is used to determine the face mileage by back-calculation of the route based on the first three-dimensional coordinates and the coordinates of any point on the face measured by the measuring robot in the prism-free measurement mode. The second three-dimensional coordinate determination module is used to determine the second three-dimensional coordinates of each point to be laid out on the excavation profile at the working face mileage, the preset horizontal offset, and the preset vertical offset through forward calculation of the line. The actual three-dimensional coordinate determination module is used to determine the pointing position of the indicator laser of the measuring robot pointing to the corresponding direction of the point to be laid out for each of the points to be laid out, based on the first three-dimensional coordinates, the second three-dimensional coordinates, the north direction of the station, the inverse horizontal direction value, and the inverse vertical direction value, and to determine the actual three-dimensional coordinates of the pointing position. The over- or under-excavation value determination module is used to determine the over- or under-excavation value for each of the points to be laid out, based on the actual three-dimensional coordinates and the working face mileage. The target staking point determination module is used to, for each staking point, if the over-excavation / under-excavation value meets a preset condition, use the actual three-dimensional coordinates when the over-excavation / under-excavation value meets the preset condition as the target staking point; if the over-excavation / under-excavation value does not meet the preset condition, update the actual three-dimensional coordinates to obtain updated three-dimensional coordinates, use the updated three-dimensional coordinates to perform route back-calculation to calculate the actual mileage of the staking point, update the working face mileage with the actual mileage, and repeatedly execute the functions corresponding to the second three-dimensional coordinate determination module, the actual three-dimensional coordinate determination module, and the over-excavation / under-excavation value determination module until the over-excavation / under-excavation value meets the preset condition.

7. The system according to claim 6, characterized in that, The target layout point determination module is specifically used for: If the over- or under-excavation value does not meet the preset conditions, the actual mileage is determined by reverse calculation of the route based on the actual three-dimensional coordinates, and the updated three-dimensional coordinates of the pointing position are determined by the actual mileage. The updated three-dimensional coordinates are used as the new second three-dimensional coordinates, and the actual mileage is used as the new working face mileage. The functions corresponding to the second three-dimensional coordinate determination module, the actual three-dimensional coordinate determination module, and the over- or under-excavation value determination module are repeatedly executed until the over- or under-excavation value meets the preset conditions.

8. The system according to claim 7, characterized in that, The target layout point determination module is specifically used for: The updated three-dimensional coordinates of the pointing position are determined based on the actual mileage, the preset horizontal offset, and the preset vertical offset.

9. An electronic device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of a tunnel excavation layout method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a terminal device, cause the terminal device to perform the steps of a tunnel excavation layout method as described in any one of claims 1 to 5.

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