Tunnel face blasthole morphology measurement method, readable storage medium and device

Abstract

The present invention relates to the technical field of tunnel detection, and in particular to a method for measuring the morphology of blastholes on a tunnel face, comprising: using a coordinate measurement module to arrange all blastholes on a tunnel face, and arranging a blasthole morphology measurement device in each blasthole one by one in sequence; using a target recognition model to identify a target, and rotating the coordinate measurement module until a laser point falls on the target at the blasthole to be measured; using digital image processing technology to identify a target center point and a laser point on a target image, rotating the coordinate measurement module until the laser point falls on the target center point, and calculating the surface coordinates of all blastholes; using a blasthole morphology measurement device to measure the corresponding blasthole depth, and drawing the three-dimensional morphology of all blastholes on the tunnel face according to the surface coordinates of the blasthole. The present invention can accurately and efficiently obtain the three-dimensional morphology of blastholes on a tunnel face, and effectively guide the blasthole drilling construction and evaluate the quality of tunnel blasting construction, thereby reducing the operation steps and improving the construction efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel detection, and in particular to a method for measuring the morphology of blastholes on a tunnel face, a readable storage medium and a device. Background Art

[0002] At present, mountain tunnels are generally constructed by drilling and blasting. However, there are serious problems in tunnel construction, such as over-excavation, frequent occurrence of large blocks, and waste of blasting consumables. The reasons for this are, on the one hand, design reasons such as the mismatch between tunnel blasting design and geological conditions, and on the other hand, tunnel construction management. The key is that the workers responsible for drilling holes are unable to excavate according to the blasthole layout and design parameters.

[0003] The detection of blasthole positions mainly relies on total stations to determine the positions, but this can only be done before the blastholes are drilled. Although it has high accuracy, the operation is cumbersome, and it takes a long time to measure dozens to hundreds of blastholes on the cross section. Other measurement methods cannot achieve automatic and efficient measurement. For the shape of a single blasthole, the drilling rig is mainly used for drilling measurement, but the position of the blasthole cannot be determined. In addition, there is a lack of equipment for measuring the three-dimensional shape of the blasthole, and the rock drilling rig cannot determine the position or shape of the blasthole.

[0004] The inability to accurately determine the location and 3D shape of the blasthole will lead to differences between the blasthole parameters and the design, often resulting in unsatisfactory tunnel blasting quality. Therefore, it is urgent to develop a measurement method that can measure the 3D shape of the entire blasthole to assist in tunnel drilling operations. Summary of the invention

[0005] The present invention aims to provide a method for measuring the blasthole shape of a tunnel face that can accurately and efficiently measure the three-dimensional shape of the blasthole. The specific technical scheme is as follows:

[0006] The present invention provides a method for measuring the morphology of blastholes in a tunnel face, comprising the following steps:

[0007] S1: Arrange all blastholes on the tunnel face using a coordinate measurement module, and arrange blasthole shape measurement devices one by one in the blastholes according to the blasthole arrangement sequence, wherein: a target is provided on the blasthole shape measurement device; the coordinate measurement module comprises a laser pointer, a first fixed-focus camera and a second fixed-focus camera, the first fixed-focus camera and the second fixed-focus camera are both arranged on the laser pointer, the first fixed-focus camera is used to capture an image of the blasthole shape measurement device, and the second fixed-focus camera is used to capture an image of the target;

[0008] S2: using the target recognition model to identify the target in the image of the blasthole shape measuring device corresponding to the blasthole to be measured, and rotating the coordinate determination module until the laser point of the laser pointer falls on the target of the blasthole shape measuring device at the blasthole to be measured;

[0009] S3: using digital image processing technology to identify the target center point and laser point on the target image, rotating the coordinate measurement module until the laser point of the laser pointer falls on the target center point, and calculating the surface coordinates of all blastholes according to the laser ranging result of the laser pointer;

[0010] S4: The corresponding blasthole depth is measured using a blasthole shape measuring device, and the three-dimensional shapes of all blastholes on the tunnel face are obtained based on the surface coordinates of the blastholes.

[0011] Optionally, the S1 includes:

[0012] S1.1. Install multiple coordinate measurement modules on the drilling and blasting rig and measure the construction coordinates of each coordinate measurement device (a 1j ,b 1j ,c 1j );

[0013] S1.2, adjusting the focal lengths of the first fixed-focus camera and the second fixed-focus camera so that the first fixed-focus camera can capture the blasthole morphology measurement device and the second fixed-focus camera can capture the target;

[0014] S1.3, according to the setting azimuth angle α of each blast hole position 1i and set the inclination angle β 1i Rotate the coordinate measurement module and mark the positions of the laser points of the laser pointer on the tunnel face;

[0015] S1.4. Use a pneumatic rock drill to drill holes according to the marked drop points to obtain all the blast holes on the tunnel face;

[0016] S1.5. Arrange the blasthole shape measuring device one by one in the blasthole arrangement sequence.

[0017] Optionally, the S2 includes:

[0018] S2.1, using the first electronic compass of the blasthole morphology measuring device to measure the inlet azimuth ζ1 and the inlet inclination ξ1 at the blasthole inlet;

[0019] S2.2. Calculate the rotation plane azimuth Δθ0 of the target of the blasthole morphology measuring device. The specific calculation formula is:

[0020] Δθ0=ζ1-α0;

[0021] Where: α0 is the design azimuth angle of the tunnel centerline;

[0022] S2.3, rotating the target according to the plane azimuth angle so that the front of the target faces the coordinate measurement module;

[0023] S2.4, rotating the coordinate measuring module so that the first fixed-focus camera captures an image of the blasthole morphology measuring device at the corresponding blasthole;

[0024] S2.5. Build a target recognition model based on the YOLOv5 algorithm;

[0025] S2.6. Use the target recognition model to identify the target of the blasthole morphology measurement device image, and rotate the coordinate measurement module so that the laser point of the laser pointer falls on the target of the blasthole measurement module.

[0026] Optionally, the S2.6 includes:

[0027] S2.6.1. Input the blasthole morphology measuring device image captured by the first fixed-focus camera into the target recognition model to obtain the pixel coordinates (u1, v1) of the center point of the recognition frame and the pixel coordinates (u2, v2) of the center point of the blasthole morphology measuring device image;

[0028] S2.6.2. Calculate the true size d of the pixel block in the borehole morphology measurement device image 像1 , the specific calculation formula is:

[0029] d 像1 =f1l1;

[0030] Where: f1 is the focal length of the first fixed-focus camera, l1 is the distance between the coordinate measurement module and the laser landing point measured by the laser pointing instrument;

[0031] S2.6.3. Calculate the actual distance d1 between the center point of the identification frame and the center point of the image of the blasthole morphology measurement device. The specific calculation formula is:

[0032] d x1 =d 像1 (u1-u2);

[0033] d y1 =d 像1 (v1-v2);

[0034]

[0035] Where: d x1 is the distance between the center of the identification frame and the center of the image of the blasthole morphology measurement device in the x-axis direction, d y1 is the distance between the center point of the identification frame and the center point of the image of the blasthole morphology measurement device in the y-axis direction;

[0036] S2.6.4. Calculate the rotation angle Δα of the coordinate determination module according to the designed azimuth angle of the tunnel centerline 1i and the rotation angle Δβ 1i , the specific calculation formula is:

[0037]

[0038]

[0039] S2.6.5, according to the rotation azimuth angle Δα 1i and the rotation angle Δβ 1i The coordinate determination module is rotated so that the laser point of the laser pointer falls on the target of the borehole determination module.

[0040] Optionally, the S3 includes:

[0041] S3.1. Use digital image processing technology to process the target image and identify the target center point and laser point;

[0042] S3.2. Calculate the actual size d of the pixel block in the target image 像2 , the specific calculation formula is:

[0043] d 像2 =f2l2;

[0044] Where: f2 is the focal length of the second fixed-focus camera, l2 is the distance between the coordinate measurement module and the laser landing point on the target measured by the laser pointing instrument;

[0045] S3.3. Calculate the pixel coordinate difference between the target center point and the laser point. The specific calculation formula is:

[0046] d x2 =Δjd 像2 ;

[0047] d y2 =Δkd 像2 ;

[0048] Where: d x2 is the distance between the center of the target and the center of the image of the blasthole morphology measuring device in the x-axis direction, d y2 is the distance between the center point of the target and the center point of the blasthole morphology measuring device image in the y-axis direction; Δj is the vertical pixel coordinate difference between the center point of the target and the center point of the blasthole morphology measuring device image, and Δk is the horizontal pixel coordinate difference between the center point of the target and the center point of the blasthole morphology measuring device image;

[0049] S3.4. Calculate the rotation angle Δα of the coordinate measurement module 2i and the rotation angle Δβ 2i , the specific calculation formula is:

[0050]

[0051]

[0052] Where: α 2i is the azimuth angle of the laser point falling on the target measured by the second electronic compass laser of the coordinate measurement module, β 2i The inclination angle of the laser point falling on the target measured by the second electronic compass laser of the coordinate measurement module;

[0053] S3.5, according to the rotation azimuth angle α 2i and the rotation angle β 2i Rotate the coordinate determination module so that the laser point of the laser pointer falls on the target center point of the blasthole determination module;

[0054] S3.6, using the second electronic compass of the coordinate measurement module to measure the azimuth angle α at this time 3i and the inclination angle β 3i , and calculate the blasthole surface coordinates (x1, y1, z1). The specific calculation formula is:

[0055]

[0056] Where: l3 is the distance between the coordinate measurement module and the target center point measured by the laser pointer.

[0057] Optionally, the blasthole morphology measuring device further comprises a sleeve, a top pipe, a top cover, a measuring assembly and a counting module, wherein the sleeve is arranged in the blasthole, the top cover is detachably arranged at one end of the sleeve close to the bottom wall of the blasthole, the measuring assembly and the counting module are both arranged at one end of the sleeve exposed from the blasthole, the top pipe can push the top cover to detach from the sleeve, and the top cover pulls out the measuring line of the measuring assembly, and the counting module is used to measure the extended length of the measuring line of the measuring assembly in real time;

[0058] The S4 includes:

[0059] S4.1, inserting the top pipe into the sleeve until the top pipe pushes the top cover to abut against the bottom wall of the blasthole, and then measuring the extension length of the measuring line of the measuring assembly by the counting module;

[0060] S4.2, using the third electronic compass of the top cover to measure the top cover azimuth and top cover inclination;

[0061] S4.3. Draw the three-dimensional shapes of all blastholes on the tunnel face based on the blasthole depth, top cover azimuth and top cover inclination corresponding to each blasthole.

[0062] Optionally, in S4.3, the coordinates (x k ,y k ,z k ) is calculated as follows:

[0063]

[0064] Where: x k-1 is the coordinate of the top cover in the x-axis direction when the counting module counts for the k-1th time, and y k-1 is the coordinate of the top cover in the y-axis direction when the counting module counts for the k-1th time, z k-1 is the coordinate of the top cover in the z-axis direction when the counting module counts for the k-1th time; s k is the depth of the top pipe inserted into the blasthole when the counting module counts for the kth time, s k-1 is the depth of the top pipe inserted into the blasthole when the counting module counts for the k-1th time; ξ k-1 is the top cover inclination angle of the counting module when it counts for the k-1th time, ζ k-1 is the top cover azimuth angle when the counting module counts for the k-1th time; k is a natural number greater than or equal to 3.

[0065] The present invention also provides a readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the tunnel face blasthole morphology measurement method as described above is implemented.

[0066] The present invention also provides an electronic device, comprising: at least one processor, at least one memory and computer program instructions stored in the memory, when the computer program instructions are executed by the processor, the tunnel face blasthole morphology measurement method as described above is implemented.

[0067] The present invention can accurately measure the surface coordinates of the blastholes through the coordinate measurement module and the blasthole shape measurement device, and use the blasthole shape measurement device to measure the corresponding blasthole depth, and draw all the blasthole three-dimensional shapes of the tunnel face according to the surface coordinates of the blastholes. The present invention can accurately and efficiently obtain the three-dimensional shape of the blastholes on the tunnel face, and can effectively guide the blasthole drilling construction and evaluate the quality of the tunnel blasting construction, reduce the operation steps of the construction personnel, and improve the construction efficiency.

[0068] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0070] Figure 1 Schematic diagram of the installation structure of the coordinate determination module and the blasthole shape measurement device in an embodiment of the present invention;

[0071] Figure 2is a schematic structural diagram of a coordinate measurement module in an embodiment of the present invention;

[0072] Figure 3 is a schematic structural diagram of a blasthole morphology measuring device according to an embodiment of the present invention;

[0073] Figure 4 is the calculation of the rotation azimuth angle Δα in the embodiment of the present invention 1i Schematic diagram of

[0074] Figure 5 is the angle Δβ of the rotation angle calculated in the embodiment of the present invention 1i Schematic diagram of .

[0075] Description of Figure Numbers:

[0076] 1 coordinate determination module, 1.1 laser pointer, 1.2 first fixed-focus camera, 1.3 second fixed-focus camera, 1.4 second electronic compass; 2 blasthole shape measurement device, 2.1 target, 2.2 first electronic compass, 2.3 sleeve, 2.4 jacking pipe, 2.5 top cover, 2.6 measurement component, 2.7 counting module, 3 drilling and blasting stand, 4 tunnel face, 6 tunnel centerline, 7 identification frame center point, 8 laser point, 9 laser line. DETAILED DESCRIPTION

[0077] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0078] In this embodiment, a method for measuring the morphology of blastholes in a tunnel face includes the following steps:

[0079] like Figures 1 to 3 As shown,

[0080] S1: Arrange all blastholes of the tunnel face 4 by using the coordinate measuring module 1, and arrange the blasthole shape measuring devices 2 one by one in the blastholes according to the blasthole arrangement sequence, wherein: a target 2.1 is arranged on the blasthole shape measuring device 2; the coordinate measuring module 1 comprises a laser pointer 1.1, a first fixed-focus camera 1.2 and a second fixed-focus camera 1.3, the first fixed-focus camera 1.2 and the second fixed-focus camera 1.3 are both arranged on the laser pointer 1.1, the first fixed-focus camera 1.2 is used to take an image of the blasthole shape measuring device, and the second fixed-focus camera 1.3 is used to take an image of the target;

[0081] S1 includes:

[0082] S1.1. Install multiple coordinate measuring modules 1 on the drilling and blasting stand 3, and measure the construction coordinates of each coordinate measuring device (a 1j ,b 1j ,c 1j );

[0083] S1.2, adjusting the focal lengths of the first fixed-focus camera 1.2 and the second fixed-focus camera 1.3, so that the first fixed-focus camera 1.2 can capture the blasthole morphology measuring device 2, and the second fixed-focus camera 1.3 can capture the target 2.1;

[0084] Specifically: adjust the focal length of the first fixed-focus camera 1.2 to ensure that the first fixed-focus camera 1.2 can clearly capture a range of 20 times the diameter of the blast hole, so that the blast hole morphology measurement device can be accurately captured; adjust the focal length of the second fixed-focus camera 1.3 to ensure that the second fixed-focus camera 1.3 can clearly capture a range of 5 times the diameter of the blast hole, so that the target position of the blast hole morphology measurement device can be accurately captured.

[0085] S1.3, according to the setting azimuth angle α of each blast hole position 1i and set the inclination angle β 1i Rotate the coordinate measuring module 1 and mark the landing positions of the laser point 8 of the laser pointing device 1.1 on the tunnel face 4 respectively;

[0086] Specifically, a laser pointer is used to emit a laser line 9 to the tunnel face, and the laser line 9 falls on a laser point 8 on the tunnel face. After the coordinate measurement module is rotated according to the set azimuth and set inclination of the blasthole position, the landing point of the laser point on the tunnel face is the blasthole position.

[0087] S1.4, using a pneumatic rock drill to drill holes according to the marked drop points to obtain all the blast holes on the tunnel face 4;

[0088] S1.5. Arrange the blasthole shape measuring device 2 in each blasthole according to the blasthole arrangement sequence.

[0089] S2: using the target recognition model to identify the target 2.1 in the image of the blasthole shape measuring device corresponding to the blasthole to be measured, and rotating the coordinate measuring module 1 until the laser point 8 of the laser pointing instrument 1.1 falls on the target 2.1 of the blasthole shape measuring device 2 at the blasthole to be measured;

[0090] S2 includes:

[0091] S2.1, using the first electronic compass 2.2 of the blasthole morphology measuring device to measure the inlet azimuth ζ1 and the inlet inclination ξ1 at the blasthole inlet;

[0092] S2.2. Calculate the rotation plane azimuth Δθ0 of the target 2.1 of the blasthole morphology measuring device. The specific calculation formula is:

[0093] Δθ0=ζ1-α0;

[0094] Where: α0 is the design azimuth angle of the tunnel centerline;

[0095] S2.3, rotating the target 2.1 according to the plane azimuth angle so that the front of the target 2.1 faces the coordinate measurement module 1;

[0096] S2.4, rotating the coordinate measuring module 1 so that the first fixed-focus camera 1.2 captures an image of the blasthole morphology measuring device at the corresponding blasthole;

[0097] S2.5. Build a target recognition model based on the YOLOv5 algorithm;

[0098] S2.6. Use the target recognition model to recognize the target 2.1 of the blasthole morphology measurement device image, and rotate the coordinate measurement module 1 so that the laser point 8 of the laser pointer 1.1 falls on the target 2.1 of the blasthole measurement module.

[0099] Among them, the target recognition model is to take hundreds of images of the blasthole morphology measurement device inserted into the tunnel face blasthole, use labelme software to process the relevant images to form a target label image dataset, and expand the dataset into hundreds of label image datasets through rotation, flipping, rotation, cropping, scaling and translation; the YOLOv5 algorithm has been verified to be able to identify tunnel blastholes, so it can be used to identify obvious targets inserted in the blastholes. The architecture of YOLOv5 mainly includes three parts: Backbone, Neck and Head. The Backbone module is mainly responsible for feature extraction, Neck is used to fuse features from different levels, and the Head module is responsible for generating the final detection results.

[0100] Establishing a target recognition model includes the following steps:

[0101] The target recognition model includes the following steps:

[0102] ① Preparation: The input image size of the network is 640*640. This stage includes an image preprocessing stage, which is to scale the input image to the network input size and perform normalization and other operations. Then the image needs to be enhanced by Mosaic data to improve the training speed of the model and the accuracy of the network, including an adaptive anchor box calculation and adaptive image scaling method.

[0103] ② Feature extraction: Conv, C3, and SPPF basic structures are used to extract features from input images. Conv is used to downsample the input (downsampling was performed 5 times in total); C3 is used to extract and fuse features from the input to enrich the semantic information of the features. In this process, Boottleneck is used to reduce the number of parameters and calculations, and the CSPNet idea is used to enhance the learning ability of CNN; SPPF uses pooling and feature fusion to enrich the semantic information of features, so that the deepest feature map has extremely rich semantic information.

[0104] ③ Feature fusion: The shallow features of the feature maps of three scales of target detection are integrated so that the feature maps have both rich semantic information and accurate location information of the objects.

[0105] ④ Prediction target: Predict the processed feature map and optimize the parameter weights according to the loss function (Classification Loss and Bounding Box Regeression Loss) and the optimizer.

[0106] Thus, a target recognition model is established by training the target label image data set, and then the borehole morphology measuring device image is input into the model to obtain the pixel coordinates (u1, v1) of the center point 7 of the recognition frame and the pixel coordinates (u2, v2) of the center point of the borehole morphology measuring device image.

[0107] S2.6 includes:

[0108] S2.6.1. Input the blasthole morphology measuring device image captured by the first fixed-focus camera 1.2 into the target recognition model to obtain the pixel coordinates (u1, v1) of the center point 7 of the recognition frame and the pixel coordinates (u2, v2) of the center point of the blasthole morphology measuring device image;

[0109] S2.6.2. Calculate the true size d of the pixel block in the borehole morphology measurement device image 像1 , the specific calculation formula is:

[0110] d 像1 =f1l1;

[0111] Wherein: f1 is the focal length of the first fixed-focus camera 1.2, l1 is the distance between the coordinate measurement module 1 and the laser landing point measured by the laser pointing device 1.1;

[0112] S2.6.3. Calculate the actual distance d1 between the center point 7 of the identification frame and the center point of the image of the blasthole morphology measuring device. The specific calculation formula is:

[0113] d x1 =d 像1 (u1-u2);

[0114] d y1 =d 像1 (v1-v2);

[0115]

[0116] Where: d x1 is the distance between the center point 7 of the identification frame and the center point of the image of the blasthole morphology measurement device in the x-axis direction, d y1 is the distance between the center point 7 of the identification frame and the center point of the image of the blasthole morphology measuring device in the y-axis direction;

[0117] S2.6.4. Calculate the rotation azimuth angle Δα of the coordinate measuring module 1 according to the designed azimuth angle of the tunnel centerline 1i and the rotation angle Δβ 1i ,like Figure 4 and Figure 5 As shown, the specific calculation formula is:

[0118]

[0119]

[0120] S2.6.5, according to the rotation azimuth angle Δα 1i and the rotation angle Δβ 1i The coordinate determination module 1 is rotated so that the laser point 8 of the laser pointing device 1.1 falls on the target 2.1 of the borehole determination module.

[0121] S3: using digital image processing technology to identify the target center point and the laser point 8 on the target image, rotating the coordinate measurement module 1 until the laser point 8 of the laser pointer 1.1 falls on the target center point, and calculating the surface coordinates of all the blast holes according to the laser ranging result of the laser pointer 1.1;

[0122] When the laser point 8 of the laser pointer falls on the target 2.1, the second fixed-focus camera 1.3 will also rotate with the coordinate measuring module 1 and aim the lens at the target 2.1, thereby photographing the target 2.1 and measuring the distance l2 from the second fixed-focus camera 1.3 to the tunnel face 4 and the azimuth angle α of the rotated coordinate measuring module 1. 2i and the inclination angle β 2i .

[0123] S3 includes:

[0124] S3.1, using digital image processing technology to process the target image and identify the target center point and laser point 8;

[0125] S3.2. Calculate the actual size d of the pixel block in the target image 像2 , the specific calculation formula is:

[0126] d 像2 =f2l2;

[0127] Wherein: f2 is the focal length of the second fixed-focus camera 1.3, l2 is the distance between the coordinate measurement module 1 and the laser landing point on the target 2.1 measured by the laser pointing device 1.1;

[0128] Considering that the target is a circular cross target composed of green fluorescence and the laser point is a red target point, digital image processing technology is used to first use the HSV space threshold algorithm to extract green pixels and red pixels respectively, and convert them into grid target contour binarization images and laser point binarization images respectively. Then, the zhang-suen algorithm is used to refine the grid light target binarization image until the pixel width of the grid line is a single pixel; the cumulative Hough transform algorithm is used to calculate the vertical center line and the horizontal center line; then the intersection of the grid center lines is calculated, and this point is used as the center point of the grid target and the origin of the local pixel coordinate system; the Hough gradient method is used to fit the inner and outer circles, thereby calculating the center point of the circle and the pixel radius. In view of the fixed radius of the inner and outer circles, the Hough gradient method is used to fit the pixel circle of the laser point, and the pixel coordinates of the center point of the circle, that is, the pixel coordinates of the laser point 8, are calculated.

[0129] S3.3. Calculate the pixel coordinate difference between the target center point and the laser point 8. The specific calculation formula is:

[0130] d x2 =Δjd 像2 ;

[0131] d y2 =Δkd 像2 ;

[0132] Where: d x2 is the distance between the center of the target and the center of the image of the blasthole morphology measuring device in the x-axis direction, d y2 is the distance between the center point of the target and the center point of the blasthole morphology measuring device image in the y-axis direction; Δj is the vertical pixel coordinate difference between the center point of the target and the center point of the blasthole morphology measuring device image, and Δk is the horizontal pixel coordinate difference between the center point of the target and the center point of the blasthole morphology measuring device image;

[0133] S3.4, calculate the rotation azimuth angle Δα of the coordinate measurement module 1 2i and the rotation angle Δβ 2i , the specific calculation formula is:

[0134]

[0135]

[0136] Where: α 2i is the azimuth angle of the laser point 8 when it falls on the target 2.1 measured by the second electronic compass 1.4 of the coordinate measurement module 1, β 2i is the inclination angle of the laser point 8 when it falls on the target 2.1 measured by the second electronic compass 1.4 of the coordinate determination module 1;

[0137] S3.5, according to the rotation azimuth angle α2i and the rotation angle β 2i Rotate the coordinate determination module 1 so that the laser point 8 of the laser pointer 1.1 falls on the target center point of the blasthole determination module;

[0138] S3.6, using the second electronic compass 1.4 of the coordinate measuring module 1 to measure the azimuth angle α at this time 3i and the inclination angle β 3i , and calculate the blasthole surface coordinates (x1, y1, z1). The specific calculation formula is:

[0139]

[0140] Wherein: l3 is the distance between the coordinate measurement module 1 and the target center point measured by the laser pointing device 1.1.

[0141] S4: The corresponding blasthole depth is measured by using the blasthole shape measuring device 2, and the three-dimensional shapes of all blastholes of the tunnel face 4 are obtained by drawing according to the surface coordinates of the blastholes.

[0142] The blasthole shape measuring device 2 also includes a sleeve 2.3, a top pipe 2.4, a top cover 2.5, a measuring assembly 2.6 and a counting module 2.7. The sleeve 2.3 is arranged in the blasthole, the top cover 2.5 is detachably arranged at one end of the sleeve 2.3 close to the bottom wall of the blasthole, the measuring assembly 2.6 and the counting module 2.7 are both arranged on one end of the sleeve 2.3 exposed from the blasthole, the top pipe 2.4 can push the top cover 2.5 out of the sleeve 2.3, and the top cover 2.5 pulls out the measuring line of the measuring assembly 2.6, and the counting module 2.7 is used to measure the extended length of the measuring line of the measuring assembly 2.6 in real time;

[0143] S4 includes:

[0144] S4.1, insert the top pipe 2.4 into the sleeve 2.3 until the top pipe 2.4 pushes the top cover 2.5 to abut against the bottom wall of the blasthole, and then the extension length of the measuring line of the measuring assembly 2.6 is measured by the counting module 2.7;

[0145] S4.2, using the third electronic compass of the top cover 2.5 to measure the azimuth and inclination of the top cover 2.5;

[0146] S4.3. Draw the three-dimensional shapes of all blastholes in tunnel face 4 according to the blasthole depth, top cover 2.5 azimuth and top cover 2.5 inclination corresponding to each blasthole.

[0147] It is known that the length of the tubular frame of the blasthole morphology measuring device is 0.5m, the azimuth angle ζ1 and the inclination angle ξ1 at the inlet, and the coordinates of the port inserted into the blasthole (x2, y2, z2) can be calculated. The specific calculation formula is as follows:

[0148]

[0149] In S4.3, the coordinates of any point in the three-dimensional shape of the blasthole (x k ,y k ,z k ) is calculated as follows:

[0150]

[0151] Where: x k-1 is the coordinate of the top cover (2.5) in the x-axis direction when the counting module (2.7) counts for the k-1th time, and y k-1 is the coordinate of the top cover (2.5) in the y-axis direction when the counting module (2.7) counts for the k-1th time, z k-1 is the coordinate of the top cover (2.5) in the z-axis direction when the counting module (2.7) counts for the k-1th time; s k is the depth of the top pipe (2.4) inserted into the blast hole when the counting module (2.7) counts for the kth time, s k-1 is the depth of the top pipe (2.4) inserted into the blast hole when the counting module (2.7) counts for the k-1th time; ξ k-1 is the inclination angle of the top cover (2.5) when the counting module (2.7) counts for the k-1th time, ζ k-1 is the azimuth angle of the top cover (2.5) when the counting module (2.7) counts for the k-1th time; k is a natural number greater than or equal to 3.

[0152] This embodiment also includes a readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the tunnel face blasthole morphology measurement method described above is implemented.

[0153] Compared with the prior art, the present invention can accurately measure the surface coordinates of the blastholes through the coordinate measurement module and the blasthole shape measurement device, and use the blasthole shape measurement device to measure the corresponding blasthole depth, and draw the three-dimensional shape of all blastholes on the tunnel face according to the surface coordinates of the blastholes. The present invention can accurately and efficiently obtain the three-dimensional shape of the blastholes on the tunnel face, and can effectively guide the blasthole drilling construction and evaluate the quality of the tunnel blasting construction, reduce the operation steps of the construction personnel, and improve the construction efficiency.

[0154] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0155] This embodiment also includes an electronic device, including: at least one processor, at least one memory, and computer program instructions stored in the memory. When the computer program instructions are executed by the processor, the tunnel face blasthole morphology measurement method as described above is provided.

[0156] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0157] The electronic device may be a computing device such as a mobile phone, a desktop computer, a notebook, a PDA, a cloud server, etc. The electronic device may include, but is not limited to, a processor and a memory. For example, the electronic device may also include an input / output device, a network access device, a bus, etc.

[0158] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0159] The memory can be used to store the computer program and / or module, and the processor implements the computer program by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0160] Wherein, if the module / unit integrated in the electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0161] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for measuring the morphology of blastholes at a tunnel face, characterized in that: The steps include: S1: using a coordinate measurement module (1) to arrange all blastholes on a tunnel face (4), and arranging blasthole shape measurement devices (2) one by one in the blastholes according to the blasthole arrangement sequence, wherein: a target (2.1) is provided on the blasthole shape measurement device (2); the coordinate measurement module (1) comprises a laser pointer (1.1), a first fixed-focus camera (1.2) and a second fixed-focus camera (1.3), the first fixed-focus camera (1.2) and the second fixed-focus camera (1.3) are both arranged on the laser pointer (1.1), the first fixed-focus camera (1.2) is used to capture an image of the blasthole shape measurement device, and the second fixed-focus camera (1.3) is used to capture an image of the target; S2: using a target recognition model to identify a target (2.1) in an image of a blasthole shape measuring device (2) corresponding to the blasthole to be measured, and rotating a coordinate measuring module (1) until a laser point (8) of a laser pointing instrument (1.1) falls on the target (2.1) of the blasthole shape measuring device (2) at the blasthole to be measured; S3: using digital image processing technology to identify the target center point and the laser point (8) on the target image, rotating the coordinate measurement module (1) until the laser point (8) of the laser pointer (1.1) falls on the target center point, and calculating the surface coordinates of all the blast holes based on the laser ranging result of the laser pointer (1.1); S4: using a blasthole shape measuring device (2) to measure the depth of the corresponding blasthole, and drawing the three-dimensional shapes of all blastholes on the tunnel face (4) according to the surface coordinates of the blastholes; The S1 includes: S1.

1. Install multiple coordinate measuring modules (1) on the drilling and blasting stand (3), and measure the construction coordinates (a 1j ,b 1j ,c 1j ); S1.2, adjusting the focal lengths of the first fixed-focus camera (1.2) and the second fixed-focus camera (1.3) so that the first fixed-focus camera (1.2) can capture the blasthole morphology measuring device (2), and the second fixed-focus camera (1.3) can capture the target (2.1); S1.3, according to the setting azimuth angle α of each blast hole position 1i and set the inclination angle β 1i Rotating the coordinate measuring module (1) and marking the landing positions of the laser points (8) of the laser pointing instrument (1.1) on the tunnel face (4); S1.4, using a pneumatic rock drill to drill holes according to the marked drop points to obtain all the blast holes on the tunnel face (4); S1.

5. Arrange the blasthole shape measuring device (2) one by one in the blastholes according to the blasthole arrangement sequence; The S2 includes: S2.1, using the first electronic compass (2.2) of the blasthole morphology measuring device to measure the inlet azimuth angle ζ1 and the inlet inclination angle ξ1 at the blasthole inlet; S2.

2. Calculate the rotation plane azimuth Δθ0 of the target (2.1) of the blasthole morphology measuring device. The specific calculation formula is: Δθ0=ζ1-α0; Where: α0 is the design azimuth angle of the tunnel centerline (6); S2.3, rotating the target (2.1) according to the plane azimuth angle so that the front of the target (2.1) faces the coordinate measurement module (1); S2.4, rotating the coordinate measuring module (1) so that the first fixed-focus camera (1.2) captures an image of the blasthole morphology measuring device at the corresponding blasthole; S2.

5. Build a target recognition model based on the YOLOv5 algorithm; S2.6, using the target recognition model to recognize the target (2.1) of the blasthole morphology measurement device image, and rotating the coordinate measurement module (1) so that the laser point (8) of the laser pointer (1.1) falls on the target (2.1) of the blasthole measurement module; The blasthole morphology measuring device (2) further comprises a sleeve (2.3), a top pipe (2.4), a top cover (2.5), a measuring assembly (2.6) and a counting module (2.7); the sleeve (2.3) is arranged in the blasthole; the top cover (2.5) is detachably arranged at one end of the sleeve (2.3) close to the bottom wall of the blasthole; the measuring assembly (2.6) and the counting module (2.7) are both arranged at one end of the sleeve (2.3) exposed from the blasthole; the top pipe (2.4) can push the top cover (2.5) to detach from the sleeve (2.3), and the top cover (2.5) pulls out the measuring line of the measuring assembly (2.6); and the counting module (2.7) is used to measure the extended length of the measuring line of the measuring assembly (2.6) in real time; The S4 includes: S4.1, inserting the top pipe (2.4) into the sleeve (2.3) until the top pipe (2.4) pushes the top cover (2.5) to abut against the bottom wall of the blasthole, and then measuring the extension length of the measuring line of the measuring assembly (2.6) by the counting module (2.7); S4.2, using the third electronic compass of the top cover (2.5) to measure the azimuth and inclination of the top cover (2.5); S4.3, according to the blasthole depth, top cover (2.5) azimuth and top cover (2.5) inclination corresponding to each blasthole, the three-dimensional shape of all blastholes on the tunnel face (4) is obtained by drawing; In S4.3, the coordinates (x k ,y k ,z k ) is calculated as follows: Where: x k-1 is the coordinate of the top cover (2.5) in the x-axis direction when the counting module (2.7) counts for the k-1th time, and y k-1 is the coordinate of the top cover (2.5) in the y-axis direction when the counting module (2.7) counts for the k-1th time, z k-1 is the coordinate of the top cover (2.5) in the z-axis direction when the counting module (2.7) counts for the k-1th time; s k is the depth of the top pipe (2.4) inserted into the blast hole when the counting module (2.7) counts for the kth time, s k-1 is the depth of the top pipe (2.4) inserted into the blast hole when the counting module (2.7) counts for the k-1th time; ξ k-1 is the inclination angle of the top cover (2.5) when the counting module (2.7) counts for the k-1th time, ζ k-1 is the azimuth angle of the top cover (2.5) when the counting module (2.7) counts for the k-1th time; k is a natural number greater than or equal to 3.

2. A readable storage medium, characterized in that: Computer program instructions are stored thereon, and when the computer program instructions are executed by a processor, the method for measuring the morphology of blastholes at a tunnel face as claimed in claim 1 is implemented.

3. An electronic device, characterized in that: include: At least one processor, at least one memory and computer program instructions stored in the memory, when the computer program instructions are executed by the processor, the tunnel face blasthole morphology measurement method as claimed in claim 1 is implemented.

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