A method, device, equipment and medium for tunnel blasting point positioning

Abstract

The present invention discloses a method, device, equipment and medium for locating a tunnel blasting point, and relates to the technical field of tunnel blasting, including using an instrument to obtain tunnel point cloud data, segmenting the point cloud data and fitting flat surfaces multiple times to obtain flat surfaces such as blasting surfaces, ground surfaces, and cylindrical surfaces, using the intersection of three flat surfaces to obtain the spatial position of a blasting semicircular surface, establishing an auxiliary surface and determining a blasting point on the auxiliary surface, and using the spatial position of the blasting semicircular surface and the spatial position of the blasting point on the auxiliary surface to obtain coordinate conversion parameters, and using the coordinate conversion parameters to project the position of the blasting point determined by the auxiliary surface on the auxiliary surface onto the actual blasting surface to obtain the position of the blasting point on the blasting surface. The present invention does not need to fix the position of the instrument, does not need to calculate the position of each sub-blasting point, and does not need to pre-design the blasting point radius, the blasting point arc radius and the distance from the instrument to the blasting surface. The overall application is fast and efficient, and can be widely used in the construction of various tunnel projects.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel blasting, and particularly relates to a method, device, equipment and medium for positioning tunnel blasting points. Background Art

[0002] The blasting technology in tunnel engineering is an important and complex engineering activity. In tunnel construction, the blasting technology is widely used in cases of poor geology, high rock hardness or the need to accelerate the construction progress; before the construction of tunnel engineering, a comprehensive assessment of the engineering environment is required, including the investigation and research of geological conditions, hydrogeological conditions, surrounding buildings and traffic conditions, etc., and a detailed geological exploration of sensitive geological structures that may appear in the tunnel, such as faults, folds, etc., to ensure safety during blasting construction.

[0003] Before the blasting design, the layout of prefabricated holes (blasting points) needs to be carried out. The position and quantity of the prefabricated holes directly affect the blasting effect and construction progress. When arranging the holes, the position should be reasonably selected according to the geological conditions and tunnel design requirements to ensure that the preset shape and size requirements of the tunnel are achieved under the condition of uniform control of the rock formation after blasting, and a reasonable hole layout can also reduce the impact on the surrounding environment and buildings. Therefore, the design of blasting points in tunnel engineering construction is of great significance for ensuring the safety, quality and progress of tunnel engineering.

[0004] Currently, for the calculation of the position of the blasting point, a total station or a tunnel section bolt locator is generally used; a total station means that once observed at the side station, necessary observation data such as inclined distance, zenith distance (vertical angle), horizontal angle, etc. can be automatically displayed, and at the same time, the horizontal distance, height difference and coordinates of the point can be obtained, and then these data are transmitted to an electronic device for display and calculation of the blasting point, but it needs to calculate the position of each blasting point by itself to obtain the overall blasting point position; a tunnel section bolt locator is an instrument for measuring the internal dimensions of large-span building structures. It combines the polar coordinate measurement method with computer technology by using non-cooperative target laser ranging technology and precise angle measurement technology, but when in use, a reference detection field needs to be set up to simulate the tunnel environment and adjust the laser direction of each point. The distance between the blasting points needs to be determined in advance, and once determined, it is not convenient to change. The radius of the blasting point arc needs to be determined in advance, and once determined, it is not convenient to change, and the position and height of the instrument need to be the same as those of the reference inspection field.

[0005] Therefore, when using the traditional total station or tunnel section bolt locator to measure and calculate the tunnel blasting point, the speed is slow, resulting in low efficiency, thus affecting the overall construction progress of the tunnel. Summary of the Invention

[0006] An embodiment of the present invention provides a method, device, equipment and medium for positioning a tunnel blasting point, which can solve the problem in the prior art that the measurement and calculation of the tunnel blasting point are slow, resulting in low efficiency.

[0007] An embodiment of the present invention provides a method for positioning a tunnel blasting point, including the following steps:

[0008] Obtain tunnel point cloud data;

[0009] Obtain the initial plane equation of the tunnel blasting surface, the initial plane equation of the tunnel ground, and the initial plane equation of the tunnel contour cylindrical surface according to the tunnel point cloud data; display the three plane equations in three-dimensional space and screen and remove the point cloud data where the graphic planes intersect; and use the remaining point cloud data to fit the blasting surface, the ground, and the cylindrical surface, and at the same time obtain the final plane equations of the tunnel blasting surface, the ground, and the cylindrical surface; enclose the intersection line of the final plane equations of the tunnel blasting surface, the ground, and the cylindrical surface in three-dimensional space to form a blasting semi-circular surface, and obtain the spatial position of the blasting semi-circular surface;

[0010] Establish a blasting auxiliary surface in three-dimensional space and determine the position of the blasting point on the blasting auxiliary surface; obtain coordinate conversion parameters by using the spatial position of the blasting semi-circular surface and the spatial position of the blasting point on the auxiliary surface; determine the position parameter including the spatial position in the coordinate conversion parameters as the center coordinates of the blasting semi-circular surface, determine the rotation parameters including the displacement change in the coordinate conversion parameters as the rotation angles along the three coordinate axes in three-dimensional space respectively, and project the position of the blasting point determined by the auxiliary surface on the auxiliary surface to the actual blasting surface to obtain the position of the blasting point on the blasting surface.

[0011] Preferably, the obtaining of the tunnel point cloud data includes the following steps:

[0012] Place the lidar scanner at any position in the tunnel, adjust it to be horizontal, and align the instrument with the blasting surface;

[0013] Taking the center of the lidar scanner as the origin, obtain the point cloud data on the x, y, and z axes of the tunnel point cloud coordinate system.

[0014] Preferably, the obtaining of the initial plane equation of the tunnel blasting surface, the initial plane equation of the tunnel ground, and the initial plane equation of the tunnel contour cylindrical surface includes the following steps:

[0015] Screen the coordinates of the 9 points with the smallest y + z greater than 0 in the tunnel point cloud data, fit the plane equation where the blasting surface is located, obtain the distance from each point in the point cloud to this plane, screen the point cloud data within the error range, and use it to fit the blasting surface to obtain the initial plane equation of the tunnel blasting surface;

[0016] Screen the coordinates of the 9 points with the smallest |y| + z in the tunnel point cloud data, fit the plane equation of the ground plane, obtain the distance from each point in the point cloud to this plane, screen the point cloud data within the error range, and use it to fit the ground to obtain the initial plane equation of the tunnel ground;

[0017] Remove the points used to fit the blasting surface and the ground, and use the remaining point cloud data to perform least squares fitting of the surface to obtain the initial plane equation of the tunnel contour cylindrical surface.

[0018] Preferably, obtaining the final plane equations of the tunnel blasting surface, the ground, and the cylindrical surface includes the following steps:

[0019] Display the initial plane equation of the tunnel blasting surface, the initial plane equation of the tunnel ground, and the initial plane equation of the tunnel contour cylindrical surface in three-dimensional space, and obtain the distance from each point in the point cloud data to the tunnel blasting surface, the tunnel ground, and the tunnel cylindrical surface;

[0020] Screen the point cloud data within the error range, and remove the point cloud data where the blasting surface, the ground, and the cylindrical surface intersect in three-dimensional space. Use the remaining point cloud data to fit the blasting surface, the ground, and the cylindrical surface respectively to obtain the final plane equations of the tunnel blasting surface, the ground, and the cylindrical surface.

[0021] Preferably, obtaining the coordinate transformation parameters includes the following steps:

[0022] Simultaneously solve the final plane equation of the tunnel blasting surface and the final plane equation of the tunnel cylindrical surface to obtain the arc equation of the blasting semi-circular surface;

[0023] Simultaneously solve the final plane equation of the tunnel blasting surface and the final plane equation of the tunnel ground to obtain the bottom edge equation of the semi-circular arc of the blasting semi-circular surface;

[0024] Simultaneously solve the arc equation of the blasting semi-circular surface and the bottom edge equation of the semi-circular arc to obtain the coordinates of the two bottom points, the center coordinates, and the coordinates of the semi-circular vertex of the semi-circular surface;

[0025] Use the coordinates of the two bottom points, the center coordinates, the coordinates of the semi-circular vertex of the semi-circular surface, and the spatial position coordinates of the blasting point on the auxiliary surface to obtain the coordinate transformation parameters.

[0026] Preferably, obtaining the position of the blasting point on the blasting surface includes the following steps:

[0027] Determine the position parameters in the coordinate transformation parameters as the center coordinates of the blasting semi-circular surface, which are X, Y, and Z;

[0028] Determine the rotation parameters in the coordinate transformation parameters as the rotation angles along X, Y, and Z in three-dimensional space, which are φ, θ, and ε respectively. The method for obtaining them is:

[0029]

[0030] Where: φ is the rotation angle along the Z-axis, is the vector obtained by projecting the normal vector of the blasting surface onto the horizontal plane, is the normal vector of the auxiliary surface along the x-axis; θ is the rotation angle along the Y-axis, is the vector obtained by projecting the normal vector of the blasting surface onto the xoz plane; ε is the rotation angle along the X-axis, is the vector obtained by projecting the vectors of the two bottom points of the blasting semi-circular surface onto the yoz plane, is the normal vector of the auxiliary surface along the y-axis;

[0031] Add scaling parameters to determine the seven parameters of coordinate transformation between the blasting auxiliary surface and the blasting surface;

[0032] Use the seven parameters of coordinate transformation to convert the coordinates of the blasting points on the auxiliary surface into the coordinates of the blasting points on the blasting surface, and project them onto the blasting surface to obtain the positions of the blasting points on the blasting surface.

[0033] The embodiment of the present invention also provides a tunnel blasting point positioning device, including:

[0034] A point cloud module for obtaining tunnel point cloud data;

[0035] A fitting module for obtaining the initial plane equations of the tunnel blasting surface, the tunnel ground, and the tunnel contour cylindrical surface according to the tunnel point cloud data; presenting the three plane equations in three-dimensional space and screening and removing the point cloud data where the graphic planes intersect; and using the remaining point cloud data to fit the blasting surface, the ground, and the cylindrical surface, and simultaneously obtaining the final plane equations of the tunnel blasting surface, the ground, and the cylindrical surface; surrounding the intersection lines of the final plane equations of the tunnel blasting surface, the ground, and the cylindrical surface in three-dimensional space to form a blasting semi-circular surface, and obtaining the spatial position of the blasting semi-circular surface;

[0036] An auxiliary lofting module for establishing a blasting auxiliary surface in three-dimensional space and determining the position of the blasting point on the blasting auxiliary surface;

[0037] A blasting point determination module for obtaining coordinate transformation parameters by using the spatial position of the blasting semi-circular surface and the spatial position of the blasting point on the auxiliary surface; determining the position parameters including spatial position in the coordinate transformation parameters as the center coordinates of the blasting semi-circular surface, determining the rotation parameters including displacement changes in the coordinate transformation parameters as the rotation angles along the three coordinate axes in three-dimensional space, and projecting the position of the blasting point determined by the auxiliary surface on the auxiliary surface onto the actual blasting surface to obtain the position of the blasting point on the blasting surface.

[0038] The embodiment of the present invention also provides an electronic device, including a memory and a processor;

[0039] The memory is used to store a computer program;

[0040] The processor is used to implement the steps of the tunnel blasting point positioning method as described above when executing the computer program stored in the memory.

[0041] An embodiment of the present invention further provides a computer-readable storage medium for storing a computer program, and when the computer program is executed by a processor, the steps of the tunnel blasting point positioning method as described above are implemented.

[0042] An embodiment of the present invention provides a tunnel blasting point positioning method, device, equipment and medium. Compared with the prior art, the beneficial effects are as follows:

[0043] The present invention directly obtains tunnel point cloud data through an instrument, divides and fits the point cloud data multiple times to obtain the final plane equations of the blasting surface, the ground surface, and the cylindrical surface, and uses the intersection lines of the three plane equations in three-dimensional space to obtain the spatial position of the blasting semi-circular surface; an auxiliary surface is established and the blasting point is determined on the auxiliary surface, and the coordinate transformation parameters are obtained by using the spatial position of the blasting semi-circular surface and the spatial position of the blasting point on the auxiliary surface, and the position of the blasting point determined by the auxiliary surface on the auxiliary surface is projected onto the actual blasting surface by using the coordinate transformation parameters to obtain the position of the blasting point on the blasting surface; the present invention does not need to fix the position of the instrument, does not need to calculate the position of each sub-blasting point, and does not need to design the blasting point radius, the blasting point arc radius and the distance from the instrument to the blasting surface in advance. When applied as a whole, it is fast and efficient, and can be widely applied to the construction of various tunnel projects. Description of the Drawings

[0044] Figure 1 It is a schematic overall flow chart of a tunnel blasting point positioning method, device, equipment and medium provided by an embodiment of the present invention;

[0045] Figure 2 It is a schematic diagram of the first segmentation of a tunnel blasting point positioning method, device, equipment and medium provided by an embodiment of the present invention;

[0046] Figure 3 It is a schematic diagram of the three rotation parameters of a tunnel blasting point positioning method, device, equipment and medium provided by an embodiment of the present invention;

[0047] Figure 4 It is a schematic diagram of the equipment structure of a tunnel blasting point positioning method, device, equipment and medium provided by an embodiment of the present invention. Detailed Embodiments

[0048] To make the above objects, features, and advantages of the present invention more apparent and understandable, the following provides a detailed description of the specific embodiments of the present invention with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0049] See Figures 1 to 4 , an embodiment of the present invention provides a method for positioning a tunnel blasting point, including the following steps:

[0050] Step 1: Obtain point cloud data.

[0051] Place the instrument at any location in the tunnel, adjust it to be horizontal, and align the initial line of sight of the instrument approximately with the blasting surface. The point cloud coordinate system is x, y, z or s, α, β:

[0052] 1. Assume that the xyz coordinate system takes the center of the lidar as the origin, the vertical direction as the z-axis, the initial line of sight direction of the lidar as the x-axis, and the direction perpendicular to the x and z axes as the y-axis. y is negative to the left and positive to the right; z is positive upward and negative downward.

[0053] 2. The sαβ coordinate system takes the center of the lidar as the origin, the initial line of sight direction of the lidar as the polar axis, α is the horizontal angle, β is the vertical angle, and s is the polar radius; the range of α is ±180°, negative to the left and positive to the right; the range of β is ±90°, positive upward and negative downward.

[0054] Step 2: Segment and fit the point cloud data to a flat surface.

[0055] The purpose of this step is to find the equations of the blasting surface A, the ground B, and the cylindrical surface C, so as to obtain the intersection lines of the cylindrical surface and the ground with the blasting surface, and further determine the spatial position and shape of the blasting semi-circular surface, that is, the position of the lidar relative to the blasting semi-circular surface. According to different parts of the tunnel, it is segmented into three parts: the blasting surface A, the ground B, and the cylindrical surface C.

[0056] 1. The first segmentation and fitting. The function of this step is to use the results of the first segmentation and fitting as the basis for the second segmentation to make the segmentation results more accurate.

[0057] (1) Blasting surface.

[0058] ① Find the coordinates of the 9 points with the smallest α + β (or y + z) greater than 0, and initially fit the plane equation of the blasting surface.

[0059] ② Calculate the distance from each point in the point cloud to this plane, and screen the points located within ±m 0 inside, ±m 0 is the error range.

[0060] ③ Fit the filtered point cloud data to a plane for the second time (at this time, the fitting accuracy is not high because there is less fitting data and it includes a small part of the cylindrical surface and ground point cloud).

[0061] (2) Ground.

[0062] ① Find the plane equation of the initial fitting blasting surface for the 9 points with the minimum value of |α| + β (or |y| + z).

[0063] ② Calculate the distance from each point in the point cloud to this plane, and filter the points within ±m 0 where ±m 0 is the error range.

[0064] ③ Fit the filtered point cloud data to a plane for the second time (at this time, the fitting accuracy is not high because there is less fitting data and it includes a small part of the cylindrical surface and blasting point cloud).

[0065] (3) Cylindrical surface.

[0066] ① Select the point cloud and remove the points used for fitting the blasting surface and the ground above.

[0067] ② For the selected point cloud, perform the least squares method to fit the surface.

[0068] ③ (x - x 0 ) 2 + (y - y 0 ) 2 + (z - z 0 ) 2 - (a(x - x 0 ) + b(y - y 0 ) + c(z - z 0 )) 2 = r 0 2

[0069] 2. Second segmentation and fitting. The function of this step is to use the equations of the three surfaces fitted for the second time to determine the intersection line equations of these three surfaces and determine the position of the semi - circle of the blasting surface. The specific process is as follows:

[0070] (1) Calculate the distances from each point in the point cloud to the second - fitted planes (blasting surface, ground) and the first - fitted cylindrical surface respectively, and filter the points within ±m 0 where ±m 0 is the error range.

[0071] (2) For the filtered point cloud data, remove the point cloud data at the intersection of every two flat surfaces.

[0072] (3) Fit the remaining point cloud data to the three flat surfaces respectively.

[0073] Step 3: Blasting the semicircular surface.

[0074] The purpose of this step is to obtain the intersection line between the cylindrical surface, the ground and the blasting surface, and then determine the spatial position and shape of the blasting semicircular surface, that is, the position of the lidar relative to the blasting semicircular surface.

[0075] 1. Intersection line calculation: This step uses the arc equation and the arc base equation to solve the coordinates of the two bottom points of the arc, and then find the coordinates of the center of the circle and the vertex of the semicircle. The specific process is as follows:

[0076] ①Arc: The cylindrical surface equation and the bursting surface equation are solved simultaneously.

[0077] ② Base of semicircle: solve the ground equation and the blasting surface equation simultaneously.

[0078] 2. Calculation of feature points: This step uses the feature point coordinates of the blasted semicircular surface and the auxiliary surface position determined in the next step 4 to jointly derive the six parameters of coordinate transformation. The specific process is as follows:

[0079] ① Coordinates of the two bottom points of the semicircle: The arc equation and the bottom side equation of the semicircle are solved together to obtain: P(Xp, Yp, Zp) and Q(Xq, Yq, Zq).

[0080] ② Center of circle: the midpoint of the two bottom points’ coordinates O'(XO',YO',ZO').

[0081] ③ Semicircle vertex: The intersection of the plane passing through the center of the circle and perpendicular to the bottom edge and the arc (there are two intersection points, take the coordinate of the point with larger z) T(X t ,Y t ,Z t ).

[0082] Step 4: Calculation of blasting points on auxiliary layout plane.

[0083] The purpose of this step is to establish an auxiliary surface that is convenient for calculating the position of the layout point; then calculate the seven parameters of the spatial position relationship between this plane and the actual blasting surface, and then project the coordinates of the layout point of the auxiliary surface to the blasting surface, and then obtain the actual coordinates of the blasting point.

[0084] 1. Establish an auxiliary stakeout plane. The purpose of this step is to use the auxiliary stakeout plane and the spacing between blasting points and the stakeout radius to determine the position of the stakeout point on the auxiliary stakeout plane. The specific process is: the plane takes the center of the laser radar as the origin, the polar axis (or x-axis) as the normal, the y-axis as the y'-axis of this plane, and the z-axis as the z'-axis of this plane.

[0085] 2. Determine the position of the lofting points on the auxiliary lofting plane. The purpose of this step is to obtain the position of the lofting points on the auxiliary lofting plane and the positional relationship between the auxiliary lofting plane and the actual blasting semi-circular plane, project the lofting points onto the blasting plane, and obtain the spatial positions of the actual lofting blasting points. The specific process is as follows:

[0086] ① Determine the point spacing L of the blasting points and the lofting radius R.

[0087] ② Obtain the incremental angle γ of lofting = 2arcsin(L / (2R)).

[0088] ③ The number of blasting points n = [π / γ] (rounded up) + 1.

[0089] ④ Recalculate the lofting angle γi' = π / (n - 1) * i, where i is the i-th blasting point, i ∈ [1, n].

[0090] ⑤ The lofting coordinates of each point are (R, γ' i ), that is, (y', z') = (Rcosγ' i , Rsinγ' i ).

[0091] Step Five: Blasting point lofting.

[0092] 1. The positional relationship between the auxiliary plane and the actual blasting plane. The purpose of this step is to determine the seven parameters for coordinate conversion between the auxiliary plane and the semi-circle of the actual blasting plane, and convert the blasting point coordinates on the auxiliary plane into the lofting point coordinates on the actual blasting plane.

[0093] (1) Scaling parameter.

[0094] The default is 1.

[0095] (2) Three position parameters.

[0096] O'(XO', YO', ZO') is the coordinate of the center of the blasting semi-circular plane, and XO', YO', ZO' are also the three position parameters.

[0097] (3) Three rotation parameters.

[0098] ① is the rotation angle along the Z-axis:

[0099] Calculate the normal vector of the blasting plane Project this vector onto the horizontal plane, that is, the z-value of the vector is 0, and obtain the vector

[0100] The normal vector of the auxiliary plane is the x-axis

[0101] Angle That is And Angle between two vectors

[0102] ② θ is the rotation angle along the Y-axis:

[0103] Project the normal vector of the blasting surface onto the xoz plane, that is, the y value of the vector is 0, and the vector

[0104] The angle θ is with the angle between two vectors

[0105] ③ ε is the rotation angle along the x-axis:

[0106] The vector of the two bottom points of the semi-circular surface is Project this vector onto the yoz plane, that is, the x value of the vector is 0, and we get

[0107] The y-axis vector of the auxiliary plane is

[0108] The angle ε is the angle with two vectors

[0109] 2. Project the position of the blasting point on the auxiliary plane onto the blasting surface (using the seven-parameter method: six parameters, omitting the scale parameter).

[0110] ① Let the coordinates of a blasting point on the auxiliary plane be (Y′ i , Z′ i ), then the coordinates of the blasting point are (X i , Y i , Z i ).

[0111]

[0112] ② The relative position between the center of the laser projection instrument and the center of the blasting semi-circle is:

[0113] (Δx, Δy, Δz) = (XO' - X 2 , YO' - Y 2 , ZO' - Z 2 ).

[0114] ③ The relative position of the blasting point with respect to the center of the laser projection instrument is:

[0115]

[0116] ④ The angle of each setting-out of the laser projection instrument is:

[0117] Horizontal angle:

[0118] Vertical angle:

[0119] An embodiment of the present invention further provides a tunnel blasting point positioning device, including:

[0120] A point cloud module for acquiring tunnel point cloud data.

[0121] A fitting module for obtaining the initial plane equations of the tunnel blasting surface, the tunnel ground, and the initial plane equation of the tunnel contour cylindrical surface according to the tunnel point cloud data; presenting the three plane equations in a three-dimensional space and screening and removing the point cloud data where the graphic planes intersect; and fitting the blasting surface, the ground, and the cylindrical surface using the remaining point cloud data, and simultaneously obtaining the final plane equations of the tunnel blasting surface, the ground, and the cylindrical surface; enclosing the intersection lines of the final plane equations of the tunnel blasting surface, the ground, and the cylindrical surface in the three-dimensional space to form a blasting semi-circular surface, and obtaining the spatial position of the blasting semi-circular surface.

[0122] An auxiliary lofting module for establishing a blasting auxiliary surface in a three-dimensional space and determining the position of the blasting point on the blasting auxiliary surface.

[0123] A blasting point determination module for obtaining coordinate conversion parameters using the spatial position of the blasting semi-circular surface and the spatial position of the blasting point on the auxiliary surface; determining the position parameter including the spatial position in the coordinate conversion parameters as the center coordinates of the blasting semi-circular surface, determining the rotation parameters including the displacement change in the coordinate conversion parameters as the rotation angles along the three coordinate axes in the three-dimensional space respectively, and projecting the position of the blasting point determined by the auxiliary surface on the auxiliary surface to the actual blasting surface to obtain the position of the blasting point on the blasting surface.

[0124] An embodiment of the present invention further provides an electronic device, including a memory and a processor.

[0125] The memory is used for storing a computer program.

[0126] When the processor is used for executing the computer program stored in the memory, the steps of a tunnel blasting point positioning method are implemented.

[0127] An embodiment of the present invention further provides a computer-readable storage medium for storing a computer program, and when the computer program is executed by a processor, the steps of a tunnel blasting point positioning method are implemented.

[0128] The instruments used in the present invention are as Figure 4 shown, including:

[0129] ① LiDAR, including:

[0130] WHEELTEC single-line N10, with a scanning distance of 11 - 25m and a ranging accuracy of 4.5cm.

[0131] WHEELTEC single-line N10P, with a scanning distance of 25 m and a ranging accuracy of 3 cm.

[0132] WHEELTEC single-line M10P, with a scanning distance of 12 - 30 m and a ranging accuracy of 3 cm.

[0133] SmartFLY L1PM, with a scanning distance of 30 m and a ranging accuracy of 2 cm.

[0134] WHEELTEC multi-line C16, with a scanning distance of 70 m and a ranging accuracy of 3 cm.

[0135] WHEELTEC multi-line C16, with a scanning distance of 120 and a ranging accuracy of 3 cm.

[0136] ② Laser point projector, which consists of a three-dimensional numerical control platform and a laser pen. The numerical control platform has two rotational degrees of freedom. At the intersection of the horizontal rotation axis and the vertical rotation axis, a laser pen is placed perpendicular to the two rotation axes respectively, with an accuracy of 0.0125°. When the projection length is 10 m, the point projection error does not exceed 4 mm.

[0137] ③ At the opening of the instrument box, used for the laser point projector to project points.

[0138] ④ Angle screws, used to level the instrument.

[0139] ⑤ Two mutually perpendicular spirit levels.

[0140] ⑥ Instrument box, including the main unit. After processing the tunnel point cloud data with the given algorithm and obtaining the position of each blasting point, it controls the horizontal and vertical rotation of the numerical control platform and sequentially stakes out the blasting points.

[0141] The operating steps of the instruments used are as follows:

[0142] Place the instrument at any location in the tunnel and align the initial line of sight roughly with the blasting surface. Rotate the three angle screws to level the instrument.

[0143] Turn on the machine to make the lidar work. After the obtained point cloud data is processed by the main unit, the position of the lidar center relative to the blasting surface is automatically obtained, and then after automatic processing by the main unit, the horizontal angle and vertical angle for staking out the blasting point with the laser pen are obtained.

[0144] The above-described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A method for locating a tunnel blasting point, characterized in that: The following steps are involved: Obtain tunnel point cloud data; According to the tunnel point cloud data, the initial plane equation of the tunnel blasting surface, the initial plane equation of the tunnel ground and the initial plane equation of the tunnel contour cylindrical surface are obtained; Display the three plane equations in three-dimensional space and filter out the point cloud data where the graphic planes intersect; The remaining point cloud data are used to fit the blasting surface, ground surface and cylindrical surface, and the final plane equations of the tunnel blasting surface, ground surface and cylindrical surface are obtained; The intersection lines of the final plane equations of the tunnel blasting surface, the ground and the cylindrical surface in three-dimensional space are enclosed into a blasting semicircular surface, and the spatial position of the blasting semicircular surface is obtained; A blasting auxiliary surface is established in three-dimensional space, and the position of the blasting point on the blasting auxiliary surface is determined; coordinate conversion parameters are obtained using the spatial position of the blasting semicircular surface and the spatial position of the blasting point on the auxiliary surface; the position parameters containing the spatial position in the coordinate conversion parameters are determined as the center coordinates of the blasting semicircular surface, and the rotation parameters containing the displacement change in the coordinate conversion parameters are respectively determined as the rotation angles along the three coordinate axes in the three-dimensional space; the position of the blasting point determined by the auxiliary surface on the auxiliary surface is projected onto the actual blasting surface to obtain the position of the blasting point on the blasting surface.

2. A method for locating a tunnel blasting point according to claim 1, characterized in that: The step of obtaining tunnel point cloud data comprises the following steps: Place the LiDAR scanner at any position in the tunnel, adjust it to a horizontal position, and aim the instrument at the blasting surface; Taking the center of the LiDAR scanner as the origin, the point cloud data on the tunnel point cloud coordinate system x, y and z are obtained.

3. A method for locating a tunnel blasting point according to claim 1, characterized in that: The method of obtaining the initial plane equation of the tunnel blasting surface, the initial plane equation of the tunnel ground surface and the initial plane equation of the tunnel contour cylindrical surface comprises the following steps: Filter the coordinates of the 9 points whose y+z is greater than 0 and the smallest in the tunnel point cloud data, fit the plane equation where the blasting surface is located, obtain the distance from each point in the point cloud to this plane, filter the point cloud data within the error range, and use it to fit the blasting surface to obtain the initial plane equation of the tunnel blasting surface; Filter the coordinates of the 9 points with the smallest |y|+z in the tunnel point cloud data, fit the plane equation where the ground is located, obtain the distance from each point in the point cloud to this plane, filter the point cloud data within the error range, and use it to fit the ground to obtain the initial plane equation of the tunnel ground; The points used to fit the blasting surface and the ground are removed, and the remaining point cloud data are used to fit the surface using the least squares method to obtain the initial plane equation of the cylindrical surface of the tunnel contour.

4. A method for locating a tunnel blasting point according to claim 1, characterized in that: The method of obtaining the final plane equations of the tunnel blasting surface, the ground surface and the cylindrical surface comprises the following steps: The primary plane equation of the tunnel blasting surface, the primary plane equation of the tunnel ground and the primary plane equation of the tunnel contour cylindrical surface are displayed in three-dimensional space, and the distance from each point in the point cloud data to the tunnel blasting surface, the tunnel ground and the tunnel cylindrical surface is obtained; The point cloud data within the error range are filtered, and the point cloud data where the blasting surface, ground and cylindrical surfaces intersect in three-dimensional space are removed. The remaining point cloud data are used to fit the blasting surface, ground and cylindrical surfaces respectively to obtain the final plane equations of the tunnel blasting surface, ground and cylindrical surfaces.

5. A method for locating a tunnel blasting point according to claim 1, characterized in that: The step of obtaining coordinate transformation parameters comprises the following steps: The final plane equation of the tunnel blasting surface and the final plane equation of the tunnel cylindrical surface are combined to obtain the arc equation of the blasting semicircular surface; The final plane equation of the tunnel blasting surface and the final plane equation of the tunnel ground are combined to obtain the semicircular arc bottom equation of the blasting semicircular surface; The arc equation of the blasted semicircular surface and the bottom edge equation of the semicircular surface are combined to obtain the coordinates of the two bottom points, the center coordinates and the vertex coordinates of the semicircular surface; The coordinate conversion parameters are obtained using the coordinates of the two bottom points of the semicircle, the center coordinates, the semicircle vertex coordinates and the spatial position coordinates of the blasting point on the auxiliary surface.

6. A method for locating a tunnel blasting point according to claim 1, characterized in that: The method of obtaining the position of the blasting point on the blasting surface comprises the following steps: The position parameters in the coordinate conversion parameters are determined as the center coordinates of the blasting semicircular surface, which are X, Y and Z; The rotation parameters in the coordinate transformation parameters are determined as the rotation angles along X, Y and Z in the three-dimensional space, which are φ, θ and ε respectively. The acquisition method is: Where: φ is the rotation angle along the Z axis, is the projection of the normal vector of the blasting surface onto the horizontal plane, is the normal vector of the auxiliary surface along the x-axis; θ is the rotation angle along the y-axis, is the projection of the normal vector of the blasting surface onto the xoz plane; ε is the rotation angle along the X axis, It is the vector projected onto the yoz plane from the two bottom point vectors of the blasting semicircular surface. is the normal vector of the auxiliary surface along the y-axis; Add scaling parameters to determine the seven parameters of coordinate transformation between the blasting auxiliary surface and the blasting surface; The coordinates of the blasting points on the auxiliary surface are converted into the coordinates of the blasting points on the blasting surface by using the seven parameters of coordinate conversion, and the coordinates are projected onto the blasting surface to obtain the positions of the blasting points on the blasting surface; The seven coordinate transformation parameters include: coordinate parameters X, Y and Z of the center of the blasting semicircle, rotation angle φ along the Z axis, rotation angle θ along the Y axis, rotation angle ε along the X axis, and scaling parameters.

7. A tunnel blasting point positioning device, characterized in that: include: Point cloud module, used to obtain tunnel point cloud data; A fitting module is used to obtain the primary plane equation of the tunnel blasting surface, the primary plane equation of the tunnel ground and the primary plane equation of the tunnel contour cylindrical surface according to the tunnel point cloud data; Display the three plane equations in three-dimensional space and filter out the point cloud data where the graphic planes intersect; The remaining point cloud data are used to fit the blasting surface, ground surface and cylindrical surface, and the final plane equations of the tunnel blasting surface, ground surface and cylindrical surface are obtained; The intersection lines of the final plane equations of the tunnel blasting surface, the ground and the cylindrical surface in three-dimensional space are enclosed into a blasting semicircular surface, and the spatial position of the blasting semicircular surface is obtained; Auxiliary layout module, which establishes a blasting auxiliary surface in three-dimensional space and determines the position of the blasting point on the blasting auxiliary surface; The blasting point determination module is used to obtain coordinate conversion parameters using the spatial position of the blasting semicircular surface and the spatial position of the blasting point on the auxiliary surface; the position parameters containing the spatial position in the coordinate conversion parameters are determined as the center coordinates of the blasting semicircular surface, and the rotation parameters containing the displacement change in the coordinate conversion parameters are respectively determined as the rotation angles along the three coordinate axes in the three-dimensional space; the position of the blasting point determined by the auxiliary surface on the auxiliary surface is projected onto the actual blasting surface to obtain the position of the blasting point on the blasting surface.

8. An electronic device, characterized in that: include: Memory and processor; The memory is used to store computer programs; The processor is used to implement the steps of a tunnel blasting point locating method as claimed in any one of claims 1 to 6 when executing the computer program stored in the memory.

9. A computer-readable storage medium, characterized in that: Used to store a computer program, which, when executed by a processor, implements the steps of a tunnel blasting point locating method as claimed in any one of claims 1 to 6.

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