A method for generating anchor correction and installation strategies based on point cloud

Abstract

The present invention discloses a method for generating an anchor correction and installation strategy based on a point cloud, which belongs to the field of information technology and building safety management. The technical solution includes the following steps: inputting an anchor plate point cloud; using an anchor point cloud segmentation method to perform instance segmentation of a steel plate and an anchor point cloud; using an anchor feature extraction method to obtain the coordinates of the anchor vertex and the row and column numbers of anchors with excessive bending deformation; when the number of anchors with excessive bending deformation is not greater than the number of anchor safety redundancies, cutting the bent and deformed anchors according to the anchor row; using an anchor correction and installation parameter calculation method to generate an anchor correction plan and an installation plan; after performing anchor correction according to the anchor correction plan, assembling the anchor plate and the connecting steel plate according to the installation plan. The beneficial effects of the present invention are as follows: the method effectively solves the problems of difficulty in correcting anchors and difficulty in installing connecting plates, and provides a digital solution for the correction and installation of anchors and connecting plates in bridge engineering and construction engineering.

Description

Technical Field

[0001] The present invention relates to the fields of information technology and building safety management, and in particular to a method for generating an anchor correction and installation strategy based on point cloud. Background Art

[0002] Anchor plates, consisting of anchor rods and steel plates, are often used for connecting arch bridge supports in bridge projects and transition sections between concrete-filled steel tube structures and steel structures in construction projects due to their reliable mechanical properties and easy installation. However, during construction, external forces can cause deformation of the anchor rods, while internal forces in the concrete can cause deformation of the steel plates, making installation of the anchor rods and connecting steel plates difficult.

[0003] Existing methods for anchor bolt correction often rely on measurement and visual inspection, which can only detect bending and tilting deformation of the anchor bolts, but cannot correct anchor bolt installation problems caused by steel plate deformation. Existing installation of connecting steel plates and anchor plates often relies on trial installation, and anchor bolts that cannot be installed are cut, affecting construction progress and structural quality and safety during the construction process.

[0004] Therefore, in order to solve the problems of anchor correction and connection plate installation difficulties, it is urgent to develop a point cloud-based anchor correction and installation strategy generation method. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for generating an anchor correction and installation strategy based on point cloud to solve the problems existing in the prior art.

[0006] The present invention is achieved through the following measures: The technical solution adopted to achieve the purpose of the present invention is as follows: a method for generating an anchor correction and installation strategy based on a point cloud, comprising the following steps:

[0007] S1. Input anchor plate point cloud.

[0008] S2. Use the anchor point cloud segmentation method to perform instance segmentation of steel plate and anchor point cloud.

[0009] S3. Use the anchor feature extraction method to obtain the coordinates of the anchor vertex and the row and column numbers of the anchors with excessive bending deformation.

[0010] S4. When the number of anchor rods with excessive bending deformation is not greater than the number of anchor rod safety redundancy, the bent and deformed anchor rods are cut according to the row and column numbers of the anchor rods; otherwise, the bent and deformed anchor rods are straightened, and after straightening, the process returns to step S1 to re-perform the point cloud-based anchor rod correction and installation strategy generation method.

[0011] S5. Use the anchor correction installation parameter calculation method to generate the anchor correction plan and installation plan.

[0012] S6. After correcting the anchor rods according to the anchor rod correction plan, assemble the anchor plate and connecting steel plate according to the installation plan.

[0013] In step S1, anchor rods are arranged in an array on the steel plates. During construction, the anchor rods need to pass through the bolt holes connecting the steel plates. During construction, due to one or more of three types of deformation, namely bending, tilting, and warping of the steel plates, the anchor rods may not be able to pass through the bolt holes connecting the steel plates smoothly.

[0014] The anchor plate segmentation method described in step S2 comprises the following steps:

[0015] S201. Perform principal component analysis (PCA) on the anchor plate point cloud to obtain eigenvectors corresponding to the three largest eigenvalues ​​in the covariance matrix.

[0016] S202, using the rotation matrix composed of the eigenvectors, to perform coordinate transformation on the anchor plate point cloud so that the normal vector direction, length direction, and width direction of the main plane where the anchor plate is located are aligned with the positive directions of the Z, X, and Y axes respectively.

[0017] S203: Use the K-nearest neighbor classification (KNN) algorithm to search for surface neighboring points within a radius R of each point in the anchor plate point cloud.

[0018] S204. Using a random sample consensus (RANSAC) algorithm, fit a plane of the face neighborhood points, and use the normal vector of the fitted plane as the direction vector of the point to which the neighborhood point belongs.

[0019] S205. Calculate the angle between the direction vector of each point and the positive direction of the Z axis. Points with an angle less than 45° are classified as anchor point clouds, and the remaining points are classified as steel plate point clouds.

[0020] S206. Using the density-based spatial clustering of applications with noise (DBSCAN) algorithm, the point cloud of a single anchor rod is further classified from the anchor rod point cloud, and the instance segmentation of the steel plate and anchor rod point cloud is completed.

[0021] Furthermore, the anchor feature extraction method described in step S3 includes the following steps:

[0022] S301 , in each anchor point cloud, slice the anchor point cloud along the Z axis at a spacing D to obtain a sliced ​​point cloud.

[0023] S302 , using a random sampling consistency algorithm, fitting a circle in the XY coordinates of each set of slice point clouds to obtain the two-dimensional coordinates of the circle center.

[0024] S303 , assigning the average Z-axis coordinate of each group of slice point clouds to the corresponding two-dimensional circle center coordinate, so as to expand it into a three-dimensional circle center coordinate, which serves as the axis point of the anchor rod.

[0025] S304. Use a random consistency algorithm to fit a straight line to the axis points and calculate the distance between each axis point and the fitted straight line. When the distance between any axis point and the fitted straight line exceeds the radius difference ΔR between the anchor rod and the bolt hole on the connecting steel plate, the corresponding anchor rod is judged to have exceeded the bending deformation limit.

[0026] S305 . For each non-bending deformed anchor rod, obtain the projection points of the anchor rod point cloud on the fitting line, and select the point with the largest Z-axis coordinate from the projection points as the vertex of the non-bending deformed anchor rod.

[0027] S306. Output the row and column numbers of the anchor rods with excessive bending deformation among all anchor rods, and output the vertex coordinates of the anchor rods with non-excess bending deformation.

[0028] Furthermore, the anchor bolt correction installation parameter calculation method described in step S5 includes the following steps:

[0029] S501. Input the anchor rod vertex.

[0030] S502: Perform principal component analysis on the anchor rod vertices to obtain eigenvectors corresponding to the three largest eigenvalues ​​in the covariance matrix.

[0031] S503. Use the rotation matrix composed of the eigenvectors to perform coordinate transformation on the axis vertex so that the normal direction of the principal plane where the axis vertex is located is aligned with the positive direction of the Z axis.

[0032] S504. According to the distribution of the anchor rod vertices along the Z axis after the coordinate transformation, the anchor rods are divided into several layers, and the process of the anchor rods successively penetrating into the bolt holes of the connecting steel plates is simulated.

[0033] S505, traverse the anchor rod vertices of each layer from large to small along the Z-axis coordinate, and generate the anchor rod design vertex coordinates according to the vertex spacing.

[0034] S506, traversing the anchor rod vertices of each layer from large to small along the Z-axis coordinate. When the number of traversed anchor rods is less than N, aligning the design vertex with the anchor rod vertex in the current layer.

[0035] S507. In the current traversal layer, the coordinate distance between the anchor rod vertex and the aligned design vertex is calculated. Anchor rods whose distance is not greater than the difference ΔR between the bolt hole radius and the anchor rod radius are classified as passable anchor rods, otherwise they are classified as non-passable anchor rods.

[0036] S508. When the number of traversed anchor rods is not less than N, stop traversing, align the design vertices of all untraversed anchor rod vertices with the anchor rod vertices in the current layer alignment mode, calculate the passability of the untraversed anchor rods and record the numbers.

[0037] S509. According to the row and column numbers of the anchor rods, the anchor rods are divided into four categories: among the anchor rods with m rows and n columns, the first category of anchor rods has the largest number of columns in the same row and the smallest number of rows in the same column, such as (1, n); the second category of anchor rods has the smallest number of columns in the same row and the largest number of rows in the same column, such as (m, 1); the third category of anchor rods are the anchor rods with the largest number of rows or columns except the first and second category anchor rods, such as all anchor rods in the mth row except (m, 1) and all anchor rods in the nth column except (1, n); the remaining anchor rods are classified as the fourth category of anchor rods.

[0038] S510: Calculate the correction parameters of the impassable anchor rod and output the correction plan of the anchor rod.

[0039] S511. Output the row and column numbers of anchor rods by layer. The number of anchor rod layers is the installation sequence. When installing the corrected anchor plate and the connecting steel plate, find the through anchor rods and the non-through anchor rods according to the installation sequence for alignment and installation.

[0040] Furthermore, the correction parameters are calculated by category from small to large, and the distance between the standard vertex of the anchor rods that need to be corrected after alignment and the vertices of the adjacent anchor rods in the same line and column is used as the correction parameter. After the correction parameters of each anchor rod are calculated, the coordinates of the aligned standard vertex of the anchor rod to be corrected are used to replace the anchor rod vertex coordinates for the calculation of the correction parameters of other anchor rods.

[0041] Furthermore, for the adjacent anchor rods, the adjacent anchor rods of the first type of anchor rods select the anchor rods on the left side of the same row and the right side of the same column, and calculate them from small to large according to the row and column numbers of the correction anchor rods, and from large to small according to the row and column numbers of the correction anchor rods; the adjacent anchor rods of the second type of anchor rods select the anchor rods on the right side of the same row and the upper side of the same column, and calculate them from large to small according to the row and column numbers of the correction anchor rods, and from small to large according to the row and column numbers of the correction anchor rods; the adjacent anchor rods of the third type of anchor rods select the anchor rods on the left side of the same row and the upper side of the same column, and calculate them from large to small according to the row and column numbers of the correction anchor rods.

[0042] Furthermore, the radius R should be smaller than the design radius of the anchor rod.

[0043] Furthermore, the spacing D should be less than 1 / 10 of the designed length of the anchor rod.

[0044] Furthermore, the number of anchor rod layers should be less than 5. When the connecting steel plate is installed, after the number of anchor rods passing through the bolt holes exceeds N, the relative position relationship between the connecting steel plate and the anchor rod cannot be adjusted.

[0045] The technical effects of the present invention are as follows:

[0046] A. Through the anchor point cloud segmentation method, the instance segmentation of steel plate and anchor can be achieved under the working condition of steel plate warping.

[0047] B. Through the anchor rod feature detection method, the digital detection of anchor rod bending deformation can be achieved.

[0048] C. The calculation method of anchor rod correction installation parameters fully simulates the splicing process of connecting steel plate and anchor plate.

[0049] D. The correction and installation scheme generated by the present invention uses the anchor row and column numbers as anchor correction and installation identifiers and the anchor spacing as the correction standard, which is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings used in the embodiments. Obviously, the drawings listed below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0051] Figure 1 Schematic diagram of an anchor plate in an embodiment of the present invention;

[0052] Figure 2 Schematic diagram of the connection between the connecting steel plate and the anchor plate in an embodiment of the present invention;

[0053] Figure 3 Schematic diagram of three types of deformation that cause the anchor rod to be unable to pass through the bolt hole connecting the steel plate;

[0054] Figure 4 is a flow chart of a method in an embodiment of the present invention;

[0055] Figure 5 Some relevant point cloud images involved in the instance segmentation process of steel plate and anchor point cloud;

[0056] Figure 6 Some relevant point cloud images involved in the process of obtaining anchor number for anchor vertex and anchor with excessive bending deformation.

[0057] In the figure: 101, steel plate; 102, anchor rod; 201, connecting steel plate; 202, bolt hole. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the embodiments. Of course, the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0059] Example 1:

[0060] To address the difficulties in anchor rod correction and assembly with connecting plates during the installation of steel hinges in steel truss arch seats, this embodiment provides a point cloud-based anchor rod correction and installation strategy generation method.

[0061] See also Figure 1 , 160 anchor rods 102 with a nominal diameter of 18 mm are arranged in 5 rows and 32 columns on the steel plate 101 to form an anchor plate.

[0062] See also Figure 2 During construction, the anchor rod 102 needs to pass through the bolt hole 202 of the connecting steel plate 201. The diameter of the bolt hole 202 is 26 mm. According to construction analysis, when the number of bolt holes passed by the anchor rod 102 is less than 10, the relative position of the connecting steel plate and the anchor plate can be adjusted, and there is a redundancy of 80 anchor rods.

[0063] During the construction process, the anchor rod 102 may tilt and bend, and the steel plate 101 may warp. Figure 3 3-1, bending, see Figure 3 3-2, Warping, see Figure 3 3-3, one or more of the three types of deformations, causes the anchor rod 102 to be unable to pass through the bolt hole 202 connecting the steel plate 101.

[0064] See also Figure 4 ,The anchor bolt correction and installation strategy generation method includes the following steps:

[0065] Step S1, see Figure 5 In step 5-1, input the anchor plate point cloud.

[0066] Step S2: Use the anchor point cloud segmentation method to perform instance segmentation of the steel plate and anchor point cloud. The anchor point cloud segmentation method includes the following steps:

[0067] Step S201: perform principal component analysis on the anchor plate point cloud to obtain the eigenvectors corresponding to the three largest eigenvalues ​​of the covariance matrix.

[0068] Step S202: Use the rotation matrix composed of the eigenvectors to transform the coordinates of the anchor plate point cloud so that the normal direction, length direction, and width direction of the main plane of the anchor plate are aligned with the positive directions of the Z, X, and Y axes respectively. Figure 5 5-2 in.

[0069] Step S203: Use the K-nearest neighbor search algorithm to search for surface neighborhood points within a radius R of each point in the anchor plate point cloud.

[0070] Step S204: Using a random sampling consistency algorithm, fit the plane of the face neighborhood points, and use the normal vector of the fitted plane as the direction vector of the point to which the neighborhood point belongs.

[0071] Step S205: Calculate the angle between the direction vector of each point and the positive direction of the Z axis. Points with an angle less than 45° are classified as anchor point clouds, and the remaining points are classified as steel plate point clouds. Figure 5 5-3 in.

[0072] Step S206: Using density clustering algorithm, further classify the point cloud of a single anchor from the anchor point cloud, see Figure 5 In step 5-4, complete the instance segmentation of the steel plate and anchor point cloud.

[0073] Step S3: Using the anchor feature extraction method, obtain the anchor vertex and the anchor number of the anchor with excessive bending deformation. The anchor feature extraction method includes the following steps:

[0074] Step S301: In each anchor point cloud, slice the anchor point cloud along the Z axis with a spacing of D=4 mm to obtain a sliced ​​point cloud.

[0075] Step S302: Using a random sampling consistency algorithm, fit a circle in the XY coordinates of each set of slice point clouds to obtain the two-dimensional coordinates of the circle center.

[0076] Step S303: assign the average value of the Z-axis coordinate of each group of slice point clouds to the corresponding two-dimensional circle center coordinate, so as to expand it into a three-dimensional circle center coordinate, which serves as the axis point of the anchor rod.

[0077] Step S304: Use the random sampling consistency algorithm to fit a straight line to the axis point and calculate the distance between each axis point and the fitted straight line. When the distance between any axis point and the fitted straight line exceeds the radius difference ΔR=4mm between the anchor rod and the bolt hole on the connecting steel plate, the corresponding anchor rod is judged to have exceeded the bending deformation limit.

[0078] Step S305: For each non-bending deformed anchor rod, obtain the projection points of the point cloud on the fitting line, and select the point with the largest Z-axis coordinate from the projection points as the vertex of the non-bending deformed anchor rod.

[0079] Step S306: Output the row and column number (5, 31) of the anchor rod 601 with excessive bending deformation. Figure 6 6-1 in Output the vertices of the anchor rod with non-bending deformation exceeding the limit, see Figure 6 6-2 in.

[0080] Step S4: The number of anchor rods with excessive bending deformation is 1, which is not greater than the safety redundancy number of anchor rods 80, and the bent and deformed anchor rods are cut according to the anchor rod numbers.

[0081] Step S5: Generate an anchor correction plan and an installation plan using an anchor correction installation parameter calculation method. The anchor correction installation parameter calculation method includes the following steps:

[0082] Step S501: input the anchor vertex.

[0083] Step S502: Perform principal component analysis on the anchor vertices to obtain the eigenvectors corresponding to the three largest eigenvalues ​​in the covariance matrix.

[0084] Step S503: Use the rotation matrix composed of the eigenvectors to perform coordinate transformation on the axis vertex so that the normal vector direction of the principal plane where the axis vertex is located is aligned with the positive direction of the Z axis.

[0085] Step S504: divide the anchor rods into four layers according to the distribution of the anchor rod vertices along the Z axis after coordinate transformation, and simulate the process of the anchor rods successively penetrating into the bolt holes of the connecting steel plates.

[0086] Step S505: traverse the vertices of each layer of anchor rods from large to small along the Z-axis coordinate to generate the designed vertices of each layer of anchor rods under the standard spacing.

[0087] Step S506: traverse each layer of anchor rod vertices from large to small along the Z-axis coordinate, select three points from the first layer of anchor rod vertices as alignment points, consider all alignment point selection methods, when the number of layer anchor rod vertices is 3, there is a total of 1 selection method, calculate the coordinate transformation matrix between each alignment point selection method and the anchor rod design vertex of the corresponding anchor, and align the anchor rod vertices with the anchor rod design vertices.

[0088] Step S507: In the current traversal layer, calculate the number of anchor rods that can pass through the bolt holes of the connecting steel plates under each alignment point selection, select an alignment method with a maximum of 3 bolt holes, and record the row and column numbers of the anchor rods that can pass through and the row and column numbers of the anchor rods that cannot pass under this alignment method.

[0089] Step S508, traverse to the second layer of anchor rods. The number of traversed anchor rods is 45, which is greater than N=10. Stop traversal. The third and fourth layer anchor rods are aligned in the same way as the second layer. Record the row and column numbers of the anchor rods that can pass and the row and column numbers of the anchor rods that cannot pass after the third and fourth layers of anchor rods are aligned.

[0090] Step S509, the anchor rods are divided into 4 categories according to the row and column numbers of the anchor rods: the first category of anchor rods has the largest number of columns in the same row and the smallest number of rows in the same column, such as (1,32); the second category of anchor rods has the smallest number of columns in the same row and the largest number of rows in the same column, such as (5,1); the third category of anchor rods are the anchor rods with the largest number of rows or columns except the first and second categories of anchor rods, such as all anchor rods in the 5th row except (5,1) and all anchor rods in the 32nd column except (1,32); the remaining anchor rods are classified as the fourth category of anchor rods.

[0091] Step S510, calculate the distance between the standard vertex of the anchor rods that need to be corrected and the vertex of the adjacent anchor rods in the same row and column in all layers from small to large by category as the correction parameter. After each anchor rod is corrected, the coordinates of the aligned standard vertex of the anchor rod to be corrected are used to replace the correction vertex coordinates: the adjacent anchor rods of the first category of anchor rods select the anchor rods on the left side of the same row and the right side of the same column, and calculate from small to large in row and from large to small in column according to the row and column numbers of the correction anchor rods; the adjacent anchor rods of the second category of anchor rods select the anchor rods on the right side of the same row and the upper side of the same column, and calculate from large to small in row and from small to large in column according to the row and column numbers of the correction anchor rods; the adjacent anchor rods of the third category of anchor rods select the anchor rods on the left side of the same row and the upper side of the same column, and calculate from large to small in row and from large to small in column according to the row and column numbers of the correction anchor rods. See Table 1. The correction order is the order in which the correction parameters are calculated in step j). The anchor number is the row and column number of the anchor to be corrected. Correction parameter 1 is the row and column number and distance of adjacent anchors in the same row. Correction parameter 2 is the row and column number and distance of adjacent anchors in the same column.

[0092] Table 1

[0093]

[0094] Step S511, see Table 2, output the row and column numbers of the anchor rods recorded in steps S507 and S508 according to the traversed layers. The number of anchor rod layers is the installation order.

[0095] Table 2

[0096]

[0097] Step S6: After correcting the anchor rods according to the correction sequence in Table 1, assemble the anchor plates and connecting steel plates according to the installation sequence in Table 2.

[0098] Example 2:

[0099] The main process of this embodiment is the same as that of embodiment 1 and will not be repeated here. Furthermore, the anchor rod correction installation parameter calculation method described in step S5, after aligning the anchor rod vertex with the anchor rod design vertex through the alignment point in step S506, uses the number of anchor rod passes as the objective function and adopts the particle swarm algorithm to fine-tune the alignment method.

[0100] Example 3:

[0101] The main process of this embodiment is the same as that of embodiment 2 and will not be repeated here. Furthermore, a genetic algorithm is used to fine-tune the alignment method.

[0102] Example 4:

[0103] The main process of this embodiment is the same as that of embodiment 1 and will not be repeated here. Furthermore, when the number of anchor rods with excessive bending deformation described in step S4 is 6 and there is no safety redundancy, cutting of the anchor rods is not allowed. After straightening the anchor rods with excessive bending deformation, return to step S1 and re-perform the process of the point cloud-based anchor rod correction and installation strategy generation method.

[0104] Example 5:

[0105] The main process of this embodiment is the same as that of embodiment 1 and will not be repeated here. Furthermore, the number of anchor rods with excessive bending deformation described in step S4 is 0, and there is no need to cut the anchor rods, and the process proceeds to step S5.

[0106] Example 6:

[0107] The main process of this embodiment is the same as that of embodiment 1 and will not be repeated here. Furthermore, this method process is used to solve the problems of difficulty in correcting the pre-embedded screws and difficulty in assembling steel plates in the transition section between the steel tube concrete structure and the steel structure.

[0108] Example 7:

[0109] The main process of this embodiment is the same as that of embodiment 1 and will not be repeated here. Furthermore, the anchor correction installation parameter calculation method described in step S5, in step S508, traverse to the third layer of anchors, the number of traversed anchors is 119, which is greater than N=80, and the traversal is stopped. The fourth layer of anchors is aligned in the same way as the third layer of anchors, and the row and column numbers of the anchors that can pass and the row and column numbers of the anchors that cannot pass after the fourth layer of anchors are aligned are recorded.

[0110] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for generating anchor correction and installation strategies based on point cloud, characterized in that: The following steps are involved: S1. Input anchor plate point cloud; S2. Use the anchor point cloud segmentation method to perform instance segmentation of steel plate and anchor point cloud; S3. Using the anchor feature extraction method, obtain the coordinates of the anchor vertex and the row and column numbers of the anchors with excessive bending deformation; S4. When the number of anchor rods with excessive bending deformation is not greater than the number of anchor rod safety redundancy, the bent and deformed anchor rods are cut according to the row and column numbers of the anchor rods; otherwise, the bent and deformed anchor rods are straightened, and after straightening, the process returns to step S1. S5. Use the anchor bolt correction installation parameter calculation method to generate the anchor bolt correction plan and installation plan; S6. After the anchor bolts are corrected according to the anchor bolt correction plan, the anchor plates and connecting steel plates are assembled according to the installation plan; The method for calculating anchor bolt correction installation parameters comprises the following steps: Enter the anchor vertex; Perform principal component analysis on the anchor vertices to obtain the eigenvectors corresponding to the three largest eigenvalues ​​in the covariance matrix; The rotation matrix composed of eigenvectors is used to transform the coordinates of the axis vertex so that the normal direction of the principal plane where the axis vertex is located is aligned with the positive direction of the Z axis. According to the distribution of the anchor rod vertices along the Z axis after coordinate transformation, the anchor rods are divided into several layers to simulate the process of the anchor rods successively penetrating into the bolt holes of the connecting steel plates; Traverse the vertices of each layer of anchor rods from large to small along the Z-axis coordinates, and generate the anchor rod design vertex coordinates based on the vertex spacing; Traverse the anchor vertices of each layer from large to small along the Z-axis coordinate. When the number of traversed anchors is less than N, align the design vertex with the anchor vertex in the current layer. In the current traversal layer, the coordinate distance between the anchor vertex and the aligned design vertex is calculated. Anchors with a distance no greater than the difference ΔR between the bolt hole radius and the anchor radius are classified as passable anchors, otherwise they are classified as non-passable anchors. When the number of traversed anchor rods is not less than N, the traversal is stopped, the design vertices of all untraversed anchor rod vertices are aligned with the anchor rod vertices in the current layer alignment mode, the passability of the untraversed anchor rods is calculated and the numbers are recorded; Based on the anchor row number, anchors are divided into four categories; Calculate the correction parameters of the impassable anchor and output the correction plan of the anchor; Output the row and column numbers of anchor rods by layer. The number of anchor rod layers is the installation order. When installing the corrected anchor plate and connecting steel plate, find the through anchor rods and the non-through anchor rods according to the installation order and align them. According to the row and column numbers of the anchor rods, the anchor rods are divided into four categories, specifically: among the anchor rods with m rows and n columns, the first category of anchor rods has the largest number of columns in the same row and the smallest number of rows in the same column; the second category of anchor rods has the smallest number of columns in the same row and the largest number of rows in the same column; the third category of anchor rods is the anchor rod with the largest number of rows or the largest number of columns except the first and second category anchor rods; the remaining anchor rods are classified as the fourth category of anchor rods.

2. The method for generating anchor bolt correction and installation strategy based on point cloud according to claim 1, characterized in that: The anchor point cloud segmentation method comprises the following steps: Perform principal component analysis on the anchor plate point cloud to obtain the eigenvectors corresponding to the three largest eigenvalues ​​in the covariance matrix; The coordinate transformation of the anchor plate point cloud is performed using the rotation matrix composed of eigenvectors, so that the normal vector direction, length direction, and width direction of the main plane of the anchor plate are aligned with the positive directions of the Z, X, and Y axes respectively; Search for the surface neighborhood points within the radius R of each point in the anchor plate point cloud; Fit the plane of the neighboring points of the face, and use the normal vector of the fitted plane as the direction vector of the point to which the neighboring point belongs; Calculate the angle between the direction vector of each point and the positive direction of the Z axis. Points with an angle less than 45° are classified as anchor point clouds, and the remaining points are classified as steel plate point clouds. The point cloud of a single anchor is further classified from the anchor point cloud to complete the instance segmentation of the steel plate and anchor point cloud.

3. The method for generating anchor bolt correction and installation strategy based on point cloud according to claim 1, characterized in that: The anchor feature extraction method comprises the following steps: In each anchor point cloud, the anchor point cloud is sliced ​​along the Z axis with a spacing D to obtain a sliced ​​point cloud; Fit a circle in the XY coordinates of each set of slice point clouds to obtain the two-dimensional coordinates of the circle center; Assign the average Z-axis coordinate of each group of slice point clouds to the corresponding two-dimensional circle center coordinate, so that it is expanded to a three-dimensional circle center coordinate, which serves as the axis point of the anchor rod; Fit a straight line to the axis points and calculate the distance between each axis point and the fitted straight line. When the distance between any axis point and the fitted straight line exceeds the design radius difference ΔR between the anchor rod and the bolt hole on the connecting steel plate, the corresponding anchor rod is judged to have exceeded the bending deformation limit. For each non-bending deformed anchor rod, obtain the projection point of the anchor rod point cloud on the fitting line, and select the point with the largest Z-axis coordinate from the projection points as the vertex of the non-bending deformed anchor rod; Output the row and column numbers of the anchor rods with excessive bending deformation among all anchor rods, and output the vertex coordinates of the anchor rods with non-excess bending deformation.

4. The method for generating anchor bolt correction and installation strategy based on point cloud according to claim 1, characterized in that: The correction parameters are calculated by category from small to large, and the distance between the standard vertex of the anchor rods that need to be corrected after alignment and the vertices of the adjacent anchor rods in the same line and column is used as the correction parameter. After the correction parameters of each anchor rod are calculated, the coordinates of the aligned standard vertex of the anchor rod to be corrected are used to replace the anchor rod vertex coordinates for the calculation of the correction parameters of other anchor rods.

5. The method for generating anchor bolt correction and installation strategy based on point cloud according to claim 4, characterized in that: The adjacent anchor rods of the first type of anchor rods are selected from the left side of the same row and the right side of the same column, and are calculated from small to large according to the row and column numbers of the correction anchor rods, and from large to small according to the row and column numbers of the correction anchor rods; the adjacent anchor rods of the second type of anchor rods are selected from the right side of the same row and the upper side of the same column, and are calculated from large to small according to the row and column numbers of the correction anchor rods, and from small to large according to the row and column numbers of the correction anchor rods; the adjacent anchor rods of the third type of anchor rods are selected from the left side of the same row and the upper side of the same column, and are calculated from large to small according to the row and column numbers of the correction anchor rods.

6. The method for generating anchor bolt correction and installation strategy based on point cloud according to claim 2, characterized in that: The radius R is smaller than the design radius of the anchor rod.

7. The method for generating anchor bolt correction and installation strategy based on point cloud according to claim 3, characterized in that: The spacing D is less than 1 / 10 of the design length of the anchor rod.

8. The method for generating anchor bolt correction and installation strategy based on point cloud according to claim 1, characterized in that: The number of anchor rod layers is less than 5. When the connecting steel plate is installed, if the number of anchor rods passing through the bolt holes exceeds N, the relative position relationship between the connecting steel plate and the anchor rod cannot be adjusted.

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