Tunnel guniting method and device, electronic equipment and storage medium

Abstract

The invention provides a tunnel guniting method and device, electronic equipment and a storage medium. The tunnel guniting method comprises the following steps: acquiring initial point cloud data of a to-be-guniting tunnel bedrock surface provided with a plurality of anchor rod devices; determining center axis information and vertex information of each anchor rod device according to the initial point cloud data; for each anchor rod device, determining intersection point information of the anchor rod device and a target tunnel contour surface in preset tunnel planning information according to the central axis information of the anchor rod device and the preset tunnel planning information; according to the intersection point information of the anchor rod device and the target tunnel contour surface and the vertex information of the anchor rod device, the adjustment posture of the anchor rod device is determined; and the top face formed by the top ends of all the anchor rod devices adjusted according to the corresponding adjusting postures serves as a reference face, and primary spraying operation is conducted on the tunnel bedrock face to be sprayed. Therefore, by means of the scheme, the flatness of the tunnel primary support is ensured, and the quality and efficiency of tunnel construction are remarkably improved.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel construction, and in particular to a tunnel spraying method, device, electronic equipment and storage medium. Background Art

[0002] Tunnel engineering occupies an important position in the construction of transportation infrastructure such as railways, highways and subways. Its construction quality is directly related to the safety and service life of the project. During the tunnel construction process, the quality of the initial support flatness of the tunnel is directly related to the overall construction quality and long-term operation safety of the tunnel project. If the flatness of the tunnel primary support is poor, it will bring a series of serious hazards, for example: poor flatness of the primary support will lead to uneven thickness of the secondary lining, the lining layer may be too thin and unable to provide sufficient support and protection, which will affect the overall strength and stability of the tunnel; when the primary support is uneven, gaps may appear between the secondary lining and the primary support, forming a "back-hole" phenomenon, which will weaken the bearing capacity of the lining and easily cause cracks during operation or cause water to penetrate into the tunnel structure, further endangering the safety of the tunnel; due to the uneven surface of the primary support, the lining may not be able to bear the force evenly, and cracks are likely to appear at the stress concentration points. Once the cracks occur, they may become channels for water leakage, which will lead to accelerated aging of the lining structure in the long run; due to construction quality problems caused by poor flatness of the primary support, the tunnel may need frequent maintenance and repairs during operation, which increases operating costs and may even cause the tunnel to stop operating for maintenance, affecting the normal operation of traffic; poor quality of the primary support will have a negative impact on the overall structural safety of the tunnel, especially in tunnels with complex geological conditions, which are more likely to induce serious accidents such as tunnel deformation or even collapse.

[0003] Therefore, during the tunnel construction process, strictly controlling the flatness of the initial support and ensuring its quality is the key to ensuring the overall construction quality and long-term safe operation of the tunnel. Summary of the invention

[0004] In view of this, the purpose of this application is to provide a tunnel grouting method, device, electronic device and storage medium. This scheme uses point cloud data for precise measurement and calculation to obtain accurate anchor adjustment length, realize precise adjustment of the length of the anchor device, ensure the flatness of the initial support of the tunnel, thereby significantly improving the quality and efficiency of tunnel construction, thereby reducing construction costs and providing guarantees for the long-term safe operation of the tunnel.

[0005] The present application provides a tunnel spraying method, which comprises:

[0006] Acquire initial point cloud data of the bedrock surface of the tunnel to be shotcreted with multiple anchor devices installed;

[0007] Determine the central axis information and vertex information of each anchor device according to the initial point cloud data;

[0008] For each anchor device, according to the central axis information of the anchor device and the preset tunnel planning information, determine the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information;

[0009] Determining the adjustment posture of the anchor device according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device;

[0010] The top surface formed by the top ends of all anchor devices adjusted according to the corresponding adjustment postures is used as a reference surface to perform initial spraying operations on the bedrock surface of the tunnel to be sprayed.

[0011] Optionally, after the initial spraying operation is performed on the bedrock surface of the tunnel to be sprayed, the tunnel spraying method further comprises:

[0012] Acquire target point cloud data of the bedrock surface of the tunnel to be shotcreted after the initial shotcrete operation;

[0013] Compare the target point cloud data with the target tunnel contour surface in the preset tunnel planning information to determine the shotcrete correction information;

[0014] The bedrock surface of the tunnel to be shotcreted is corrected after the initial shotcreting operation according to the shotcrete correction information.

[0015] Optionally, determining the central axis information and vertex information of each anchor device according to the initial point cloud data includes:

[0016] According to the initial point cloud data, key point cloud extraction processing is performed to determine the anchor point cloud data of each anchor device;

[0017] For each anchor device, the anchor point cloud data of the anchor device is fitted to determine the central axis information and vertex information of the anchor device.

[0018] Optionally, for each anchor device, according to the central axis information of the anchor device and the preset tunnel planning information, determining the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information includes:

[0019] Unifying the central axis information of the anchor device and the position information of the target tunnel contour surface in the preset tunnel planning information into the same coordinate system, and determining the central axis equation of the anchor device and the surface equation of the target tunnel contour surface;

[0020] According to the central axis equation of the anchor device and the surface equation of the target tunnel contour surface, the intersection information of the anchor device and the target tunnel contour surface is determined.

[0021] Optionally, a target is set on the bedrock surface of the tunnel to be shotcreted, and the central axis information of the anchor device and the position information of the target tunnel contour surface in the preset tunnel planning information are unified into the same coordinate system through the following steps:

[0022] Identifying a target point cloud of a target according to the initial point cloud data;

[0023] Determine a transformation matrix according to a target point cloud of the target and a target coordinate of the target in a design coordinate system of preset tunnel planning information;

[0024] According to the conversion matrix, the central axis information of the anchor device is converted to the design coordinate system to achieve consistency with the coordinate system of the position information of the target tunnel contour surface.

[0025] Optionally, determining the adjustment posture of the anchor device according to the intersection information between the anchor device and the target tunnel contour surface and the vertex information of the anchor device includes:

[0026] Determine the point spacing and relative direction according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device;

[0027] The adjustment posture of the anchor device is determined according to the point spacing and the relative direction.

[0028] Optionally, a reflective leveling line is provided at the top of all the anchor devices after adjustment, and the surface where the reflective leveling line is located is the top surface. The top surface formed by the tops of all the anchor devices adjusted according to the corresponding adjustment postures is used as a reference surface to perform the initial spraying operation on the bedrock surface of the tunnel to be sprayed, including:

[0029] Control the spraying equipment to spray the initial support layer flush with the surface where the reflective leveling line is located.

[0030] The present application also provides a tunnel spraying device, the tunnel spraying device comprising:

[0031] An acquisition module, used to acquire initial point cloud data of the bedrock surface of the tunnel to be shotcreted where multiple anchor devices are installed;

[0032] A first determination module, used to determine the central axis information and vertex information of each anchor device according to the initial point cloud data;

[0033] A second determination module is used to determine, for each anchor device, the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information according to the central axis information of the anchor device and the preset tunnel planning information;

[0034] A third determination module is used to determine the adjustment posture of the anchor device according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device;

[0035] The shotcrete module is used to use the top surface formed by the top ends of all anchor devices adjusted according to the corresponding adjustment postures as a reference surface to perform initial shotcrete operations on the bedrock surface of the tunnel to be shotcreted.

[0036] Optionally, the tunnel shotcrete device further comprises a correction module, and the correction module is used to:

[0037] After the initial shotcreting operation is performed on the bedrock surface of the tunnel to be shotcreted, target point cloud data of the bedrock surface of the tunnel to be shotcreted after the initial shotcreting operation is performed;

[0038] Compare the target point cloud data with the target tunnel contour surface in the preset tunnel planning information to determine the shotcrete correction information;

[0039] The bedrock surface of the tunnel to be shotcreted is corrected after the initial shotcreting operation according to the shotcrete correction information.

[0040] Optionally, when the first determining module is used to determine the central axis information and vertex information of each anchor device according to the initial point cloud data, the first determining module is used to:

[0041] According to the initial point cloud data, key point cloud extraction processing is performed to determine the anchor point cloud data of each anchor device;

[0042] For each anchor device, the anchor point cloud data of the anchor device is fitted to determine the central axis information and vertex information of the anchor device.

[0043] Optionally, when the second determination module is used to determine, for each anchor device, the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information according to the central axis information of the anchor device and the preset tunnel planning information, the second determination module is used to:

[0044] Unifying the central axis information of the anchor device and the position information of the target tunnel contour surface in the preset tunnel planning information into the same coordinate system, and determining the central axis equation of the anchor device and the surface equation of the target tunnel contour surface;

[0045] According to the central axis equation of the anchor device and the surface equation of the target tunnel contour surface, the intersection information of the anchor device and the target tunnel contour surface is determined.

[0046] Optionally, a target is set on the bedrock surface of the tunnel to be shotcreted, and the second determination module is further used to unify the central axis information of the anchor device and the position information of the target tunnel contour surface in the preset tunnel planning information into the same coordinate system through the following steps:

[0047] Identifying a target point cloud of a target according to the initial point cloud data;

[0048] Determine a transformation matrix according to a target point cloud of the target and a target coordinate of the target in a design coordinate system of preset tunnel planning information;

[0049] According to the conversion matrix, the central axis information of the anchor device is converted to the design coordinate system to achieve consistency with the coordinate system of the position information of the target tunnel contour surface.

[0050] Optionally, when the third determination module is used to determine the adjustment posture of the anchor device according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device, the third determination module is used to:

[0051] Determine the point spacing and relative direction according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device;

[0052] The adjustment posture of the anchor device is determined according to the point spacing and the relative direction.

[0053] Optionally, reflective leveling lines are provided at the tops of all the anchor devices after adjustment, and the surface where the reflective leveling lines are located is the top surface. When the shotcrete module is used to use the top surface formed by the tops of all the anchor devices adjusted according to the corresponding adjustment postures as a reference surface and to perform the initial shotcrete operation on the bedrock surface of the tunnel to be shotcreted, the shotcrete module is used to:

[0054] Control the spraying equipment to spray the initial support layer flush with the surface where the reflective leveling line is located.

[0055] An embodiment of the present application also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the tunnel spraying method as described above are performed.

[0056] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the tunnel spraying method as described above are executed.

[0057] A tunnel grouting method, device, electronic device and storage medium provided in an embodiment of the present application, the tunnel grouting method comprising: acquiring initial point cloud data of a bedrock surface of a tunnel to be grouted with a plurality of anchor devices installed; determining the central axis information and vertex information of each anchor device based on the initial point cloud data; for each anchor device, determining the intersection information of the anchor device and a target tunnel contour surface in the preset tunnel planning information based on the central axis information of the anchor device and preset tunnel planning information; determining the adjustment posture of the anchor device based on the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device; using the top surface formed by the top ends of all anchor devices adjusted according to the corresponding adjustment posture as a reference surface, and performing an initial grouting operation on the bedrock surface of the tunnel to be grouted.

[0058] In this way, this solution uses point cloud data for precise measurement and calculation to obtain accurate anchor adjustment length, realize precise adjustment of the length of the anchor device, and ensure the flatness of the initial support of the tunnel; and compares the point cloud data with the preset target tunnel contour surface to directly obtain the adjustment posture of the anchor device, avoiding repeated measurements when adjusting the anchor device, simplifying the adjustment method of the anchor device, and improving construction efficiency. This application also obtains the point cloud of the tunnel contour surface after the initial spraying operation, and compares it with the preset target tunnel contour surface, which can quickly locate the pit surface after the initial spraying, thereby improving the flatness after the secondary spraying. Therefore, this solution ensures the flatness quality of the initial support of the tunnel, thereby significantly improving the quality and efficiency of tunnel construction, thereby reducing construction costs, and providing guarantees for the long-term safe operation of the tunnel.

[0059] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0061] Figure 1 A flow chart of a tunnel shotcreting method provided in an embodiment of the present application;

[0062] Figure 2 One of the structural schematic diagrams of a tunnel shotcrete device provided in an embodiment of the present application;

[0063] Figure 3 The second structural schematic diagram of a tunnel shotcrete device provided in an embodiment of the present application;

[0064] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be installed and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0066] Tunnel engineering occupies an important position in the construction of transportation infrastructure such as railways, highways and subways. Its construction quality is directly related to the safety and service life of the project. During the tunnel construction process, the quality of the initial support flatness of the tunnel is directly related to the overall construction quality and long-term operation safety of the tunnel project. If the flatness of the tunnel primary support is poor, it will bring a series of serious hazards, for example: poor flatness of the primary support will lead to uneven thickness of the secondary lining, the lining layer may be too thin and unable to provide sufficient support and protection, which will affect the overall strength and stability of the tunnel; when the primary support is uneven, gaps may appear between the secondary lining and the primary support, forming a "back-hole" phenomenon, which will weaken the bearing capacity of the lining and easily cause cracks during operation or cause water to penetrate into the tunnel structure, further endangering the safety of the tunnel; due to the uneven surface of the primary support, the lining may not be able to bear the force evenly, and cracks are likely to appear at the stress concentration points. Once the cracks occur, they may become channels for water leakage, which will lead to accelerated aging of the lining structure in the long run; due to construction quality problems caused by poor flatness of the primary support, the tunnel may need frequent maintenance and repairs during operation, which increases operating costs and may even cause the tunnel to stop operating for maintenance, affecting the normal operation of traffic; poor quality of the primary support will have a negative impact on the overall structural safety of the tunnel, especially in tunnels with complex geological conditions, which are more likely to induce serious accidents such as tunnel deformation or even collapse.

[0067] Therefore, during the tunnel construction process, strictly controlling the flatness of the initial support and ensuring its quality is the key to ensuring the overall construction quality and long-term safe operation of the tunnel.

[0068] Based on this, the embodiments of the present application provide a tunnel grouting method, device, electronic device and storage medium. The scheme uses point cloud data for precise measurement and calculation to obtain accurate anchor adjustment length, realize precise adjustment of the length of the anchor device, ensure the flatness of the initial support of the tunnel, thereby significantly improving the quality and efficiency of tunnel construction, thereby reducing construction costs and providing guarantees for the long-term safe operation of the tunnel.

[0069] See also Figure 1 , Figure 1 This is a flow chart of a tunnel shotcreting method provided in an embodiment of the present application. Figure 1 As shown in , the tunnel spraying method provided by the embodiment of the present application includes:

[0070] S101, obtaining initial point cloud data of a bedrock surface of a tunnel to be shotcreted where a plurality of anchor devices are installed.

[0071] S102: Determine the central axis information and vertex information of each anchor device according to the initial point cloud data.

[0072] S103. For each anchor device, determine the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information according to the central axis information of the anchor device and the preset tunnel planning information.

[0073] S104, determining an adjustment posture of the anchor device according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device;

[0074] S105, using the top surface formed by the top ends of all anchor devices adjusted according to the corresponding adjustment postures as a reference surface, and performing an initial spraying operation on the bedrock surface of the tunnel to be sprayed.

[0075] With respect to step S101, the bedrock surface of the tunnel to be shotcreted is the surface formed after smooth blasting is completed.

[0076] The anchor device is vertically inserted into the bedrock of the tunnel to be shotcreted, and plays the role of basic support; the length of the anchor device is adjustable, and the height can be adjusted according to the required support height. Multiple anchor devices are installed at equal intervals on the bedrock surface to form a lattice; for example, an anchor device can be installed every 1 meter, and here, the spacing distance of the anchor devices can be adaptively selected and is not limited here.

[0077] For example, the structure of the anchor device can be as follows: the anchor device includes an anchor body and a positioning anchor head, the bottom end of the anchor body is provided with an external thread, the positioning anchor head is provided with a threaded hole, the bottom end of the positioning anchor head is provided with an anchor tip that is convenient for inserting into the bedrock, the anchor body is coaxially inserted into the positioning anchor head, the anchor body and the positioning anchor head are connected by threads, and after the anchor device is inserted, the matching length of the anchor body and the positioning anchor head can be adjusted as needed, thereby changing the height of the anchor device. A connecting ring is provided at the top end of the anchor body to facilitate the connection of a reflective leveling line.

[0078] In addition, optionally, the top of the anchor device is made of reflective material, and the shaft of the anchor device is coated with reflective paint.

[0079] Continuing with step S101, the step of obtaining the initial point cloud data of the bedrock surface of the tunnel to be shotcreted with multiple anchor devices installed may specifically include: using a 3D laser scanner to scan the bedrock surface of the tunnel to be shotcreted with multiple anchor devices installed to form initial point cloud data. The anchor devices installed on the bedrock will also be scanned into point cloud data; optionally, when there is a reflective material or reflective coating on the anchor device, the point cloud data scanned by the anchor device will have a higher light intensity.

[0080] The three-dimensional laser scanner may be a handheld three-dimensional laser scanner or a stand-type three-dimensional laser scanner, and there is no limitation on this.

[0081] In this way, a 3D model of the bedrock surface can be generated based on the initial point cloud data. This model accurately reflects the current shape of the tunnel bedrock surface and the distribution of anchor bolts.

[0082] Here, during scanning, multiple targets with known coordinates in the design coordinate system (such as target spheres, and the coordinates of the center point of each target sphere in the design coordinate system are measured by a total station) need to be placed in the scanned area for coordinate system mapping.

[0083] With respect to step S102, in this step, key point cloud extraction processing is performed based on the initial point cloud data to determine the central axis information and vertex information of each anchor device.

[0084] In an embodiment provided in the present application, determining the central axis information and vertex information of each anchor device according to the initial point cloud data includes:

[0085] S1021. Perform key point cloud extraction processing based on the initial point cloud data to determine the anchor point cloud data of each anchor device.

[0086] S1022: For each anchor device, perform fitting processing on the anchor point cloud data of the anchor device to determine the central axis information and vertex information of the anchor device.

[0087] For step S1021, by way of example, the implementation process of this step may include: using a mathematical model to detect multiple point cloud areas containing anchor devices in the initial point cloud data; and based on the multiple point cloud areas containing anchor devices, cropping the anchor point cloud data of each anchor device.

[0088] The mathematical model may be a neural network model based on deep learning, such as PointNet, PointPillar, etc. In addition, when there is a reflective material or reflective coating on the anchor device, the point cloud light intensity can be used to perform a preliminary screening of the anchor point cloud data, thereby improving the recognition efficiency.

[0089] In addition, it is determined that the anchor point cloud data of each anchor device may be data before coordinate system conversion processing is performed, or data after coordinate system conversion is performed.

[0090] Regarding step S1022, after this step, the anchor point cloud data of the anchor device is fitted, which can be specifically: fitting the anchor point cloud data of the anchor device through a geometric fitting algorithm (such as a cylindrical fitting algorithm).

[0091] For example, the central axis information and vertex information of the anchor device can be determined by fitting a straight line equation representing the central axis of the anchor to reflect the direction and position of the anchor in three-dimensional space. Based on the fitting result, the vertex position of the anchor device (usually the coordinates of the topmost point of the anchor exposed to the outside) is determined.

[0092] With respect to step S103, the preset tunnel planning information may be: a design plan formulated before tunnel construction, including detailed information such as the shape, size, location, and design coordinate system of the tunnel.

[0093] The target tunnel contour surface may be a specific surface in tunnel design, such as an inner wall, an outer wall or other structural boundaries of the tunnel.

[0094] The intersection point is the intersection point between the central axis of the anchor and the target tunnel profile. This intersection point is the specific position of the anchor in the tunnel and is usually used to evaluate whether the installation of the anchor meets the design requirements.

[0095] In an embodiment provided in the present application, for each anchor device, according to the central axis information of the anchor device and the preset tunnel planning information, the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information is determined, including:

[0096] S1031, unify the central axis information of the anchor device and the position information of the target tunnel contour surface in the preset tunnel planning information into the same coordinate system, and determine the central axis equation of the anchor device and the surface equation of the target tunnel contour surface.

[0097] S1032: Determine the intersection information of the anchor device and the target tunnel contour surface according to the central axis equation of the anchor device and the surface equation of the target tunnel contour surface.

[0098] Regarding step S1031, it should be noted that the central axis information of the anchor device and the tunnel planning information may come from different measurement or design systems, so they need to be converted into the same coordinate system. Unifying the coordinate system means converting the central axis equation of the anchor and the equation of the tunnel profile into the same three-dimensional space coordinate system to ensure that their geometric relationship can be accurately calculated.

[0099] In one embodiment provided in the present application, a target is set on the bedrock surface of the tunnel to be shotcreted, and the central axis information of the anchor device and the position information of the target tunnel contour surface in the preset tunnel planning information are unified into the same coordinate system through the following steps:

[0100] S10311. Identify the target point cloud of the target based on the initial point cloud data.

[0101] S10312. Determine a transformation matrix according to the target point cloud of the target and the target coordinates of the target in the design coordinate system of the preset tunnel planning information.

[0102] S10313. According to the conversion matrix, the central axis information of the anchor device is converted to the design coordinate system to achieve consistency with the coordinate system of the position information of the target tunnel contour surface.

[0103] With respect to step S10311, the target center point is identified based on the initial point cloud data to determine the target point cloud of the target; therefore, the target point cloud is the point cloud of the target center point.

[0104] When there are multiple targets, a target point cloud for each target is determined.

[0105] For step S10312, when determining the transformation matrix, the specific implementation steps include: first matching point pairs, that is, matching each target point in the identified target point cloud with the corresponding target point in the design coordinate system; then calculating the rotation matrix and translation vector based on the matching point pairs, which constitute the overall transformation matrix. The transformation matrix can be used to map points from one coordinate system to another.

[0106] For step S10313, the calculated transformation matrix is ​​used to transform the central axis information of the anchor device into the design coordinate system.

[0107] Thus, through this transformation, the central axis equation of the anchor is mapped into a coordinate system consistent with the tunnel design data, so that the relative position and intersection point between the anchor and the tunnel contour surface can be accurately calculated.

[0108] With respect to step S1032, the central axis equation of the anchor rod is substituted into the surface equation of the tunnel contour surface, and the system of equations is solved jointly, and the determined solution is the intersection information (intersection coordinates).

[0109] With respect to step S104, in one embodiment provided in the present application, determining the adjustment posture of the anchor device based on the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device includes: determining the point spacing and relative direction based on the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device; determining the adjustment posture of the anchor device based on the point spacing and relative direction.

[0110] Here, the posture adjustment includes adjusting the length and adjusting the direction. The adjusted length is the point spacing.

[0111] For any anchor device, when the relative direction indicates that the vertex of the anchor device is above the corresponding intersection, the adjustment direction is downward adjustment; when the relative direction indicates that the vertex of the anchor device is below the corresponding intersection, the adjustment direction is upward adjustment.

[0112] In this way, each anchor device can be accurately adjusted according to the determined adjustment posture, so that the top end of each anchor device is flush with the designed target tunnel contour surface.

[0113] Wherein, the anchor rod device can be adjusted automatically or manually.

[0114] With respect to step S105, the top surface is determined by the position of the top end of the adjusted anchor bolt, which reflects the ideal profile in the tunnel design.

[0115] Initial spraying operation refers to spraying concrete or other materials on the bedrock surface of the tunnel to form the initial support layer of the tunnel.

[0116] In this way, when performing the initial spraying operation, the thickness and uniformity of the spraying are controlled according to the reference plane (the plane formed by the top of the anchor rod) to ensure that the initial spraying layer (initial support layer) is consistent with the designed tunnel shape and structural requirements.

[0117] In one embodiment provided in the present application, a reflective leveling line is provided on the top of all the anchor devices after adjustment, and the surface where the reflective leveling line is located is the top surface. The top surface formed by the tops of all the anchor devices after the corresponding adjustment length and posture are adjusted is used as the reference surface to perform initial spraying operations on the bedrock surface of the tunnel to be sprayed, including: controlling the spraying equipment to spray the initial support layer according to the requirement of being flush with the surface where the reflective leveling line is located.

[0118] Here, reflective leveling lines are attached to the top of the anchor rods to indicate height and position. The position of these leveling lines can be used as a height reference during construction.

[0119] The reflective leveling lines at the top of all anchor devices together form a contour surface, the so-called "top surface", which is also the reference surface. This top surface corresponds to the ideal height and flatness in tunnel design.

[0120] The initial support layer can be a first layer of concrete sprayed on the tunnel bedrock surface to support the tunnel structure.

[0121] Here, when spraying the initial support layer, compressed air can also be sprayed to blow and level the surface of the initial support spray layer.

[0122] The goal of the initial spraying operation is to make the surface of the initial support layer flush with the reflective leveling line, which ensures that the thickness and surface height of the initial spraying layer meet the design requirements. However, the initial spraying may not fully meet the expectations, so in another embodiment provided by the present application, after the initial spraying operation is performed on the bedrock surface of the tunnel to be sprayed, the tunnel spraying method further includes:

[0123] S1. Obtain target point cloud data of the bedrock surface of the tunnel to be shotcreted after the initial shotcrete operation.

[0124] S2, comparing the target point cloud data with the target tunnel contour surface in the preset tunnel planning information to determine the shotcrete correction information;

[0125] S3. Correct the bedrock surface of the tunnel to be shotcreted after the initial shotcreting operation according to the shotcrete correction information.

[0126] In step S1, the tunnel bedrock surface is scanned to obtain the latest point cloud data (target point cloud data). These data represent the three-dimensional shape and surface features of the actual initial spraying layer.

[0127] For step S2, the shotcrete correction information may include information required for secondary shotcrete, and the information required for secondary shotcrete includes: the coordinates of the center point of the pit surface, the area of ​​the pit surface, the distance between the pit surface and the design contour (shotcrete thickness), etc.

[0128] The shotcrete correction information indicates the deviation or difference between the initial shotcrete layer and the design. The shotcrete correction information includes the specific area to be corrected and the correction amount.

[0129] For step S3, the correction process may include: performing correction processes such as secondary grouting or cutting according to the determined grouting correction information. This process can ensure that the surface shape and thickness of the primary grouting layer are completely consistent with the designed tunnel contour surface.

[0130] In this way, this solution uses point cloud data for precise measurement and calculation to obtain accurate anchor adjustment length, realize precise adjustment of the length of the anchor device, and ensure the flatness of the initial support of the tunnel; and compares the point cloud data with the preset target tunnel contour surface to directly obtain the adjustment posture of the anchor device, avoiding repeated measurements when adjusting the anchor device, simplifying the adjustment method of the anchor device, and improving construction efficiency. This application also obtains the point cloud of the tunnel contour surface after the initial spraying operation, and compares it with the preset target tunnel contour surface, which can quickly locate the pit surface after the initial spraying, thereby improving the flatness after the secondary spraying. Therefore, this solution ensures the flatness quality of the initial support of the tunnel, thereby significantly improving the quality and efficiency of tunnel construction, thereby reducing construction costs, and providing guarantees for the long-term safe operation of the tunnel.

[0131] Based on the same inventive concept, a tunnel spraying device corresponding to the tunnel spraying method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned tunnel spraying method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0132] See also Figure 2 , Figure 3 , Figure 2 This is one of the structural schematic diagrams of a tunnel shotcrete device provided in an embodiment of the present application. Figure 3 This is a second structural diagram of a tunnel spraying device provided in an embodiment of the present application. Figure 2 As shown in , the tunnel shotcrete device 200 comprises:

[0133] An acquisition module 210 is used to acquire initial point cloud data of the bedrock surface of the tunnel to be shotcreted where a plurality of anchor devices are installed;

[0134] A first determination module 220, configured to determine the central axis information and vertex information of each anchor device according to the initial point cloud data;

[0135] A second determination module 230 is used to determine, for each anchor device, the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information according to the central axis information of the anchor device and the preset tunnel planning information;

[0136] A third determination module 240 is used to determine the adjustment posture of the anchor device according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device;

[0137] The shotcrete module 250 is used to use the top surface formed by the top ends of all the anchor devices adjusted according to the corresponding adjustment postures as a reference surface to perform initial shotcrete operations on the bedrock surface of the tunnel to be shotcreted.

[0138] Optional, such as Figure 3 As shown, the tunnel shotcrete device 200 further includes a correction module 260, and the correction module 260 is used to:

[0139] After the initial shotcreting operation is performed on the bedrock surface of the tunnel to be shotcreted, target point cloud data of the bedrock surface of the tunnel to be shotcreted after the initial shotcreting operation is performed;

[0140] Compare the target point cloud data with the target tunnel contour surface in the preset tunnel planning information to determine the shotcrete correction information;

[0141] The bedrock surface of the tunnel to be shotcreted is corrected after the initial shotcreting operation according to the shotcrete correction information.

[0142] Optionally, when the first determining module 220 is used to determine the central axis information and vertex information of each anchor device according to the initial point cloud data, the first determining module 220 is used to:

[0143] According to the initial point cloud data, key point cloud extraction processing is performed to determine the anchor point cloud data of each anchor device;

[0144] For each anchor device, the anchor point cloud data of the anchor device is fitted to determine the central axis information and vertex information of the anchor device.

[0145] Optionally, when the second determination module 230 is used to determine, for each anchor device, the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information according to the central axis information of the anchor device and the preset tunnel planning information, the second determination module 230 is used to:

[0146] Unifying the central axis information of the anchor device and the position information of the target tunnel contour surface in the preset tunnel planning information into the same coordinate system, and determining the central axis equation of the anchor device and the surface equation of the target tunnel contour surface;

[0147] According to the central axis equation of the anchor device and the surface equation of the target tunnel contour surface, the intersection information of the anchor device and the target tunnel contour surface is determined.

[0148] Optionally, a target is set on the bedrock surface of the tunnel to be shotcreted, and the second determination module 230 is further used to unify the central axis information of the anchor device and the position information of the target tunnel contour surface in the preset tunnel planning information into the same coordinate system through the following steps:

[0149] Identifying a target point cloud of a target according to the initial point cloud data;

[0150] Determine a transformation matrix according to a target point cloud of the target and a target coordinate of the target in a design coordinate system of preset tunnel planning information;

[0151] According to the conversion matrix, the central axis information of the anchor device is converted to the design coordinate system to achieve consistency with the coordinate system of the position information of the target tunnel contour surface.

[0152] Optionally, when the third determination module 240 is used to determine the adjustment posture of the anchor device according to the intersection information between the anchor device and the target tunnel contour surface and the vertex information of the anchor device, the third determination module 240 is used to:

[0153] Determine the point spacing and relative direction according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device;

[0154] The adjustment posture of the anchor device is determined according to the point spacing and the relative direction.

[0155] Optionally, reflective leveling lines are provided at the tops of all the anchor devices after adjustment, and the surface where the reflective leveling lines are located is the top surface. When the shotcrete module 250 is used to use the top surface formed by the tops of all the anchor devices adjusted according to the corresponding adjustment postures as a reference surface and to perform the initial shotcrete operation on the bedrock surface of the tunnel to be shotcreted, the shotcrete module 250 is used to:

[0156] Control the spraying equipment to spray the initial support layer flush with the surface where the reflective leveling line is located.

[0157] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0158] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The specific implementation of the steps in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0159] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The specific implementation of the steps in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0160] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0161] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0162] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0163] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0164] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0165] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A tunnel shotcreting method, characterized in that: The tunnel shotcrete method comprises: Acquire initial point cloud data of the bedrock surface of the tunnel to be shotcreted with multiple anchor devices installed; Determine the central axis information and vertex information of each anchor device according to the initial point cloud data; For each anchor device, according to the central axis information of the anchor device and the preset tunnel planning information, determine the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information; Determining the adjustment posture of the anchor device according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device; The top surface formed by the top ends of all anchor devices adjusted according to the corresponding adjustment postures is used as a reference surface to perform initial spraying operations on the bedrock surface of the tunnel to be sprayed.

2. The tunnel spraying method according to claim 1, characterized in that: After the initial spraying operation is performed on the bedrock surface of the tunnel to be sprayed, the tunnel spraying method further comprises: Acquire target point cloud data of the bedrock surface of the tunnel to be shotcreted after the initial shotcrete operation; Compare the target point cloud data with the target tunnel contour surface in the preset tunnel planning information to determine the shotcrete correction information; The bedrock surface of the tunnel to be shotcreted is corrected after the initial shotcreting operation according to the shotcrete correction information.

3. The tunnel spraying method according to claim 1, characterized in that: Determining the central axis information and vertex information of each anchor device according to the initial point cloud data includes: According to the initial point cloud data, key point cloud extraction processing is performed to determine the anchor point cloud data of each anchor device; For each anchor device, the anchor point cloud data of the anchor device is fitted to determine the central axis information and vertex information of the anchor device.

4. The tunnel spraying method according to claim 1, characterized in that: The method of determining, for each anchor device, the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information according to the central axis information of the anchor device and the preset tunnel planning information, includes: Unifying the central axis information of the anchor device and the position information of the target tunnel contour surface in the preset tunnel planning information into the same coordinate system, and determining the central axis equation of the anchor device and the surface equation of the target tunnel contour surface; According to the central axis equation of the anchor device and the surface equation of the target tunnel contour surface, the intersection information of the anchor device and the target tunnel contour surface is determined.

5. The tunnel spraying method according to claim 4, characterized in that: A target is set on the bedrock surface of the tunnel to be shotcreted, and the central axis information of the anchor device and the position information of the target tunnel contour surface in the preset tunnel planning information are unified into the same coordinate system through the following steps: Identifying a target point cloud of a target according to the initial point cloud data; Determining a transformation matrix according to a target point cloud of the target and a target coordinate of the target in a design coordinate system of preset tunnel planning information; According to the conversion matrix, the central axis information of the anchor device is converted to the design coordinate system to achieve consistency with the coordinate system of the position information of the target tunnel contour surface.

6. The tunnel shotcrete method according to claim 1, characterized in that: The step of determining the adjustment posture of the anchor device according to the intersection information between the anchor device and the target tunnel contour surface and the vertex information of the anchor device comprises: Determine the point spacing and relative direction according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device; The adjustment posture of the anchor device is determined according to the point spacing and the relative direction.

7. The tunnel spraying method according to claim 1, characterized in that: A reflective leveling line is arranged on the top of all the anchor bolt devices after adjustment, and the surface where the reflective leveling line is located is the top surface. The top surface formed by the tops of all the anchor bolt devices after adjustment according to the corresponding adjustment posture is used as the reference surface to perform the initial spraying operation on the bedrock surface of the tunnel to be sprayed, including: Control the spraying equipment to spray the initial support layer flush with the surface where the reflective leveling line is located.

8. A tunnel spraying device, characterized in that: The tunnel shotcrete device comprises: An acquisition module, used to acquire initial point cloud data of the bedrock surface of the tunnel to be shotcreted where multiple anchor devices are installed; A first determination module, used to determine the central axis information and vertex information of each anchor device according to the initial point cloud data; A second determination module is used to determine, for each anchor device, the intersection information of the anchor device and the target tunnel contour surface in the preset tunnel planning information according to the central axis information of the anchor device and the preset tunnel planning information; A third determination module is used to determine the adjustment posture of the anchor device according to the intersection information of the anchor device and the target tunnel contour surface and the vertex information of the anchor device; The shotcrete module is used to use the top surface formed by the top ends of all anchor devices adjusted according to the corresponding adjustment postures as a reference surface to perform initial shotcrete operations on the bedrock surface of the tunnel to be shotcreted.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the tunnel spraying method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the tunnel spraying method according to any one of claims 1 to 7 are executed.

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