Karst tunnel tunneling method and related equipment

Abstract

The invention provides a karst tunneling method and related equipment, and the method comprises the steps: carrying out the information extraction according to the obtained line plane and longitudinal plane data of a target region, the mileage of a current tunnel face, and a geological radar interpretation map, and obtaining the three-dimensional space coordinates of all vertexes on the geometric boundary of a karst region, so as to obtain a longest axis of the center of gravity; rotating the geometric boundary by taking the axis with the longest center of gravity as a rotating axis to form a three-dimensional boundary of the karst area; a three-dimensional karst cave model under the geodetic coordinate system is generated through the three-dimensional space coordinates of the vertexes on the geometric boundary and the three-dimensional boundary of the karst area, karst area treatment measures are subjected to animation production and then imported into a U3d file to be bound with the three-dimensional karst cave model, and a U3d project file is obtained; performing animation display on the U3d project file on the tunnel face of the target area through mixed reality, and performing karst tunneling according to the animation display condition; and the construction safety problem caused by karst collapse and underground water inrush in the tunnel construction tunneling process can be effectively prevented.

Description

Technical Field

[0001] The present invention relates to the field of the intersection of mixed reality and tunnel excavation technology, and in particular to a karst tunnel excavation method and related equipment. Background Art

[0002] Karst refers to the landform formed by the long-term erosion of soluble rocks (such as limestone, gypsum rock, salt rock, etc.) by groundwater. Its characteristics are cracks and caves formed by groundwater dissolving rocks.

[0003] During the tunnel construction process, the existence of karst geology may bring a variety of safety hazards that affect the quality of the project and the life, health and safety of construction workers, including but not limited to surface collapse, groundwater influx, rock collapse, etc.; therefore, it is necessary to conduct sufficient geological exploration before construction, identify the environmental conditions around the construction, and take effective preventive measures and response strategies to ensure the smooth progress of the construction and the safety of the construction workers.

[0004] However, it is currently difficult to achieve accurate prediction and reasonable description of karst areas using traditional methods. Traditional geological exploration often uses geological radar to detect karst areas. The geological interpretation maps obtained not only require professional technicians to interpret the data, but are also difficult for ordinary workers to understand. In addition, the geological interpretation maps are two-dimensional plane data, which are two-dimensional representations of the karst contour at a certain plane height, and it is difficult to describe its three-dimensional contour.

[0005] Mixed reality is a new interactive experience technology that integrates virtual reality and augmented reality. It superimposes virtual models on real environments, allowing users to interact with virtual objects in the real environment in real time, thus bringing users a more immersive experience. In recent years, mixed reality interactive experience technology has developed rapidly and has shown great application potential in various fields.

[0006] Mixed reality interactive experience technology uses a head-mounted display (hereinafter referred to as "HMD") to integrate virtual objects with the real environment for display, positions the HMD in the real world, uses its coordinates as the base point, uses computer graphics technology to generate virtual objects, and uses rendering technology to synthesize them with the real scene. Users can see the interactive effect of virtual objects and the real environment through the HMD. Summary of the invention

[0007] The present invention provides a karst tunnel excavation method and related equipment, the purpose of which is to prevent construction safety problems caused by karst collapse and groundwater influx during tunnel construction and excavation.

[0008] In order to achieve the above object, the present invention provides a karst tunnel excavation method, comprising:

[0009] Step 1: Obtain the horizontal and vertical data of the target area, the current tunnel face mileage, and the geological radar interpretation map;

[0010] Step 2: extract information based on the horizontal and vertical data of the line, the current tunnel face mileage, and the geological radar interpretation map to obtain the three-dimensional spatial coordinates of each vertex on the geometric boundary of the karst area;

[0011] Step 3, obtaining the longest axis of the center of gravity according to the three-dimensional spatial coordinates of each vertex on the geometric boundary, and rotating the geometric boundary with the longest axis of the center of gravity as the rotation axis to form a three-dimensional boundary of the karst area;

[0012] Step 4, generate a three-dimensional cave model in the geodetic coordinate system through the three-dimensional spatial coordinates of each vertex on the geometric boundary and the three-dimensional boundary of the karst area, and import the karst area treatment measures into the U3d file after animation production and bind them with the three-dimensional cave model to obtain the U3d project file;

[0013] Step 5, the U3D project file is animated on the tunnel face in the target area through mixed reality, and the karst tunnel excavation is carried out through the animated display situation.

[0014] More specifically, step 2 includes:

[0015] According to the horizontal and vertical data of the line and the current tunnel face mileage, the three-dimensional spatial coordinates of the tunnel face center point and the unit normal vector of the tunnel face are calculated;

[0016] Extract information from the geological radar interpretation map to obtain the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area;

[0017] The geodetic three-dimensional space coordinates of each vertex on the geometric boundary of the karst area are calculated according to the three-dimensional space coordinates of the center point of the tunnel face, the unit normal vector of the tunnel face and the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area.

[0018] Furthermore, information is extracted from the geological radar interpretation map to obtain the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area, including:

[0019] The geological radar interpretation map is divided into square grids with a side length of ρ, where the side length ρ is an adjustable parameter;

[0020] Each square in the square grid is sorted in sequence and then bound to a karst array, the initial value of the element corresponding to the non-karst area in the karst array is set to 0, and the initial value of the element corresponding to the karst area in the karst array is set to 1;

[0021] The array elements corresponding to all the square grids representing the same area are sequentially subjected to OR gate logic to obtain a karst union array, which is used to represent the union of karst areas in the geological radar interpretation map;

[0022] The squares corresponding to all non-zero elements in the karst union array are combined into the minimum circumscribed polygon to obtain the geometric boundary of the karst area;

[0023] Taking the center point of the tunnel face as the origin, the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area are recorded.

[0024] Furthermore, according to the three-dimensional spatial coordinates of the center point of the tunnel face, the unit normal vector of the tunnel face and the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area, the expression for calculating the geodetic three-dimensional spatial coordinates P (X, Y, Z) of each vertex on the geometric boundary of the karst area is:

[0025]

[0026] Where, (a, b, c) represents the unit normal vector of the tunnel face, (X 0 ,Y 0 ,Z 0 ) represents the three-dimensional spatial coordinates of the center point of the tunnel face, and (X', Y', Z') represents the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area.

[0027] More specifically, step 3 includes:

[0028] The geometric boundary centroid of the karst area is obtained by integrating the three-dimensional geodetic coordinates of the geometric boundary vertices.

[0029] Connect each vertex on the geometric boundary to the centroid of the geometric boundary respectively, and extend the connecting line to intersect with the geometric boundary to obtain the intersection point;

[0030] The distance between each vertex and the intersection point on the geometric boundary is taken as the barycentric axis, and the barycentric axis with the largest distance is taken as the longest barycentric axis;

[0031] The longest axis of the centroid is used as the rotation axis, and the geometric boundary is rotated through the rotation axis to form a three-dimensional boundary of the karst area. The space contained in the three-dimensional boundary of the karst area is used to characterize the karst area, and the centroid coordinates of the three-dimensional boundary of the karst area are used to characterize the center point coordinates of the karst area.

[0032] More specifically, step 4 includes:

[0033] Import the three-dimensional spatial coordinates of the geometric boundary vertices and the three-dimensional boundary of the karst area into the corresponding positions in the geodetic coordinate system in the U3d file to obtain a three-dimensional karst model in geodetic coordinates;

[0034] Generate a karst area attribute script based on the attribute information of the karst area;

[0035] Input the karst area attribute script into the U3d file to attach attribute information to the three-dimensional karst model;

[0036] Comprehensively analyze the attribute information of the karst area and the construction conditions of the target area, and sort out the disposal measures for the target area;

[0037] The treatment measures for the target area are made into animation and then imported into the U3d file, in which they are bound to the three-dimensional karst model with attribute information attached to obtain the U3d project file.

[0038] More specifically, the attribute information includes:

[0039] The rock type in the karst area, the properties of the rock formations near the karst area, the distance from the coordinates of the karst center point to the camera coordinates, the condition of weak interlayers, and the development of groundwater.

[0040] The present invention also provides a karst tunnel excavation device, comprising:

[0041] The acquisition module is used to obtain the horizontal and vertical data of the line in the target area, the current tunnel face mileage, and the geological radar interpretation map;

[0042] The extraction module is used to extract information based on the horizontal and vertical data of the line, the current tunnel face mileage, and the geological radar interpretation map to obtain the three-dimensional spatial coordinates of each vertex on the geometric boundary of the karst area;

[0043] A rotation module is used to obtain the longest axis of the center of gravity according to the three-dimensional spatial coordinates of each vertex on the geometric boundary, and rotate the geometric boundary with the longest axis of the center of gravity as the rotation axis to form a three-dimensional boundary of the karst area;

[0044] A generation module is used to generate a three-dimensional cave model in the geodetic coordinate system through the three-dimensional spatial coordinates of each vertex on the geometric boundary and the three-dimensional boundary of the karst area, and to animate the karst area treatment measures and import them into the U3d file to bind them with the three-dimensional cave model to obtain a U3d project file;

[0045] The tunneling module is used to animate the U3D project file on the tunnel face in the target area through mixed reality, and to perform karst tunneling through the animated display situation.

[0046] The present invention also provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the karst tunnel excavation method when executing the computer program.

[0047] The present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the karst tunnel excavation method is implemented.

[0048] The above scheme of the present invention has the following beneficial effects:

[0049] The present invention extracts information based on the acquired line horizontal and vertical surface data of the target area, the current face mileage, and the geological radar interpretation map, obtains the three-dimensional spatial coordinates of each vertex on the geometric boundary of the karst area to obtain the longest axis of the center of gravity, and rotates the geometric boundary with the longest axis of the center of gravity as the rotation axis to form the three-dimensional boundary of the karst area; generates a three-dimensional cave model in a geodetic coordinate system through the three-dimensional spatial coordinates of each vertex on the geometric boundary and the three-dimensional boundary of the karst area, and imports the karst area disposal measures into a U3d file after animation production to bind with the three-dimensional cave model to obtain a U3d project file; animates the U3d project file on the face of the target area through mixed reality, and excavates the karst tunnel through the animation display situation; compared with the prior art, the present invention can present the three-dimensional cave model and the karst area disposal measures that are invisible behind the construction face and potentially harmful to the construction to construction-related personnel through animation display, effectively prevents construction safety problems caused by karst collapse and groundwater influx during tunnel construction and excavation, and ensures smooth construction while protecting the life, health and safety of construction personnel.

[0050] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of a flow chart of an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of the division result of the geological interpretation map in an embodiment of the present invention;

[0053] Figure 3 A schematic diagram of the geometric boundary of a karst area in an embodiment of the present invention;

[0054] Figure 4 Schematic diagram of a square grid after processing in an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of the longest central axis of a karst area in an embodiment of the present invention;

[0056] Figure 6 is a schematic diagram of a three-dimensional karst model in an embodiment of the present invention;

[0057] Figure 7 A top view of the karst model observed by wearing MR glasses;

[0058] Figure 8 A schematic diagram of the structure of a tunnel boring device provided by an embodiment of the present invention;

[0059] Fig. 9 A schematic diagram of the structure of a terminal device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0062] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a locking connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0064] In view of the existing problems, the present invention provides a karst tunnel excavation method and related equipment.

[0065] like Figure 1 As shown, an embodiment of the present invention provides a karst tunnel excavation method, comprising:

[0066] Step 1: Obtain the horizontal and vertical data of the target area, the current tunnel face mileage, and the geological radar interpretation map;

[0067] Step 2: extract information based on the horizontal and vertical data of the line, the current tunnel face mileage, and the geological radar interpretation map to obtain the three-dimensional spatial coordinates of each vertex on the geometric boundary of the karst area;

[0068] Step 3, obtaining the longest axis of the center of gravity according to the three-dimensional spatial coordinates of each vertex on the geometric boundary, and rotating the geometric boundary with the longest axis of the center of gravity as the rotation axis to form a three-dimensional boundary of the karst area;

[0069] Step 4, generate a three-dimensional cave model in the geodetic coordinate system through the three-dimensional spatial coordinates of each vertex on the geometric boundary and the three-dimensional boundary of the karst area, and import the karst area treatment measures into the U3d file after animation production and bind them with the three-dimensional cave model to obtain the U3d project file;

[0070] Step 5, the U3D project file is animated on the tunnel face in the target area through mixed reality, and the karst tunnel excavation is carried out through the animated display situation.

[0071] Specifically, step 2 includes:

[0072] According to the horizontal and vertical data of the line and the current tunnel face mileage, the three-dimensional spatial coordinates of the tunnel face center point and the unit normal vector of the tunnel face are calculated;

[0073] Extract information from the geological radar interpretation map to obtain the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area;

[0074] The geodetic three-dimensional space coordinates of each vertex on the geometric boundary of the karst area are calculated according to the three-dimensional space coordinates of the center point of the tunnel face, the unit normal vector of the tunnel face and the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area.

[0075] In the embodiment of the present invention, the line horizontal and vertical data include line mileage, ground elevation, design elevation, slope, and geological data, wherein:

[0076] The line refers to the tunnel line, which exists in three-dimensional space and is used to describe the position and direction of the tunnel in three-dimensional space. The route includes the line plane and the line longitudinal section. The line plane describes the projection of the center line of the tunnel on the geoid. The vertical section along the sequence plane is the longitudinal section of the line. The line longitudinal section shows how the plane height of the tunnel roadbed changes with the increase of the line mileage; the line plane is composed of a series of straight lines, circular curves, and transition curves with tangent start and end points and continuous curvature, which are connected in sequence; in the process of line plane design, the coordinates of the intersection point and the radius of the circular curve and the length of the transition curve corresponding to the intersection point are usually used as the basic design parameters. The plane line shape of the line can be determined with the basic design parameters. The above basic design parameters can be used as the input data of the baseline plane line shape model to perform geometric line shape and mileage calculations to obtain the two-dimensional plane coordinates and plane azimuth of any mileage of the line plane;

[0077] The longitudinal section of the line is composed of slope sections of different lengths and slopes and vertical curves connecting adjacent slope sections. The vertical curves are usually circular arc curves. The characteristics of the slope section are represented by the slope and length. The length of the slope section is the horizontal distance between the slope change points at both ends of the slope section. The slope value is the ratio of the height difference between the slope change points at both ends of the slope section to the length of the slope section, expressed in thousandths, with positive values ​​for uphill and negative values ​​for downhill.

[0078] In the process of line longitudinal section design, the starting point elevation, vertical curve radius, slope section length and slope value are usually used as basic design parameters. The line longitudinal section alignment can be determined with the basic design parameters, which can be used as input data of the longitudinal section alignment model to perform geometric alignment and mileage calculations to obtain the elevation Z of any mileage of the line longitudinal section. 0 and the angle α between the line direction at this mileage point and the horizontal plane v ;

[0079] After the above-mentioned calculation of the geometric line shape of the horizontal and vertical planes, the three-dimensional coordinates P of any mileage point on the line can be obtained. 0 (X 0 ,Y 0 ,Z 0 ) and the resulting line unit direction vector, that is, the tunnel face unit normal vector n = (cosα v cosα,cosα v sinα,sinα v ).

[0080] The heading face is the working face where the tunnel excavation continues to advance. It is the interface between the excavated and unexcavated rock strata. For example, if the tunnel is excavated in steps and the upper excavation mileage is DK14+110, then the heading face mileage can be said to be DK14+110.

[0081] In order to facilitate ARX program processing, the geological radar interpretation map in the embodiment of the present invention is a geological image in DWG format obtained by geological radar survey and processing by professionals. The upper part of the geological radar interpretation map is the mileage range summarized by the interpretation map, the middle part is the original survey image data obtained by the geological radar, the horizontal axis is the tunnel excavation direction, the vertical axis is the left and right direction of the tunnel, and the contour line is the karst range contour obtained by professionals after analysis of the original survey data.

[0082] In the embodiment of the present invention, the method of calculating the three-dimensional spatial coordinates of the center point of the tunnel face and the unit normal vector of the tunnel face according to the horizontal and vertical surface data of the line and the current tunnel face mileage is to compile an ARX program based on the AutoCAD software platform, import the horizontal and vertical surface data of the line, input the mileage M of the current tunnel face in the line, and the program automatically calculates the geodetic three-dimensional coordinates P of the center point of the tunnel face according to the mileage M. 0 (X 0 ,Y 0 ,Z 0 ) and the unit normal vector of the face n = (a, b, c).

[0083] Specifically, information is extracted from the geological radar interpretation map to obtain the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area, including:

[0084] like Figure 2 As shown, the geological radar interpretation map is divided into square grids with a side length of ρ, where the side length ρ is an adjustable parameter;

[0085] Each square in the square grid is sorted in sequence and then bound to a karst array, the initial value of the element corresponding to the non-karst area in the karst array is set to 0, and the initial value of the element corresponding to the karst area in the karst array is set to 1;

[0086] The array elements corresponding to all the square grids representing the same area are sequentially subjected to OR gate logic to obtain a karst union array, which is used to represent the union of karst areas in the geological radar interpretation map;

[0087] like Figure 3 As shown, the squares corresponding to all non-zero elements in the karst union array are combined into the minimum circumscribed polygon to obtain the geometric boundary of the karst area;

[0088] Taking the center point of the tunnel face as the origin, the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area are recorded.

[0089] In an embodiment of the present invention, the same operation as above is performed on the address radar interpretation map obtained by other measurement methods at the same measurement height in the same area, and the array elements corresponding to all square grids representing the same area are sequentially subjected to OR gate logic to obtain a karst union array, which is used to characterize the union of karst areas in all geological radar interpretation maps; the local three-dimensional coordinates P'(X', Y', Z') of each vertex on the geometric boundary of the karst area are stored in the form of a structure array; the adjustable parameter ρ is used to adjust the accuracy of the geometric boundary of the karst area and the program running time. Increasing ρ will reduce the accuracy of the geometric boundary, but reduce the program running time; conversely, reducing ρ can improve the accuracy of the geometric boundary, but will increase the program running time. In actual production, the adjustable parameter ρ can be flexibly used according to project requirements.

[0090] Specifically, according to the three-dimensional spatial coordinates of the center point of the tunnel face, the unit normal vector of the tunnel face and the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area, the expression for calculating the geodetic three-dimensional spatial coordinates P (X, Y, Z) of each vertex on the geometric boundary of the karst area is:

[0091]

[0092] Where, (a, b, c) represents the unit normal vector of the tunnel face, (X 0 ,Y 0 ,Z 0 ) represents the three-dimensional spatial coordinates of the center point of the tunnel face, and (X', Y', Z') represents the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area.

[0093] Specifically, step 3 includes:

[0094] The geometric boundary centroid of the karst area is obtained by integrating the three-dimensional geodetic coordinates of the geometric boundary vertices.

[0095] Connect each vertex on the geometric boundary to the centroid of the geometric boundary respectively, and extend the connecting line to intersect with the geometric boundary to obtain the intersection point;

[0096] The distance between each vertex and the intersection point on the geometric boundary is taken as the barycentric axis, and the barycentric axis with the largest distance is taken as the longest barycentric axis;

[0097] The longest axis of the centroid is used as the rotation axis, and the geometric boundary is rotated through the rotation axis to form a three-dimensional boundary of the karst area. The space contained in the three-dimensional boundary of the karst area is used to characterize the karst area, and the centroid coordinates of the three-dimensional boundary of the karst area are used to characterize the center point coordinates of the karst area.

[0098] In the embodiment of the present invention, the geodetic three-dimensional coordinates of the vertex of the geometric boundary at a certain measured height in the karst area are calculated by integral calculation to obtain the center of gravity of the geometric boundary, which is set as point O, and its geodetic three-dimensional coordinates are O(X O ,Y O ,Z O ); Every vertex P on the geometric boundary i Connect to the centroid O and extend to intersect with the geometric boundary at point P' i The embodiment of the present invention records the distances P from all vertices to the intersection points in the form of an array. i P' i , and solve the maximum value of the array to obtain the longest axis AX of the center of gravity, such as Figure 4 As shown in the figure; take the longest axis AX of the center of gravity as the rotation axis, rotate the geometric boundary, and the closed geometric boundary will form a closed surface, which is the three-dimensional boundary of the karst area. The space contained in this three-dimensional boundary represents the area where the karst is located, and its center of gravity coordinates are used as its center coordinates to represent its spatial location, as shown in the figure. Figure 5 shown.

[0099] In the embodiment of the present invention, if conditions permit, there may be multiple measurement lines for multi-height measurement, and the measurement process is as follows:

[0100] If multiple measuring heights are used to measure the target area, the above steps are applied to different measuring heights in turn to obtain the corresponding closed surfaces at different measuring heights and the center of gravity O corresponding to each closed surface. 1 , O 2 , O 3 ,…,O n ;

[0101] Integrate the barycentric coordinates of all closed surfaces to obtain the overall barycentric coordinates O0 ;

[0102] The union of all the closed surfaces obtained is calculated, and the outermost closed surface of the obtained surface union is the three-dimensional boundary of the karst area, with its overall centroid coordinates O 0 As the coordinates of its center point, it represents its spatial location;

[0103] The 3D boundary and its position in the world coordinate system are stored in the FBX file format.

[0104] Specifically, step 4 includes:

[0105] Import the three-dimensional spatial coordinates of the geometric boundary vertices and the three-dimensional boundary of the karst area into the corresponding positions in the geodetic coordinate system in the U3d file to obtain a three-dimensional karst model in geodetic coordinates;

[0106] Generate a karst area attribute script based on the attribute information of the karst area;

[0107] Input the karst area attribute script into the U3d file to attach attribute information to the three-dimensional karst model;

[0108] Comprehensively analyze the attribute information of the karst area and the construction conditions of the target area, and sort out the disposal measures for the target area;

[0109] The treatment measures for the target area are made into animation and then imported into the U3d file, in which they are bound to the three-dimensional karst model with attribute information attached to obtain the U3d project file.

[0110] In the embodiment of the present invention, the three-dimensional boundary of the karst area obtained in the above steps is a FBX format file. First, the FBX file is imported into the corresponding position in the geodetic coordinate system of the U3d file to obtain a three-dimensional karst model in the geodetic coordinate system, such as Figure 6 As shown; then enter various attribute information of the karst area in the ARX program, and a target karst area attribute script will be automatically output. The specific process is as follows:

[0111] In the U3d file, the corresponding attribute script is bound to the karst area, and the attribute information contained in the script will be automatically attached to the three-dimensional karst model. At the observation time, choose to display detailed information in the form of a dialog box, including but not limited to: the type of rock layer in the karst area, the attributes of the rock layers near the karst area, the distance from the karst center point coordinates to the camera coordinates, the weak interlayer situation, the groundwater development situation, etc.; Next, based on the comprehensive attribute information of the karst area and the actual production conditions, experts will give treatment measures for the target karst area based on experience, and make animations, and then import the animations into the U3d file and bind them to the three-dimensional karst model to obtain the U3d project file; finally, import the prepared U3d project file into the MR headset in the U3d project file. At this time, the virtual three-dimensional karst model and its attribute information can be observed by turning on the headset, but they have not yet been placed in the correct position in the display environment.

[0112] Specifically, step 5 includes:

[0113] Before entering the tunnel construction, the project manager uses mixed display to show the construction workers the karst state, danger level and treatment measures that may be encountered after the current face excavation.

[0114] After entering the tunnel working face, first use the control network in the tunnel to place the total station at a suitable control point near the tunnel face. At this time, the world coordinates of the total station can be known from the control point information;

[0115] A positioning beacon of the MR model is set at an appropriate position near the tunnel face, and the three-dimensional coordinates of the positioning point M are located by the total station;

[0116] Set the world coordinates of the MR positioning beacon to the world coordinates of the positioning point M, and place the positioning beacon at point M. The direction of the positioning beacon is perpendicular to the tunnel face. At this time, the positioning beacon includes two pieces of information: coordinates and direction.

[0117] After placing the positioning beacon, wear the MR glasses, which will determine its own 3D coordinates and orientation in the world through the positioning beacon, and load the virtual model to the correct position;

[0118] After completing the above steps, you can see the virtual karst state and its related attribute information at the correct position on the tunnel face in real time, such as Figure 7 As shown, the construction party uses the handle to query relevant information such as the distance of the karst from the tunnel face, the karst morphology, the degree of danger, precautions, and disposal measures to know the construction party to take various measures to ensure the construction progress and ensure the safety of personnel.

[0119] The embodiment of the present invention extracts information based on the acquired line horizontal and vertical surface data of the target area, the current tunnel face mileage, and the geological radar interpretation map, obtains the three-dimensional spatial coordinates of each vertex on the geometric boundary of the karst area to obtain the longest axis of the center of gravity, and rotates the geometric boundary with the longest axis of the center of gravity as the rotation axis to form the three-dimensional boundary of the karst area; generates a three-dimensional cave model in the geodetic coordinate system through the three-dimensional spatial coordinates of each vertex on the geometric boundary and the three-dimensional boundary of the karst area, and imports the karst area treatment measures into the U3d file after animation production and binds them with the three-dimensional cave model to obtain the U3d project file; animates the U3d project file on the tunnel face of the target area through mixed reality, and excavates the karst tunnel through the animation display situation; compared with the prior art, the embodiment of the present invention can present the three-dimensional cave model and the karst area treatment measures that are invisible behind the construction tunnel face and potentially harmful to the construction to the construction-related personnel through animation display, effectively prevents the construction safety problems caused by karst collapse and groundwater influx during tunnel construction and excavation, and ensures the smooth progress of the construction while protecting the life, health and safety of the construction personnel.

[0120] The embodiment of the present invention also provides a karst tunnel excavation device, such as Figure 8 As shown, the karst tunnel boring device 100 comprises:

[0121] The acquisition module 101 is used to acquire the horizontal and vertical data of the line in the target area, the current tunnel face mileage, and the geological radar interpretation map;

[0122] Extraction module 102, used to extract information based on the line horizontal and vertical data, the current tunnel face mileage, and the geological radar interpretation map to obtain the three-dimensional spatial coordinates of each vertex on the geometric boundary of the karst area;

[0123] A rotation module 103 is used to obtain the longest axis of the center of gravity according to the three-dimensional spatial coordinates of each vertex on the geometric boundary, and rotate the geometric boundary with the longest axis of the center of gravity as the rotation axis to form a three-dimensional boundary of the karst area;

[0124] The generating module 104 is used to generate a three-dimensional cave model in a geodetic coordinate system through the three-dimensional spatial coordinates of each vertex on the geometric boundary and the three-dimensional boundary of the karst area, and to animate the karst area treatment measures and import them into a U3d file to bind them with the three-dimensional cave model to obtain a U3d project file;

[0125] The tunneling module 105 is used to animate the U3d project file on the tunnel face of the target area through mixed reality, and to perform karst tunneling through the animated display situation.

[0126] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0127] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0128] An embodiment of the present invention further provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a karst tunnel excavation method when executing the computer program.

[0129] like Fig. 9 As shown, the terminal device D10 of this embodiment includes: at least one processor D100 ( Fig. 9 Only one processor is shown in the figure), a memory D101, and a computer program D102 stored in the memory D101 and executable on the at least one processor D100, wherein the processor D100 implements the steps in any of the above-mentioned method embodiments when executing the computer program D102. Alternatively, the processor D100 implements the functions of each module / unit in the above-mentioned device embodiments when executing the computer program D102.

[0130] The terminal device D10 may be a computing device such as a desktop computer, a notebook, a PDA, a server, a server cluster, a cloud server, etc. The terminal device may include, but is not limited to, a processor D100 and a memory D101. Those skilled in the art will appreciate that Fig. 9 This is only an example of the terminal device D10 and does not constitute a limitation on the terminal device D10. The terminal device D10 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0131] The processor D100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0132] In some embodiments, the memory D101 may be an internal storage unit of the terminal device D10, such as a hard disk or memory of the terminal device D10. In other embodiments, the memory D101 may also be an external storage device of the terminal device D10, such as a plug-in hard disk, a smart memory card (SMC, SmartMedia Card), a secure digital (SD, Secure Digital) card, a flash card (Flash Card), etc. equipped on the terminal device D10. Further, the memory D101 may also include both an internal storage unit of the terminal device D10 and an external storage device. The memory D101 is used to store an operating system, an application program, a boot loader (BootLoader), data and other programs, such as the program code of the computer program, etc. The memory D101 may also be used to temporarily store data that has been output or is to be output.

[0133] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0134] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0135] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the karst tunnel excavation method is implemented.

[0136] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the construction device / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0137] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A karst tunnel excavation method, characterized in that: include: Step 1: Obtain the horizontal and vertical data of the target area, the current tunnel face mileage, and the geological radar interpretation map; Step 2, extracting information based on the horizontal and vertical data of the line, the current tunnel face mileage, and the geological radar interpretation map to obtain the three-dimensional spatial coordinates of each vertex on the geometric boundary of the karst area; Step 3, obtaining the longest axis of the center of gravity according to the three-dimensional spatial coordinates of each vertex on the geometric boundary, and rotating the geometric boundary with the longest axis of the center of gravity as the rotation axis to form a three-dimensional boundary of the karst area; Step 4, generating a three-dimensional cave model in a geodetic coordinate system through the three-dimensional spatial coordinates of each vertex on the geometric boundary and the three-dimensional boundary of the karst area, and animating the karst area treatment measures and importing them into a U3d file to bind them with the three-dimensional cave model to obtain a U3d project file; Step 5: Animating the U3D project file on the tunnel face in the target area through mixed reality, and performing karst tunnel excavation through the animation display.

2. The karst tunnel excavation method according to claim 1, characterized in that: The step 2 comprises: Calculate the three-dimensional spatial coordinates of the center point of the tunnel face and the unit normal vector of the tunnel face according to the line horizontal and vertical data and the current tunnel face mileage; Extracting information from the geological radar interpretation image to obtain local three-dimensional coordinates of each vertex on the geometric boundary of the karst area; The geodetic three-dimensional space coordinates of each vertex on the geometric boundary of the karst area are calculated according to the three-dimensional space coordinates of the center point of the tunnel face, the unit normal vector of the tunnel face and the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area.

3. The karst tunnel excavation method according to claim 2, characterized in that: Information is extracted from the geological radar interpretation map to obtain the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area, including: Divide the geological radar interpretation map into square grids with a side length of ρ, where the side length ρ is an adjustable parameter; Each square in the square grid is sorted in sequence and then bound to a karst array, wherein the initial values ​​of the elements corresponding to the non-karst area in the karst array are set to 0, and the initial values ​​of the elements corresponding to the karst area in the karst array are set to 1; The array elements corresponding to all the square grids representing the same area are sequentially subjected to OR gate logic to obtain a karst union array, wherein the karst union array is used to represent the union of the karst areas in the geological radar interpretation map; Combining the squares corresponding to all non-zero elements in the karst union array into a minimum circumscribed polygon to obtain a geometric boundary of the karst area; Taking the center point of the tunnel face as the origin, the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area are recorded.

4. The karst tunnel excavation method according to claim 3, characterized in that: According to the three-dimensional spatial coordinates of the center point of the tunnel face, the unit normal vector of the tunnel face and the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area, the expression for calculating the geodetic three-dimensional spatial coordinates P (X, Y, Z) of each vertex on the geometric boundary of the karst area is: Among them, (a, b, c) represents the unit normal vector of the tunnel face, (X0, Y0, Z0) represents the three-dimensional spatial coordinates of the center point of the tunnel face, and (X', Y', Z') represents the local three-dimensional coordinates of each vertex on the geometric boundary of the karst area.

5. The karst tunnel excavation method according to claim 4, characterized in that: The step 3 comprises: The geometric boundary centroid of the karst area is obtained by integrating the geodetic three-dimensional space coordinates of the vertices of the geometric boundary; Connecting each vertex on the geometric boundary to the centroid of the geometric boundary respectively, and extending the connecting line to intersect with the geometric boundary to obtain an intersection point; The distance between each vertex on the geometric boundary and the intersection point is taken as the barycentric axis, and the barycentric axis with the largest distance is taken as the longest barycentric axis; The longest axis of the center of gravity is used as the rotation axis, and the geometric boundary is rotated through the rotation axis to form a three-dimensional boundary of the karst area. The space contained in the three-dimensional boundary of the karst area is used to characterize the karst area, and the center of gravity coordinates of the three-dimensional boundary of the karst area are used to characterize the center point coordinates of the karst area.

6. The karst tunnel excavation method according to claim 5, characterized in that: The step 4 comprises: Importing the three-dimensional spatial coordinates of the geometric boundary vertices and the three-dimensional boundary of the karst area into corresponding positions in the geodetic coordinate system in the U3d file to obtain a three-dimensional karst model in the geodetic coordinate system; Generate a karst area attribute script based on the attribute information of the karst area; Inputting the karst area attribute script into the U3d file to attach attribute information to the three-dimensional karst model; Combining the attribute information of the karst area and the construction conditions of the target area, sorting out the disposal measures for the target area; The treatment measures for the target area are made into animation and then imported into a U3d file, and bound to the three-dimensional karst model with attribute information attached in the U3d file to obtain a U3d project file.

7. The karst tunnel excavation method according to claim 6, characterized in that: The attribute information includes: The rock type in the karst area, the properties of the rock formations near the karst area, the distance from the coordinates of the karst center point to the camera coordinates, the condition of weak interlayers, and the development of groundwater.

8. A karst tunnel boring device, characterized in that: include: The acquisition module is used to obtain the horizontal and vertical data of the line in the target area, the current tunnel face mileage, and the geological radar interpretation map; An extraction module is used to extract information based on the horizontal and vertical data of the line, the current tunnel face mileage, and the geological radar interpretation map to obtain the three-dimensional spatial coordinates of each vertex on the geometric boundary of the karst area; A rotation module, used for obtaining the longest axis of the center of gravity according to the three-dimensional spatial coordinates of each vertex on the geometric boundary, and rotating the geometric boundary with the longest axis of the center of gravity as the rotation axis to form a three-dimensional boundary of the karst area; A generation module, used for generating a three-dimensional cave model in a geodetic coordinate system through the three-dimensional spatial coordinates of each vertex on the geometric boundary and the three-dimensional boundary of the karst area, and importing the karst area treatment measures into a U3d file after animation production to bind with the three-dimensional cave model to obtain a U3d project file; The excavation module is used to animate the U3d project file on the tunnel face of the target area through mixed reality, and to excavate the karst tunnel through the animation display.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the karst tunnel excavation method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the karst tunnel excavation method according to any one of claims 1 to 7 is implemented.

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