Tunneling equipment back break control system and method based on three-dimensional laser scanning

Abstract

The invention provides a tunneling equipment back break control system and method based on three-dimensional laser scanning, and relates to the technical field of intelligent control, and the method comprises the following steps: respectively fixedly installing three positioning targets at different positions, which are not shielded, of the top, the left side wall and the right side wall of a roadway, determining the reference position of an explosion-proof total station, respectively measuring the three targets by using the total station, and determining the position of the explosion-proof total station; absolute coordinate information is obtained; respectively measuring the three positioning targets by using an airborne three-dimensional laser scanner, manually inputting coordinate data of the targets, and determining coordinate information of the three-dimensional scanner according to coordinate information of three different position points in a space; the airborne three-dimensional laser scanner is started to complete three-dimensional scanning of a rear excavated roadway, and the industrial personal computer connected with the scanner receives scanning data transmitted by the scanner; through processing the scanning data and combining with the existing roadway design data, roadway back-break information is obtained, and the roadway back-break information is sent to a tunneling equipment controller. Over-break and under-break conditions can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an over-break and under-break control method for tunneling equipment based on three-dimensional laser scanning. Background Art

[0002] In underground engineering and mining operations, tunneling equipment plays a vital role, especially in the excavation of various tunnels and roadways. However, for a long time, the control of tunneling accuracy has mainly relied on traditional manual measurement methods, such as using a tape measure to conduct field measurements to obtain over-excavation and under-excavation data of the roadway. Although this method is simple and easy to implement, it is inefficient and limited by human factors and the accuracy of the measuring tools.

[0003] More importantly, this conventional manual measurement method cannot be effectively integrated with the automatic cutting system of the tunnel boring machine. During operation, the tunnel boring machine needs real-time and accurate data to guide its cutting path and depth to achieve precise tunneling. However, the traditional manual measurement method cannot provide such data support, resulting in the tunnel boring machine's automatic cutting system being unable to fully utilize its automatic control function. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an over-break and under-break control method for tunneling equipment based on three-dimensional laser scanning, which can reduce the occurrence of over-break and under-break.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, a method for controlling overbreak and underbreak of tunneling equipment based on three-dimensional laser scanning comprises:

[0007] Step 1: Target positioning: three positioning targets are fixedly installed at different positions on the top of the tunnel and the left and right sides where they are not blocked, the reference position of the explosion-proof total station is determined, and the three targets are measured with the total station to obtain their absolute coordinate information;

[0008] Step 2: Scanner positioning: Use the airborne 3D laser scanner to measure three positioning targets respectively, and manually input the coordinate data of the targets. The coordinate information of the 3D scanner is determined by the coordinate information of three different positions in space.

[0009] Step 3: Scanning and point cloud data processing: Start the airborne 3D laser scanner to complete the 3D scanning of the excavated tunnel behind, and the industrial computer connected to the scanner receives the scanning data transmitted by the scanner;

[0010] Step 4, by processing the scanned data and combining it with the existing tunnel design data, the tunnel over-break and under-break information is obtained, and the tunnel over-break and under-break information is sent to the tunneling equipment controller;

[0011] Step 5: Automatic cutting and over-break and under-break control. The excavation equipment controller receives the over-break and under-break information, makes certain adjustments to the original control strategy, corrects the travel path and cutting method, so as to achieve accurate cutting in the next cutting cycle.

[0012] Step 6: Remote 3D imaging display. The centralized control center located at the rear of the tunnel receives the point cloud data sent by the 3D scanning system through the working face communication system. The explosion-proof computer processes the data, performs 3D modeling and 3D imaging, and realizes 3D real-life imaging of the excavated tunnel.

[0013] Step 7. After completing step 5 above, the excavation equipment continues to move forward and cut. After completing a certain distance of excavation, the 3D scanner is started, the target is re-measured and positioned to achieve its own positioning, and a new round of scanning is performed; subsequently, when the 3D scanner is more than 30 meters away from the positioning target, the target is moved forward and the absolute coordinates of the target are re-positioned.

[0014] Further, target positioning, three positioning targets are fixedly installed at different positions on the top of the tunnel and the left and right sides where they are not blocked, the reference position of the explosion-proof total station is determined, and the three targets are measured by the total station to obtain their absolute coordinate information, including:

[0015] The position at the top of the tunnel is used as the installation point for the first positioning target; a position on the left side of the tunnel that is not on the same vertical line as the top target is selected as the installation point for the second positioning target; a position on the right side of the tunnel corresponding to the left target is selected as the installation point for the third positioning target;

[0016] Use expansion bolts to install three positioning targets at selected positions, and select a position in the tunnel as the reference point of the explosion-proof total station;

[0017] Turn on the explosion-proof total station and perform initialization settings. Aim the total station at the first positioning target, aim through the telescope and display screen on the instrument, and record the absolute coordinate information of the target, including the X, Y, and Z coordinate values; aim at the second and third positioning targets in turn, repeat the above measurement process, and record their corresponding absolute coordinate information respectively.

[0018] Further, the scanner is positioned, and three positioning targets are measured respectively by using an airborne 3D laser scanner, and the coordinate data of the targets are manually input, and the coordinate information of the 3D scanner is determined by the coordinate information of three different positions in space, including:

[0019] Operate the excavation equipment or adjust the angle of the scanner to align it with the first positioning target, start the measurement function of the scanner, perform three-dimensional coordinate measurement of the first positioning target, and record the measurement data of the first positioning target; align it with the second and third positioning targets in turn, repeat the above measurement process, and record the corresponding measurement data respectively.

[0020] In the scanner control interface, find the target coordinate data input function option, and manually input the absolute coordinate information of the three positioning targets previously measured by the total station;

[0021] The scanner's internal processing algorithm is used to combine the manually input target coordinate data and the scanner's own measurement data to perform coordinate system matching and conversion calculations; the exact position and posture of the 3D scanner in the current lane coordinate system is determined through the coordinate information at three different points in space.

[0022] Furthermore, the processing algorithm inside the scanner is used to combine the manually input target coordinate data and the scanner's own measurement data to perform coordinate system matching and conversion calculations; the exact position and posture of the 3D scanner in the current lane coordinate system is determined through the coordinate information of three different points in space, including:

[0023] Receive the absolute coordinate data of three positioning targets transmitted from the total station;

[0024] Measure the three positioning targets, obtain the coordinate data of each target in the scanner coordinate system, compare each measured target data with the previously stored absolute coordinate data, and automatically pair them through the feature matching algorithm. After successful pairing, associate the measured data of each target with the corresponding absolute coordinate data to form a data pair;

[0025] Using the paired data pairs as input, the transformation relationship between the scanner coordinate system and the lane coordinate system is calculated through the least squares optimization algorithm, that is, the rotation matrix and translation vector are solved;

[0026] The translation vector in the transformation relationship is used as the position of the scanner in the roadway coordinate system, and the posture information of the scanner is extracted from the calculated rotation matrix;

[0027] The rotation matrix is ​​decomposed into pitch angle, yaw angle and roll angle through Euler angle transformation. The pitch angle, yaw angle and roll angle are the orientation and tilt state of the scanner relative to the roadway coordinate system.

[0028] Further, the three positioning targets are measured to obtain the coordinate data of each target in the scanner coordinate system, and each measured target data is compared with the previously stored absolute coordinate data, and automatically paired through the feature matching algorithm. After the pairing is successful, the measurement data of each target is associated with the corresponding absolute coordinate data to form a data pair, including:

[0029] Align the three positioning targets in sequence so that each target is within the measurement range of the scanner;

[0030] Measure the three-dimensional coordinates of each target and record the coordinate data (X s , Y s , Z s ), coordinate data (X s , Y s , Z s ) includes three-dimensional position information of the target relative to the scanner origin;

[0031] Read the absolute coordinate data of the three positioning targets (X w , Y w , Z w ), absolute coordinate data (X w , Y w , Z w ) represents the position of the target in the roadway coordinate system;

[0032] Analyze the characteristics between each measured target data and all stored absolute coordinate data, the characteristics include distance, angle or shape;

[0033] By calculating the similarity score between the two sets of data, the corresponding matching target pairs are obtained;

[0034] If the pairing is successful, each measured target data is associated with the corresponding absolute coordinate data, that is, the coordinates (X s , Y s , Z s ) and its coordinates in the roadway coordinate system (X w , Y w , Z w ) to establish a corresponding relationship between them.

[0035] Further, scanning and point cloud data processing, start the airborne 3D laser scanner, complete the 3D scanning of the excavated tunnel behind, and the industrial computer connected to the scanner receives the scanning data transmitted by the scanner, including:

[0036] Aim the scanner at the excavated tunnel behind so that the scanning area completely covers the target tunnel and start 3D scanning;

[0037] When the scanner completes the scan, the data is transmitted to the industrial computer via the wireless network;

[0038] The industrial computer pre-processes the point cloud data to obtain pre-processed point cloud data;

[0039] The preprocessed point cloud data are segmented, classified and recognized to extract the features and structural information inside the tunnel.

[0040] Furthermore, by processing the scanned data and combining it with the existing tunnel design data, the tunnel over-break and under-break information is obtained, and the tunnel over-break and under-break information is sent to the tunneling equipment controller, including:

[0041] Register and calibrate the point cloud data, and perform 3D reconstruction on the point cloud data to generate an actual 3D model of the roadway;

[0042] Obtain the design data of the tunnel, including the theoretical shape, size and location of the tunnel; align and compare the design data with the scanned 3D model of the actual tunnel to detect over-break and under-break areas of the tunnel;

[0043] Quantitatively analyze the over-break and under-break areas and calculate the volume, area and specific location of the over-break and under-break areas;

[0044] Extract the volume, area and specific location of overbreak and underbreak to obtain key information, including the location, size and severity of overbreak and underbreak;

[0045] The key information is encoded and packaged in a format acceptable to the tunneling equipment controller, and the packaged over-excavation and under-excavation information is sent to the tunneling equipment controller via a wired connection.

[0046] In the second aspect, a tunneling equipment overbreak and underbreak control system based on three-dimensional laser scanning comprises:

[0047] The airborne 3D laser scanning subsystem is used to perform 3D scanning of the excavated tunnels. By processing and analyzing the scanned point cloud data and combining it with the tunnel design data, the over-excavation and under-excavation information of the excavated tunnels can be obtained.

[0048] The tunneling equipment automatic cutting and over-break and under-break control subsystem is used to receive the over-break and under-break information sent by the airborne three-dimensional laser scanning subsystem, adjust the control strategy according to the over-break and under-break information, and control the tunneling equipment to perform automatic cutting through the solenoid valve group;

[0049] A remote three-dimensional imaging display subsystem, used for remotely displaying the three-dimensional image of the tunnel and the over-break and under-break information scanned by the airborne three-dimensional laser scanning subsystem;

[0050] The communication module is used to realize data communication among the airborne three-dimensional laser scanning subsystem, the tunneling equipment automatic cutting and over-under excavation control subsystem and the remote three-dimensional imaging display subsystem.

[0051] Furthermore, the airborne 3D laser scanning subsystem includes an explosion-proof airborne 3D laser scanner, an explosion-proof total station, a positioning target, an industrial control computer, a display screen, a remote control receiver and a remote control transmitter; wherein the explosion-proof airborne 3D laser scanner is fixedly installed at a higher and flatter position of the tunneling equipment, facing the excavated tunnel at the rear, and is used to perform 3D scanning on the excavated tunnel to obtain point cloud data of the tunnel; the industrial control computer is used to receive and process the point cloud data scanned by the explosion-proof airborne 3D laser scanner, and obtain the over-excavation and under-excavation information of the excavated tunnel through comparison and analysis in combination with the tunnel design data;

[0052] Furthermore, the automatic cutting and over-break and under-break control subsystem of the tunneling equipment includes a controller, an ultrasonic radar, a millimeter-wave radar, a sensor system, an electromagnetic valve group and automatic cutting control software; wherein the controller is used to receive the position and distance information transmitted by the ultrasonic radar, the millimeter-wave radar and the sensor system, and receive the over-break and under-break information transmitted by the airborne three-dimensional laser scanning subsystem, and adjust the control strategy according to the over-break and under-break information, and control the tunneling equipment to perform automatic cutting through the electromagnetic valve group;

[0053] The remote three-dimensional imaging display subsystem includes a control room, an explosion-proof computer, a display screen and an operation panel; wherein the explosion-proof computer is used to receive and process the three-dimensional images and over-excavation and under-excavation information of the tunnel sent by the airborne three-dimensional laser scanning subsystem, and display them through the display screen.

[0054] According to a third aspect, a computing device includes:

[0055] one or more processors;

[0056] The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method described.

[0057] In a fourth aspect, a computer-readable storage medium stores a program, and when the program is executed by a processor, the method described is implemented.

[0058] The above scheme of the present invention includes at least the following beneficial effects.

[0059] By fixing the positioning targets at different positions on the top and side of the tunnel and using an explosion-proof total station for measurement, the absolute coordinate information of these targets can be accurately obtained.

[0060] The onboard 3D laser scanner is used to measure the positioning target, and combined with the manually input target coordinate data, the scanner's own coordinate information can be accurately determined. This helps to accurately map the scan results to the actual space of the tunnel, thereby achieving accurate capture and analysis of the tunnel morphology.

[0061] The airborne 3D laser scanner is started to perform 3D scanning on the excavated tunnel behind, which can quickly obtain the point cloud data of the tunnel surface. These data can reflect the actual shape and characteristics of the tunnel in detail, providing a rich data basis for subsequent over-excavation and under-excavation analysis. At the same time, through the connection with the industrial computer, the scanned data can be processed and transmitted in real time, improving the efficiency and accuracy of data processing.

[0062] By processing the scanned data and combining it with the tunnel design data, the tunnel overbreak and underbreak information can be accurately obtained. This information is of great significance for evaluating the tunneling quality and adjusting the tunneling strategy. Sending the overbreak and underbreak information to the tunneling equipment controller can realize real-time monitoring and adjustment of the tunneling process, thereby improving the accuracy and efficiency of tunneling.

[0063] The excavation equipment controller adjusts the original control strategy based on the received over-break and under-break information, and can correct the travel path and cutting method to achieve more accurate cutting. This helps to reduce the occurrence of over-break and under-break, and improve the stability and safety of the tunnel. At the same time, automated control can also reduce human intervention, reduce operational difficulty and labor intensity.

[0064] By receiving and processing the point cloud data sent by the 3D scanning system at the centralized control center, 3D real-scene imaging of the excavated tunnel can be achieved, which helps remote monitoring and management personnel to intuitively understand the actual condition of the tunnel.

[0065] After completing a certain distance of excavation, restart the 3D scanner for a new round of scanning to continuously monitor the morphological changes of the tunnel. When the scanner is more than a certain distance away from the positioning target, the target is moved forward in time and its absolute coordinates are repositioned to ensure the continuity and accuracy of the scan. This helps to promptly discover and deal with problems in the excavation process and ensure the smooth progress of the project. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a schematic diagram of an over-break and under-break control system of tunneling equipment based on three-dimensional laser scanning provided by an embodiment of the present invention.

[0067] Figure 2 It is a schematic diagram of the three-dimensional laser scanning and over-break and under-break control process provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0068] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0069] like Figure 2 As shown, an embodiment of the present invention provides an over-break and under-break control system for tunneling equipment based on three-dimensional laser scanning, comprising:

[0070] Step 1: Target positioning: three positioning targets are fixedly installed at different positions on the top of the tunnel and the left and right sides where they are not blocked, the reference position of the explosion-proof total station is determined, and the three targets are measured with the total station to obtain their absolute coordinate information;

[0071] Step 2: Scanner positioning: Use the airborne 3D laser scanner to measure three positioning targets respectively, and manually input the coordinate data of the targets. The coordinate information of the 3D scanner is determined by the coordinate information of three different positions in space.

[0072] Step 3: Scanning and point cloud data processing: Start the airborne 3D laser scanner to complete the 3D scanning of the excavated tunnel behind, and the industrial computer connected to the scanner receives the scanning data transmitted by the scanner;

[0073] Step 4, by processing the scanned data and combining it with the existing tunnel design data, the tunnel over-break and under-break information is obtained, and the tunnel over-break and under-break information is sent to the tunneling equipment controller;

[0074] Step 5: Automatic cutting and over-break and under-break control. The excavation equipment controller receives the over-break and under-break information, makes certain adjustments to the original control strategy, corrects the travel path and cutting method, so as to achieve accurate cutting in the next cutting cycle.

[0075] Step 6: Remote 3D imaging display. The centralized control center located at the rear of the tunnel receives the point cloud data sent by the 3D scanning system through the working face communication system. The explosion-proof computer processes the data, performs 3D modeling and 3D imaging, and realizes 3D real-life imaging of the excavated tunnel.

[0076] Step 7. After completing step 5 above, the excavation equipment continues to move forward and cut. After completing a certain distance of excavation, the 3D scanner is started, the target is re-measured and positioned to achieve its own positioning, and a new round of scanning is performed; subsequently, when the 3D scanner is more than 30 meters away from the positioning target, the target is moved forward and the absolute coordinates of the target are re-positioned.

[0077] In an embodiment of the present invention, by fixing the positioning targets at different positions on the top and side of the tunnel and using an explosion-proof total station for measurement, the absolute coordinate information of these targets can be accurately obtained. By using an airborne three-dimensional laser scanner to measure the positioning targets and combining the manually input target coordinate data, the coordinate information of the scanner itself can be accurately determined. This helps to accurately map the scanning results to the actual space of the tunnel, thereby achieving accurate capture and analysis of the tunnel morphology. By starting the airborne three-dimensional laser scanner to perform a three-dimensional scan of the tunnel that has been excavated in the rear, point cloud data on the tunnel surface can be quickly obtained. These data can reflect the actual morphology and characteristics of the tunnel in detail, providing a rich data basis for subsequent over-excavation and under-excavation analysis. At the same time, through the connection with the industrial computer, the scanning data can be processed and transmitted in real time, improving the efficiency and accuracy of data processing. By processing the scanning data and combining it with the tunnel design data, the over-excavation and under-excavation information of the tunnel can be accurately obtained. This information is of great significance for evaluating the excavation quality and adjusting the excavation strategy. Sending over-break and under-break information to the tunneling equipment controller can realize real-time monitoring and adjustment of the tunneling process, thereby improving the accuracy and efficiency of tunneling. The tunneling equipment controller adjusts the original control strategy according to the received over-break and under-break information, and can correct the walking path and cutting method to achieve more accurate cutting. This helps to reduce the occurrence of over-break and under-break, and improve the stability and safety of the tunnel. At the same time, automated control can also reduce human intervention, reduce the difficulty of operation and labor intensity. By receiving and processing the point cloud data sent by the 3D scanning system through the centralized control center, the 3D real-life imaging of the excavated tunnel can be realized, which helps remote monitoring and management personnel to intuitively understand the actual situation of the tunnel. After completing a certain distance of tunneling, restarting the 3D scanner for a new round of scanning can continuously monitor the morphological changes of the tunnel. When the scanner is more than a certain distance away from the positioning target, the target is moved forward in time and its absolute coordinates are repositioned to ensure the continuity and accuracy of the scan. This helps to timely discover and deal with problems in the tunneling process and ensure the smooth progress of the project.

[0078] In the embodiment of the present invention, target positioning is performed by fixing three positioning targets at different positions on the top of the tunnel and the left and right sides where they are not blocked, determining the reference position of the explosion-proof total station, and using the total station to measure the three targets respectively to obtain their absolute coordinate information, including:

[0079] The position at the top of the tunnel is used as the installation point for the first positioning target; a position on the left side of the tunnel that is not on the same vertical line as the top target is selected as the installation point for the second positioning target; a position on the right side of the tunnel corresponding to the left target is selected as the installation point for the third positioning target;

[0080] Use expansion bolts to install three positioning targets at selected positions, and select a position in the tunnel as the reference point of the explosion-proof total station;

[0081] Turn on the explosion-proof total station and perform initialization settings. Aim the total station at the first positioning target, aim through the telescope and display screen on the instrument, and record the absolute coordinate information of the target, including the X, Y, and Z coordinate values; aim at the second and third positioning targets in turn, repeat the above measurement process, and record their corresponding absolute coordinate information respectively.

[0082] In an embodiment of the present invention, by installing positioning targets at unobstructed positions on the top and left and right sides of the tunnel, it is possible to ensure that these targets form a stable reference frame in three-dimensional space. This layout contributes to the accuracy of subsequent measurement operations because the positions of the targets are fixed and known and can be used as reference points for measurement. By using an explosion-proof total station to measure the three positioning targets separately, their absolute coordinate information can be quickly obtained. This method is more efficient than traditional measurement methods because it reduces the need to move and calibrate the instrument multiple times, thereby saving time and reducing the complexity of operation. By recording the X, Y, and Z coordinate values ​​of each positioning target, a complete and accurate set of three-dimensional coordinate data can be obtained. These data are crucial for subsequent scanning, modeling, and analysis because they directly affect the accuracy and reliability of the entire control method. The use of expansion bolts ensures that the positioning targets can be firmly installed in the selected position and remain stable even in complex tunnel environments. This stability is crucial for long-term monitoring and multiple measurements because it reduces data errors caused by target movement or damage. The use of explosion-proof total stations for measurement meets the high requirements for equipment safety in underground engineering. This instrument can work safely in potentially explosive environments, thus protecting the lives of operators and ensuring the smooth progress of measurement operations.

[0083] In order to achieve more accurate positioning when determining the installation point of the positioning target, a genetic algorithm can be introduced to optimize the selection of the best installation position and search for the optimal solution to the problem by simulating the evolution of the population. The following is the specific implementation process of determining the best installation point of the positioning target in combination with a genetic algorithm:

[0084] Use real number coding or integer coding to represent the possible installation positions of the target; randomly generate a certain number of individuals (i.e., combinations of target installation positions) as the initial population; define a fitness function to evaluate the quality of each individual (i.e., each group of target installation positions);

[0085] The fitness value of each individual is calculated according to the fitness function, and the roulette wheel selection method is used to select excellent individuals to enter the next generation; two individuals are randomly selected for crossover operation to generate new individuals. The crossover operation can use single-point crossover; the newly generated individuals are randomly mutated to increase the diversity of the population. The mutation operation can be a random perturbation or replacement of a certain gene position. Repeat the genetic operation to generate a new generation of population, and calculate the fitness value of the new generation of population;

[0086] When the preset number of iterations is reached or the fitness value reaches the preset threshold, the iteration is stopped and the individual with the highest fitness value in the final population is selected as the optimal solution, that is, the optimal installation position of the positioning target. The fitness function calculation formula is:

[0087]

[0088] Among them, F(x) is the fitness value of individual x. In genetic algorithms, the fitness value is used to evaluate the quality of each individual, so as to determine which individuals are more likely to be selected for crossover and mutation operations, and to be retained to the next generation. 1 、w 2 and w 3 is the weight parameter; d m It represents the maximum acceptable distance, which is a preset threshold used to evaluate whether the distance between the target and the explosion-proof total station is within an acceptable range. When the target is too far away from the explosion-proof total station, the measurement accuracy may be affected. d(x) represents the actual distance between the target position represented by the individual x and the explosion-proof total station. This distance is calculated by some method (such as Euclidean distance). o Indicates the number of occluders detected at the target location. If the target is blocked by other objects, the measurement may be affected, so the algorithm tends to choose a location with fewer occluders. d Represents the variance of the relative distances between targets. This parameter is used to evaluate the distribution of targets in space. A smaller variance means that the distances between targets are more uniform, which helps improve the stability of 3D measurement. a Represents the variance of the relative angles between targets. This parameter is also used to evaluate the spatial distribution of targets, but focuses on the uniformity of angles.

[0089] In an embodiment of the present invention, the scanner is positioned, three positioning targets are measured respectively by an airborne three-dimensional laser scanner, and the coordinate data of the targets are manually input, and the coordinate information of the three-dimensional scanner is determined by the coordinate information of three different positions in space, including:

[0090] Operate the excavation equipment or adjust the angle of the scanner to align it with the first positioning target, start the measurement function of the scanner, perform three-dimensional coordinate measurement of the first positioning target, and record the measurement data of the first positioning target; align it with the second and third positioning targets in turn, repeat the above measurement process, and record the corresponding measurement data respectively.

[0091] In the scanner control interface, find the target coordinate data input function option, and manually input the absolute coordinate information of the three positioning targets previously measured by the total station;

[0092] The scanner's internal processing algorithm is used to combine the manually input target coordinate data and the scanner's own measurement data to perform coordinate system matching and conversion calculations; the exact position and posture of the 3D scanner in the current lane coordinate system is determined through the coordinate information at three different points in space.

[0093] In an embodiment of the present invention, by combining the high-precision measurement capability of the airborne three-dimensional laser scanner and the absolute coordinate information of the positioning target, the positioning accuracy of the scanner in the roadway coordinate system can be significantly improved. This method of combining different measurement technologies helps to reduce errors and ensure the accurate placement of the scanner. The method allows the operator to flexibly adjust the angle of the scanner on site so that it can easily align with each positioning target for measurement. This flexibility simplifies the measurement process and improves work efficiency. By manually inputting the absolute coordinate information of the positioning target previously measured by the total station and using the processing algorithm inside the scanner to match and convert the coordinate system, the exact position and posture of the scanner in the current roadway coordinate system can be quickly determined. This greatly shortens the time required for positioning and improves work efficiency. When working underground or in a closed space, accurate three-dimensional positioning is essential to ensure the safety of personnel and equipment. In this way, the position and posture of the scanner can be monitored in real time, so that possible deviations or errors can be discovered and corrected in time, reducing operational risks.

[0094] In the embodiment of the present invention, the processing algorithm inside the scanner is used to combine the manually input target coordinate data and the measurement data of the scanner itself to perform coordinate system matching and conversion calculations; the accurate position and posture of the three-dimensional scanner in the current lane coordinate system are determined through the coordinate information of three different positions in space, including:

[0095] Receive the absolute coordinate data of three positioning targets transmitted from the total station;

[0096] Measure the three positioning targets, obtain the coordinate data of each target in the scanner coordinate system, compare each measured target data with the previously stored absolute coordinate data, and automatically pair them through the feature matching algorithm. After successful pairing, associate the measured data of each target with the corresponding absolute coordinate data to form a data pair;

[0097] Using paired data pairs as input, the transformation relationship between the scanner coordinate system and the roadway coordinate system is calculated through the least squares optimization algorithm, that is, the rotation matrix and the translation vector are solved, which specifically includes: the target data measured by the scanner is paired with the absolute coordinate data obtained from the total station through a feature matching algorithm to form data pairs, which contain the target coordinates in the scanner coordinate system and the corresponding coordinates in the roadway coordinate system (or global coordinate system); using these data pairs, an optimization problem can be set, the goal is to find an optimal coordinate transformation (including rotation and translation) so that the difference (i.e., residual) between the coordinates in the transformed scanner coordinate system and the coordinates in the roadway coordinate system is minimized; the least squares method is a mathematical optimization technique that finds the best function match for the data by minimizing the sum of squares of the errors; in this problem, an attempt is made to find the best rotation matrix (R) and translation vector (t) to minimize the reprojection error of all paired data points; through an iterative optimization process, the rotation matrix R and translation vector t that minimize the reprojection error can be obtained, and these two parameters together define the coordinate transformation from the scanner coordinate system to the roadway coordinate system.

[0098] The translation vector in the transformation relationship is used as the position of the scanner in the tunnel coordinate system, and the posture information of the scanner is extracted from the calculated rotation matrix, including: obtaining the rotation matrix R and the translation vector t. The translation vector t directly gives the position of the scanner in the tunnel coordinate system. This position is the three-dimensional coordinate relative to the origin of the tunnel coordinate system; the rotation matrix R contains the posture information of the scanner, that is, the direction of the scanner coordinate system relative to the tunnel coordinate system. The posture information describes how the scanner is oriented relative to the tunnel coordinate system.

[0099] The rotation matrix is ​​decomposed into pitch angle, yaw angle and roll angle through Euler angle conversion. The pitch angle, yaw angle and roll angle scanner are relative to the direction and tilt state of the roadway coordinate system, including:

[0100] The rotation matrix R can be decomposed into three continuous rotations, which correspond to three Euler angles: pitch, yaw, and roll. Euler angles provide an intuitive way to describe rotations in three-dimensional space. The pitch, yaw, and roll angles are calculated from the rotation matrix R. These angles describe the tilt and rotation state of the scanner relative to the roadway coordinate system. The pitch angle indicates the degree of tilt of the scanner in the vertical direction, the yaw angle indicates the rotation angle of the scanner in the horizontal plane, and the roll angle indicates the rotation angle of the scanner around its own axis.

[0101] In an embodiment of the present invention, by combining the absolute coordinate data provided by the total station and the measurement data of the scanner, the present invention can achieve high-precision positioning and posture determination of the scanner in the lane coordinate system. This helps to ensure the accuracy of subsequent scanning and measurement. The target data is automatically paired through the feature matching algorithm, which reduces manual intervention and errors, and improves work efficiency and data accuracy. At the same time, the transformation relationship is automatically calculated using the least squares optimization algorithm, which further improves the intelligent level of processing. The method in the embodiment of the present invention can quickly process a large amount of data and calculate the position and posture of the scanner in real time, thereby meeting the needs of rapid response and real-time update. The method does not rely on a specific scanner or total station model, has good versatility and adaptability, and can be widely used in different three-dimensional scanning and measurement scenarios. Accurate positioning and posture information is the basis for three-dimensional scanning and measurement. The method provided by the present invention can ensure the accuracy of this information, thereby improving work efficiency and reducing safety risks caused by positioning errors to a certain extent.

[0102] In an embodiment of the present invention, three positioning targets are measured, coordinate data of each target in the scanner coordinate system is obtained, each measured target data is compared with the previously stored absolute coordinate data, and automatically paired through a feature matching algorithm. After the pairing is successful, the measurement data of each target is associated with the corresponding absolute coordinate data to form a data pair, including:

[0103] Align the three positioning targets in sequence so that each target is within the measurement range of the scanner;

[0104] Measure the three-dimensional coordinates of each target and record the coordinate data (X s , Y s , Z s ), coordinate data (X s , Y s , Z s ) includes three-dimensional position information of the target relative to the scanner origin;

[0105] Read the absolute coordinate data of the three positioning targets (Xw , Y w , Z w ), absolute coordinate data (X w , Y w , Z w ) represents the position of the target in the roadway coordinate system;

[0106] Analyze the characteristics between each measured target data and all stored absolute coordinate data, the characteristics include distance, angle or shape;

[0107] By calculating the similarity score between the two sets of data, the corresponding matching target pairs are obtained;

[0108] If the pairing is successful, each measured target data is associated with the corresponding absolute coordinate data, that is, the coordinates (X s , Y s , Z s ) and its coordinates in the roadway coordinate system (X w , Y w , Z w ) to establish a corresponding relationship between them.

[0109] In an embodiment of the present invention, by automatically aligning three positioning targets in sequence and performing three-dimensional coordinate measurement, the present invention can quickly and accurately obtain the coordinate data of each target in the scanner coordinate system. This not only improves the accuracy of the measurement, but also greatly reduces the time and potential errors of manual operation, thereby improving the overall measurement efficiency. The present invention uses a feature matching algorithm to automatically pair the measured target data with the previously stored absolute coordinate data. This automatic pairing mechanism avoids the tedious process of manual data matching, reduces the complexity and error rate of data processing, and ensures the consistency and accuracy of the data. By analyzing the various features (such as distance, angle or shape) between the measured target data and the stored absolute coordinate data, the present invention can achieve stable data matching under various environmental conditions. This powerful feature analysis capability enhances the adaptability and flexibility of the system, enabling it to cope with positioning requirements in different scenarios.

[0110] In the embodiment of the present invention, scanning and point cloud data processing, starting the airborne three-dimensional laser scanner, completing the three-dimensional scanning of the tunnel excavated behind, and the industrial computer connected to the scanner receiving the scanning data transmitted by the scanner, including:

[0111] Aim the scanner at the excavated tunnel behind so that the scanning area completely covers the target tunnel and start 3D scanning;

[0112] When the scanner completes the scan, the data is transmitted to the industrial computer via the wireless network;

[0113] The industrial computer pre-processes the point cloud data to obtain pre-processed point cloud data;

[0114] The preprocessed point cloud data are segmented, classified and recognized to extract the features and structural information inside the tunnel.

[0115] In an embodiment of the present invention, by starting an airborne three-dimensional laser scanner, a three-dimensional scan of the excavated tunnel behind can be completed quickly and comprehensively. This method is more efficient than traditional measurement methods and can significantly reduce the time and labor costs required for data collection. After the scan is completed, the data is quickly transmitted to the industrial computer via a wireless network, realizing instant data acquisition and processing. This wireless transmission method not only improves work efficiency, but also avoids the limitations and troubles that may be caused by wired transmission. The industrial computer preprocesses the received point cloud data. This process can effectively remove noise, fill in missing data, and optimize data quality, laying a good foundation for subsequent point cloud data segmentation, classification and recognition operations. By segmenting, classifying and identifying the preprocessed point cloud data, the characteristics and structural information inside the tunnel can be accurately extracted. Accurate and detailed internal characteristics and structural information of the tunnel can provide strong decision-making support for mine management, safe production and environmental protection. For example, abnormal conditions inside the tunnel can be discovered in time to prevent potential safety hazards.

[0116] In an embodiment of the present invention, by processing the scanned data and combining the existing tunnel design data, the tunnel over-break and under-break information is obtained, and the tunnel over-break and under-break information is sent to the tunneling equipment controller, including:

[0117] The point cloud data is registered and calibrated, and the point cloud data is 3D reconstructed to generate the actual 3D model of the roadway, which includes: using the ICP (Iterative Closest Point) algorithm or the NDT (Normal Distributions Transform) algorithm to register the point cloud data obtained from different perspectives or time scans. The purpose of this step is to align the point cloud data to ensure that they are in the same coordinate system. The calibration process involves fine-tuning the point cloud data to correct possible systematic errors or distortions during the scanning process. This includes calibration using ground control points (GCPs) or other known reference points. After registration and calibration, a 3D reconstruction algorithm (such as a method based on Delaunay triangulation) is used to generate the actual 3D model of the roadway from the point cloud data. The theoretical shape, size and location information of the roadway are extracted from CAD files, BIM models or other design materials. These data are usually stored in a digital format to facilitate comparison with the scanned data.

[0118] Acquire the design data of the tunnel, including the theoretical shape, size and position of the tunnel; align and compare the design data with the scanned 3D model of the actual tunnel to detect the over-break and under-break areas of the tunnel, including: aligning the design data with the actual 3D model to ensure that they are in the same coordinate system and scale. This may require the use of a specific alignment algorithm or manual adjustment; by comparing the design data with the actual 3D model, identify the over-break (actual excavation exceeds the design size) and under-break (actual excavation does not reach the design size) areas of the tunnel. This can be achieved by calculating the difference between the two models.

[0119] Quantitative analysis of over-break and under-break areas is performed to calculate the volume, area and specific location of over-break and under-break, including: 3D measurement of detected over-break and under-break areas to calculate their volume and surface area. This helps to assess the severity and scope of over-break and under-break; the specific location of over-break and under-break areas is determined through a coordinate system for precise positioning and subsequent processing at the construction site.

[0120] Extract the volume, area and specific location of overbreak and underbreak to obtain key information, including the location, size and severity of overbreak and underbreak. This information will be used to guide subsequent construction adjustments and optimizations.

[0121] The key information is encoded and packaged in a format acceptable to the tunneling equipment controller, and the packaged over-excavation and under-excavation information is sent to the tunneling equipment controller via a wired connection.

[0122] In an embodiment of the present invention, an actual three-dimensional model of the tunnel can be generated by registering, calibrating and reconstructing the point cloud data in three dimensions. This provides a means of accurately monitoring and evaluating the actual shape of the tunnel, which helps to timely discover the over-excavation and under-excavation of the tunnel. By aligning and comparing the design data of the tunnel with the actual three-dimensional model obtained by scanning, the over-excavation and under-excavation areas of the tunnel can be accurately identified. Quantitative analysis of the over-excavation and under-excavation areas can accurately calculate the volume, area and specific location of the over-excavation and under-excavation. These data provide an important reference for the optimization of the construction plan, which helps to reduce material waste and construction costs. The key information of the over-excavation and under-excavation, including location, size and severity, is extracted and encoded and packaged in a format acceptable to the tunneling equipment controller. This information extraction and transmission method ensures the accuracy and immediacy of the data, and provides the possibility for real-time adjustment of the tunneling equipment. Through a wired connection, the packaged over-excavation and under-excavation information is sent to the tunneling equipment controller in real time. This real-time feedback mechanism enables the tunneling equipment to adjust the operating parameters in time according to the over-excavation and under-excavation situation, thereby improving the construction accuracy and efficiency.

[0123] like Figure 1As shown, the embodiment of the present invention also provides an over-break and under-break control system for tunneling equipment based on three-dimensional laser scanning, specifically, the airborne three-dimensional scanning system and the tunneling equipment work alternately, the scanner scans the excavated tunnel and obtains three-dimensional point cloud data, and through further analysis and processing of the data, the over-break and under-break information of the tunnel can be obtained, and the information is fed back to the automatic cutting control system of the equipment to correct the original control strategy, so that the automatic cutting control accuracy is gradually improved. The present invention discloses that the system is composed of three subsystems, namely, an airborne three-dimensional laser scanning subsystem, a tunneling equipment automatic cutting and over-break control subsystem, and a remote three-dimensional imaging display subsystem.

[0124] Among them, the three-dimensional laser scanning subsystem is composed of the following equipment or electrical components: explosion-proof airborne three-dimensional laser scanner (hereinafter referred to as three-dimensional laser scanner), explosion-proof total station, positioning target, industrial control computer (hereinafter referred to as industrial computer), display screen, remote control receiver, remote control transmitter (hereinafter referred to as remote control), explosion-proof keyboard, explosion-proof mouse.

[0125] The main function of this subsystem is to realize three-dimensional scanning of the excavated tunnels, and obtain the over-excavation and under-excavation information of the excavated tunnels by processing and analyzing the scanned point cloud data and combining it with the tunnel design data.

[0126] The core component of the airborne 3D laser scanning subsystem is the airborne 3D laser scanner, which is fixedly installed in a high and flat position of the equipment, facing the excavated tunnel at the rear. First, the X-axis, Y-axis, and Z-axis coordinates of the total station are calibrated. Three positioning targets are fixedly installed at different positions on the top and side of the tunnel 30 meters in front. The total station measures the spatial coordinates of the three targets A, B, and C respectively. After obtaining the target position information, the 3D laser scanner measures the target to obtain the scanner's own spatial coordinate information. The 3D laser scanner scans the excavated tunnel. After obtaining the point cloud data of the scanned tunnel, the industrial computer software system processes the data. Combined with the design data of this section of the tunnel, the over-excavation and under-excavation information of the excavated tunnel can be obtained through comparison and analysis. The information is transmitted to the local controller by communication.

[0127] The automatic cutting and over-excavation and under-excavation control subsystem of tunneling equipment is mainly composed of a controller, an ultrasonic radar, a millimeter-wave radar, a sensor system, a solenoid valve group, and automatic cutting control software.

[0128] The functions of this subsystem are as follows: the controller receives the position and distance information from the ultrasonic radar, millimeter wave radar and sensor, receives the last over-excavation and under-excavation data from the three-dimensional laser scanning system, adjusts the control strategy, corrects the algorithm, controls the equipment through the solenoid valve group, adjusts its forward direction, and realizes automatic cutting.

[0129] The automatic cutting and over-excavation and under-excavation control subsystem of tunneling equipment has the following specific functions: the controller receives the equipment position and distance to the side wall information from the sensor group, controls the walking system through the solenoid valve group to drive the equipment forward, and completes automatic cutting. After completing a certain distance of excavation, the equipment stops moving, the 3D laser scanner starts, and scans the excavated tunnel. By processing the scanned point cloud data and comparing it with the tunnel design data, the over-excavation and under-excavation position, volume and other data of the tunnel are detected. The controller receives the over-excavation and under-excavation information sent by the 3D scanning system, and makes certain adjustments based on the existing control model. If there is a serious over-excavation and under-excavation situation, the system will issue an alarm, and the next step of automatic excavation will be carried out according to the adjusted control strategy. Before each cutting work, the last over-excavation and under-excavation data will be accepted. Based on this feedback information, the control strategy can be gradually optimized. After completing multiple automatic cutting processes, a comprehensive analysis and evaluation is carried out, and necessary modifications are made to the existing automatic cutting control algorithm and software, so that the automatic cutting and over-excavation and under-excavation control functions are increasingly improved.

[0130] The remote three-dimensional imaging display subsystem includes a centralized control room, explosion-proof computers, intrinsically safe display screens, intrinsically safe operation panels, and point cloud processing software.

[0131] The function of this system is as follows: in the centralized control center behind the working face, with the help of the working face communication system, the explosion-proof computer receives the point cloud data collected by the 3D laser scanner, and the software system processes the data, performs 3D modeling, and 3D imaging, so as to present the 3D real-life image of the excavated tunnel. Through keyboard operation, the tunnel can be zoomed in and viewed locally. For the over-excavated and under-excavated tunnel parts, it can be clearly and intuitively displayed, providing a basis for analyzing the automatic cutting process and optimizing the software algorithm. By viewing the 3D real-life image of the excavated tunnel, the details of the excavation process can be understood, and the rationality of the automatic cutting and over-excavation and under-excavation control strategies and algorithms can be fully evaluated.

[0132] It should be noted that the system is a system corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0133] The embodiment of the present invention further provides a computing device, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0134] The embodiment of the present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

Claims

1. A method for controlling over-break and under-break of tunneling equipment based on three-dimensional laser scanning, characterized in that: include: Step 1: Target positioning: three positioning targets are fixedly installed at different positions on the top of the tunnel and the left and right sides where they are not blocked, the reference position of the explosion-proof total station is determined, and the three targets are measured with the total station to obtain their absolute coordinate information; Step 2: Scanner positioning: Use the airborne 3D laser scanner to measure three positioning targets respectively, and manually input the coordinate data of the targets. The coordinate information of the 3D scanner is determined by the coordinate information of three different positions in space. Step 3: Scanning and point cloud data processing: start the airborne 3D laser scanner to complete the 3D scanning of the excavated tunnel behind, and the industrial computer connected to the scanner receives the scanning data transmitted by the scanner; Step 4, by processing the scanned data and combining it with the existing tunnel design data, the tunnel over-break and under-break information is obtained, and the tunnel over-break and under-break information is sent to the tunneling equipment controller; Step 5: Automatic cutting and over-break and under-break control. The excavation equipment controller receives the over-break and under-break information, makes certain adjustments to the original control strategy, corrects the travel path and cutting method, so as to achieve accurate cutting in the next cutting cycle. Step 6: Remote 3D imaging display. The centralized control center located at the rear of the tunnel receives the point cloud data sent by the 3D scanning system through the working face communication system. The explosion-proof computer processes the data, performs 3D modeling and 3D imaging, and realizes 3D real-life imaging of the excavated tunnel. Step 7. After completing step 5 above, the excavation equipment continues to move forward and cut. After completing a certain distance of excavation, the 3D scanner is started, the target is re-measured and positioned to achieve its own positioning, and a new round of scanning is performed; subsequently, when the 3D scanner is more than 30 meters away from the positioning target, the target is moved forward and the absolute coordinates of the target are re-positioned.

2. The over-break and under-break control method of tunneling equipment based on three-dimensional laser scanning according to claim 1 is characterized in that: Target positioning: three positioning targets are fixedly installed at different positions on the top of the tunnel and the left and right sides where they are not blocked, to determine the reference position of the explosion-proof total station. The three targets are measured with the total station to obtain their absolute coordinate information, including: The position at the top of the tunnel is used as the installation point for the first positioning target; a position on the left side of the tunnel that is not on the same vertical line as the top target is selected as the installation point for the second positioning target; a position on the right side of the tunnel that corresponds to the left target is selected as the installation point for the third positioning target; Use expansion bolts to install three positioning targets at the selected positions, and select a position in the tunnel as the reference point of the explosion-proof total station; Turn on the explosion-proof total station and perform initialization settings. Aim the total station at the first positioning target, aim through the telescope and display screen on the instrument, and record the absolute coordinate information of the target, including the X, Y, and Z coordinate values; aim at the second and third positioning targets in turn, repeat the above measurement process, and record their corresponding absolute coordinate information respectively.

3. The over-break and under-break control method of tunneling equipment based on three-dimensional laser scanning according to claim 2 is characterized in that: Scanner positioning: Use the airborne 3D laser scanner to measure three positioning targets respectively, and manually input the coordinate data of the targets. The coordinate information of the 3D scanner is determined by the coordinate information of three different points in space, including: Operate the excavation equipment or adjust the angle of the scanner to align it with the first positioning target, start the measurement function of the scanner, measure the three-dimensional coordinates of the first positioning target, and record the measurement data of the first positioning target; align the second and third positioning targets in turn, repeat the above measurement process, and record the corresponding measurement data respectively; In the scanner control interface, find the target coordinate data input function option, and manually input the absolute coordinate information of the three positioning targets previously measured by the total station; The scanner's internal processing algorithm is used to combine the manually input target coordinate data and the scanner's own measurement data to perform coordinate system matching and conversion calculations; the exact position and posture of the 3D scanner in the current lane coordinate system is determined through the coordinate information at three different points in space.

4. The over-break and under-break control method of tunneling equipment based on three-dimensional laser scanning according to claim 3 is characterized in that: The scanner uses the internal processing algorithm to combine the manually input target coordinate data and the scanner's own measurement data to match and convert the coordinate system. The three-dimensional scanner's exact position and posture in the current lane coordinate system are determined through the coordinate information of three different points in space, including: Receive the absolute coordinate data of three positioning targets transmitted from the total station; Measure the three positioning targets, obtain the coordinate data of each target in the scanner coordinate system, compare each measured target data with the previously stored absolute coordinate data, and automatically pair them through the feature matching algorithm. After successful pairing, associate the measured data of each target with the corresponding absolute coordinate data to form a data pair; Using the paired data pairs as input, the transformation relationship between the scanner coordinate system and the lane coordinate system is calculated through the least squares optimization algorithm, that is, the rotation matrix and translation vector are solved; The translation vector in the transformation relationship is used as the position of the scanner in the roadway coordinate system, and the posture information of the scanner is extracted from the calculated rotation matrix; The rotation matrix is ​​decomposed into pitch angle, yaw angle and roll angle through Euler angle transformation. The pitch angle, yaw angle and roll angle are the orientation and tilt state of the scanner relative to the roadway coordinate system.

5. The over-break and under-break control system for tunneling equipment based on three-dimensional laser scanning according to claim 4 is characterized in that: Measure the three positioning targets, obtain the coordinate data of each target in the scanner coordinate system, compare each measured target data with the previously stored absolute coordinate data, and automatically pair them through the feature matching algorithm. After successful pairing, associate the measured data of each target with the corresponding absolute coordinate data to form a data pair, including: Align the three positioning targets in sequence so that each target is within the measurement range of the scanner; Measure the three-dimensional coordinates of each target and record the coordinate data (X s , Y s , Z s ), coordinate data (X s , Y s , Z s ) includes three-dimensional position information of the target relative to the scanner origin; Read the absolute coordinate data of the three positioning targets (X w , Y w , Z w ), absolute coordinate data (X w , Y w , Z w ) represents the position of the target in the roadway coordinate system; Analyze the characteristics between each measured target data and all stored absolute coordinate data, the characteristics include distance, angle or shape; By calculating the similarity score between the two sets of data, the corresponding matching target pairs are obtained; If the pairing is successful, each measured target data is associated with the corresponding absolute coordinate data, that is, the coordinates (X s , Y s , Z s ) and its coordinates in the roadway coordinate system (X w , Y w , Z w ) to establish a corresponding relationship between them.

6. The over-break and under-break control method of tunneling equipment based on three-dimensional laser scanning according to claim 5 is characterized in that: Scanning and point cloud data processing, start the airborne 3D laser scanner, complete the 3D scanning of the excavated tunnel behind, and the industrial computer connected to the scanner receives the scanning data from the scanner, including: Aim the scanner at the excavated tunnel behind so that the scanning area completely covers the target tunnel and start 3D scanning; When the scanner completes the scan, the data is transmitted to the industrial computer via the wireless network; The industrial computer pre-processes the point cloud data to obtain pre-processed point cloud data; The preprocessed point cloud data are segmented, classified and recognized to extract the features and structural information inside the tunnel.

7. The over-break and under-break control method of tunneling equipment based on three-dimensional laser scanning according to claim 6, characterized in that: By processing the scanned data and combining it with the existing tunnel design data, the tunnel over-break and under-break information is obtained and sent to the tunneling equipment controller, including: Register and calibrate the point cloud data, and perform 3D reconstruction on the point cloud data to generate an actual 3D model of the roadway; Obtain the design data of the tunnel, including the theoretical shape, size and location of the tunnel; align and compare the design data with the scanned 3D model of the actual tunnel to detect over-break and under-break areas of the tunnel; Quantitatively analyze the over-break and under-break areas and calculate the volume, area and specific location of the over-break and under-break areas; Extract the volume, area and specific location of overbreak and underbreak to obtain key information, including the location, size and severity of overbreak and underbreak; The key information is encoded and packaged in a format acceptable to the tunneling equipment controller, and the packaged over-excavation and under-excavation information is sent to the tunneling equipment controller via a wired connection.

8. A tunneling equipment overbreak and underbreak control system based on three-dimensional laser scanning, characterized in that: Applied to the method according to any one of claims 1 to 7, comprising: The airborne 3D laser scanning subsystem is used to perform 3D scanning of the excavated tunnels. By processing and analyzing the scanned point cloud data and combining it with the tunnel design data, the over-excavation and under-excavation information of the excavated tunnels can be obtained. The tunneling equipment automatic cutting and over-break and under-break control subsystem is used to receive the over-break and under-break information sent by the airborne three-dimensional laser scanning subsystem, adjust the control strategy according to the over-break and under-break information, and control the tunneling equipment to perform automatic cutting through the solenoid valve group; A remote three-dimensional imaging display subsystem, used for remotely displaying the three-dimensional image of the tunnel and the over-break and under-break information scanned by the airborne three-dimensional laser scanning subsystem; The communication module is used to realize data communication among the airborne three-dimensional laser scanning subsystem, the tunneling equipment automatic cutting and over-under excavation control subsystem and the remote three-dimensional imaging display subsystem.

9. The over-break and under-break control system for tunneling equipment based on three-dimensional laser scanning according to claim 8, characterized in that: The airborne 3D laser scanning subsystem includes an explosion-proof airborne 3D laser scanner, an explosion-proof total station, a positioning target, an industrial control computer, a display screen, a remote control receiver and a remote control transmitter; wherein the explosion-proof airborne 3D laser scanner is fixedly installed in a higher and flat position of the tunneling equipment, facing the excavated tunnel at the rear, and is used to perform a three-dimensional scan of the excavated tunnel to obtain point cloud data of the tunnel; the industrial control computer is used to receive and process the point cloud data obtained by the explosion-proof airborne 3D laser scanner, and in combination with the tunnel design data, obtain the over-excavation and under-excavation information of the excavated tunnel through comparison and analysis.

10. The over-break and under-break control system for tunneling equipment based on three-dimensional laser scanning according to claim 9, characterized in that: The automatic cutting and over-break and under-break control subsystem of the tunneling equipment includes a controller, an ultrasonic radar, a millimeter-wave radar, a sensor system, an electromagnetic valve group and automatic cutting control software; wherein the controller is used to receive the position and distance information transmitted by the ultrasonic radar, the millimeter-wave radar and the sensor system, and receive the over-break and under-break information transmitted by the airborne three-dimensional laser scanning subsystem, and adjust the control strategy according to the over-break and under-break information, and control the tunneling equipment to perform automatic cutting through the electromagnetic valve group; The remote three-dimensional imaging display subsystem includes a control room, an explosion-proof computer, a display screen and an operation panel; wherein the explosion-proof computer is used to receive and process the three-dimensional images and over-excavation and under-excavation information of the tunnel sent by the airborne three-dimensional laser scanning subsystem, and display them through the display screen.

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