A tunneling equipment overbreak and underbreak control system and method based on three-dimensional laser scanning

Abstract

The application provides a kind of based on three-dimensional laser scanning's driving equipment overbreak and underbreak control system and method, it is related to intelligent control technical field, including: three positioning targets are fixedly installed respectively in different positions of roadway top and left and right side not being sheltered, the reference position of explosion-proof total station is determined, three targets are measured respectively using total station, and its absolute coordinate information is obtained;Three positioning targets are measured respectively using airborne three-dimensional laser scanner, and the coordinate data of target is manually input, the coordinate information of three-dimensional scanner is determined through the coordinate information of three different position points in space;Airborne three-dimensional laser scanner is started, and three-dimensional scanning of rearwards already dug roadway is completed, the industrial computer connected with scanner receives the scanning data transmitted from scanner;Through scanning data processing, combined with existing roadway design data, roadway overbreak and underbreak information is obtained, and roadway overbreak and underbreak information is sent to driving equipment controller.The application can reduce the occurrence of overbreak and underbreak.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, and in particular to a method for controlling over- and under-dig of tunneling equipment based on three-dimensional laser scanning. Background Technology

[0002] In underground engineering and mining operations, tunneling equipment plays a crucial 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 tape measures to conduct on-site measurements to obtain data on over- and under-excavation of the roadway. While 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 tunneling machine's automatic cutting system. During operation, the tunneling machine requires real-time, accurate data to guide its cutting path and depth for precise tunneling. However, traditional manual measurement methods cannot provide such data support, preventing the tunneling machine's automatic cutting system from fully utilizing its automatic control functions. Summary of the Invention

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

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] Firstly, a method for controlling over- and under-excavation of tunneling equipment based on three-dimensional laser scanning includes:

[0007] Step 1, target positioning: Fix the three positioning targets at different unobstructed positions on the top and left and right sides of the tunnel to determine the reference position of the explosion-proof total station. Use the total station to measure the three targets and obtain their absolute coordinate information.

[0008] Step 2: Scanner positioning. Use an airborne 3D laser scanner to measure three positioning targets respectively, and manually input the coordinate data of the targets. Determine the coordinate information of the 3D scanner by using the coordinate information of three different locations 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. The industrial control 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, obtain the tunnel over-excavation and under-excavation information, and send the tunnel over-excavation and under-excavation information to the tunneling equipment controller.

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

[0012] Step 6: Remote 3D imaging display. The control center located behind the tunnel receives point cloud data from 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-scene imaging of the excavated tunnel.

[0013] Step 7: After completing Step 5 above, the tunneling equipment continues to advance and cut. After tunneling a certain distance, the 3D scanner is activated to remeasure and position the target to achieve its own positioning, and then performs a new round of scanning. Subsequently, when the 3D scanner is more than 30 meters away from the target, it moves the target forward and repositions the absolute coordinates of the target.

[0014] Further, target positioning involves fixing three positioning targets at unobstructed locations on the top and left and right sides of the tunnel to determine the reference position for the explosion-proof total station. The total station is then used to measure the absolute coordinates of the three targets, including:

[0015] The first positioning target is installed at the top of the tunnel; the second positioning target is installed at a location on the left side of the tunnel that is not on the same vertical line as the top target; and the third positioning target is installed at a location on the right side of the tunnel that corresponds to the left target.

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

[0017] Turn on the explosion-proof total station and initialize it. 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 the corresponding absolute coordinate information for each target.

[0018] Furthermore, the scanner is positioned by measuring three positioning targets using an airborne 3D laser scanner, and the coordinate data of the targets is manually input. The coordinate information of the 3D scanner is determined by the coordinate information of three different points in space, including:

[0019] Operate the tunneling equipment or adjust the angle of the scanner to align it with the first positioning target. Activate the scanner's measurement function to perform three-dimensional coordinate measurement on the first positioning target and record the measurement data of the first positioning target. Align the scanner with the second and third positioning targets in turn and repeat the above measurement process, recording the corresponding measurement data for each target.

[0020] In the scanner's 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] By utilizing the scanner's internal processing algorithm, combined with manually input target coordinate data and the scanner's own measurement data, coordinate system matching and transformation calculations are performed. By using the coordinate information of three different locations in space, the accurate position and orientation of the 3D scanner in the current roadway coordinate system are determined.

[0022] Furthermore, utilizing the scanner's internal processing algorithms, combined with manually input target coordinate data and the scanner's own measurement data, coordinate system matching and transformation calculations are performed. By using coordinate information from three different spatial locations, the accurate position and orientation of the 3D scanner within the current roadway coordinate system are determined, including:

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

[0024] Three positioning targets are measured to obtain the coordinate data of each target in the scanner coordinate system. The measured target data of each target is compared with the previously stored absolute coordinate data. The target is automatically matched by a feature matching algorithm. After successful matching, the measurement data of each target is associated with the corresponding absolute coordinate data to form a data pair.

[0025] Using paired data pairs as input, the least squares optimization algorithm is used to calculate the transformation relationship between the scanner coordinate system and the tunnel coordinate system, that is, to solve the rotation matrix and translation vector.

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

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

[0028] Furthermore, measurements are taken of the three positioning targets to obtain the coordinate data of each target in the scanner coordinate system. The measured target data is compared with previously stored absolute coordinate data, and automatic pairing is performed using a feature matching algorithm. Once a pairing is successful, the measured data of each target is associated with its 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] Perform three-dimensional coordinate measurements on each target and record the coordinate data (X, Y) of each target in the scanner coordinate system. s Y s Z s ), coordinate data (X) s Y s Z s This includes the three-dimensional position information of the target relative to the scanner origin;

[0031] Read the absolute coordinate data (X) of the three positioning targets. w Y w Z w ), absolute coordinate data (X w Y w Z w () indicates 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, including distance, angle, or shape;

[0033] By calculating the similarity score between two sets of data, the corresponding matching target pair can be obtained;

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

[0035] Further, the scanning and point cloud data processing involves activating the onboard 3D laser scanner to complete a 3D scan of the excavated tunnel behind it. The industrial control computer connected to the scanner receives the scan data transmitted from the scanner, including:

[0036] Point the scanner at the excavated tunnel behind you so that the scanning area completely covers the target tunnel, and start the 3D scan.

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

[0038] The industrial control computer preprocesses the point cloud data to obtain preprocessed point cloud data;

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

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

[0041] The point cloud data is registered and calibrated, and then three-dimensional reconstruction is performed to generate an actual three-dimensional model of the tunnel.

[0042] Acquire the design data of the tunnel, including the theoretical shape, size and location of the tunnel; align and compare the design data with the actual 3D model of the tunnel obtained by scanning, and detect the over-excavation and under-excavation areas of the tunnel;

[0043] A quantitative analysis of the over- and under-excavation areas was conducted to calculate the volume, area, and specific location of the over- and under-excavation.

[0044] Extract the volume, area, and specific location of over-excavation and under-excavation to obtain key information, including the location, size, and severity of over-excavation and under-excavation.

[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] Secondly, a control system for over- and under-excavation of tunneling equipment based on three-dimensional laser scanning includes:

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

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

[0049] A remote 3D imaging display subsystem is used to remotely display the 3D images of the tunnel and over- and under-excavation information obtained by the airborne 3D laser scanning subsystem.

[0050] The communication module is used to realize data communication between the airborne three-dimensional laser scanning subsystem, the tunneling equipment automatic cutting and over- and 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. The explosion-proof airborne 3D laser scanner is fixedly installed at a high, flat position on the tunneling equipment, facing the excavated tunnel behind it, and is used to perform 3D scanning of the excavated tunnel to acquire point cloud data. The industrial control computer receives and processes the point cloud data obtained by the explosion-proof airborne 3D laser scanner, and, in conjunction with tunnel design data, obtains over- or under-excavation information of the excavated tunnel through comparison and analysis.

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

[0053] The remote 3D 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 3D images of the tunnel and over- and under-excavation information sent by the airborne 3D laser scanning subsystem, and display them on the display screen.

[0054] Thirdly, a computing device includes:

[0055] One or more processors;

[0056] A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the method.

[0057] Fourthly, a computer-readable storage medium storing a program that, when executed by a processor, implements the method.

[0058] The above-described solutions of the present invention include at least the following beneficial effects.

[0059] By fixing positioning targets at different locations 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] By using an airborne 3D laser scanner to measure the positioning target and combining this with manually input target coordinate data, the scanner's own coordinate information can be accurately determined. This helps to accurately map the scan results onto the actual space of the tunnel, thereby enabling precise capture and analysis of the tunnel's morphology.

[0061] Activating the airborne 3D laser scanner to perform a 3D scan of the excavated tunnel behind it allows for the rapid acquisition of point cloud data of the tunnel surface. This data can reflect the actual shape and characteristics of the tunnel in detail, providing a rich data foundation for subsequent over-excavation and under-excavation analysis. Simultaneously, through connection with an industrial control 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 tunnel design data, accurate information on over-excavation and under-excavation of the tunnel can be obtained. This information is crucial for assessing tunneling quality and adjusting tunneling strategies. Sending the over-excavation and under-excavation information to the tunneling equipment controller enables real-time monitoring and adjustment of the tunneling process, thereby improving tunneling accuracy and efficiency.

[0063] Based on received over-excavation and under-excavation information, the tunneling equipment controller adjusts the original control strategy, correcting the travel path and cutting method to achieve more precise cutting. This helps reduce over-excavation and under-excavation, improving the stability and safety of the tunnel. Simultaneously, automated control reduces human intervention, lowering operational difficulty and labor intensity.

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

[0065] After completing a certain distance of tunneling, the 3D scanner is restarted for a new round of scanning, allowing continuous monitoring of changes in the tunnel's shape. When the scanner moves beyond a certain distance from the positioning target, the target is promptly moved forward and its absolute coordinates are repositioned, ensuring the continuity and accuracy of the scan. This helps to promptly identify and address problems during the tunneling process, ensuring the smooth progress of the project. Attached Figure Description

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

[0067] Figure 2 This is a schematic diagram of the three-dimensional laser scanning and over- and under-dig control process provided in an embodiment of the present invention. Detailed Implementation

[0068] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

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

[0070] Step 1, target positioning: Fix the three positioning targets at different unobstructed positions on the top and left and right sides of the tunnel to determine the reference position of the explosion-proof total station. Use the total station to measure the three targets and obtain their absolute coordinate information.

[0071] Step 2: Scanner positioning. Use an airborne 3D laser scanner to measure three positioning targets respectively, and manually input the coordinate data of the targets. Determine the coordinate information of the 3D scanner by using the coordinate information of three different locations 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. The industrial control 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, obtain the tunnel over-excavation and under-excavation information, and send the tunnel over-excavation and under-excavation information to the tunneling equipment controller.

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

[0075] Step 6: Remote 3D imaging display. The control center located behind the tunnel receives point cloud data from 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-scene imaging of the excavated tunnel.

[0076] Step 7: After completing Step 5 above, the tunneling equipment continues to advance and cut. After tunneling a certain distance, the 3D scanner is activated to remeasure and position the target to achieve its own positioning, and then performs a new round of scanning. Subsequently, when the 3D scanner is more than 30 meters away from the target, it moves the target forward and repositions the absolute coordinates of the target.

[0077] In this embodiment of the invention, by fixing positioning targets at different positions on the top and sidewalls of the tunnel and measuring them using an explosion-proof total station, the absolute coordinate information of these targets can be accurately obtained. Using an airborne 3D laser scanner to measure the positioning targets, and combining this with manually input target coordinate data, the scanner's own coordinate information can be precisely determined. This helps to accurately map the scanning results to the actual space of the tunnel, thereby achieving precise capture and analysis of the tunnel morphology. Starting the airborne 3D laser scanner to perform a 3D scan of the excavated tunnel behind it allows for the rapid acquisition of point cloud data of the tunnel surface. This data can reflect the actual morphology and characteristics of the tunnel in detail, providing a rich data foundation for subsequent over- and under-excavation analysis. Simultaneously, through connection with an industrial control computer, the scan data can be processed and transmitted in real time, improving the efficiency and accuracy of data processing. By processing the scan data and combining it with tunnel design data, over- and under-excavation information of the tunnel can be accurately obtained. This information is of great significance for evaluating tunneling quality and adjusting tunneling strategies. Sending over-excavation and under-excavation information to the tunneling equipment controller enables real-time monitoring and adjustment of the tunneling process, thereby improving tunneling accuracy and efficiency. Based on the received over-excavation and under-excavation information, the tunneling equipment controller adjusts the original control strategy, correcting the travel path and cutting method to achieve more precise cutting. This helps reduce over-excavation and under-excavation, improving the stability and safety of the tunnel. Simultaneously, automated control reduces human intervention, lowering operational difficulty and labor intensity. Receiving and processing point cloud data from the 3D scanning system through the central control center enables 3D real-world imaging of the excavated tunnel, facilitating remote monitoring and management personnel to intuitively understand the actual condition of the tunnel. After completing a certain distance of tunneling, restarting the 3D scanner for a new round of scanning allows for continuous monitoring of tunnel morphological changes. When the scanner exceeds a certain distance from the positioning target, the target is promptly moved forward and its absolute coordinates repositioned, ensuring scanning continuity and accuracy. This helps to promptly identify and address problems during the tunneling process, ensuring the smooth progress of the project.

[0078] In this embodiment of the invention, target positioning involves fixing three positioning targets at different unobstructed locations on the top and left and right sides of the tunnel, determining the reference position of the explosion-proof total station, and using the total station to measure the three targets to obtain their absolute coordinate information, including:

[0079] The first positioning target is installed at the top of the tunnel; the second positioning target is installed at a location on the left side of the tunnel that is not on the same vertical line as the top target; and the third positioning target is installed at a location on the right side of the tunnel that corresponds to the left target.

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

[0081] Turn on the explosion-proof total station and initialize it. 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 the corresponding absolute coordinate information for each target.

[0082] In this embodiment of the invention, by installing positioning targets at unobstructed locations on the top and left and right sides of the tunnel, a stable reference frame can be formed in three-dimensional space. This layout contributes to the accuracy of subsequent measurement operations because the positions of the targets are fixed and known, serving as reference points for measurement. Using an explosion-proof total station to measure three positioning targets separately allows for the rapid acquisition of their absolute coordinate information. This method is more efficient than traditional measurement methods because it reduces the need for multiple instrument movements and calibrations, thus saving time and reducing operational complexity. 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. This data is crucial for subsequent scanning, modeling, and analysis, as it directly affects the accuracy and reliability of the entire control method. The use of expansion bolts ensures that the positioning targets are securely installed in the selected locations, maintaining stability even in complex tunnel environments. This stability is essential for long-term monitoring and multiple measurements, as it reduces data errors caused by target movement or damage. The use of an explosion-proof total station meets the high safety requirements of underground engineering equipment. This instrument can operate safely in potentially explosive environments, thus protecting the lives of operators and ensuring the smooth progress of measurement operations.

[0083] To achieve more accurate positioning when determining the installation point of a target, a genetic algorithm can be introduced to optimize the selection of the best installation location. The optimal solution is searched by simulating the evolutionary process of the population. The following is a detailed implementation process of using a genetic algorithm to determine the optimal installation point of the target:

[0084] The possible installation locations of the targets are represented by real number encoding or integer encoding; a certain number of individuals (i.e., combinations of target installation locations) are randomly generated as the initial population; a fitness function is defined to evaluate the quality of each individual (i.e., each group of target installation locations);

[0085] The fitness value of each individual is calculated based on the fitness function, and the best individuals are selected to enter the next generation using the roulette wheel selection method. Two individuals are randomly selected for crossover to generate new individuals. The crossover operation can be a 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 locus. The genetic operation is repeated to generate a new generation of the population, and the fitness value of the new generation of the population is calculated.

[0086] When the preset number of iterations is reached or the fitness value reaches a preset threshold, iteration stops, and the individual with the highest fitness value in the final population is selected as the optimal solution, i.e., the best installation position for locating the target. The formula for calculating the fitness function is:

[0087]

[0088] Where F(x) is the fitness value of individual x. In genetic algorithms, the fitness value is used to evaluate the quality of each individual, thereby determining which individuals are more likely to be selected for crossover, mutation, and to be retained in the next generation. w1, w2, and w3 are weight parameters; d m This represents the maximum acceptable distance, a preset threshold used to assess whether the distance between the target and the explosion-proof total station is within an acceptable range. When the target is too far from the explosion-proof total station, measurement accuracy may be affected; d(x) represents the actual distance between the target position represented by individual x and the explosion-proof total station, which is calculated using some method (such as Euclidean distance); n o This indicates the number of obstructions detected at the target location. If the target is obstructed by other objects, the measurement may be affected; therefore, the algorithm tends to select locations with fewer obstructions. d The variance represents the relative distances between targets; this parameter is used to assess the distribution of targets in space. A smaller variance indicates more uniform distances between targets, which helps improve the stability of 3D measurements. a This parameter represents the variance of the relative angles between targets. It is also used to evaluate the spatial distribution of targets, but focuses on the uniformity of the angles.

[0089] In this embodiment of the invention, the scanner is positioned by measuring three positioning targets using an airborne 3D laser scanner and manually inputting 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:

[0090] Operate the tunneling equipment or adjust the angle of the scanner to align it with the first positioning target. Activate the scanner's measurement function to perform three-dimensional coordinate measurement on the first positioning target and record the measurement data of the first positioning target. Align the scanner with the second and third positioning targets in turn and repeat the above measurement process, recording the corresponding measurement data for each target.

[0091] In the scanner's 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] By utilizing the scanner's internal processing algorithm, combined with manually input target coordinate data and the scanner's own measurement data, coordinate system matching and transformation calculations are performed. By using the coordinate information of three different locations in space, the accurate position and orientation of the 3D scanner in the current roadway coordinate system are determined.

[0093] In this embodiment of the invention, by combining the high-precision measurement capabilities of an airborne 3D laser scanner with the absolute coordinate information of the positioning targets, the positioning accuracy of the scanner in the tunnel coordinate system can be significantly improved. This method of comprehensively applying different measurement technologies helps reduce errors and ensures accurate placement of the scanner. This method allows operators to flexibly adjust the scanner's angle on-site, making it easy to 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 targets previously measured using a total station, and utilizing the scanner's internal processing algorithm for coordinate system matching and transformation calculations, the accurate position and orientation of the scanner in the current tunnel coordinate system can be quickly determined. This greatly shortens the positioning time and improves operational efficiency. When working underground or in enclosed spaces, accurate 3D positioning is crucial for ensuring the safety of personnel and equipment. This method allows for real-time monitoring of the scanner's position and orientation, enabling timely detection and correction of potential deviations or errors, and reducing operational risks.

[0094] In this embodiment of the invention, the scanner's internal processing algorithm, combined with manually input target coordinate data and the scanner's own measurement data, is used to perform coordinate system matching and transformation calculations; by using coordinate information from three different spatial locations, the accurate position and orientation of the 3D scanner in the current roadway coordinate system are determined, including:

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

[0096] Three positioning targets are measured to obtain the coordinate data of each target in the scanner coordinate system. The measured target data of each target is compared with the previously stored absolute coordinate data. The target is automatically matched by a feature matching algorithm. After successful matching, the measurement data of each target is associated with the corresponding absolute coordinate data to form a data pair.

[0097] Using paired data pairs as input, the least squares optimization algorithm is employed to calculate the transformation relationship between the scanner coordinate system and the tunnel coordinate system, i.e., to solve for the rotation matrix and translation vector. Specifically, this involves: pairing the target data measured by the scanner with the absolute coordinate data obtained from the total station using a feature matching algorithm, forming data pairs. These data pairs contain the target coordinates in the scanner coordinate system and the corresponding coordinates in the tunnel coordinate system (or global coordinate system). Using these data pairs, an optimization problem can be set up, with the goal of finding an optimal coordinate transformation (including rotation and translation) that minimizes the difference (i.e., residual) between the transformed coordinates in the scanner coordinate system and the tunnel coordinate system. The least squares method is a mathematical optimization technique that finds the best functional match of the data by minimizing the sum of squares of the errors. In this problem, the optimal rotation matrix (R) and translation vector (t) are sought 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. These two parameters together define the coordinate transformation from the scanner coordinate system to the tunnel coordinate system.

[0098] Using the translation vector in the transformation relation as the scanner's position in the tunnel coordinate system, the scanner's attitude information is extracted from the calculated rotation matrix. Specifically, this includes obtaining the rotation matrix R and the translation vector t. The translation vector t directly gives the scanner's position in the tunnel coordinate system, which is a three-dimensional coordinate relative to the origin of the tunnel coordinate system. The rotation matrix R contains the scanner's attitude information, that is, the orientation of the scanner's coordinate system relative to the tunnel coordinate system. The attitude information describes how the scanner is oriented relative to the tunnel coordinate system.

[0099] The rotation matrix is ​​decomposed into pitch, yaw, and roll angles through Euler angle transformation. The pitch, yaw, and roll angles represent the orientation and tilt of the scanner relative to the roadway coordinate system, specifically including:

[0100] The rotation matrix R can be decomposed into three consecutive rotations, corresponding to three Euler angles: pitch, yaw, and roll. Euler angles provide an intuitive way to describe rotation in three-dimensional space. The pitch, yaw, and roll angles are calculated from the rotation matrix R, describing the scanner's tilt and rotation relative to the lane coordinate system. The pitch angle represents the scanner's tilt in the vertical direction, the yaw angle represents the scanner's rotation angle in the horizontal plane, and the roll angle represents the scanner's rotation angle about its own axis.

[0101] In this embodiment of the invention, by combining the absolute coordinate data provided by the total station and the measurement data of the scanner, the invention can achieve high-precision positioning and attitude determination of the scanner in the tunnel coordinate system. This helps ensure the accuracy of subsequent scanning and measurement. Automatic matching of target data through a feature matching algorithm reduces manual intervention and errors, improving work efficiency and data accuracy. Simultaneously, the use of a least squares optimization algorithm to automatically calculate transformation relationships further enhances the intelligence level of the processing. The method in this embodiment of the invention can quickly process large amounts of data and calculate the scanner's position and attitude in real time, thereby meeting the needs of rapid response and real-time updates. This method is not dependent on a specific scanner or total station model, has good versatility and adaptability, and can be widely applied to different 3D scanning and measurement scenarios. Accurate positioning and attitude information is the foundation for 3D scanning and measurement. The method provided by this 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 this embodiment of the invention, three positioning targets are measured to obtain the coordinate data of each target in the scanner coordinate system. The measured target data of each target is compared with the previously stored absolute coordinate data, and automatic pairing is performed through a feature matching algorithm. After successful pairing, the measured 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] Perform three-dimensional coordinate measurements on each target and record the coordinate data (X, Y) of each target in the scanner coordinate system. s Y s Z s ), coordinate data (X) s Y s Z s This includes the three-dimensional position information of the target relative to the scanner origin;

[0105] Read the absolute coordinate data (X) of the three positioning targets.w Y w Z w ), absolute coordinate data (X w Y w Z w () indicates 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, including distance, angle, or shape;

[0107] By calculating the similarity score between two sets of data, the corresponding matching target pair can be obtained;

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

[0109] In this embodiment of the invention, by automatically and sequentially aligning three positioning targets and performing three-dimensional coordinate measurements, the invention can quickly and accurately acquire the coordinate data of each target in the scanner coordinate system. This not only improves measurement accuracy but also significantly reduces the time and potential errors of manual operation, thereby improving overall measurement efficiency. The invention utilizes a feature matching algorithm to automatically pair the measured target data with 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 data consistency and accuracy. By analyzing various features (such as distance, angle, or shape) between the measured target data and the stored absolute coordinate data, the invention can achieve stable data matching under various environmental conditions. This powerful feature analysis capability enhances the system's adaptability and flexibility, enabling it to meet positioning needs in different scenarios.

[0110] In this embodiment of the invention, the scanning and point cloud data processing involves activating an airborne 3D laser scanner to complete a 3D scan of the excavated tunnel behind it. An industrial control computer connected to the scanner receives the scanning data transmitted from the scanner, including:

[0111] Point the scanner at the excavated tunnel behind you so that the scanning area completely covers the target tunnel, and start the 3D scan.

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

[0113] The industrial control computer preprocesses the point cloud data to obtain preprocessed point cloud data;

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

[0115] In this embodiment of the invention, by activating an airborne 3D laser scanner, a rapid and comprehensive 3D scan of the excavated roadway can be completed. This method is more efficient than traditional measurement methods, significantly reducing the time and manpower costs required for data acquisition. After scanning, the data is quickly transmitted to the industrial control computer via a wireless network, enabling real-time data acquisition and processing. This wireless transmission method not only improves work efficiency but also avoids the limitations and inconveniences that wired transmission may bring. The industrial control computer preprocesses the received point cloud data. This process effectively removes noise, fills in missing data, and optimizes data quality, laying a solid foundation for subsequent point cloud data segmentation, classification, and recognition operations. By segmenting, classifying, and recognizing the preprocessed point cloud data, the internal features and structural information of the roadway can be accurately extracted. Accurate and detailed internal features and structural information of the roadway can provide strong decision support for mine management, safe production, and environmental protection. For example, it can promptly detect abnormalities within the roadway and prevent potential safety hazards.

[0116] In this embodiment of the invention, by processing the scanned data and combining it with existing tunnel design data, information on over-excavation and under-excavation of the tunnel is obtained, and this information is sent to the tunneling equipment controller, including:

[0117] The process involves registering and calibrating point cloud data, followed by 3D reconstruction to generate an actual 3D model of the tunnel. Specifically, this includes registering point cloud data obtained from scans at different viewpoints or times using algorithms such as ICP (Iterative Closest Point) or NDT (Normal Distributions Transform). The goal of this step is to align these point cloud data to ensure they are in the same coordinate system. The calibration process involves fine-tuning the point cloud data to correct any systematic errors or distortions that may have occurred 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 Delaunay triangulation-based method) is used to generate the actual 3D model of the tunnel from the point cloud data. The theoretical shape, dimensions, and location information of the tunnel are extracted from CAD files, BIM models, or other design documents. This data is typically stored digitally for easy comparison with the scanned data.

[0118] Acquire the design data for the tunnel, including its theoretical shape, dimensions, and location. Align and compare the design data with the scanned 3D model of the actual tunnel to detect over-excavation and under-excavation areas. Specifically, this involves aligning the design data with the actual 3D model, ensuring they are in the same coordinate system and scale. This may require the use of specific alignment algorithms or manual adjustments. By comparing the design data and the actual 3D model, identify over-excavation (actual excavation exceeding design dimensions) and under-excavation (actual excavation falling short of design dimensions) areas of the tunnel. This can be achieved by calculating the differences between the two models.

[0119] A quantitative analysis of over- and under-excavation areas is conducted to calculate their volume, area, and specific location. This includes: performing three-dimensional measurements on the detected over- and under-excavation areas to calculate their volume and surface area. This helps assess the severity and extent of impact of over- and under-excavation; and determining the specific location of the over- and under-excavation areas using a coordinate system for precise on-site positioning and subsequent handling.

[0120] The volume, area, and specific location of over-excavation and under-excavation are extracted to obtain key information, including the location, size, and severity of over-excavation and under-excavation. 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 this embodiment of the invention, by registering, calibrating, and reconstructing point cloud data, an actual 3D model of the tunnel can be generated. This provides a precise means of monitoring and evaluating the actual shape of the tunnel, helping to promptly detect over-excavation and under-excavation. Aligning and comparing the tunnel's design data with the scanned actual 3D model allows for accurate identification of over-excavation and under-excavation areas. Quantitative analysis of these areas enables precise calculation of their volume, area, and specific location. This data provides important reference for optimizing construction plans, helping to reduce material waste and construction costs. Key information regarding 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 data accuracy and timeliness, enabling real-time adjustments to the tunneling equipment. The packaged over-excavation and under-excavation information is sent to the tunneling equipment controller in real time via a wired connection. This real-time feedback mechanism allows the tunneling equipment to adjust its operating parameters promptly based on the over-excavation and under-excavation situation, thereby improving construction accuracy and efficiency.

[0123] like Figure 1As shown, embodiments of the present invention also provide an over- and under-excavation control system for tunneling equipment based on three-dimensional laser scanning. Specifically, an onboard three-dimensional scanning system works alternately with the tunneling equipment. The scanner scans the excavated tunnel and acquires three-dimensional point cloud data. Through further analysis and processing of the data, over- and under-excavation information of the tunnel can be obtained. This information is fed back to the equipment's automatic cutting control system to correct the original control strategy, thereby gradually improving the accuracy of automatic cutting control. The present invention reveals that the system consists of three subsystems: an onboard three-dimensional laser scanning subsystem, an automatic cutting and over- and under-excavation control subsystem for tunneling equipment, and a remote three-dimensional imaging display subsystem.

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

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

[0126] The airborne 3D laser scanning subsystem's core component is an airborne 3D laser scanner, fixedly installed at a high, flat position facing the excavated tunnel behind it. First, the X, Y, and Z axis coordinates of the total station are calibrated. Three positioning targets are fixedly installed at different locations on the tunnel top and sidewalls, 30 meters ahead. The total station measures the spatial coordinates of targets A, B, and C respectively to obtain target position information. Then, the 3D laser scanner measures the targets to obtain its own spatial coordinate information. The 3D laser scanner scans the excavated tunnel, acquiring point cloud data. The industrial control computer software system processes the data and, by comparing and analyzing it with the tunnel design data, obtains information on over-excavation and under-excavation of the excavated tunnel. This information is transmitted to the local controller via communication.

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

[0128] The functions of this subsystem are as follows: the controller receives position and distance information from ultrasonic radar, millimeter-wave radar, and sensors, receives the previous over-drilling and under-drilling data from the 3D 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 / under-cutting control subsystem for tunneling equipment performs the following functions: The controller receives equipment position and distance to the sidewall information from the sensor group, controls the walking system to drive the equipment forward via the solenoid valve group, and completes automatic cutting. After completing a certain distance of tunneling, the equipment stops moving forward, and the 3D laser scanner is activated to scan the excavated roadway. By processing the scanned point cloud data and comparing it with the roadway design data, the over / under-cutting location, volume, and other data are detected. The controller receives over / under-cutting information from the 3D scanning system and makes certain adjustments based on the existing control model. If there is a serious over / under-cutting situation, the system issues an alarm, and the next automatic tunneling will be carried out according to the adjusted control strategy. Before each cutting operation, the over / under-cutting data from the previous operation is received, and the control strategy can be gradually optimized based on this feedback information. After completing multiple automatic cutting processes, a comprehensive analysis and evaluation are conducted, and necessary modifications are made to the existing automatic cutting control algorithm and software to continuously improve the automatic cutting and over / under-cutting control functions.

[0130] The remote 3D imaging display subsystem includes a central control room, an explosion-proof computer, an intrinsically safe display screen, an intrinsically safe operating panel, and point cloud processing software.

[0131] The system's functions are as follows: At the centralized control center behind the working face, using the working face communication system, an explosion-proof computer receives point cloud data collected by a 3D laser scanner. The software system processes the data, performs 3D modeling, and creates 3D images, presenting a 3D real-world image of the excavated roadway. Keyboard operation allows for zooming in on specific sections of the roadway, clearly displaying over- or under-excavation areas, providing a basis for analyzing the automatic cutting process and optimizing software algorithms. Viewing the 3D real-world image of the excavated roadway allows for understanding the details of the excavation process and fully evaluating the rationality of the automatic cutting and over- or under-excavation control strategies and algorithms.

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

[0133] Embodiments of the present invention also provide a computing device, including: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0134] Embodiments of the present invention also provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

Claims

1. A method for controlling over- and under-excavation of tunneling equipment based on three-dimensional laser scanning, characterized in that, include: Step 1, target positioning: Fix three positioning targets at different unobstructed positions on the top and left and right sides of the tunnel to determine the reference position of the explosion-proof total station. Use the explosion-proof total station to measure the three targets and obtain their absolute coordinate information. Step 2: Position the 3D laser scanner. Adjust the scanner angle to align it with the first positioning target. Activate the scanner's measurement function to perform 3D coordinate measurements on the first positioning target and record the measurement data. Repeat the above measurement process, aligning the scanner with the second and third positioning targets in turn, and record the corresponding measurement data for each target. In the scanner's control interface, find the target coordinate data input function option and manually input the absolute coordinate information of the three positioning targets previously measured using a total station. Using the scanner's internal processing algorithm, combined with manually input target coordinate data and the scanner's own measurement data, coordinate system matching and transformation calculations are performed. By using coordinate information from three different points in space, the accurate position and orientation of the 3D laser scanner within the current roadway coordinate system are determined, including: The system receives absolute coordinate data of three positioning targets transmitted from a total station; it measures the three targets to obtain the coordinate data of each target in the scanner coordinate system; it compares the measured target data with the previously stored absolute coordinate data and automatically pairs them using a feature matching algorithm; after successful pairing, it associates the measured data of each target with the corresponding absolute coordinate data to form a data pair; using the paired data pair as input, it calculates the transformation relationship between the scanner coordinate system and the tunnel coordinate system using a least squares optimization algorithm, i.e., solving for the rotation matrix and translation vector; it uses the translation vector in the transformation relationship as the position of the scanner in the tunnel coordinate system and extracts the scanner's attitude information from the calculated rotation matrix; it decomposes the rotation matrix into pitch angle, yaw angle, and roll angle through Euler angle transformation, where the pitch angle, yaw angle, and roll angle are used to describe the direction and tilt state of the scanner relative to the tunnel coordinate system; Step 3, Scanning and point cloud data processing: Start the airborne 3D laser scanner to complete the 3D scanning of the excavated tunnel behind. The industrial control computer connected to the 3D laser scanner receives the scanning data transmitted by the 3D laser scanner. Step 4: By processing the scanned data and combining it with the existing tunnel design data, obtain the tunnel over-excavation and under-excavation information, and send the tunnel over-excavation and under-excavation information to the tunneling equipment controller. Step 5: Automatic cutting and over- or under-cutting control. The tunneling equipment controller receives over- or under-cutting information and makes certain adjustments to the original control strategy, correcting the travel path and cutting method to achieve accurate cutting in the next cutting cycle. Step 6: Remote 3D imaging display. The control center located behind the tunnel receives point cloud data from the 3D laser scanner through the working face communication system. The explosion-proof computer processes the data, performs 3D modeling and 3D imaging, and realizes 3D real-scene imaging of the excavated tunnel. Step 7: After completing Step 5 above, the tunneling equipment continues to advance and cut. After tunneling a certain distance, the 3D laser scanner is activated to remeasure and position the target to achieve its own positioning, and then performs a new round of scanning. Subsequently, when the 3D laser scanner is more than 30 meters away from the target, it moves the target forward and repositions the absolute coordinates of the target.

2. The over- and under-dig control method for tunneling equipment based on three-dimensional laser scanning according to claim 1, characterized in that, Target positioning involves fixing three positioning targets at unobstructed locations on the top and left and right sides of the tunnel. The reference positions for the explosion-proof total station are then determined. The total station is used to measure the absolute coordinates of each target, including: The first positioning target is installed at the top of the tunnel; the second positioning target is installed at a location on the left side of the tunnel that is not on the same vertical line as the top target; and the third positioning target is installed at a location on the right side of the tunnel that corresponds to the left target. Use expansion bolts to install the three positioning targets at the selected locations, and select a location in the tunnel as the reference point for the explosion-proof total station; Turn on the explosion-proof total station and initialize it. 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 the corresponding absolute coordinate information for each target.

3. The over- and under-dig control method for tunneling equipment based on three-dimensional laser scanning according to claim 2, characterized in that, Three positioning targets are measured to obtain the coordinate data of each target in the scanner coordinate system. The measured target data of each target is compared with the previously stored absolute coordinate data. Automatic pairing is performed using a feature matching algorithm. After successful pairing, the measurement data of each target is associated 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; Perform three-dimensional coordinate measurements on each target and record the coordinate data (X, Y, F, Z) of each target in the scanner coordinate system. s Y s Z s ), coordinate data (X s Y s Z s This includes the three-dimensional position information of the target relative to the scanner origin; Read the absolute coordinate data (X) of the three positioning targets. w Y w Z w ), absolute coordinate data (X w Y w Z w () indicates the position of the target in the roadway coordinate system; Analyze the characteristics between each measured target data and all stored absolute coordinate data, including distance, angle, or shape; By calculating the similarity score between two sets of data, the corresponding matching target pair can be obtained; If the pairing is successful, each measured target data is associated with its corresponding absolute coordinate data, that is, the coordinates (X, Y, F) of each target in the scanner coordinate system. s Y s Z s ) and its coordinates in the tunnel coordinate system (X w Y w Z w Establish a correspondence between them.

4. The over- and under-excavation control method for tunneling equipment based on three-dimensional laser scanning according to claim 3, characterized in that, Scanning and point cloud data processing: The onboard 3D laser scanner is activated to complete a 3D scan of the excavated tunnel behind. The industrial control computer connected to the 3D laser scanner receives the scan data transmitted from the scanner, including: Point the scanner at the excavated tunnel behind you so that the scanning area completely covers the target tunnel, and start the 3D scan. After the scanner completes the scan, the data is transmitted to the industrial computer via a wireless network; The industrial control computer preprocesses the point cloud data to obtain preprocessed point cloud data; The preprocessed point cloud data is segmented, classified, and identified to extract the features and structural information inside the tunnel.

5. The over- and under-dig control method for tunneling equipment based on three-dimensional laser scanning according to claim 4, characterized in that, By processing the scanned data and combining it with existing tunnel design data, over-excavation and under-excavation information of the tunnel is obtained. This information is then sent to the tunneling equipment controller, including: The point cloud data is registered and calibrated, and then three-dimensional reconstruction is performed to generate an actual three-dimensional model of the tunnel. Acquire the design data of the tunnel, including the theoretical shape, size and location of the tunnel; align and compare the design data with the actual 3D model of the tunnel obtained by scanning, and detect the over-excavation and under-excavation areas of the tunnel; A quantitative analysis of the over- and under-excavation areas was conducted to calculate the volume, area, and specific location of the over- and under-excavation. Extract the volume, area, and specific location of over-excavation and under-excavation to obtain key information, including the location, size, and severity of over-excavation and under-excavation. 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.

6. A control system for over- and under-excavation of tunneling equipment based on three-dimensional laser scanning, characterized in that, Applied to the method as described in any one of claims 1 to 5, comprising: The airborne 3D laser scanning subsystem is used to perform 3D scanning of excavated tunnels. By processing and analyzing the scanned point cloud data and combining it with tunnel design data, it obtains information on over-excavation and under-excavation of the excavated tunnels. The tunneling equipment automatic cutting and over- and under-cutting control subsystem is used to receive over- and under-cutting information sent by the airborne three-dimensional laser scanning subsystem, and adjust the control strategy according to the over- and under-cutting information, and control the tunneling equipment to perform automatic cutting through the electromagnetic valve group. A remote 3D imaging display subsystem is used to remotely display the 3D images of the tunnel and over- and under-excavation information obtained by the airborne 3D laser scanning subsystem. The communication module is used to realize data communication between the airborne three-dimensional laser scanning subsystem, the tunneling equipment automatic cutting and over- and under-excavation control subsystem, and the remote three-dimensional imaging display subsystem.

7. The over- and under-excavation control system for tunneling equipment based on three-dimensional laser scanning according to claim 6, 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. The explosion-proof airborne 3D laser scanner is fixedly installed at a high, flat position on the tunneling equipment, facing the excavated tunnel behind it, and is used to perform 3D scanning of the excavated tunnel to acquire point cloud data. The industrial control computer receives and processes the point cloud data obtained by the explosion-proof airborne 3D laser scanner, and, in conjunction with tunnel design data, obtains over- or under-excavation information of the excavated tunnel through comparison and analysis.

8. The over- and under-excavation control system for tunneling equipment based on three-dimensional laser scanning according to claim 7, characterized in that, The automatic cutting and over- and under-cutting control subsystem of the tunneling equipment includes a controller, ultrasonic radar, millimeter-wave radar, sensor system, solenoid valve group, and automatic cutting control software. The controller is used to receive position and distance information from the ultrasonic radar, millimeter-wave radar, and sensor system, as well as over- and under-cutting information from the airborne three-dimensional laser scanning subsystem. Based on the over- and under-cutting information, the controller adjusts the control strategy and controls the tunneling equipment to perform automatic cutting through the solenoid valve group. The remote 3D 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 3D images of the tunnel and over- and under-excavation information sent by the airborne 3D laser scanning subsystem, and display them on the display screen.

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