Karst tunnel geological survey method, device, equipment, system and medium

Abstract

The invention relates to a karst tunnel geological investigation method, device, equipment, system and medium, in particular to the technical field of shield segment manufacturing, according to preset construction data of a karst tunnel, a target investigation area is set in a target construction area, an unmanned aerial vehicle cluster is controlled to carry out aerial scanning operation on the target investigation area at a first flight height, and the target investigation area is obtained; and controlling the first unmanned aerial vehicle group to perform aerial scanning operation on the target investigation area at a second flight height to establish a landform model of the target investigation area, screening out all cavern areas from the landform model, and controlling the first unmanned aerial vehicle group to perform aerial scanning operation on the target investigation area at a second flight height so as to establish a geologic model of the target investigation area in the landform model, and at least one second unmanned aerial vehicle group is controlled to carry out aerial scanning operation on the corresponding cavity area at the third flight height, so that the geological model is optimized, a target investigation model of the target investigation area is obtained, model processing operation is carried out on the target investigation model, and the obtained geological investigation result of the karst tunnel is not affected by environmental conditions.

Description

Technical Field

[0001] The present invention relates to the field of geological engineering geophysical prospecting technology, and in particular to a karst tunnel geological survey method, device, equipment, system and medium. Background Art

[0002] In China, both karst and karst are widely used. Karst landforms are not only developed in carbonate rock areas, but also appear in other soluble rock distribution areas (such as sulfates and halides). However, the karst landforms in carbonate rock areas are the most extensive and spectacular. When a tunnel passes through a karst area, water may accumulate in the karst cavity, which will affect the safe construction of the tunnel.

[0003] At present, before the construction of karst tunnels, it is usually necessary to conduct geological and geophysical exploration of the tunnel crossing area. When conducting geological and geophysical exploration, semi-aerial transient electromagnetic method, geological radar and other methods are usually used for detection. Taking the semi-aerial transient electromagnetic method detection technology as an example, the semi-aerial transient electromagnetic method (SATEM) is a technology used in karst tunnel geological and geophysical exploration. It combines the advantages of ground transmission and aerial reception, and can effectively detect groundwater resources and underground structures in karst areas. At present, this technology has been widely used in karst areas in China, such as Guilin Landscape in Guangxi and Lunan Stone Forest in Yunnan. The development of SATEM technology provides important geological information for groundwater resource development and engineering planning in karst areas. With the advancement of technology, the detection depth and accuracy of SATEM are constantly improving, but its application in complex karst areas still faces challenges, especially in terms of the diversity of karst landforms and the complexity of groundwater systems.

[0004] Although the semi-aerial transient electromagnetic method has made certain progress in karst tunnel geological prospecting, there are still some technical and application deficiencies. First, SATEM technology has limitations in detection depth and resolution, and it is difficult to accurately identify deep karst structures and subtle groundwater flow paths. Secondly, the geological conditions in karst areas are complex and changeable. A single SATEM technology is difficult to fully cover all types of karst landforms and needs to be used in combination with other geological exploration technologies. In addition, SATEM technology also has deficiencies in detection accuracy in complex karst areas. Therefore, the existing technology still needs further technical innovation and method improvement in karst tunnel geological prospecting to improve the accuracy and applicability of detection and better serve the economic construction and environmental protection of karst areas. Summary of the invention

[0005] The main purpose of the present invention is to propose a karst tunnel geological survey method, device, equipment, system and medium, aiming to solve the technical problem that the relevant technology is easily affected by environmental conditions when conducting geological exploration in complex karst areas.

[0006] To achieve the above object, the present invention provides a karst tunnel geological survey method, comprising:

[0007] According to the preset construction data of the karst tunnel, a target survey area is set in the target construction area; wherein the karst tunnel is arranged in the target survey area, and the target survey area includes at least four positioning positions, one positioning position is respectively arranged on both sides of the entrance and the exit of the karst tunnel, and the vertical distance between each positioning position and the center line of the karst tunnel is the same;

[0008] Controlling the drone cluster to perform an aerial scanning operation on the target survey area at a first flight altitude to establish a topographic model of the target survey area; wherein the drone cluster includes a first drone cluster and at least one second drone cluster, and the topographic model includes at least one cavity area connected to the external environment;

[0009] Filtering out all the cavity areas from the topographic model; wherein each cavity area is formed at a corresponding spatial height, and each cavity area has a corresponding third flight height;

[0010] Controlling the first drone group to perform an aerial scanning operation on the target survey area at a second flight altitude to establish a geological model of the target survey area in the topographic model;

[0011] Controlling at least one of the second drone groups to perform an aerial scanning operation on the corresponding cave area at the third flight altitude to optimize the geological model and obtain a target survey model of the target survey area;

[0012] A model processing operation is performed on the target survey model to obtain a geological survey result of the karst tunnel.

[0013] In one embodiment, the drone cluster further includes a third drone group, and the number of drones in the third drone group is consistent with the number of positioning positions and is arranged in one-to-one correspondence;

[0014] The step of controlling the drone cluster to perform an aerial scanning operation on the target survey area at a first flight altitude to establish a topographic model of the target survey area includes:

[0015] Controlling the drone cluster to perform an aerial scanning operation on the target survey area at the first flight altitude to obtain the number of positioning positions corresponding to the target survey area;

[0016] For each of the positioning positions, controlling a drone in the third drone group to fly over the positioning position at the first flight altitude to obtain the plane shape of the target survey area;

[0017] The first drone group and all the second drone groups are controlled to scan the area within the plane shape at the first flight altitude to obtain the topographic model of the target survey area.

[0018] In one embodiment, for each of the positioning positions, controlling a drone in the third drone group to fly above the positioning position at the first flight altitude to obtain the plane shape of the target survey area includes:

[0019] For each of the positioning positions, control a drone in the third drone group to fly above the positioning position at the first flight altitude, and determine the boundary points of the boundary contour of the target survey area; wherein the boundary points are distributed at intervals on both sides of the center line of the karst tunnel, and each boundary point corresponds to one of the positioning positions;

[0020] All the positioning positions are sequentially connected to form a closed plane geometric figure to obtain the plane shape of the target survey area.

[0021] In one embodiment, after the step of controlling a drone in the third drone group to fly above each positioning position at the first flight altitude and determining the boundary points of the boundary contour of the target survey area, the method further includes:

[0022] The third drone group is used as a relay drone group and provides relay signals for the first drone group and the second drone group.

[0023] In one embodiment, the step of performing model processing on the target survey model to obtain the geological survey result of the karst tunnel includes:

[0024] A model sectioning operation is performed on the target survey model to obtain a longitudinal section view of the center line of the karst tunnel and a cross-sectional view of the karst tunnel.

[0025] Based on the same technical concept, in a second aspect, the present invention also proposes a karst tunnel geological survey device, comprising:

[0026] A region demarcation module is used to set a target survey area in a target construction area according to preset construction data of the karst tunnel; wherein the karst tunnel is arranged in the target survey area, and the target survey area includes at least four positioning positions, one positioning position is respectively arranged on both sides of the entrance and the exit of the karst tunnel, and the vertical distance between each positioning position and the center line of the karst tunnel is the same;

[0027] A first flight control module is used to control the drone cluster to perform an aerial scanning operation on the target survey area at a first flight altitude to establish a topographic model of the target survey area; wherein the drone cluster includes a first drone cluster and at least one second drone cluster, and the topographic model includes at least one cavity area connected to the external environment;

[0028] A screening module, used for screening out all the cavity areas from the topographic model; wherein each cavity area is formed at a corresponding spatial height, and each cavity area has a corresponding third flight height;

[0029] A second flight control module is used to control the first drone group to perform an aerial scanning operation on the target survey area at a second flight altitude, so as to establish a geological model of the target survey area in the terrain model;

[0030] A third flight control module is used to control at least one of the second drone groups to perform an aerial scanning operation on the corresponding cave area at the third flight altitude to optimize the geological model and obtain a target exploration model of the target exploration area;

[0031] The result output module is used to perform model processing on the target survey model to obtain the geological survey result of the karst tunnel.

[0032] In one embodiment, a drone and a scanning mechanism are also included, and a mounting position is formed at the bottom of the drone;

[0033] The scanning mechanism comprises:

[0034] a rotary drive member, the rotary drive member being mounted at the mounting position;

[0035] A mounting seat, the mounting seat is mounted on an end of the rotary drive member away from the mounting position, and the rotary drive member can drive the mounting seat to rotate;

[0036] a multi-joint mechanical arm, the multi-joint mechanical arm being mounted on the mounting seat; and

[0037] The scanner is mounted on one end of the multi-joint mechanical arm away from the mounting base, and the multi-joint mechanical arm can drive the scanner to rotate so that the scanner can perform scanning operations in any direction.

[0038] Based on the same technical concept, in the third aspect, the present invention also proposes a karst tunnel geological survey equipment, which includes a processor and a memory, and a karst tunnel geological survey program is stored in the memory. When the karst tunnel geological survey program is executed by the processor, the karst tunnel geological survey method described in the first aspect is implemented.

[0039] Based on the same technical concept, in a fourth aspect, the present invention further proposes a karst tunnel geological survey system, comprising:

[0040] The karst tunnel geological survey equipment according to the third aspect; and

[0041] A drone cluster, wherein the drone cluster is communicatively connected to the karst tunnel geological survey equipment, each drone in the drone cluster is provided with a preset scanning device, each preset scanning device is communicatively connected to the karst tunnel geological survey equipment, and the karst tunnel geological survey equipment can control the preset scanning device to perform aerial scanning operations on the target survey area.

[0042] Based on the same technical concept, in the fifth aspect, the present invention also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by one or more processors, the karst tunnel geological survey method described in the first aspect is implemented.

[0043] The technical solution of the present invention sets a target survey area in a target construction area according to preset construction data of a karst tunnel, controls a drone cluster to perform an aerial scanning operation on the target survey area at a first flight altitude to establish a topographic model of the target survey area, selects all cavity areas from the topographic model, controls a first drone cluster to perform an aerial scanning operation on the target survey area at a second flight altitude to establish a geological model of the target survey area in the topographic model, controls at least one second drone cluster to perform an aerial scanning operation on the corresponding cavity area at a third flight altitude to optimize the geological model, obtains a target survey model of the target survey area, and performs model processing on the target survey model. , and obtain the geological survey results of the karst tunnel, so that when the present invention is used, it can use the set drone cluster to perform scanning operations on the target construction area to establish a topographic model of the target construction area. After obtaining the topographic model, the first drone group is used to continue the aerial scanning operation at the second flight altitude to establish the geological model of the target survey area, and then the second drone group is used to screen out the cave area from the established topographic model to perform aerial scanning operations at the second flight altitude to obtain the geological model of each cave area, and obtain the target survey model of the target survey area, so that the present invention will not be affected by environmental conditions, thereby improving the accuracy and applicability of the survey results. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0045] Figure 1 A flow chart of the karst tunnel geological survey method provided by the present invention;

[0046] Figure 2 for Figure 1 Flow chart of step S200 in the example;

[0047] Figure 3 for Figure 2 Flow chart of step S220 in the example;

[0048] Figure 4 A schematic diagram of the structure of a karst tunnel geological survey device according to an example of the present invention;

[0049] Figure 5 A schematic diagram of the structure of the drone provided by the present invention;

[0050] Figure 6 for Figure 5 Schematic diagram of the structure of the scanning mechanism of the example.

[0051] Description of Figure Numbers:

[0052] 100. UAV; 200. Mounting position; 300. Scanning mechanism; 310. Rotating drive member; 320. Mounting seat; 330. Multi-joint robotic arm; 340. Scanner.

[0053] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0056] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0057] The invention provides a karst tunnel geological survey method.

[0058] See also Figures 1 to 6 In one embodiment of the present invention, the karst tunnel geological survey method comprises:

[0059] S100, according to the preset construction data of the karst tunnel, setting a target survey area in the target construction area; wherein the karst tunnel is arranged in the target survey area, and the target survey area includes at least four positioning positions, one positioning position is respectively arranged on both sides of the entrance and the exit of the karst tunnel, and the vertical distance between each positioning position and the center line of the karst tunnel is the same;

[0060] In this embodiment, the preset construction data of the example include the construction drawings of the karst tunnel, the construction data and design data of the target construction area. The target construction area of ​​the example is preferably the construction area of ​​the karst tunnel.

[0061] S200, controlling the drone cluster to perform an aerial scanning operation on the target survey area at a first flight altitude to establish a topographic model of the target survey area; wherein the drone cluster includes a first drone cluster and at least one second drone cluster, and the topographic model includes at least one cave area connected to the external environment;

[0062] In this embodiment, the first flight altitude of the example is a flight altitude higher than the highest position of the entire target survey area, that is, the first altitude of the example is at least 50 meters above the highest position of the target survey area. The first drone group and the second drone of the example are both composed of drones separated from the drone cluster, and are both composed of at least two drones.

[0063] It should be particularly and clearly stated that the cave region in this embodiment includes at least one solution cavity region connected to the outside and at least one cliff cavity region connected to the outside. The second flight altitude in the example should be lower than the first flight altitude.

[0064] S300, selecting all the cavity areas from the topographic model; wherein each cavity area is formed at a corresponding spatial height, and each cavity area has a corresponding third flight height;

[0065] In this embodiment, the third flight height of the example is lower than the second flight height, and the third flight height is the height corresponding to the space in the cavity area or cliff cavity area. The target survey area has a number of cavity areas and cliff cavity areas connected to the outside world, and the third flight height of the example has a corresponding number. It can be clearly stated that the height of the cavity area or cliff cavity area of ​​the example is 10m, and the third flight height is 10m.

[0066] S400, controlling the first drone group to perform an aerial scanning operation on the target survey area at a second flight altitude, so as to establish a geological model of the target survey area in the topographic model;

[0067] S500, controlling at least one of the second drone groups to perform an aerial scanning operation on the corresponding cave area at the third flight altitude to optimize the geological model and obtain a target survey model of the target survey area;

[0068] In this embodiment, the optimized geological model is to add a geological model obtained by scanning the karst cavity area or the cliff cavity area to the established geological model, thereby adjusting the geological model to make it more accurate.

[0069] It can be further clarified that, in this embodiment, when controlling the second drone group to perform aerial scanning of the corresponding cavity area at the third flight altitude, one drone can correspond to one cavity area, and there is no need to use multiple drones. At the same time, in order to improve the control accuracy of the drone flying into the cavity, it is also possible to use the drones in the first drone group to establish relay communication, and control at least one drone in the second drone group to fly outside the corresponding cavity, so as to achieve relay control between the drone flying to the established cavity and the drones in the second drone group in the cavity.

[0070] S600: Perform model processing on the target survey model to obtain geological survey results of the karst tunnel.

[0071] In this embodiment, the processing operation on the target survey model mainly involves performing longitudinal section or cross section on the target survey model to obtain a corresponding longitudinal section diagram or cross section diagram to form a corresponding geological survey result.

[0072] It can be further explained that the target exploration model used in this embodiment is preferably a three-dimensional geological model or a point cloud model.

[0073] In this embodiment, according to the preset construction data of the karst tunnel, a target survey area is set in the target construction area, and the drone cluster is controlled to perform an aerial scanning operation on the target survey area at a first flight altitude to establish a topographic model of the target survey area, and all cavity areas are screened out from the topographic model. The first drone group is controlled to perform an aerial scanning operation on the target survey area at a second flight altitude to establish a geological model of the target survey area in the topographic model, and at least one second drone group is controlled to perform an aerial scanning operation on the corresponding cavity area at a third flight altitude to optimize the geological model, so as to obtain a target survey model of the target survey area, and a model processing operation is performed on the target survey model. The geological survey results of the karst tunnel are obtained, so that when the present invention is used, the set drone cluster can be used to perform scanning operations on the target construction area to establish a topographic model of the target construction area. After obtaining the topographic model, the first drone group is used to continue aerial scanning operations at a second flight altitude to establish a geological model of the target survey area. The set second drone group is then used to screen out the cave area from the established topographic model and perform aerial scanning operations at a second flight altitude to obtain the geological model of each cave area, and obtain the target survey model of the target survey area. This makes the present invention not affected by environmental conditions, thereby improving the accuracy and applicability of the survey results.

[0074] In some specific embodiments, the drone cluster further includes a third drone group, and the number of drones in the third drone group is consistent with the number of positioning positions and is arranged in one-to-one correspondence;

[0075] Step S200 includes:

[0076] S210, controlling the drone cluster to perform an aerial scanning operation on the target survey area at the first flight altitude to obtain the number of positioning positions corresponding to the target survey area;

[0077] In this embodiment, the number of positioning positions in the target survey area is determined mainly based on the extension direction of the center line of the karst tunnel. Specifically, when the extension direction of the tunnel is a straight line, the number of positioning positions can be determined to be 6, and they are paired in pairs. Among them, one is set on each side of the entrance and exit of the karst tunnel, and one is set on each side of the middle position of the karst tunnel.

[0078] S220, for each of the positioning positions, controlling a drone in the third drone group to fly over the positioning position at the first flight altitude to obtain the plane shape of the target survey area;

[0079] In this embodiment, when obtaining the plane shape of the target survey area, it is usually formed by horizontally extending 10m-50m outward from the boundary lines on both sides of the karst tunnel.

[0080] S230: Control the first drone group and all the second drone groups to scan the area within the plane shape at the first flight altitude to obtain the topographic model of the target survey area.

[0081] In this embodiment, when obtaining the topographic model of the target survey area, the first drone group and the second drone group both fly together. Through this flying mode, the present invention can improve the efficiency of aviation operations in the target survey area when it is implemented.

[0082] In some preferred embodiments, step S220 includes:

[0083] S221, for each of the positioning positions, controlling a drone in the third drone group to fly above the positioning position at the first flight altitude, and determining boundary points of the boundary contour of the target survey area; wherein the boundary points are distributed at intervals on both sides of the center line of the karst tunnel, and each boundary point corresponds to one of the positioning positions;

[0084] In this embodiment, a drone is set above each positioning position to determine the boundary point of the karst tunnel. After the boundary point is determined, each drone in the third drone group set above the boundary point is used as a relay drone, so that the present invention can realize the function of relaying and controlling the first drone group and the second drone group.

[0085] S222. Connect all the positioning positions in sequence to form a closed plane geometric figure, and obtain the plane shape of the target survey area.

[0086] In this embodiment, the plane geometric figures are connected in sequence to obtain the plane shape of the target survey area. By determining the boundary points, the boundary points are connected in sequence to obtain the plane shape of the target survey area, so that the present invention can accurately determine the precise position of the target survey area when used.

[0087] In one implementation, after step S221, the method further includes:

[0088] S223. Use the third drone group as a relay drone group and provide relay signals for the first drone group and the second drone group.

[0089] In this embodiment, by using the third drone group as a relay drone group and providing relay signals for the first drone group and the second drone group, the present invention can control more drones to control and relay more areas, ensuring the survey accuracy of the target survey area.

[0090] In one embodiment, step S600 includes:

[0091] S610: Perform a model sectioning operation on the target survey model to obtain a longitudinal section view of the center line of the karst tunnel and a cross-sectional view of the karst tunnel.

[0092] In this embodiment, when the target survey model is subjected to model sectioning, the sectioning may be performed along the center line of the karst tunnel first, and at the same time, according to the intersection area of ​​the underground karst area and the extension direction of the karst tunnel determined in the target survey model, the cross-section sectioning operation of the karst tunnel is performed in the intersection area of ​​the underground karst area and the karst tunnel to obtain the corresponding cross-sectional diagram. It can be further clarified that in this embodiment, the number of cross-sectional diagrams obtained is the same as the number of karst areas along the extension direction of the karst tunnel.

[0093] Based on the same technical concept, in a second aspect, the present invention also proposes a karst tunnel geological survey device, comprising:

[0094] A region demarcation module is used to set a target survey area in a target construction area according to preset construction data of the karst tunnel; wherein the karst tunnel is arranged in the target survey area, and the target survey area includes at least four positioning positions, one positioning position is respectively arranged on both sides of the entrance and the exit of the karst tunnel, and the vertical distance between each positioning position and the center line of the karst tunnel is the same;

[0095] A first flight control module is used to control the drone cluster to perform an aerial scanning operation on the target survey area at a first flight altitude to establish a topographic model of the target survey area; wherein the drone cluster includes a first drone cluster and at least one second drone cluster, and the topographic model includes at least one cavity area connected to the external environment;

[0096] A screening module, used for screening out all the cavity areas from the topographic model; wherein each cavity area is formed at a corresponding spatial height, and each cavity area has a corresponding third flight height;

[0097] A second flight control module is used to control the first drone group to perform an aerial scanning operation on the target survey area at a second flight altitude, so as to establish a geological model of the target survey area in the terrain model;

[0098] A third flight control module is used to control at least one of the second drone groups to perform an aerial scanning operation on the corresponding cave area at the third flight altitude to optimize the geological model and obtain a target exploration model of the target exploration area;

[0099] The result output module is used to perform model processing on the target survey model to obtain the geological survey result of the karst tunnel.

[0100] The karst tunnel geological survey device provided in the embodiment of the present application adopts the karst tunnel geological survey method in the above embodiment, which can solve the technical problem of being easily affected by environmental conditions when conducting geological exploration in complex karst areas. Compared with the prior art, the beneficial effects of the karst tunnel geological survey device provided in the embodiment of the present application are the same as the beneficial effects of the karst tunnel geological survey method provided in the above embodiment, and other technical features in the karst tunnel geological survey device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0101] In some specific embodiments, a drone 100 and a scanning mechanism 300 are also included, and a mounting position 200 is formed at the bottom of the drone 100;

[0102] The scanning mechanism 300 comprises:

[0103] A rotating driving member 310, wherein the rotating driving member 310 is installed at the installation position 200;

[0104] A mounting seat 320, wherein the mounting seat 320 is mounted on an end of the rotary drive member 310 away from the mounting position 200, and the rotary drive member 310 can drive the mounting seat 320 to rotate;

[0105] a multi-joint mechanical arm 330, wherein the multi-joint mechanical arm 330 is mounted on the mounting base 320; and

[0106] The scanner 340 is mounted on one end of the multi-joint robotic arm 330 away from the mounting base 320 . The multi-joint robotic arm 330 can drive the scanner 340 to rotate so that the scanner 340 can perform scanning operations in any direction.

[0107] In this embodiment, the drone 100 and the scanning mechanism 300 are provided, and the scanning mechanism 300 is configured to include a rotating driving member 310, a mounting seat 320, a multi-joint mechanical arm 330 and a scanner 340, the rotating driving member 310 is installed on the drone 100, the mounting seat 320 is installed on the rotating driving member 310, the multi-joint mechanical arm 330 is installed on the mounting seat 320, and the scanner 340 is installed on the multi-joint mechanical arm 330, so that when the present invention is used, the rotating driving member 310 is used to drive the mounting seat 320 to drive the scanner 340 to move, so as to achieve the purpose of adjusting the horizontal scanning direction of the scanner 340. At the same time, the multi-joint mechanical arm 330 is used to drive the scanner 340 to move, so that when the present invention is used, the scanning can be turned over, and thus the scanner 340 can achieve the function of full-circle scanning when the present invention is used.

[0108] It can be further clarified that, in this embodiment, the exemplary omnidirectional scanner 340 can perform scanning operations on the horizontal surroundings and the upper area of ​​the drone 100.

[0109] It should be particularly and clearly stated that, in this embodiment, the example rotary drive member 310 is a device or apparatus capable of realizing an automatic rotation function in the prior art, which is only applied in this embodiment without improving or designing its own structure, so it will not be described here. In this embodiment, the example multi-joint robot arm 330 is preferably a robot arm with seven degrees of freedom, and the example multi-joint robot arm 330 can be, but is not limited to, the ultra ArmP340 of Elephant Robotics, the seven-axis collaborative robot arm of Tyco Robotics, etc.

[0110] Based on the same technical concept, in the third aspect, the present invention also proposes a karst tunnel geological survey equipment, which includes a processor and a memory, and a karst tunnel geological survey program is stored in the memory. When the karst tunnel geological survey program is executed by the processor, the karst tunnel geological survey method described in the first aspect is implemented.

[0111] The karst tunnel geological survey equipment in the embodiments of the present application may include but is not limited to mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted control terminals), etc., as well as fixed terminals such as digital TVs, desktop computers, etc.

[0112] The karst tunnel geological survey equipment may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM) 1004. Various programs and data required for the operation of the karst tunnel geological survey equipment are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the karst tunnel geological survey equipment to communicate wirelessly or wired with other equipment to exchange data. Although the karst tunnel geological survey equipment with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0113] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0114] The karst tunnel geological survey equipment provided by the present application adopts the karst tunnel geological survey method in the above embodiment, which can solve the technical problem that the prefabricated pipe segments need to be hoisted and transported during the actual assembly process, resulting in low assembly efficiency. Compared with the prior art, the beneficial effects of the karst tunnel geological survey equipment provided by the present application are the same as the beneficial effects of the karst tunnel geological survey method provided by the above embodiment, and the other technical features of the karst tunnel geological survey equipment are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0115] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0116] In addition, the karst tunnel geological survey equipment provided in the embodiment of the present application can solve the technical problem that the prefabricated pipe segments need to be hoisted and transported during the assembly process, resulting in low assembly efficiency. Compared with the prior art, the beneficial effects of the karst tunnel geological survey equipment provided in the embodiment of the present application are the same as the beneficial effects of the karst tunnel geological survey method provided in the above embodiment, and other technical features in the karst tunnel geological survey equipment are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0117] Based on the same technical concept, in a fourth aspect, the present invention further proposes a karst tunnel geological survey system, comprising:

[0118] The karst tunnel geological survey equipment according to the third aspect; and

[0119] A drone cluster, wherein the drone cluster is communicatively connected to the karst tunnel geological survey equipment, each drone in the drone cluster is provided with a preset scanning device, each preset scanning device is communicatively connected to the karst tunnel geological survey equipment, and the karst tunnel geological survey equipment can control the preset scanning device to perform aerial scanning operations on the target survey area.

[0120] In addition, the karst tunnel geological survey system provided in the embodiment of the present application can solve the technical problem that the prefabricated pipe segments need to be hoisted and transported during the assembly process, resulting in low assembly efficiency. Compared with the prior art, the beneficial effects of the karst tunnel geological survey system provided in the embodiment of the present application are the same as the beneficial effects of the karst tunnel geological survey method provided in the above embodiment, and other technical features of the karst tunnel geological survey system are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0121] Based on the same technical concept, in the fifth aspect, the present invention also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by one or more processors, the karst tunnel geological survey method described in the first aspect is implemented.

[0122] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0123] The computer-readable storage medium may be included in the karst tunnel geological survey equipment; or may exist independently without being assembled into the karst tunnel geological survey equipment.

[0124] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the karst tunnel geological survey equipment, the karst tunnel geological survey equipment can implement the karst tunnel geological survey method described above.

[0125] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0126] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0127] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0128] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned karst tunnel geological survey method, and can solve the technical problem that the prefabricated segments need to be hoisted and transported during the assembly process, resulting in low assembly efficiency. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the karst tunnel geological survey method provided in the above-mentioned embodiment, and will not be repeated here.

[0129] Therefore, all the beneficial effects brought by the technical solutions of at least the above embodiments are not described one by one here. The above description is only an exemplary implementation of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A karst tunnel geological survey method, characterized in that: include: According to the preset construction data of the karst tunnel, a target survey area is set in the target construction area; wherein the karst tunnel is arranged in the target survey area, and the target survey area includes at least four positioning positions, one positioning position is respectively arranged on both sides of the entrance and the exit of the karst tunnel, and the vertical distance between each positioning position and the center line of the karst tunnel is the same; Controlling the drone cluster to perform an aerial scanning operation on the target survey area at a first flight altitude to establish a topographic model of the target survey area; wherein the drone cluster includes a first drone cluster and at least one second drone cluster, and the topographic model includes at least one cavity area connected to the external environment; Filtering out all the cavity areas from the topographic model; wherein each cavity area is formed at a corresponding spatial height, and each cavity area has a corresponding third flight height; Controlling the first drone group to perform an aerial scanning operation on the target survey area at a second flight altitude to establish a geological model of the target survey area in the topographic model; Controlling at least one of the second drone groups to perform an aerial scanning operation on the corresponding cave area at the third flight altitude to optimize the geological model and obtain a target survey model of the target survey area; A model processing operation is performed on the target survey model to obtain a geological survey result of the karst tunnel.

2. The karst tunnel geological survey method according to claim 1, characterized in that: The drone cluster further includes a third drone group, wherein the number of drones in the third drone group is consistent with the number of positioning positions and is arranged in one-to-one correspondence; The step of controlling the drone cluster to perform an aerial scanning operation on the target survey area at a first flight altitude to establish a topographic model of the target survey area includes: Controlling the drone cluster to perform an aerial scanning operation on the target survey area at the first flight altitude to obtain the number of positioning positions corresponding to the target survey area; For each of the positioning positions, controlling a drone in the third drone group to fly over the positioning position at the first flight altitude to obtain the plane shape of the target survey area; The first drone group and all the second drone groups are controlled to scan the area within the plane shape at the first flight altitude to obtain the topographic model of the target survey area.

3. The karst tunnel geological survey method according to claim 2, characterized in that: The step of controlling a drone in the third drone group to fly above each positioning position at the first flight altitude to obtain the plane shape of the target survey area includes: For each of the positioning positions, control a drone in the third drone group to fly above the positioning position at the first flight altitude, and determine the boundary points of the boundary contour of the target survey area; wherein the boundary points are distributed at intervals on both sides of the center line of the karst tunnel, and each boundary point corresponds to one of the positioning positions; All the positioning positions are sequentially connected to form a closed plane geometric figure to obtain the plane shape of the target survey area.

4. The karst tunnel geological survey method according to claim 3, characterized in that: After the step of controlling a drone in the third drone group to fly above each of the positioning positions at the first flight altitude and determining the boundary points of the boundary contour of the target survey area, the method further includes: The third drone group is used as a relay drone group and provides relay signals for the first drone group and the second drone group.

5. The karst tunnel geological survey method according to any one of claims 1 to 4, characterized in that: The step of performing model processing on the target survey model to obtain the geological survey result of the karst tunnel includes: A model sectioning operation is performed on the target survey model to obtain a longitudinal section view of the center line of the karst tunnel and a cross-sectional view of the karst tunnel.

6. A karst tunnel geological survey device, characterized in that: include: A region demarcation module is used to set a target survey area in a target construction area according to preset construction data of the karst tunnel; wherein the karst tunnel is arranged in the target survey area, and the target survey area includes at least four positioning positions, one positioning position is respectively arranged on both sides of the entrance and the exit of the karst tunnel, and the vertical distance between each positioning position and the center line of the karst tunnel is the same; A first flight control module is used to control the drone cluster to perform an aerial scanning operation on the target survey area at a first flight altitude to establish a topographic model of the target survey area; wherein the drone cluster includes a first drone cluster and at least one second drone cluster, and the topographic model includes at least one cavity area connected to the external environment; A screening module, used for screening out all the cavity areas from the topographic model; wherein each cavity area is formed at a corresponding spatial height, and each cavity area has a corresponding third flight height; A second flight control module is used to control the first drone group to perform an aerial scanning operation on the target survey area at a second flight altitude, so as to establish a geological model of the target survey area in the terrain model; A third flight control module is used to control at least one of the second drone groups to perform an aerial scanning operation on the corresponding cave area at the third flight altitude to optimize the geological model and obtain a target exploration model of the target exploration area; The result output module is used to perform model processing on the target survey model to obtain the geological survey result of the karst tunnel.

7. The karst tunnel geological survey device according to claim 6, characterized in that: Also included is a drone and a scanning mechanism, wherein a mounting position is formed at the bottom of the drone; The scanning mechanism comprises: a rotary drive member, the rotary drive member being mounted at the mounting position; A mounting seat, the mounting seat is mounted on an end of the rotary drive member away from the mounting position, and the rotary drive member can drive the mounting seat to rotate; a multi-joint mechanical arm, the multi-joint mechanical arm being mounted on the mounting seat; and The scanner is mounted on one end of the multi-joint mechanical arm away from the mounting base, and the multi-joint mechanical arm can drive the scanner to rotate so that the scanner can perform scanning operations in any direction.

8. A karst tunnel geological survey equipment, characterized in that: The karst tunnel geological survey equipment includes a processor and a memory, wherein a karst tunnel geological survey program is stored in the memory, and when the karst tunnel geological survey program is executed by the processor, the karst tunnel geological survey method according to any one of claims 1 to 5 is implemented.

9. A karst tunnel geological survey system, characterized in that: include: The karst tunnel geological survey equipment according to claim 8; as well as, A drone cluster, wherein the drone cluster is communicatively connected to the karst tunnel geological survey equipment, each drone in the drone cluster is provided with a preset scanning device, each preset scanning device is communicatively connected to the karst tunnel geological survey equipment, and the karst tunnel geological survey equipment can control the preset scanning device to perform aerial scanning operations on the target survey area.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by one or more processors, the karst tunnel geological survey method according to any one of claims 1 to 5 is implemented.

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