Shot point positioning method based on three-dimensional scanning

Abstract

The invention discloses a shot point positioning method based on three-dimensional scanning, and belongs to the field of shot point positioning method.The shot point positioning method comprises the following steps that two calibration points are arranged on a projector, and correction parameters of a projection center point, a horizontal angle and a vertical angle of the projector are obtained through calculation of the calibration points; acquiring blasting section point cloud data of a target construction tunnel based on an engineering coordinate system through three-dimensional scanning equipment, and generating a three-dimensional blasting section according to the blasting section point cloud data; a projector is erected in a target construction tunnel, two calibration points of the projector are measured through a total station, and the coordinate of the center of the projector in a current engineering coordinate system and the horizontal angle and the vertical angle of the center line of the projector are obtained; according to a blasting design drawing, a blast hole layout point location diagram of a theoretical section is obtained, and the offset distance and the height difference of each point location on the current section relative to a design line are extracted; the method is simple in shot point position correction mode, does not need to consume a large amount of manpower and material resources, and is convenient to use.

Description

Technical Field

[0001] The invention relates to the field of shot point positioning methods, in particular to a shot point positioning method based on three-dimensional scanning. Background Art

[0002] Since the beginning of the 21st century, with the continuous development of the economy, the continuous improvement of comprehensive national strength and the continuous application of high-tech, my country's tunnel and underground engineering construction has developed rapidly. By the end of 2018, my country had built 18,145 railway and high-speed railway tunnels with a total operating mileage of 21,227 km; 17,738 highway tunnels with a total operating mileage of 17,236 km; and 5,761 km of subway operating lines. At present, due to the simplicity, flexibility, low cost and strong applicability of the drilling and blasting method, rock tunnels such as railways, highways and subways are mainly based on the drilling and blasting method, among which the smooth blasting technology is the most widely used.

[0003] However, due to the complexity of the geological environment, during tunnel excavation operations, the blasting section of the target construction tunnel is not smooth, and there will be protrusions or pits, which requires correction to ensure that the offset and height difference are correct. However, the existing correction method is complicated, requires a lot of manpower and material resources, and is not convenient to use.

[0004] Therefore, those skilled in the art provide a shot point positioning method based on three-dimensional scanning to solve the problems raised in the above background technology. Summary of the invention

[0005] The purpose of the present invention is to provide a shot point positioning method based on three-dimensional scanning, which has a simple way to correct the shot point position, does not require a lot of manpower and material resources, and is easy to use, so as to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: A shot point positioning method based on three-dimensional scanning comprises the following steps: Two calibration points are set on the projector, and the correction parameters of the projection center point and the horizontal angle and vertical angle of the projector are calculated through the calibration points; Collecting blasting section point cloud data based on the engineering coordinate system of the target construction tunnel by a three-dimensional scanning device, and generating a three-dimensional blasting section according to the blasting section point cloud data; Set up a projector in the target construction tunnel, measure the two calibration points of the projector by using a total station, obtain the coordinates of the projector center in the current engineering coordinate system, and the horizontal angle and vertical angle of the projector centerline; According to the blasting design drawings, the blasthole layout point map of the theoretical section is obtained, and the offset and height difference of each point in the current section relative to the design line are extracted. By keeping the offset and height difference unchanged, the blasthole layout points are projected and corrected on the three-dimensional blasting section, and each blasthole layout point is cyclically corrected to obtain the entire blasthole position projection correction map relative to the center point of the projector; The projection correction diagram of the blast hole position is positioned on the blasting section mark of the target construction tunnel by a projector.

[0007] As a further solution of the present invention: the specific process of correcting the blasthole layout points is: Extract the three-dimensional blasting section of the target construction tunnel and establish a spatial coordinate system with the projector position as the origin; Obtain the target blasthole theoretical position through the projector, calculate the spatial position coordinates of the target blasthole theoretical position, and mark the target blasthole theoretical coordinates as (X, Y, Z); Make a ray based on the center position of the projector and the theoretical coordinates (X, Y, Z) of the target blasthole, calculate the intersection of the ray and the actual three-dimensional blasting section surface, and obtain the measured coordinates (x1, y1, z1); The mileage, offset and height difference of the measured point are calculated by the measured coordinates (x1, y1, z1), wherein the mileage refers to the distance between the projector and the measured coordinates (x1, y1, z1) along the ray direction, the offset refers to the horizontal distance between the measured coordinates (x1, y1, z1) and the preset alignment point, and the height difference refers to the vertical distance between the measured coordinates (x1, y1, z1) and the preset alignment point; Correct the projected mileage to obtain new measured coordinates (x2, y2, z2) in a way that ensures the offset and height difference, and calculate the mileage, offset and height difference of the new measured coordinates (x2, y2, z2); Determine whether the offset and height difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates of the target blasthole (X, Y, Z) meet the tolerance limits. If so, output the new measured coordinates (x2, y2, z2) as the final corrected coordinates. If not, return to the previous step and continue the cycle.

[0008] As a further solution of the present invention: the theoretical position of the blasthole is based on the theoretical section of the target construction tunnel, the theoretical section of the target construction tunnel is set in front of the actual three-dimensional blasting section, and the theoretical section is absolutely smooth without protrusions or pits.

[0009] As a further solution of the present invention: when the projector is installed, the vertical angle of the projector projection centerline is installed horizontally and the horizontal angle is parallel to the theoretical section normal vector.

[0010] As a further solution of the present invention: the specific process of correcting the projected mileage in a manner of ensuring the offset and height difference is as follows: The projector is translated forward and backward, that is, the projector is translated forward and backward along the X-axis of the spatial coordinate system, so that the translated projector ray is projected on the measured coordinates (x1, y1, z1); Keeping the direction of the projector ray unchanged, move the projector back to the initial position. The intersection of the projector ray and the actual three-dimensional blasting section surface is the new measured coordinate (x2, y2, z2).

[0011] As a further solution of the present invention: the specific process of judging whether the offset and height difference between the new measured coordinates (x2, y2, z2) and the target blasthole theoretical coordinates (X, Y, Z) meet the tolerance limit is: Mark the tolerance on offset as A, and the tolerance on height difference as B; Calculate the error between the offset of the new measured coordinates (x2, y2, z2) and the offset of the target borehole theoretical coordinates (X, Y, Z) ; Calculate the error between the height difference of the new measured coordinates (x2, y2, z2) and the height difference of the target blasthole theoretical coordinates (X, Y, Z) ; If a≤A and b≤B, it means that the offset and height difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates of the target blasthole (X, Y, Z) meet the limit.

[0012] As a further solution of the present invention: if the offset and height difference between the new measured coordinates (x2, y2, z2) and the target blasthole theoretical coordinates (X, Y, Z) do not meet the limit error, then when the projector is re-translated, fine-tuning is performed based on the position after the first projector translation, and the new measured coordinates obtained after fine-tuning are marked as (x3, y3, z3). If the errors in the offset and height difference between the coordinates (x3, y3, z3) and the target blasthole theoretical coordinates (X, Y, Z) are reduced, it means that the fine-tuning direction is correct. Conversely, if the errors in the offset and height difference between the coordinates (x3, y3, z3) and the target blasthole theoretical coordinates (X, Y, Z) are increased, it means that the fine-tuning direction is wrong.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The gun point positioning method of the present application is simple in the correction method of the gun point position, does not require a lot of manpower and material resources, and is easy to use.

[0014] 2. The blasting point positioning method of the present application can quickly correct the blasting point position simply by translating the projector, thereby accelerating the blasting speed of the construction tunnel.

[0015] 3. In the process of the shot point correction of the present application, it is cyclically determined whether the offset and height difference meet the tolerance limit. If not, adjustments are made repeatedly to make the corrected shot point position more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of a method for locating a gun point based on three-dimensional scanning; Figure 2 A schematic diagram of offset and height difference in a shot point positioning method based on three-dimensional scanning; Figure 3 It is a schematic diagram of an uncorrected shot point and a corrected shot point in a shot point positioning method based on three-dimensional scanning; Figure 4 It is a schematic diagram of a projector after adjustment in a shot point positioning method based on three-dimensional scanning; Figure 5 Schematic diagram of a corrected shot point after the projector is adjusted in a shot point positioning method based on three-dimensional scanning. DETAILED DESCRIPTION

[0017] 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.

[0018] As mentioned in the background technology of this application, it has been found through research that due to the complexity of the geological environment, during tunnel excavation on-site operations, the blasting section of the target construction tunnel is not smooth, and there will be protrusions or pits, which requires correction to ensure that the offset and height difference are correct. However, the existing correction method is complicated, requires a lot of manpower and material resources, is not convenient to use, and has certain defects.

[0019] In order to solve the above defects, the present application discloses a shot point positioning method based on three-dimensional scanning. The correction method of the shot point position is simple, does not require a lot of manpower and material resources, and is easy to use.

[0020] The following will describe in detail how the solution of the present application solves the above technical problems in conjunction with the accompanying drawings.

[0021] See also Figure 1In an embodiment of the present invention, a blast point positioning method based on three-dimensional scanning includes the following steps: setting two calibration points on a projector, and obtaining correction parameters of the projection center point and horizontal angle and vertical angle of the projector through calculation of the calibration points; collecting blast section point cloud data based on the engineering coordinate system of the target construction tunnel through a three-dimensional scanning device, and generating a three-dimensional blast section according to the blast section point cloud data; setting up a projector in the target construction tunnel, and measuring the two calibration points of the projector through a total station to obtain the coordinates of the center of the projector in the current engineering coordinate system, as well as the horizontal angle and vertical angle of the center line of the projector; obtaining a blast hole layout point map of a theoretical section according to a blasting design drawing, extracting the offset and height difference of each point in the current section relative to the design line, and projecting and correcting the blast hole layout point on the three-dimensional blast section by keeping the offset and height difference unchanged, cyclically correcting each blast hole layout point, and obtaining the entire blast hole position projection correction map relative to the center point of the projector; and positioning the projection correction map of the blast hole position at the blast section mark of the target construction tunnel through the projector. The gun point positioning method of the present application has a simple method for correcting the gun point position, does not require a large amount of manpower and material resources, and is easy to use.

[0022] In this embodiment, the specific process of correcting the blasthole layout point is as follows: extracting the three-dimensional blasting section of the target construction tunnel, and establishing a spatial coordinate system with the projector position as the origin; obtaining the target blasthole theoretical position through the projector, and calculating the spatial position coordinates of the target blasthole theoretical position, and marking the target blasthole theoretical coordinates as (X, Y, Z); making a ray according to the center position of the projector and the target blasthole theoretical coordinates (X, Y, Z), calculating the intersection of the ray and the actual three-dimensional blasting section surface, and obtaining the measured coordinates (x1, y1, z1); calculating the mileage, offset and height difference of the measured point through the measured coordinates (x1, y1, z1), wherein the mileage refers to the distance between the projector and the measured coordinates (x1, y1, z1) along the ray direction, the offset refers to the lateral distance between the measured coordinates (x1, y1, z1) and the preset alignment point, and the height difference refers to the vertical distance between the measured coordinates (x1, y1, z1) and the preset alignment point, such as Figure 2As shown in the figure; in accordance with the way of ensuring the offset and height difference, the projected mileage is corrected to obtain the new measured coordinates (x2, y2, z2), and the mileage, offset and height difference of the new measured coordinates (x2, y2, z2) are calculated; it is judged whether the offset and height difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates of the target blasthole (X, Y, Z) meet the tolerance limit. If the tolerance limit is met, the new measured coordinates (x2, y2, z2) are output as the final corrected coordinates. If not, return to the previous step to continue the cycle. If the cross section after blasting is not flat, it may affect the subsequent construction procedures, such as support and lining, and thus affect the stability and safety of the entire tunnel project. Through the correction of the blast point, the parameters such as the position of the blast hole, the charging method, the hole spacing and the angle can be adjusted to obtain a better blasting effect. The corrected blast point can ensure that the cross section after blasting is flatter and reduce the number and size of protrusions and pits.

[0023] In this embodiment, the theoretical position of the blasthole is based on the theoretical section of the target construction tunnel. The theoretical section of the target construction tunnel is set in front of the actual three-dimensional blasting section. The theoretical section is absolutely smooth without protrusions or pits. The theoretical section can be used as a reference surface for the three-dimensional blasting section, which is convenient for quickly correcting the blasting point. Figure 3 As shown in the figure. In the actual construction process, the tunnel face is an irregular surface with uneven surfaces, which causes the blastholes to deviate. This method obtains the actual tunnel face point cloud data through three-dimensional scanning and generates a triangulated network model of the blasting section to simulate the correction process.

[0024] In this embodiment, when the projector is set up, the vertical angle of the projector projection centerline is set up horizontally and the horizontal angle is parallel to the theoretical section normal vector. This setting can ensure the accurate position of the set up projector.

[0025] In this embodiment, the specific process of correcting the projected mileage in a manner that ensures the offset and height difference is as follows: Figure 4 As shown, the projector is translated forward and backward, that is, the projector is translated forward and backward along the X-axis of the spatial coordinate system, so that the translated projector ray is projected on the measured coordinates (x1, y1, z1); the direction of the projector ray remains unchanged, and the projector is translated back to the initial position. At this time, the intersection of the projector ray and the actual three-dimensional blasting section surface is the new measured coordinate (x2, y2, z2). This setting can effectively find the new measured coordinates (x2, y2, z2), as shown in Figure 5 shown.

[0026] In this embodiment, the specific process of judging whether the offset and height difference between the new measured coordinates (x2, y2, z2) and the target blasthole theoretical coordinates (X, Y, Z) meet the tolerance is as follows: mark the tolerance on the offset as A, and mark the tolerance on the height difference as B; calculate the error between the offset of the new measured coordinates (x2, y2, z2) and the offset of the target blasthole theoretical coordinates (X, Y, Z) ; Calculate the error between the height difference of the new measured coordinates (x2, y2, z2) and the height difference of the target blasthole theoretical coordinates (X, Y, Z) ; If a≤A, and b≤B, it means that the offset and height difference between the new measured coordinates (x2, y2, z2) and the target blasthole theoretical coordinates (X, Y, Z) meet the tolerance limits. This setting can quickly determine whether the offset and height difference between the measured coordinates (x2, y2, z2) and the target blasthole theoretical coordinates (X, Y, Z) meet the tolerance limits.

[0027] In this embodiment, if the offset and height difference between the new measured coordinates (x2, y2, z2) and the target blasthole theoretical coordinates (X, Y, Z) do not meet the tolerance limit, the projector is re-translated and fine-tuned based on the position after the first projector translation, and the new measured coordinates obtained after fine-tuning are marked as (x3, y3, z3). If the error between the coordinates (x3, y3, z3) and the target blasthole theoretical coordinates (X, Y, Z) in the offset and height difference is reduced, it means that the fine-tuning direction is correct. On the contrary, if the error between the coordinates (x3, y3, z3) and the target blasthole theoretical coordinates (X, Y, Z) in the offset and height difference is increased, it means that the fine-tuning direction is wrong. This setting can help the staff quickly find the correct fine-tuning direction, thereby realizing the rapid correction of the blast point.

[0028] The shot point positioning method of the present invention has a simple way to correct the shot point position, does not require a lot of manpower and material resources, and is easy to use. The shot point positioning method can quickly correct the shot point position by simply translating the projector, thereby accelerating the blasting speed of the construction tunnel. During the shot point correction process, it is cyclically judged whether the offset and height difference meet the limit difference. If not, it is repeatedly adjusted, thereby making the corrected shot point position more accurate.

[0029] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0030] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A shot point positioning method based on three-dimensional scanning, characterized in that: The following steps are involved: Two calibration points are set on the projector, and the correction parameters of the projection center point and the horizontal angle and vertical angle of the projector are calculated through the calibration points; Collecting blasting section point cloud data based on the engineering coordinate system of the target construction tunnel by a three-dimensional scanning device, and generating a three-dimensional blasting section according to the blasting section point cloud data; Set up a projector in the target construction tunnel, measure the two calibration points of the projector by using a total station, obtain the coordinates of the projector center in the current engineering coordinate system, and the horizontal angle and vertical angle of the projector centerline; According to the blasting design drawings, the blasthole layout point map of the theoretical section is obtained, and the offset and height difference of each point in the current section relative to the design line are extracted. By keeping the offset and height difference unchanged, the blasthole layout points are projected and corrected on the three-dimensional blasting section, and each blasthole layout point is cyclically corrected to obtain the entire blasthole position projection correction map relative to the center point of the projector; The projection correction diagram of the blast hole position is positioned on the blasting section mark of the target construction tunnel by a projector.

2. A shot point positioning method based on three-dimensional scanning according to claim 1, characterized in that: The specific process of correcting the blasthole layout points is as follows: Extract the three-dimensional blasting section of the target construction tunnel and establish a spatial coordinate system with the projector position as the origin; Obtain the target blasthole theoretical position through the projector, calculate the spatial position coordinates of the target blasthole theoretical position, and mark the target blasthole theoretical coordinates as (X, Y, Z); Make a ray based on the center position of the projector and the theoretical coordinates (X, Y, Z) of the target blasthole, calculate the intersection of the ray and the actual three-dimensional blasting section surface, and obtain the measured coordinates (x1, y1, z1); The mileage, offset and height difference of the measured point are calculated by the measured coordinates (x1, y1, z1), wherein the mileage refers to the distance between the projector and the measured coordinates (x1, y1, z1) along the ray direction, the offset refers to the horizontal distance between the measured coordinates (x1, y1, z1) and the preset alignment point, and the height difference refers to the vertical distance between the measured coordinates (x1, y1, z1) and the preset alignment point; Correct the projected mileage to obtain new measured coordinates (x2, y2, z2) in a way that ensures the offset and height difference, and calculate the mileage, offset and height difference of the new measured coordinates (x2, y2, z2); Determine whether the offset and height difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates of the target blasthole (X, Y, Z) meet the tolerance limits. If so, output the new measured coordinates (x2, y2, z2) as the final corrected coordinates. If not, return to the previous step and continue the cycle.

3. The shot point positioning method based on three-dimensional scanning according to claim 2, characterized in that: The theoretical position of the blasthole is based on the theoretical section of the target construction tunnel. The theoretical section of the target construction tunnel is set in front of the actual three-dimensional blasting section. The theoretical section is absolutely smooth without protrusions or pits.

4. The shot point positioning method based on three-dimensional scanning according to claim 3 is characterized in that: When the projector is installed, the vertical angle of the projector projection centerline is installed horizontally and the horizontal angle is parallel to the theoretical section normal vector.

5. The shot point positioning method based on three-dimensional scanning according to claim 4, characterized in that: The specific process of correcting the projected mileage in a manner that ensures the offset and height difference is as follows: The projector is translated forward and backward, that is, the projector is translated forward and backward along the X-axis of the spatial coordinate system, so that the translated projector ray is projected on the measured coordinates (x1, y1, z1); Keeping the direction of the projector ray unchanged, move the projector back to the initial position. The intersection of the projector ray and the actual three-dimensional blasting section surface is the new measured coordinate (x2, y2, z2).

6. A shot point positioning method based on three-dimensional scanning according to claim 5, characterized in that: The specific process of judging whether the offset and height difference between the new measured coordinates (x2, y2, z2) and the target blasthole theoretical coordinates (X, Y, Z) meet the tolerance limit is as follows: Mark the tolerance on offset as A, and the tolerance on height difference as B; Calculate the error between the offset of the new measured coordinates (x2, y2, z2) and the offset of the target borehole theoretical coordinates (X, Y, Z) ; Calculate the error between the height difference of the new measured coordinates (x2, y2, z2) and the height difference of the target blasthole theoretical coordinates (X, Y, Z) ; If a≤A and b≤B, it means that the offset and height difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates of the target blasthole (X, Y, Z) meet the limit.

7. The shot point positioning method based on three-dimensional scanning according to claim 6, characterized in that: If the offset and height difference between the new measured coordinates (x2, y2, z2) and the target blasthole theoretical coordinates (X, Y, Z) do not meet the limit error, then when the projector is re-translated, fine-tuning is performed based on the position after the first projector translation, and the new measured coordinates obtained after fine-tuning are marked as (x3, y3, z3). If the errors in the offset and height difference between the coordinates (x3, y3, z3) and the target blasthole theoretical coordinates (X, Y, Z) are reduced, it means that the fine-tuning direction is correct. Conversely, if the errors in the offset and height difference between the coordinates (x3, y3, z3) and the target blasthole theoretical coordinates (X, Y, Z) are increased, it means that the fine-tuning direction is wrong.

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