A gunpoint positioning method based on three-dimensional scanning

Abstract

The present invention discloses a method for locating shot points based on three-dimensional scanning, belonging to the field of shot point location methods, and comprising the following steps: setting two calibration points on a projector, and calculating the projection center point of the projector and the calibration parameters of the horizontal angle and vertical angle through the calibration points; collecting the point cloud data of the blasting section based on the engineering coordinate system of the target construction tunnel through a three-dimensional scanning device, and generating a three-dimensional blasting section according to the point cloud data of the blasting section; erecting the projector in the target construction tunnel, measuring the two calibration points of the projector through a total station, obtaining the coordinates of the projector center in the current engineering coordinate system, and the horizontal angle and vertical angle of the projector center line; obtaining the layout position map of the blast holes of the theoretical section according to the blasting design drawing, and extracting the offset and elevation difference of each position relative to the design line in the current section. The present invention has a simple method for correcting the position of the shot point, does not require a large amount of manpower and material resources, and is convenient to use.

Description

Technical Field

[0001] The present invention relates to the field of shot point positioning methods, and specifically to a shot point positioning method based on three-dimensional scanning. Background Technique

[0002] Since the 21st century, with the continuous development of the economy, the continuous improvement of the comprehensive national strength, and the continuous application of high and new technologies, the construction of tunnels and underground projects in China has developed rapidly. By the end of 2018, there were 18,145 railway and high-speed railway tunnels in China, with a total operating mileage of 21,227 km; 17,738 highway tunnels, with a total operating mileage of 17,236 km; and a subway operating line mileage of 5,761 km. Currently, due to the simplicity, flexibility, low cost, and strong applicability of the drilling and blasting method, the drilling and blasting method is mainly used in rock tunnels such as railways, highways, and subways, among which the smooth blasting technology is the most widely used.

[0003] However, due to the complexity of the geological environment, when operating at the tunnel excavation site, the blasting section of the target construction tunnel is not smooth, with protrusions or pits, which requires correction to ensure the correct offset and elevation positions. However, the existing correction methods are complex, requiring a large amount of manpower and material resources and being inconvenient to use.

[0004] Therefore, the technical personnel in this field have provided a shot point positioning method based on three-dimensional scanning to solve the problems raised in the above background technique. Summary of the Invention

[0005] The purpose of the present invention is to provide a shot point positioning method based on three-dimensional scanning, with a simple correction method for the shot point position, not requiring a large amount of manpower and material resources, and being convenient to use, so as to solve the problems raised in the above background technique.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A shot point positioning method based on three-dimensional scanning, comprising the following steps:

[0008] Set two calibration points on the projector, and calculate the projection center point of the projector and the calibration parameters of the horizontal angle and vertical angle through the calibration points;

[0009] Collect the blasting section point cloud data of the target construction tunnel based on the engineering coordinate system through a three-dimensional scanning device, and generate a three-dimensional blasting section according to the blasting section point cloud data;

[0010] Set up the projector in the target construction tunnel, measure the two calibration points of the projector through 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 center line;

[0011] Obtain the blast hole layout point diagram of the theoretical section according to the blasting design drawing, extract the offset and elevation difference of each point relative to the design line in the current section, and project and correct the blast hole layout points on the three-dimensional blasting section by keeping the offset and elevation difference unchanged. Cycle through and correct each blast hole layout point to obtain the projected correction diagram of the blast hole positions relative to the center point of the projector;

[0012] Mark and position the projected correction diagram of the blast hole positions on the blasting section of the target construction tunnel through the projector.

[0013] As a further solution of the present invention: The specific process of correcting the blast hole layout points is as follows:

[0014] Extract the three-dimensional blasting section of the target construction tunnel and establish a spatial coordinate system with the position of the projector as the origin;

[0015] Obtain the theoretical position of the target blast hole through the projector, calculate the spatial position coordinates of the theoretical position of the target blast hole, and mark the theoretical coordinates of the target blast hole as (X, Y, Z);

[0016] Make a ray based on the center position of the projector and the theoretical coordinates (X, Y, Z) of the target blast hole, calculate the intersection point of the ray and the surface of the actual three-dimensional blasting section, and obtain the measured coordinates (x1, y1, z1);

[0017] Calculate the mileage, offset, and elevation difference of the measured point through the measured coordinates (x1, y1, z1). Among them, the mileage refers to the distance along the ray direction between the projector and the measured coordinates (x1, y1, z1), the offset refers to the lateral distance between the measured coordinates (x1, y1, z1) and a preset alignment point, and the elevation difference refers to the vertical distance between the measured coordinates (x1, y1, z1) and a preset alignment point;

[0018] Correct the projected mileage in a way that ensures the offset and elevation difference to obtain new measured coordinates (x2, y2, z2), and calculate the mileage, offset, and elevation difference of the new measured coordinates (x2, y2, z2);

[0019] Judge whether the offset and elevation difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole meet the tolerance. If they meet the tolerance, output the new measured coordinates (x2, y2, z2) as the final corrected coordinates; if not, return to the previous step and continue to cycle.

[0020] As a further solution of the present invention: The theoretical position of the blast hole 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.

[0021] As a further solution of the present invention: when installing the projector, the vertical angle of the projection center line of the projector is set horizontally and the horizontal angle is parallel to the normal vector of the theoretical section.

[0022] As a further solution of the present invention: the specific process of correcting the projection mileage in a manner that ensures the offset and elevation difference is as follows:

[0023] Translate the projector forward and backward, that is, translate the projector forward and backward along the X-axis of the space coordinate system, and make the ray of the translated projector shine on the measured coordinates (x1, y1, z1).

[0024] Keep the direction of the projector ray unchanged, translate the projector back to the initial position, and the intersection point of the projector ray at this time and the surface of the actual three-dimensional blasting section is the new measured coordinates (x2, y2, z2).

[0025] As a further solution of the present invention: the specific process of determining whether the offset and elevation difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole meet the tolerance is as follows:

[0026] Mark the tolerance on the offset as A and the tolerance on the elevation difference as B;

[0027] Calculate the error between the offset of the new measured coordinates (x2, y2, z2) and the offset of the theoretical coordinates (X, Y, Z) of the target blast hole ;

[0028] Calculate the error between the elevation difference of the new measured coordinates (x2, y2, z2) and the elevation difference of the theoretical coordinates (X, Y, Z) of the target blast hole ;

[0029] If a ≤ A and b ≤ B, it means that the offset and elevation difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole meet the tolerance.

[0030] As a further solution of the present invention: if the offset and elevation difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole do not meet the tolerance, then when re-translating the projector, make fine adjustments based on the position after the first translation of the projector, and mark the new measured coordinates obtained after fine adjustment as (x3, y3, z3). If the error between the coordinates (x3, y3, z3) and the theoretical coordinates (X, Y, Z) of the target blast hole in terms of offset and elevation difference decreases, it means that the fine adjustment direction is correct. On the contrary, if the error between the coordinates (x3, y3, z3) and the theoretical coordinates (X, Y, Z) of the target blast hole in terms of offset and elevation difference increases, it means that the fine adjustment direction is wrong.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] 1. The shot point positioning method of the present application has a simple method for correcting the shot point position, does not require a large amount of manpower and material resources, and is convenient to use.

[0033] 2. The shot point positioning method of the present application can quickly correct the shot point position only by translating the projector, thereby accelerating the blasting speed of the construction tunnel.

[0034] 3. During the process of correcting the shot point of the present application, it is cyclically judged whether the offset and height difference meet the tolerance. If not, it is repeatedly adjusted, so that the corrected shot point position is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a flowchart of a shot point positioning method based on three-dimensional scanning;

[0036] Figure 2 is a schematic diagram of the offset and height difference in a shot point positioning method based on three-dimensional scanning;

[0037] Figure 3 is a schematic diagram of the uncorrected shot point and the corrected shot point in a shot point positioning method based on three-dimensional scanning;

[0038] Figure 4 is a schematic diagram after the projector is adjusted in a shot point positioning method based on three-dimensional scanning;

[0039] Figure 5 is a schematic diagram of the corrected shot point after the projector is adjusted in a shot point positioning method based on three-dimensional scanning. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] As mentioned in the background art of the present application, through research, it is found that due to the complexity of the geological environment, during the on-site operation of tunnel excavation, the blasting section of the target construction tunnel is not smooth, there will be protrusions or pits, which requires correction to ensure the correct offset and height difference positions. However, the existing correction methods are complex, require a large amount of manpower and material resources, are not convenient to use, and have certain defects.

[0042] To solve the above defects, the present application discloses a shot point positioning method based on three-dimensional scanning, which has a simple method for correcting the shot point position, does not require a large amount of manpower and material resources, and is convenient to use.

[0043] The following will introduce in detail how the solution of this application solves the above technical problems in combination with the accompanying drawings.

[0044] Please refer to Figure 1 , in the embodiment of the present invention, a method for locating shot points based on three-dimensional scanning includes the following steps: set two calibration points on the projector, and calculate the projection center point of the projector and the calibration parameters of the horizontal angle and vertical angle through the calibration points; collect the point cloud data of the blasting section based on the engineering coordinate system of the target construction tunnel through a three-dimensional scanning device, and generate a three-dimensional blasting section according to the point cloud data of the blasting section; set up a projector in the target construction tunnel, measure the two calibration points of the projector through a total station, and obtain the coordinates of the projector center in the current engineering coordinate system, as well as the horizontal angle and vertical angle of the projector center line; obtain the layout point diagram of the blast holes of the theoretical section according to the blasting design drawing, extract the offset and elevation difference of each point relative to the design line in the current section, and perform projection correction on the blast hole layout points on the three-dimensional blasting section by keeping the offset and elevation difference unchanged, and cycle through each blast hole layout point to obtain the projection correction diagram of the blast hole positions relative to the projector center point; mark and locate the projection correction diagram of the blast hole positions in the blasting section of the target construction tunnel through the projector. The shot point positioning method of this application has a simple correction method for the shot point position, does not require a large amount of manpower and material resources, and is convenient to use.

[0045] In this embodiment, the specific process of correcting the blast hole layout points is as follows: extract the three-dimensional blasting section of the target construction tunnel, and establish a space coordinate system with the projector position as the origin; obtain the theoretical position of the target blast hole through the projector, and calculate the spatial position coordinates of the theoretical position of the target blast hole, and mark the theoretical coordinates of the target blast hole as (X, Y, Z); make a ray according to the projector center position and the theoretical coordinates (X, Y, Z) of the target blast hole, calculate the intersection point of the ray and the surface of the actual three-dimensional blasting section, and obtain the measured coordinates (x1, y1, z1); calculate the mileage, offset and elevation difference of the measured point through the measured coordinates (x1, y1, z1), where the mileage refers to the distance along the ray direction between the projector and the measured coordinates (x1, y1, z1), the offset refers to the horizontal distance between the measured coordinates (x1, y1, z1) and the preset alignment point, and the elevation difference refers to the vertical distance between the measured coordinates (x1, y1, z1) and the preset alignment point, such as Figure 2As shown; in a way that ensures the offset and elevation difference, correct the projected mileage to obtain the new measured coordinates (x2, y2, z2), and calculate the mileage, offset, and elevation difference of the new measured coordinates (x2, y2, z2); determine whether the offset and elevation difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole meet the tolerance. If they meet the tolerance, output the new measured coordinates (x2, y2, z2) as the final corrected coordinates. If not, return to the previous step and continue the loop. If the cross-section after blasting is not flat, it may affect subsequent construction processes such as support and lining, and thus affect the stability and safety of the entire tunnel project. Through blast point correction, parameters such as the position of the blast hole, charging method, hole spacing, and angle can be adjusted to obtain a better blasting effect. The corrected blast point can ensure that the cross-section after blasting is smoother and reduce the number and size of protrusions and pits.

[0046] In this embodiment, the theoretical position of the blast hole is based on the theoretical cross-section of the target construction tunnel. The theoretical cross-section of the target construction tunnel is set in front of the actual three-dimensional blasting cross-section, and the theoretical cross-section is absolutely smooth without protrusions or pits. The theoretical cross-section can be used as a reference surface for the three-dimensional blasting cross-section to facilitate and quickly correct the blast point, as Figure 3 shown. During the actual construction process, the face is an uneven and irregular surface, resulting in blast hole deviation. This method obtains the actual face point cloud data through three-dimensional scanning and generates a triangular mesh model of the blasting cross-section to simulate the correction process.

[0047] In this embodiment, when setting up the projector, the vertical angle of the projection center line of the projector is set horizontally and the horizontal angle is parallel to the normal vector of the theoretical cross-section. This setting can ensure the accurate position of the set-up projector.

[0048] In this embodiment, the specific process of correcting the projected mileage in a way that ensures the offset and elevation difference is as follows: as Figure 4 shown, translate the projector back and forth, that is, translate the projector along the X-axis of the space coordinate system, and make the ray of the translated projector shoot on the measured coordinates (x1, y1, z1); keep the direction of the projector ray unchanged, translate the projector back to the initial position, and the intersection point of the projector ray and the surface of the actual three-dimensional blasting cross-section at this time is the new measured coordinates (x2, y2, z2). This setting can effectively find the new measured coordinates (x2, y2, z2), as Figure 5 shown.

[0049] In this embodiment, the specific process of determining whether the offset and elevation difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole meet the tolerance is as follows: mark the tolerance on the offset as A and the tolerance on the elevation difference as B; calculate the error between the offset of the new measured coordinates (x2, y2, z2) and the offset of the theoretical coordinates (X, Y, Z) of the target blast hole ; Calculate the error between the elevation difference of the newly measured coordinates (x2, y2, z2) and the elevation difference of the theoretical coordinates (X, Y, Z) of the target blast hole ; If a ≤ A and b ≤ B, it indicates that the offset and elevation difference between the newly measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole meet the tolerance. This setting can quickly determine whether the offset and elevation difference between the measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole meet the tolerance.

[0050] In this embodiment, if the offset and elevation difference between the newly measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole do not meet the tolerance, then when re - translating the projector, fine - tuning is performed based on the position after the first translation of the projector. Mark the newly measured coordinates obtained after fine - tuning as (x3, y3, z3). If the error in the offset and elevation difference between the coordinates (x3, y3, z3) and the theoretical coordinates (X, Y, Z) of the target blast hole decreases, it indicates that the fine - tuning direction is correct. On the contrary, if the error in the offset and elevation difference between the coordinates (x3, y3, z3) and the theoretical coordinates (X, Y, Z) of the target blast hole increases, it indicates that the fine - tuning direction is incorrect. This setting can help the staff quickly find the correct fine - tuning direction, and thus achieve the rapid correction of the blast point.

[0051] The blast - point positioning method of the present invention has a simple way to correct the blast - point position, does not require a large amount of manpower and material resources, and is easy to use. This blast - point positioning method can quickly correct the blast - point position only by translating the projector, thereby accelerating the blasting speed of the construction tunnel. During the blast - point correction process, it is repeatedly judged whether the offset and elevation difference meet the tolerance. If not, it is repeatedly adjusted, so that the corrected blast - point position is more accurate.

[0052] 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 equivalent technologies, the present invention also intends to include these changes and modifications.

[0053] The above - mentioned is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and all should be covered by the protection scope of the present invention.

Claims

1. A method for locating gun points based on three-dimensional scanning, characterized in that, It includes the following steps: Set two calibration points on the projector, and calculate the projection center point of the projector and the calibration parameters of the horizontal angle and vertical angle through the calibration points; Collect the point cloud data of the blasting section of the target construction tunnel based on the engineering coordinate system through a three-dimensional scanning device, and generate a three-dimensional blasting section according to the point cloud data of the blasting section; Set up a projector in the target construction tunnel, measure the two calibration points of the projector through 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 center line; Obtain the layout point diagram of blast holes of the theoretical section according to the blasting design drawing, extract the offset and elevation difference of each point relative to the alignment point on the three-dimensional blasting section, and perform projection correction on the blast hole layout points on the three-dimensional blasting section while keeping the offset and elevation difference unchanged. Loop to correct each blast hole layout point to obtain the projection correction diagram of the blast hole positions relative to the projector center point; Mark and position the projection correction diagram of the blast hole positions in the blasting section of the target construction tunnel through the projector.

2. The method for gunpoint positioning based on 3D scanning according to claim 1, wherein The specific process of correcting the blast hole layout points is as follows: Extract the three-dimensional blasting section of the target construction tunnel, and establish a space coordinate system with the projector position as the origin; Obtain the theoretical position of the target blast hole through the projector, calculate the spatial position coordinates of the theoretical position of the target blast hole, and mark the theoretical coordinates of the target blast hole as (X, Y, Z); Make a ray according to the projector center position and the theoretical coordinates (X, Y, Z) of the target blast hole, calculate the intersection point of the ray and the surface of the actual three-dimensional blasting section, and obtain the measured coordinates (x1, y1, z1); Calculate the mileage, offset and elevation difference of the measured point through the measured coordinates (x1, y1, z1). Among them, the mileage refers to the distance along the ray direction between the projector and the measured coordinates (x1, y1, z1), the offset refers to the horizontal distance between the measured coordinates (x1, y1, z1) and the preset alignment point, and the elevation difference refers to the vertical distance between the measured coordinates (x1, y1, z1) and the preset alignment point; Correct the projection mileage in a way that ensures the offset and elevation difference to obtain new measured coordinates (x2, y2, z2), and calculate the mileage, offset and elevation difference of the new measured coordinates (x2, y2, z2); Judge whether the offset and elevation difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole meet the tolerance. If the tolerance is met, output the new measured coordinates (x2, y2, z2) as the final corrected coordinates. If not, return to the previous step and continue to loop.

3. The method for locating gun points based on three-dimensional scanning according to claim 2, characterized in that, The theoretical position of the blast hole 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 depressions.

4. The method for locating gun points based on 3D scanning according to claim 3, characterized in that, When setting up the projector, the vertical angle of the projector projection center line is set horizontally and the horizontal angle is parallel to the normal vector of the theoretical section.

5. A method for locating shot points based on three-dimensional scanning according to claim 4, characterized in that, The specific process of correcting the projection mileage in a way that ensures the offset and elevation difference is as follows: Translate the projector forward and backward, that is, translate the projector along the X-axis of the space coordinate system, and make the ray of the translated projector shoot on the measured coordinates (x1, y1, z1); Keep the direction of the projector ray unchanged and translate the projector back to the initial position. The intersection point of the projector ray at this time and the surface of the actual three-dimensional blasting section is the new measured coordinates (x2, y2, z2).

6. The method for locating shot points based on three-dimensional scanning according to claim 5, wherein The specific process of judging whether the offset and elevation difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole meet the tolerance is as follows: Mark the tolerance on the offset as A and the tolerance on the elevation difference as B; Calculate the error between the offset of the newly measured coordinates (x2, y2, z2) and the offset of the theoretical coordinates (X, Y, Z) of the target blast hole ; Calculate the error between the elevation difference of the newly measured coordinates (x2, y2, z2) and the elevation difference of the theoretical coordinates (X, Y, Z) of the target blast hole ; If a ≤ A and b ≤ B, it means that the offset and elevation difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole meet the tolerance.

7. A method for locating shot points based on three-dimensional scanning according to claim 6, characterized in that, If the offset and elevation difference between the new measured coordinates (x2, y2, z2) and the theoretical coordinates (X, Y, Z) of the target blast hole do not meet the tolerance, then when re-translating the projector, make fine adjustments based on the position after the first translation of the projector. Mark the new measured coordinates obtained after fine adjustment as (x3, y3, z3). If the error between the coordinates (x3, y3, z3) and the theoretical coordinates (X, Y, Z) of the target blast hole in terms of offset and elevation difference decreases, it means that the fine adjustment direction is correct. On the contrary, if the error between the coordinates (x3, y3, z3) and the theoretical coordinates (X, Y, Z) of the target blast hole in terms of offset and elevation difference increases, it means that the fine adjustment direction is wrong.

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