Construction period tunnel dynamic point cloud map construction method and device, electronic equipment and storage medium

Abstract

The invention discloses a construction period tunnel dynamic point cloud map construction method, device and equipment and a storage medium, and the method comprises the steps: based on tunnel design data and test data of a UWB distance measurement device for each rack, a fixed scanning device extracts and generates point clouds of each segment of a construction period tunnel in a tunnel coordinate system, each subsection comprises a built-up section, a structured construction section and an excavation section; superposing the extracted and generated point clouds of the built-up section, the structured construction section and the excavation section to obtain a global dynamic point cloud map of the tunnel; and when the test data of the UWB distance measuring device is changed or the point cloud variation of the excavation section exceeds a threshold value, repeating the previous steps, and updating the global dynamic point cloud map of the tunnel in the construction period. Different point cloud construction strategies are adopted for different sections, the three-dimensional point cloud data of the tunnel in the construction period can be effectively obtained, and the requirements of scene matching positioning such as automatic driving and unmanned inspection on a global point cloud map are effectively met.

Description

Technical Field

[0001] The present application relates to the technical field of map construction, and in particular, to a method, device, equipment and storage medium for constructing a dynamic point cloud map of a tunnel during the construction period. Background Art

[0002] A tunnel during the construction period refers to a tunnel that is under construction. Such tunnels can usually be divided into three sections. The first section is the completed section, where secondary lining or segment laying has been carried out, and the surface structure is smooth, lacking texture features, which is a typical degraded scene. The second section is the structured construction section, where lining and other construction links are being carried out. In an area of several hundred meters, there are processes such as invert, waterproofing, concrete lining, maintenance, and grooves, and the construction machinery moves intermittently. The third section is the excavation section, where each construction cycle advances forward, and the space excavated by the tunnel becomes larger over time. Due to these characteristics of the tunnel during the construction period, it is somewhat difficult to establish a dynamic three-dimensional point cloud map for it. However, with the development of intelligent and unmanned construction of tunnels, in order to meet the requirements of realizing driverless and automated inspection in such scenarios, it is of great significance to establish a dynamic three-dimensional point cloud map for it.

[0003] Existing dynamic point cloud map construction usually uses a mobile robot equipped with a laser scanning device to continuously scan the tunnel, and continuously constructs and updates the map based on the method of Simultaneous Localization and Mapping (SLAM). Such methods will have serious feature degradation phenomena in the completed section of the tunnel, resulting in positioning and mapping failures. Moreover, as the positioning and map update proceed, after the system runs for a long time, the errors of the constructed hybrid map will gradually accumulate, and the reliability of positioning and the usability of the map will be greatly reduced. The method of generating a point cloud map using a BIM tunnel model has good accuracy in the completed section of the tunnel, but there are a large number of construction machinery and excavation errors in the structured construction section and the excavation section, which will cause large point cloud deviations. The method of using a fixed scanning device such as a total station scanner for global scanning has defects such as long operation time, large task volume, and poor dynamic performance. Summary of the Invention

[0004] On the one hand, the present application provides a method for constructing a dynamic point cloud map of a tunnel during the construction period to solve the technical problems of low reliability and usability of the existing point cloud map generation methods, large point cloud deviations, long time-consuming and large task volume, and poor dynamic performance.

[0005] The present application is realized through the following solutions:

[0006] A method for constructing a dynamic point cloud map of a tunnel during the construction period, characterized by including the steps:

[0007] Extract and generate the point clouds of each segment of the tunnel during the construction period in the tunnel coordinate system based on the tunnel design data, the test data of each gantry by the UWB ranging device, and the fixed scanning device, where each segment of the tunnel during the construction period includes the completed segment, the structured construction segment, and the excavation segment;

[0008] Overlay the point clouds of the completed segment, the structured construction segment, and the excavation segment that are extracted and generated to obtain the global dynamic point cloud map of the tunnel;

[0009] When the test data of the UWB ranging device changes, or the change amount of the point cloud of the excavation segment exceeds the threshold, repeat the above steps to update the global dynamic point cloud map of the tunnel during the construction period.

[0010] Furthermore, the extraction and generation of the point clouds of each segment of the tunnel during the construction period in the tunnel coordinate system based on the tunnel design data, the test data of each gantry by the UWB ranging device, and the fixed scanning device specifically include the steps of:

[0011] For the completed segment, calculate the real-time mileage of the completed segment based on the test data of the lining gantry obtained by the UWB base station, and at the same time generate the point cloud of the completed segment using the tunnel design data;

[0012] For the structured construction segment, extract the independent three-dimensional point cloud of the construction gantry in the tunnel, calculate the real-time mileage of the construction gantry based on the test data of the construction gantry obtained by the UWB base station, and overlay the point cloud of the construction gantry after mileage transformation on the basis of the generated point cloud to generate the point cloud of the structured construction segment;

[0013] For the excavation segment, calculate the real-time mileage of the excavation gantry based on the test data of the excavation gantry obtained by the UWB base station, and at the same time obtain the point cloud of the excavation segment by real-time scanning with the fixed scanning device;

[0014] Update the point cloud of the excavation segment when the mileage of the excavation segment is updated or when the point cloud of the excavation segment changes significantly.

[0015] Furthermore, the extraction and generation of the point clouds of each segment of the tunnel during the construction period in the tunnel coordinate system based on the tunnel design data, the test data of each gantry by the UWB ranging device, and the fixed scanning device specifically further include the steps of:

[0016] Install UWB base stations at the set positions on the tunnel wall, set up stations in the tunnel coordinate system using a total station, measure the coordinates at the antenna of the UWB base station, and calculate the mileage position L1 of the UWB base station in the tunnel;

[0017] Install the corresponding UWB tags at the set positions on the lining gantry, the construction gantry, and the excavation gantry, including the lining gantry tag, the construction gantry tag, and the excavation gantry tag, and debug to obtain the test data of each gantry, including the ranging data d i, the lateral deviation w and height deviation h of each UWB tag relative to the UWB base station in the tunnel.

[0018] Furthermore, the calculation methods for the real-time mileage of the completed section, the real-time mileage of the construction bench, and the real-time mileage of the excavation bench are as follows:

[0019] When the tunnel is under construction at the large mileage and the UWB base station is behind the bench, or under construction at the small mileage and the UWB base station is in front of the bench, the calculation formula for the real-time mileage of each segment is:

[0020]

[0021] When the tunnel is under construction at the small mileage and the UWB base station is behind the bench, or under construction at the large mileage and the UWB base station is in front of the bench, the calculation formula for the real-time mileage of each segment is:

[0022]

[0023] Furthermore, for the completed section, the real-time mileage of the completed section is calculated based on the test data of the lining bench obtained from the UWB base station. At the same time, the point cloud of the completed section is generated using the tunnel design data, specifically including the steps:

[0024] Discretize the theoretical secondary lining contour of the tunnel design data into a point cloud S1;

[0025] Calculate the real-time mileage of the completed section based on the test data of the lining bench obtained from the UWB base station;

[0026] Discretize the point cloud S1 into different rings according to the specified distance, and calculate the transformation matrix T of each ring to the tunnel coordinate system i , and splice the point clouds of each ring to obtain the point cloud C1 of the completed section in the tunnel coordinate system as:

[0027] C1 = ∑T i S1.

[0028] Furthermore, for the structured construction section, extract the independent three-dimensional point cloud of the construction bench in the tunnel, calculate the real-time mileage of the construction bench based on the test data of the construction bench obtained from the UWB base station, and perform mileage transformation on the construction bench point cloud and then superimpose it on the generated point cloud to generate the point cloud of the structured construction section, specifically including the steps:

[0029] Use a set-up scanner to scan and segment each construction bench in the structured construction section from multiple angles, splice the point clouds, and use the transformation matrix T from the set-up scanner to the tunnel i Align the origin of the spliced point cloud p i with the origin of the tunnel coordinate system, and convert the spliced point cloud p i to the point cloud p' in the tunnel line origin coordinate system i :

[0030] p′ i (x, y, z) = T i -1 p i (x, y, z);

[0031] Calculate the real-time mileage corresponding to each construction bench based on the test data of each construction bench obtained from the UWB base station;

[0032] Calculate the transformation matrix T from each construction bench to the tunnel coordinate system at the corresponding real-time mileage of each construction bench; j ;

[0033] After transforming the point cloud of each construction bench with the transformation matrix T from each construction bench to the tunnel coordinate system at the corresponding real-time mileage, superimpose them on the basis of the generated point cloud to generate the point cloud C2 of the structured construction section in the tunnel coordinate system: j After transformation, superimpose them on the basis of the generated point cloud to generate the point cloud C2 of the structured construction section in the tunnel coordinate system:

[0034] C2 = ∑T j p′ i .

[0035] Furthermore, for the excavation section, calculate the real-time mileage of the excavation bench based on the test data of the excavation bench obtained from the UWB base station, and at the same time, obtain the point cloud of the excavation section by real-time scanning with a fixed scanning device. The specific steps include:

[0036] Install the fixed scanning device on the tunnel wall, calibrate it with a total station to obtain the transformation relationship T3 from the scanned point cloud of the fixed scanning device to the tunnel coordinate system;

[0037] The scanned point cloud of the excavation section is S2. Using the transformation relationship T3, transform S2 to the global tunnel coordinate system, that is, obtain the point cloud C3 of the excavation section in the tunnel coordinate system:

[0038] C3 = T3S2

[0039] On the other hand, the present application also provides a device for constructing a dynamic point cloud map of a tunnel during the construction period, including:

[0040] A segmented point cloud generation module, configured to extract and generate the point cloud of each segment of the tunnel during the construction period in the tunnel coordinate system based on the tunnel design data, the test data of each bench by the UWB ranging device, and the fixed scanning device, wherein each segment of the tunnel during the construction period includes a completed segment, a structured construction segment, and an excavation segment;

[0041] A point cloud superimposition module, configured to superimpose the point clouds of the completed segment, the structured construction segment, and the excavation segment extracted and generated to obtain the global dynamic point cloud map of the tunnel;

[0042] The point cloud update module is used to repeat the above steps to update the global dynamic point cloud map of the tunnel during the construction period when the test data of the UWB ranging device changes or the change amount of the point cloud in the excavation section exceeds the threshold.

[0043] On the other hand, the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the method for constructing the dynamic point cloud map of the tunnel during the construction period are implemented.

[0044] On the other hand, the present application also provides a storage medium. The storage medium includes a stored program, and when the program runs, it controls the device where the storage medium is located to execute the steps of the method for constructing the dynamic point cloud map of the tunnel during the construction period.

[0045] Compared with the prior art, the present application has the following beneficial effects:

[0046] (1) The present application divides the tunnel during the construction period into a completed section, a structured construction section, and an excavation section, and adopts different point cloud construction strategies for different sections, which can effectively obtain the three-dimensional point cloud data of the tunnel during the construction period and effectively meet the requirements of the global point cloud map for scene matching and positioning in scenarios such as autonomous driving and unmanned patrol.

[0047] (2) The present application realizes the dynamic stitching of the construction bench point cloud in the global point cloud according to the mileage of the construction bench in the structural construction section of the tunnel during the construction period and the extracted construction bench point cloud.

[0048] (3) The present application uses UWB technology to obtain the position information of the dynamically changing objects in the tunnel during the construction period, and comprehensively utilizes the tunnel design data, the pre-scanned data of each bench, and the real-time scanned data of the fixed scanner to dynamically and real-time stitch to obtain the global dynamic point cloud of the tunnel during the construction period.

[0049] In addition to the purposes, features, and advantages described above, the present application has other purposes, features, and advantages. The following will refer to the drawings for a further detailed description of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application.

[0051] Figure 1 It is a schematic flow chart of the method for constructing the dynamic point cloud map of the tunnel during the construction period of the preferred embodiment of the present application.

[0052] Figure 2 It is a schematic installation diagram of the UWB base station, tag, and fixed scanning device in the preferred embodiment of the present application.

[0053] Figure 3 It is a schematic diagram of the sub-step process of step S1 in the preferred embodiment of the present application.

[0054] Figure 4 It is a schematic diagram of the sub-step process of step S1 in another preferred embodiment of the present application.

[0055] Figure 5 It is a schematic diagram of the sub-step process of step S11 in the preferred embodiment of the present application.

[0056] Figure 6 It is a schematic diagram of the sub-step process of step S12 in the preferred embodiment of the present application.

[0057] Figure 7 It is the point cloud of the construction bench extracted and segmented in the preferred embodiment of the present application.

[0058] Figure 8 It is a schematic diagram of the sub-step process of step S13 in the preferred embodiment of the present application.

[0059] Figure 9 It is a schematic diagram of the module of the construction period tunnel dynamic point cloud map construction device in the preferred embodiment of the present application.

[0060] Figure 10 It is a schematic block diagram of the electronic device entity in the preferred embodiment of the present application.

[0061] Figure 11 It is the internal structure diagram of the computer device in the preferred embodiment of the present application.

[0062] In the figure: 1. Lining bench label; 2. Construction bench label; 3. UWB base station; 4. Excavation bench label; 5. Fixed scanning device. Detailed implementation manners

[0063] The following will describe the embodiments of the present application in detail with reference to the accompanying drawings. However, the present application can be implemented in many different ways defined and covered by the following.

[0064] As Figure 1 shown, the preferred embodiment of the present application provides a method for constructing a construction period tunnel dynamic point cloud map, which is characterized by including the steps of:

[0065] S1. Based on the tunnel design data, the test data of each bench by the UWB ranging device, and the fixed scanning device, respectively extract and generate the point cloud of each segment of the construction period tunnel in the tunnel coordinate system, where each segment of the construction period tunnel includes a completed segment, a structured construction segment, and an excavation segment (see Figure 2 );

[0066] S2. Superimpose the point clouds of the completed segments, structured construction segments, and excavation segments extracted and generated to obtain the global dynamic point cloud map of the tunnel;

[0067] S3. When the test data of the UWB ranging device (such as the mileage of the gantry) changes, or the change amount of the point cloud in the excavation segment exceeds the threshold, repeat the above steps to update the global dynamic point cloud map of the tunnel during the construction period.

[0068] Compared with the prior art, this embodiment has the following beneficial effects:

[0069] (1) In this embodiment, the tunnel during the construction period is divided into completed segments, structured construction segments, and excavation segments, and different point cloud construction strategies are adopted for different segments, which can effectively obtain the three-dimensional point cloud data of the tunnel during the construction period and effectively meet the requirements of the global point cloud map for scene matching and positioning such as autonomous driving and unmanned inspection;

[0070] (2) In this embodiment, based on the mileage of the construction gantry in the structured construction segment of the tunnel during the construction period and the extracted point cloud of the construction gantry, the dynamic stitching of the point cloud of the construction gantry in the global point cloud is realized;

[0071] (3) In this embodiment, the UWB technology is used to obtain the position information of the dynamically changing objects in the tunnel during the construction period, and the tunnel design data, the pre-scanned data of each gantry, and the real-time scanned data of the fixed scanner are comprehensively utilized to dynamically and real-time stitch the global dynamic point cloud of the tunnel during the construction period.

[0072] As Figure 3 shown, in the preferred embodiment of the present application, the extraction and generation of the point clouds of each segment of the tunnel during the construction period in the tunnel coordinate system based on the tunnel design data, the test data of each gantry by the UWB ranging device, and the fixed scanning device specifically include the steps:

[0073] S11. For the completed segment, calculate the real-time mileage of the completed segment based on the test data of the lining gantry obtained by the UWB base station 3, and at the same time generate the point cloud of the completed segment by using the tunnel design data;

[0074] S12. For the structured construction segment, extract the independent three-dimensional point cloud of the construction gantry in the tunnel, calculate the real-time mileage of the construction gantry based on the test data of the construction gantry obtained by the UWB base station 3, and superimpose the point cloud of the construction gantry after mileage transformation on the basis of the generated point cloud to generate the point cloud of the structured construction segment;

[0075] S13. For the excavation segment, calculate the real-time mileage of the excavation gantry based on the test data of the excavation gantry obtained by the UWB base station 3, and at the same time obtain the point cloud of the excavation segment by real-time scanning with the fixed scanning device.

[0076] In this embodiment, different point cloud construction strategies are adopted for the structured construction section and the excavation section respectively, and the 3D point cloud data of each section of the tunnel during the construction period can be effectively obtained, effectively meeting the requirements of the global point cloud map for scenario matching and positioning in scenarios such as autonomous driving and unmanned inspection.

[0077] As Figure 4 shown, in the preferred embodiment of the present application, the point clouds of each segment of the tunnel during the construction period located in the tunnel coordinate system are respectively extracted and generated based on the tunnel design data, the test data of each gantry by the UWB ranging device, and the fixed scanning device. Specifically, it further includes the steps:

[0078] S01. Install the UWB base station 3 at a set position on the tunnel wall, set up the station in the tunnel coordinate system using a total station, measure the coordinates of the UWB base station antenna, and calculate the mileage position L1 of the UWB base station 3 in the tunnel.

[0079] S02. Install the corresponding UWB tags at the set positions of the lining gantry, construction gantry, and excavation gantry, including the lining gantry tag 1, construction gantry tag 2, and excavation gantry tag 4 (see Figure 2 ), and debug to obtain the test data of each gantry, including the ranging data d i , the lateral deviation w and height deviation h of each UWB tag relative to the UWB base station in the tunnel.

[0080] Before extracting and generating the point clouds of each segment of the tunnel during the construction period located in the tunnel coordinate system based on the tunnel design data, the test data of each gantry by the UWB ranging device, and the fixed scanning device in this embodiment, first install the UWB base station at a set position on the tunnel wall, and install the corresponding UWB tags at the set positions of the lining gantry, construction gantry, and excavation gantry respectively, and obtain the mileage position L1 of the UWB base station in the tunnel, the ranging data d i , the lateral deviation w and height deviation h of each UWB tag relative to the UWB base station in the tunnel, etc. through calibration and debugging, providing the necessary basic data for subsequent calculation of the real-time mileage and transformation matrix.

[0081] In the preferred embodiment of the present application, the calculation methods of the real-time mileage of the completed section, the real-time mileage of the construction gantry, and the real-time mileage of the excavation gantry are as follows:

[0082] When the tunnel is under construction at a large mileage and the UWB base station is behind the gantry, or under construction at a small mileage and the UWB base station is in front of the gantry, the calculation formula for the real-time mileage of each segment is:

[0083]

[0084] When the tunnel is under construction at the small mileage and the UWB base station is behind the bench, or when the tunnel is under construction at the large mileage and the UWB base station is in front of the bench, the real-time mileage calculation formula for each segment is as follows:

[0085]

[0086] In this embodiment, large mileage: In railway construction, it extends from the starting point in a specific direction. The farther away from the starting point, the larger the mileage value, which is called large mileage. Small mileage: In railway construction, it extends from the starting point in a specific direction. The farther away from the starting point, the smaller the mileage value, which is called small mileage. Through the above calculation method, the accuracy and reliability of the real-time mileage calculation of each segment are ensured.

[0087] As Figure 5 shown, in the preferred embodiment of the present application, for the completed section, the real-time mileage of the completed section is calculated based on the test data of the lining bench obtained from the UWB base station, and at the same time, the point cloud of the completed section is generated by using the tunnel design data, which specifically includes the steps:

[0088] S111. Discretize the theoretical secondary lining contour of the tunnel design data into point cloud S1;

[0089] S112. Calculate the real-time mileage of the completed section based on the test data of the lining bench obtained from the UWB base station;

[0090] S113. Discretize the point cloud S1 into different rings according to the specified distance, and calculate the transformation matrix T of each ring to the tunnel coordinate system i , and splice the point clouds of each ring to obtain the point cloud C1 of the completed section in the tunnel coordinate system as:

[0091] C1 = ∑T i S1.

[0092] In this embodiment, when generating the point cloud of the completed section, the UWB ranging device is used to obtain the mileage of the completed section, and then the tunnel design data is used to generate the point cloud map. To update it, only the mileage of the completed section needs to be updated and the foregoing steps are repeated to achieve point cloud update. The point cloud generation and update have high efficiency, less calculation amount, and good dynamic performance.

[0093] As Figure 6 shown, in the preferred embodiment of the present application, for the structured construction section, the independent three-dimensional point cloud of the construction bench in the tunnel is extracted, the real-time mileage of the construction bench is calculated based on the test data of the construction bench obtained from the UWB base station, and after the mileage transformation of the construction bench point cloud, it is superimposed on the generated point cloud to generate the point cloud of the structured construction section, which specifically includes the steps:

[0094] S121. Use the set-up scanner to perform multi-angle scanning and segmentation on each construction bench in the structured construction section, and splice the point clouds (see Figure 7) and utilize the station - setting scanner to tunnel transformation matrix T i Align the origin of the spliced point cloud p i with the origin of the tunnel coordinate system, and transform the spliced point cloud p i into the point cloud p' in the origin coordinate system of the tunnel line i :

[0095] p' i (x, y, z) = T i -1 p i (x, y, z);

[0096] S122. Calculate the real - time mileage corresponding to each construction bench based on the test data of each construction bench obtained from the UWB base station;

[0097] S123. Calculate the transformation matrix T from each construction bench to the tunnel coordinate system at the corresponding real - time mileage of each construction bench j ;

[0098] S124. After transforming the point cloud of each construction bench with the transformation matrix T from each construction bench to the tunnel coordinate system at the corresponding real - time mileage, superimpose them on the basis of the generated point cloud to generate the structured construction segment point cloud C2 in the tunnel coordinate system: j C2 = ∑T

[0099] p' j p' i .

[0100] In this embodiment, when generating the structured construction segment point cloud, the UWB ranging device is used to obtain the mileage of each construction bench in the tunnel structured construction segment and the pre - scanned construction bench point cloud, realizing the point cloud construction of dynamic splicing of the construction bench point cloud in the global point cloud, and avoiding large point cloud deviations in the structured construction segment due to the existence of a large number of construction machinery when generating the structured construction segment point cloud.

[0101] As Figure 8 shown, in the preferred embodiment of the present application, for the excavation section, calculate the real - time mileage of the excavation bench based on the test data of the excavation bench obtained from the UWB base station, and at the same time, obtain the excavation section point cloud by real - time scanning through the fixed - type scanning device, specifically including the steps:

[0102] S131. Install the fixed - type scanning device 5 on the tunnel wall, calibrate it with a total station to obtain the transformation relationship T3 from the scanning point cloud of the fixed - type scanning device 5 to the tunnel coordinate system;

[0103] S132. The scanned excavation section point cloud is S2. Utilize the transformation relationship T3 to transform S2 into the global tunnel coordinate system, that is, obtain the excavation section point cloud C3 in the tunnel coordinate system:

[0104] C3 = T3S2.

[0105] In this embodiment, when generating the point cloud of the excavation section, since the spatial changes in the excavation section are relatively frequent, a fixed scanning device is used for scanning. Specifically: first, the fixed scanning device is installed on the tunnel wall, and then a total station is used to calibrate it to obtain the conversion relationship T3 from its scanned point cloud to the tunnel coordinate system. Finally, the point cloud S2 of the excavation section obtained by the real-time scanning of the fixed scanning device is transformed by the conversion relationship T3 to obtain the point cloud in the global tunnel coordinate system, realizing the construction of the point cloud for dynamic stitching of the excavation section point cloud in the global point cloud, and avoiding large point cloud deviations caused by a large number of construction machines and excavation errors in the excavation section when generating the excavation section point cloud. To update it, when the mileage and / or the change amount of the excavation section point cloud exceeds the threshold, repeating the above steps can achieve point cloud update, with high point cloud generation and update efficiency, less calculation amount, and good dynamic performance.

[0106] After obtaining the point cloud C1 of the completed section, the point cloud C2 of the structured construction section, and the point cloud C3 of the excavation section in the tunnel coordinate system through the above embodiments respectively, superimposing the point clouds of each section can obtain the global dynamic point cloud map of the tunnel:

[0107] C = C1 + C2 + C3

[0108] Subsequently, when it is detected that the ranging value of the UWB tag changes, or the point cloud of the excavation section changes significantly, repeating the above steps can achieve the update of the point cloud.

[0109] As Figure 9 shown, on the other hand, the present application also provides a device for constructing a dynamic point cloud map of a tunnel during the construction period, including:

[0110] A segmented point cloud generation module, configured to extract and generate the point clouds of each segment of the tunnel during the construction period in the tunnel coordinate system based on the tunnel design data, the test data of each gantry by the UWB ranging device, and the fixed scanning device, where each segment of the tunnel during the construction period includes a completed section, a structured construction section, and an excavation section;

[0111] A point cloud superposition module, configured to superpose the point clouds of the completed section, the structured construction section, and the excavation section extracted and generated to obtain the global dynamic point cloud map of the tunnel;

[0112] A point cloud update module, configured to repeat the above steps to update the global dynamic point cloud map of the tunnel during the construction period when the test data of the UWB ranging device changes, or the change amount of the point cloud of the excavation section exceeds the threshold.

[0113] As Figure 10As shown, a preferred embodiment of the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the construction period tunnel dynamic point cloud map construction method in the above embodiments are implemented.

[0114] As Figure 11 shown, a preferred embodiment of the present application further provides a computer device, which may be a terminal or a living body detection server, and its internal structure diagram may be as Figure 11 shown. The computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with other external computer devices through a network connection. When the computer program is executed by the processor, the steps of the construction period tunnel dynamic point cloud map construction method in the above embodiments are implemented.

[0115] Those skilled in the art can understand that Figure 11 the structure shown in

[0116] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0117] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And, although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0118] When the functions described in the method of this embodiment are implemented in the form of software function units and sold or used as independent products, they can be stored in one or more computer-readable storage media. Based on this understanding, the part of this application embodiment that contributes to the prior art or part of this technical solution can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, a mobile computing device, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs, etc., which can store program codes of various kinds.

[0119] Those skilled in the art should understand that the embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can adopt the form of all-hardware embodiments, all-software embodiments, or embodiments combining software and hardware aspects. Moreover, this application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes. The solutions in the embodiments of this application can be implemented using various computer languages. For example, object-oriented programming languages such as Java and interpreted scripting languages such as JavaScript.

[0120] This application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of this application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0121] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in this computer-readable memory generate a manufactured article including an instruction device, and this instruction device implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1The functions specified in one or more boxes.

[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide for implementing the steps of the functions specified in one Figure 1 process or more processes and / or boxes Figure 1 or more boxes.

[0123] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0124] Obviously, those skilled in the art can make various changes and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A method for constructing a dynamic point cloud map of a tunnel during the construction period, characterized in that, Including the steps of: Based on the tunnel design data, the test data of each gantry by the UWB ranging device, and the fixed scanning device, point clouds of each segment of the tunnel during the construction period in the tunnel coordinate system are respectively extracted and generated, where each segment of the tunnel during the construction period includes a completed segment, a structured construction segment, and an excavation segment; Overlay the point clouds of the completed segment, the structured construction segment, and the excavation segment that are extracted and generated to obtain the global dynamic point cloud map of the tunnel; When the test data of the UWB ranging device changes, or the change amount of the point cloud of the excavation segment exceeds the threshold, repeat the above steps to update the global dynamic point cloud map of the tunnel during the construction period.

2. The method for constructing a dynamic point cloud map of a tunnel during the construction period according to claim 1, wherein, The step of respectively extracting and generating the point clouds of each segment of the tunnel during the construction period in the tunnel coordinate system based on the tunnel design data, the test data of each gantry by the UWB ranging device, and the fixed scanning device specifically includes the steps of: For the completed segment, calculate the real-time mileage of the completed segment based on the test data of the lining gantry obtained by the UWB base station, and at the same time generate the point cloud of the completed segment using the tunnel design data; For the structured construction segment, extract the independent three-dimensional point cloud of the construction gantry in the tunnel, calculate the real-time mileage of the construction gantry based on the test data of the construction gantry obtained by the UWB base station, and after performing mileage transformation on the point cloud of the construction gantry, overlay it on the basis of the generated point cloud to generate the point cloud of the structured construction segment; For the excavation segment, calculate the real-time mileage of the excavation gantry based on the test data of the excavation gantry obtained by the UWB base station, and at the same time obtain the point cloud of the excavation segment by real-time scanning with the fixed scanning device; When the mileage of the excavation segment is updated or when the point cloud of the excavation segment changes greatly, update the point cloud of the excavation segment.

3. The method for constructing a dynamic point cloud map of a tunnel during the construction period according to claim 2, wherein The step of respectively extracting and generating the point clouds of each segment of the tunnel during the construction period in the tunnel coordinate system based on the tunnel design data, the test data of each gantry by the UWB ranging device, and the fixed scanning device specifically further includes the steps of: Install UWB base stations at the set positions on the tunnel wall, set up stations in the tunnel coordinate system using a total station, measure the coordinates at the antenna of the UWB base station, and calculate the mileage position L1 of the UWB base station in the tunnel; Install corresponding UWB tags at the set positions of the lining bench, construction bench and excavation bench, including the lining bench tag, construction bench tag and excavation bench tag, and debug to obtain the test data of each bench, including the ranging data d i , the lateral deviation w and height deviation h of each UWB tag relative to the UWB base station in the tunnel.

4. The method for constructing a dynamic point cloud map of a tunnel during the construction period according to claim 3, wherein The calculation methods of the real-time mileage of the completed segment, the real-time mileage of the construction gantry, and the real-time mileage of the excavation gantry are as follows: When the tunnel is under construction at a large mileage and the UWB base station is behind the gantry, or under construction at a small mileage and the UWB base station is in front of the gantry, the calculation formula for the real-time mileage of each segment is: When the tunnel is under construction at a small mileage and the UWB base station is behind the gantry, or under construction at a large mileage and the UWB base station is in front of the gantry, the calculation formula for the real-time mileage of each segment is:

5. The method for constructing a dynamic point cloud map of a tunnel during the construction period according to claim 2, wherein For the completed segment, calculating the real-time mileage of the completed segment based on the test data of the lining gantry obtained by the UWB base station, and at the same time generating the point cloud of the completed segment using the tunnel design data specifically includes the steps of: Discretize the theoretical secondary lining contour of the tunnel design data into a point cloud S1; Calculate the real-time mileage of the completed segment based on the test data of the lining gantry obtained by the UWB base station; Discretize the point cloud S1 into different rings according to the specified distance, and calculate the transformation matrix T of each ring to the tunnel coordinate system i , and splice the point clouds of each ring to obtain the built segment point cloud C1 in the tunnel coordinate system as follows: C1 = ∑T i S1.

6. The method for constructing a dynamic point cloud map of a tunnel during the construction period according to claim 2, wherein For the structured construction section, extract the independent three-dimensional point cloud of the construction bench in the tunnel, calculate the real-time mileage of the construction bench based on the test data of the construction bench obtained by the UWB base station, perform mileage transformation on the construction bench point cloud, and generate the structured construction section point cloud by superimposing on the generated point cloud. The specific steps are as follows: Use a set-up scanner to perform multi-angle scanning and segmentation on each construction bench of the structured construction section, splice the point clouds, and utilize the tunnel transformation matrix T from the set-up scanner i Align the origin of the spliced point cloud p i with the origin of the tunnel coordinate system, and convert the spliced point cloud p i to the point cloud p' in the tunnel line origin coordinate system i : p′ i (x, y, z) = T i -1 p i (x, y, z); Calculate the real-time mileage corresponding to each construction bench based on the test data of each construction bench obtained by the UWB base station; Calculate the transformation matrix T of each construction gantry to the tunnel coordinate system at the corresponding real-time mileage of each construction gantry j ; The transformation matrix T from each construction gantry to the tunnel coordinate system at the corresponding real-time mileage of the point clouds of each construction gantry j After transformation, the point clouds of the structured construction sections in the tunnel coordinate system C2 are generated by superimposing on the basis of the generated point clouds: C2 = ∑T j p' i 。 7. The method for constructing a dynamic point cloud map of a tunnel during the construction period according to claim 2, wherein For the excavation section, calculate the real-time mileage of the excavation bench based on the test data of the excavation bench obtained by the UWB base station, and at the same time, obtain the point cloud of the excavation section by real-time scanning with a fixed scanning device. The specific steps are as follows: Install the fixed scanning device on the tunnel wall, calibrate it with a total station to obtain the conversion relationship T3 from the scanned point cloud of the fixed scanning device to the tunnel coordinate system; The scanned point cloud of the excavation section is S2. Using the conversion relationship T3, convert S2 to the global tunnel coordinate system, that is, obtain the point cloud C3 of the excavation section in the tunnel coordinate system: C3 = T3S2.

8. A device for constructing a dynamic point cloud map of a tunnel during the construction period, characterized in that, It includes: A segmented point cloud generation module, which is used to extract and generate the point cloud of each segment of the tunnel under construction in the tunnel coordinate system based on the tunnel design data, the test data of each bench by the UWB ranging device, and the fixed scanning device. Among them, each segment of the tunnel under construction includes the completed segment, the structured construction segment, and the excavation segment; A point cloud superimposition module, which is used to superimpose the point clouds of the completed segment, the structured construction segment, and the excavation segment extracted and generated to obtain the global dynamic point cloud map of the tunnel; A point cloud update module, which is used to repeat the above steps to update the global dynamic point cloud map of the tunnel under construction when the test data of the UWB ranging device changes, or the change amount of the point cloud of the excavation section exceeds the threshold.

9. An electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein When the processor executes the computer program, it implements the steps of the method for constructing a dynamic point cloud map of a tunnel under construction according to any one of claims 1 to 7.

10. A storage medium, the storage medium includes a stored program, and when the program runs, it controls the device where the storage medium is located to execute the steps of the method for constructing a dynamic point cloud map of a tunnel under construction according to any one of claims 1 to 7.

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