Laser galvanometer projection correction method and system suitable for uneven tunnel section

Abstract

The invention discloses a laser galvanometer projection correction method and system suitable for an uneven tunnel section, and the method comprises the steps: scanning the point cloud data of a tunnel face through a laser radar, so as to extract the point cloud data of concave-convex regions in the uneven tunnel section, and carrying out the extraction of the point cloud data of each concave-convex region; the projection coordinates of the tunnel contour points and the blast hole points are corrected through the point cloud data, laser galvanometer projection is carried out according to the corrected projection design parameters, and the tunnel contour and the drilling position can be projected on the uneven tunnel section rapidly and accurately; the problem of projection position deviation caused by unevenness of the tunnel face after blasting is effectively solved, and the accuracy of drilling and positioning of the uneven tunnel section is improved. Moreover, manual correction is not needed in the whole process, and before projection lofting is carried out every time, a user only needs to start software to automatically start the laser radar for scanning and automatically complete correction, so that personnel operation is greatly reduced, and safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and in particular to a laser galvanometer projection correction method and system, electronic equipment, and a computer-readable storage medium applicable to uneven tunnel sections. Background Art

[0002] In tunnel construction, the drill-and-blast method is a commonly used excavation method. It has the advantages of being simple to construct, widely applicable, highly adaptable, and having low excavation costs. However, the drill-and-blast method often relies on engineering experience, often manually marking the designed blastholes on the tunnel face to guide the drilling rig. This method is labor-intensive, time-consuming, and inefficient, which not only affects construction progress but also leads to safety accidents and threatens the personal safety of construction workers. It has long failed to meet the requirements for safe and efficient tunnel construction. Currently, by applying laser galvanometer projection technology to the field of tunnel construction, this paper proposes a laser projection technology solution and supporting equipment that are accurate, fast, and safe to use, addressing the current problems of inaccurate, inefficient, and unsafe positioning of grid steel frames during drill-and-blast design, blasthole positioning, and initial support in tunnel and roadway surrounding rock excavation. The laser projection technology uses a high-brightness laser beam generated by a laser. Control commands from a PC control the galvanometer system to achieve the deflection angle of the reflector, enabling the laser beam to scan in different directions, thereby completing the drawing of a laser pattern on the projection plane. For example, patent CN105716576A discloses a remote projection laser profiler and its method. The method first measures the exact distance between the locator and the tunnel face target, transmits the measured distance parameters to a computer, and processes this data to determine the appropriate scanning galvanometer angle. Next, the desired pattern is determined based on the distance between the laser profiler and the tunnel face target and the scanning galvanometer angle. The galvanometer system then analyzes and projects the scanned pattern. However, due to the uneven contours of the tunnel face and tunnel after blasting, the projected pattern deviates from the theoretical drilling point, making it impossible to accurately drill according to the projected point. Summary of the Invention

[0003] The present invention provides a laser galvanometer projection correction method and system, electronic equipment, and computer-readable storage medium suitable for uneven tunnel sections. The method can quickly and accurately project the tunnel contour and drilling position on the uneven tunnel section, effectively solving the problem of projection position deviation caused by the uneven face after blasting, and improving the accuracy of drilling positioning on uneven tunnel sections.

[0004] According to one aspect of the present invention, a laser galvanometer projection correction method suitable for uneven tunnel sections is provided, comprising the following:

[0005] Obtaining positioning information of the laser galvanometer projection device in the tunnel, and obtaining projection design parameters at the current mileage based on the positioning information, wherein the projection design parameters include the projection coordinates of the tunnel contour points and the blasthole points;

[0006] Obtain the point cloud data of the tunnel face and extract the point cloud data of the concave and convex areas;

[0007] For each concave-convex area, the projection coordinates of the tunnel contour points and blasthole points are corrected using point cloud data, and laser galvanometer projection is performed according to the corrected projection design parameters.

[0008] Furthermore, the process of correcting the projection coordinates of the tunnel contour points and blasthole points using the point cloud data includes the following:

[0009] Calibrate the conversion relationship between the galvanometer pixel coordinate system and the projection surface coordinate system, and the conversion relationship between the laser radar and the galvanometer pixel coordinate system respectively;

[0010] For each concave-convex area, one point is selected as the correction point, and the three-dimensional coordinates of the correction point are calculated;

[0011] The coordinate value of the correction point in the projection surface coordinate system is calculated based on the three-dimensional coordinates of the correction point, the conversion relationship between the galvanometer pixel coordinate system and the projection surface coordinate system, and the conversion relationship between the laser radar and the galvanometer pixel coordinate system;

[0012] The projection pixel point closest to the correction point in the concave-convex area is indexed, and the projection coordinates of the projection pixel point are replaced by the coordinate value of the correction point in the projection surface coordinate system, wherein the projection pixel points include tunnel contour points and blasthole points.

[0013] Furthermore, the process of calculating the three-dimensional coordinates of the correction point includes the following:

[0014] Traverse the set of projected pixel points, calculate the distance from each projected pixel point to the correction point, filter out the two projected pixel points closest to the correction point, calculate the direction vector and normal vector of the two projected pixel points, and construct a rectangle surrounding the correction point based on the direction vector and normal vector. Calculate the average coordinates of the point cloud within the rectangle and use it as the 3D coordinates of the correction point.

[0015] Furthermore, the process of calibrating the conversion relationship between the galvanometer pixel coordinate system and the projection surface coordinate system includes the following:

[0016] A large number of laser points with known pixel coordinates are projected by a galvanometer. The coordinates of a large number of projection points are measured by a total station. The coordinates of the projection points are matched with the pixel coordinates using an iterative calibration program based on a neural network, and the conversion parameters and inverse parameters between the galvanometer pixel coordinate system and the projection surface coordinate system are obtained.

[0017] Furthermore, the process of calibrating the conversion relationship between the laser radar and the galvanometer pixel coordinate system includes the following:

[0018] Place multiple calibration targets at different positions and planes, use a total station to measure the center coordinates of each calibration target, use a lidar to scan the calibration targets to obtain point cloud data and extract the center coordinates of each calibration target, calculate the conversion matrix from the lidar to the total station based on the calibration target center coordinate measurement results of the total station and the calibration target center coordinate scanning results of the lidar, then use a laser galvanometer to project calibration points with known pixel coordinates, measure the coordinates of the calibration points with the total station, and calculate the conversion matrix from the galvanometer pixel coordinate system to the total station based on the pixel coordinates and the calibration point coordinates. Finally, the conversion matrix from the lidar to the galvanometer pixel coordinate system is obtained based on the conversion matrix from the lidar to the total station and the conversion matrix from the galvanometer pixel coordinate system to the total station.

[0019] Furthermore, before obtaining the positioning information of the laser galvanometer projection device in the tunnel, the following steps are also included:

[0020] The closest parking position of the construction vehicle to the tunnel face is determined based on the maximum radius of the tunnel section and the minimum galvanometer projection angle.

[0021] Furthermore, the parking position of the construction vehicle is determined based on the following formula:

[0022] d≥R

[0023] tanα

[0024] Where d represents the distance from the parking position of the construction vehicle to the tunnel face, R represents the maximum radius of the tunnel section, and α represents the minimum galvanometer projection angle.

[0025] In addition, the present invention also provides a laser galvanometer projection correction system suitable for uneven tunnel sections, comprising:

[0026] The projection design parameter acquisition module is used to obtain the positioning information of the laser galvanometer projection device in the tunnel and obtain the projection design parameters at the current mileage based on the positioning information, wherein the projection design parameters include the projection coordinates of the tunnel contour points and the blasthole points;

[0027] The concave-convex area point cloud acquisition module is used to obtain the point cloud data of the tunnel face and extract the point cloud data of the concave-convex area;

[0028] The laser galvanometer projection correction module is used to correct the projection coordinates of the tunnel contour points and blasthole points for each concave and convex area using point cloud data, and perform laser galvanometer projection according to the corrected projection design parameters.

[0029] In addition, the present invention also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the steps of the above method by calling the computer program stored in the memory.

[0030] In addition, the present invention also provides a computer-readable storage medium for storing a computer program suitable for laser galvanometer projection correction of uneven tunnel sections, wherein the computer program executes the steps of the above-described method when running on a computer.

[0031] The present invention has the following beneficial effects:

[0032] The present invention's laser galvanometer projection correction method, applicable to uneven tunnel sections, utilizes a laser radar to scan the point cloud data of the tunnel face to extract point cloud data for the concave and convex areas within the uneven tunnel section. For each concave and convex area, the point cloud data is then used to correct the projection coordinates of the tunnel contour points and blasthole points. Laser galvanometer projection is then performed based on the corrected projection design parameters. This method allows for rapid and accurate projection of the tunnel contour and drill hole locations onto the uneven tunnel section, effectively resolving the projection position deviation problem caused by the unevenness of the tunnel face after blasting and improving the accuracy of drilling positioning on uneven tunnel sections. Furthermore, the entire process requires no manual correction. Before each projection and lofting operation, the software only needs to be turned on to automatically activate the laser radar for scanning and correction, significantly reducing human effort and improving safety.

[0033] In addition, the laser galvanometer projection correction system applicable to uneven tunnel sections of the present invention also has the above advantages.

[0034] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 This is a flow chart of a laser galvanometer projection correction method for uneven tunnel sections according to a preferred embodiment of the present application;

[0037] Figure 2 yes Figure 1 Schematic diagram of the sub-process of step S3;

[0038] Figure 3 This is a schematic diagram of the projection position after correction in the preferred embodiment of the present application;

[0039] Figure 4 This is another flow chart of the laser galvanometer projection correction method for uneven tunnel sections according to a preferred embodiment of the present application;

[0040] Figure 5 This is a schematic diagram of the module structure of a laser galvanometer projection correction system suitable for uneven tunnel sections according to another embodiment of the present application. DETAILED DESCRIPTION

[0041] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0042] Reference Figure 1 The preferred embodiment of the present application provides a laser galvanometer projection correction method suitable for uneven tunnel sections, comprising the following contents:

[0043] Step S1: Obtaining positioning information of the laser galvanometer projection device in the tunnel, and obtaining projection design parameters at the current mileage based on the positioning information, wherein the projection design parameters include the projection coordinates of the tunnel contour points and the blasthole points;

[0044] Step S2: Acquire the point cloud data of the tunnel face and extract the point cloud data of the concave and convex areas;

[0045] Step S3: For each concave-convex area, the projection coordinates of the tunnel contour points and blasthole points are corrected using the point cloud data, and laser galvanometer projection is performed according to the corrected projection design parameters.

[0046] It can be understood that the laser galvanometer projection correction method for uneven tunnel sections in this embodiment uses a laser radar to scan the point cloud data of the tunnel face to extract the point cloud data of the concave and convex areas in the uneven tunnel section. For each concave and convex area, the point cloud data is then used to correct the projection coordinates of the tunnel contour points and blasthole points. Laser galvanometer projection is then performed based on the corrected projection design parameters. This allows the tunnel contour and drill hole locations to be projected quickly and accurately onto the uneven tunnel section, effectively solving the problem of projection position deviation caused by the unevenness of the tunnel face after blasting, and improving the accuracy of drilling positioning on uneven tunnel sections. Moreover, the entire process does not require manual correction. Before each projection and lofting, the software only needs to be turned on to automatically start the laser radar for scanning and automatic correction, greatly reducing human operation and improving safety.

[0047] It is understood that the laser galvanometer projection device is fixedly mounted on the construction trolley and can be used during construction. It does not require power or additional equipment at the construction site, thereby improving construction efficiency and safety. Its installation position is not lower than the position of the boom to ensure that the laser beam is blocked as little as possible, and the galvanometer emission origin is adjusted to be slightly above the galvanometer horizontal line. In step S1, the tunnel design contour and blasthole design positions that need to be projected are different at different construction mileages. The present invention obtains the positioning information of the laser galvanometer projection device in the tunnel, and can obtain the projection design parameters at the current mileage based on its positioning information. The projection design parameters include the projection coordinates of the tunnel contour points and the blasthole points.

[0048] Among them, there are three ways to obtain the positioning information of the laser galvanometer projection device in the tunnel. The first is to project a positioning pattern first, and then use the total station to establish a tunnel coordinate system according to the coordinate points on the tunnel wall, and measure the coordinates of the intersection of the positioning pattern in the tunnel coordinate system. Among them, the pixel coordinates of the intersection of the positioning pattern are known, and the position of the laser galvanometer projection device in the tunnel coordinate system can be determined; the second is to determine the position information of the laser galvanometer projection device according to the position information of the construction trolley. Specifically, first use the total station to measure the coordinates of the marking points on the laser galvanometer projection device and the construction trolley respectively, and calculate the conversion matrix R1 and R2 from the construction trolley to the total station. The conversion matrix R2 from the laser galvanometer projection device to the total station can be calibrated according to the formula T1=R1×R2 to obtain the conversion matrix T1 between the construction trolley and the laser galvanometer projection device. After the construction trolley is positioned in the tunnel, the position information of the laser galvanometer projection device in the tunnel can be determined according to the positioning information of the construction trolley and the conversion matrix T1; the third type is teaching positioning. Specifically, the construction pattern at the current mileage is projected. According to the currently completed blasthole points, the construction pattern is enlarged and reduced, and pitched and rolled using a handheld controller or through the APP, so that the projection point corresponds to the completed blasthole point, completing the teaching positioning.

[0049] Therefore, after the design data of the tunnel project is converted into a standard format file containing data such as the tunnel horizontal curve, vertical curve, blasthole and tunnel contour through software, the standard format file is imported into the projection system. After determining the positioning information of the laser galvanometer projection device in the tunnel, the software will automatically complete the file parsing and read the projection design parameters under the current mileage.

[0050] In addition, in step S2, the point cloud data of the tunnel face after blasting is scanned using a laser radar, and the distance from each point to the construction trolley can be calculated. The distance value from the point cloud of the flat area on the tunnel face to the construction trolley will fluctuate slightly within a preset range. However, due to problems such as over-excavation and under-excavation, the distance values from some points to the construction trolley in the concave and convex areas may be too large or too small, that is, not within the preset range. Therefore, the point cloud data of the concave and convex areas can be filtered out by setting an appropriate distance range. That is, the point cloud areas with distance values within the preset range are flat areas, and the point cloud areas with distance values outside the preset range are concave and convex areas. The distance range can be set according to actual needs and is not specifically limited here.

[0051] In step S3, for each concave-convex area, the projection coordinates of the tunnel contour points and the blasthole points are corrected using point cloud data to solve the projection position deviation problem caused by the unevenness of the tunnel face after blasting, and the tunnel contour and drilling position are accurately projected on the uneven tunnel section, and then laser galvanometer projection is performed according to the corrected projection design parameters.

[0052] Among them, such as Figure 2 As shown, the process of correcting the projection coordinates of tunnel contour points and blasthole points using point cloud data includes the following:

[0053] Step S31: calibrating the conversion relationship between the galvanometer pixel coordinate system and the projection surface coordinate system, and the conversion relationship between the laser radar and the galvanometer pixel coordinate system;

[0054] Step S32: For each concave-convex area, select one point as a correction point and calculate the three-dimensional coordinates of the correction point;

[0055] Step S33: Calculate the coordinate value of the correction point in the projection surface coordinate system based on the three-dimensional coordinates of the correction point, the conversion relationship between the galvanometer pixel coordinate system and the projection surface coordinate system, and the conversion relationship between the laser radar and the galvanometer pixel coordinate system;

[0056] Step S34: indexing the projection pixel point closest to the correction point in the concave-convex area, and replacing the projection coordinates of the projection pixel point with the coordinate value of the correction point in the projection surface coordinate system, wherein the projection pixel point includes the tunnel contour point and the blasthole point.

[0057] Specifically, a galvanometer is used to project a large number of laser points with known pixel coordinates. A total station is then used to measure the coordinates of these projected points. An iterative neural network-based calibration program is then used to map the projected point coordinates to the pixel coordinates, thereby obtaining the conversion parameters a1 and a2 between the galvanometer pixel coordinate system and the projection surface coordinate system. The number of projected points used for calibration must be no less than 200. After iterating through the calibration program for a large number of data points, the set of parameters with the smallest error is selected as the calibration parameters. In addition, multiple calibration targets are placed at different positions and in different planes, where the number of calibration targets is not less than six, to ensure that the calibration targets are distributed in different planes as much as possible within the spatial range that can be scanned by the radar, which is conducive to improving the accuracy of calibration. The center coordinates of each calibration target are then measured using a total station, and the calibration target is scanned using a laser radar to obtain point cloud data and extract the center coordinates of each calibration target. The conversion matrix R3 from the laser radar to the total station is calculated based on the measurement results of the center coordinates of the calibration target of the total station and the scanning results of the center coordinates of the calibration target of the laser radar. The calibration point with known pixel coordinates is then projected using a laser galvanometer, and the coordinates of the calibration point are measured by the total station. The conversion matrix R4 from the galvanometer pixel coordinate system to the total station is calculated based on the pixel coordinates and the calibration point coordinates. Finally, the conversion matrix T2 from the laser radar to the galvanometer pixel coordinate system is obtained based on the conversion matrix from the laser radar to the total station and the conversion matrix from the galvanometer pixel coordinate system to the total station, that is, T2=R3×R4. In addition, in other embodiments of the present invention, the calibration process of the conversion relationship between the galvanometer pixel coordinate system and the projection surface coordinate system, and the conversion relationship between the laser radar and the galvanometer pixel coordinate system can also be calibrated in advance, that is, calibration can be performed before construction, because after the laser radar and the galvanometer projection device are installed on the construction trolley, their relative positions are fixed.

[0058] Then, for each concave-convex area, any one point is selected as the correction point, and then the set of projected pixel points is traversed, where the projected pixel points include tunnel contour points and blasthole points, the distance from each projected pixel point to the correction point is calculated, the two projected pixel points closest to the correction point are screened out, the direction vector and normal vector of the two projected pixel points are calculated, and a rectangle surrounding the correction point is constructed based on the direction vector and the normal vector, where the size of the rectangle is preferably 10 cm. Of course, in other embodiments, it can also be set according to actual needs, and the average coordinates of the point cloud in the rectangle are calculated and used as the three-dimensional coordinates A1 of the correction point.

[0059] Next, the coordinates B1 of the correction point in the galvanometer pixel coordinate system are calculated according to the formula B1=A1×T2, and then the coordinates B1 of the correction point in the galvanometer pixel coordinate system are converted to the coordinates of the correction point in the projection surface coordinate system using the conversion parameter a1.

[0060] Finally, the nearest contour point or blasthole point to the correction point within the concave-convex region is indexed. The projection coordinates of the contour point or blasthole point are replaced with the coordinates of the correction point in the projection plane coordinate system. This completes the correction of the tunnel contour and blasthole position within the concave-convex region. Repeating this process completes the correction of the tunnel contour and blasthole position within all concave-convex regions.

[0061] Therefore, after the projection design parameters of the concave and convex areas are corrected, the laser galvanometer projection device can project according to the corrected projection design parameters. Specifically, the industrial control computer will output the corrected light source point information to the signal processing component, and the signal processing component will convert the received light source point information into the motion signal of the galvanometer. The X / Y galvanometer drive motor will swing according to the corrected light source point pixel coordinate information to realize the projection of the tunnel contour and the blasthole point. Among them, the corrected projection position is as follows Figure 3 shown.

[0062] In addition, if Figure 4 As shown, the laser galvanometer projection correction method applicable to uneven tunnel sections further includes the following before obtaining the positioning information of the laser galvanometer projection device in the tunnel:

[0063] Step S0: Determine the nearest parking position of the construction vehicle from the tunnel face based on the maximum radius of the tunnel section and the minimum galvanometer projection angle.

[0064] Specifically, the parking position of the construction vehicle is determined based on the following formula:

[0065]

[0066] Where d represents the distance from the construction vehicle's parking position to the tunnel face, R represents the maximum radius of the tunnel section, and α represents the minimum galvanometer projection angle, which is generally between 70° and 80°. It can be understood that determining the closest parking position for the construction vehicle from the tunnel face based on the above formula ensures that the projection range of the laser galvanometer projection device fully covers the tunnel face.

[0067] In addition, if Figure 5 As shown, another embodiment of the present invention further provides a laser galvanometer projection correction system applicable to uneven tunnel sections, preferably using the laser galvanometer projection correction method applicable to uneven tunnel sections as described above, comprising:

[0068] The projection design parameter acquisition module is used to obtain the positioning information of the laser galvanometer projection device in the tunnel and obtain the projection design parameters at the current mileage based on the positioning information, wherein the projection design parameters include the projection coordinates of the tunnel contour points and the blasthole points;

[0069] The concave-convex area point cloud acquisition module is used to obtain the point cloud data of the tunnel face and extract the point cloud data of the concave-convex area;

[0070] The laser galvanometer projection correction module is used to correct the projection coordinates of the tunnel contour points and blasthole points for each concave and convex area using point cloud data, and perform laser galvanometer projection according to the corrected projection design parameters.

[0071] It can be understood that the laser galvanometer projection correction system for uneven tunnel sections in this embodiment uses a laser radar to scan the point cloud data of the tunnel face to extract the point cloud data of the concave and convex areas in the uneven tunnel section. For each concave and convex area, the point cloud data is then used to correct the projection coordinates of the tunnel contour points and blasthole points. Laser galvanometer projection is then performed based on the corrected projection design parameters. This can quickly and accurately project the tunnel contour and drill hole locations onto the uneven tunnel section, effectively solving the problem of projection position deviation caused by the unevenness of the tunnel face after blasting, and improving the accuracy of drilling positioning on uneven tunnel sections. Moreover, the entire process does not require manual correction. Before each projection and setting out, the software only needs to be turned on to automatically start the laser radar for scanning and automatic correction, greatly reducing human operation and improving safety.

[0072] In addition, the laser galvanometer projection correction system suitable for uneven tunnel sections also includes:

[0073] The parking position determination module is used to determine the nearest parking position of the construction vehicle from the tunnel face based on the maximum radius of the tunnel section and the minimum galvanometer projection angle.

[0074] It can be understood that the various modules of the system embodiment correspond one-to-one to the various modules of the above method embodiment, so the working principles of each module will not be repeated here, and the corresponding references can be made to the various steps of the above method embodiment.

[0075] In addition, another embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the steps of the above method by calling the computer program stored in the memory.

[0076] In addition, another embodiment of the present invention further provides a computer-readable storage medium for storing a computer program for laser galvanometer projection correction of uneven tunnel sections, wherein the computer program executes the steps of the above-described method when running on a computer.

[0077] Common computer-readable storage media include: floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic media, CD-ROMs, any other optical media, punch cards, paper tape, any other physical medium with a pattern of holes, random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), flash-erasable programmable read-only memory (FLASH-EPROM), any other memory chip or cartridge, or any other medium that can be read by a computer. Instructions can further be transmitted or received via a transmission medium. The term transmission medium may include any tangible or intangible medium that can be used to store, encode, or carry instructions for execution by a machine, and includes digital or analog communication signals or other intangible media that facilitate communication of such instructions. Transmission media include coaxial cables, copper wire, and fiber optics, including the wires of a bus used to transmit a computer data signal.

[0078] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the 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 storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiment of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal translation scripting language JavaScript, etc.

[0079] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0080] These computer program instructions may 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, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0081] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0082] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0083] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0084] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A laser galvanometer projection correction method suitable for uneven tunnel sections, characterized in that: Includes the following: Obtaining positioning information of the laser galvanometer projection device in the tunnel, and obtaining projection design parameters at the current mileage based on the positioning information, wherein the projection design parameters include the projection coordinates of the tunnel contour points and the blasthole points; Obtain the point cloud data of the tunnel face and extract the point cloud data of the concave and convex areas; For each concave-convex area, the projection coordinates of the tunnel contour points and blasthole points are corrected using point cloud data, and laser galvanometer projection is performed according to the corrected projection design parameters.

2. The laser galvanometer projection correction method for uneven tunnel sections according to claim 1, characterized in that: The process of correcting the projection coordinates of tunnel contour points and blasthole points using point cloud data includes the following: Calibrate the conversion relationship between the galvanometer pixel coordinate system and the projection surface coordinate system, and the conversion relationship between the laser radar and the galvanometer pixel coordinate system respectively; For each concave-convex area, one point is selected as the correction point, and the three-dimensional coordinates of the correction point are calculated; The coordinate value of the correction point in the projection surface coordinate system is calculated based on the three-dimensional coordinates of the correction point, the conversion relationship between the galvanometer pixel coordinate system and the projection surface coordinate system, and the conversion relationship between the laser radar and the galvanometer pixel coordinate system; The projection pixel point closest to the correction point in the concave-convex area is indexed, and the projection coordinates of the projection pixel point are replaced by the coordinate value of the correction point in the projection surface coordinate system, wherein the projection pixel points include tunnel contour points and blasthole points.

3. The laser galvanometer projection correction method for uneven tunnel sections according to claim 2, characterized in that: The process of calculating the three-dimensional coordinates of the correction point includes the following: Traverse the set of projected pixel points, calculate the distance from each projected pixel point to the correction point, filter out the two projected pixel points closest to the correction point, calculate the direction vector and normal vector of the two projected pixel points, and construct a rectangle surrounding the correction point based on the direction vector and normal vector. Calculate the average coordinates of the point cloud within the rectangle and use it as the 3D coordinates of the correction point.

4. The laser galvanometer projection correction method for uneven tunnel sections according to claim 2, characterized in that: The process of calibrating the conversion relationship between the galvanometer pixel coordinate system and the projection surface coordinate system includes the following: A large number of laser points with known pixel coordinates are projected by a galvanometer. The coordinates of a large number of projection points are measured by a total station. The coordinates of the projection points are matched with the pixel coordinates using an iterative calibration program based on a neural network, and the conversion parameters and inverse parameters between the galvanometer pixel coordinate system and the projection surface coordinate system are obtained.

5. The laser galvanometer projection correction method for uneven tunnel sections according to claim 2, characterized in that: The process of calibrating the conversion relationship between the laser radar and the galvanometer pixel coordinate system includes the following: Place multiple calibration targets at different positions and planes, use a total station to measure the center coordinates of each calibration target, use a lidar to scan the calibration targets to obtain point cloud data and extract the center coordinates of each calibration target, calculate the conversion matrix from the lidar to the total station based on the calibration target center coordinate measurement results of the total station and the calibration target center coordinate scanning results of the lidar, then use a laser galvanometer to project calibration points with known pixel coordinates, measure the coordinates of the calibration points with the total station, and calculate the conversion matrix from the galvanometer pixel coordinate system to the total station based on the pixel coordinates and the calibration point coordinates. Finally, the conversion matrix from the lidar to the galvanometer pixel coordinate system is obtained based on the conversion matrix from the lidar to the total station and the conversion matrix from the galvanometer pixel coordinate system to the total station.

6. The laser galvanometer projection correction method for uneven tunnel sections according to claim 1, characterized in that: Before obtaining the positioning information of the laser galvanometer projection device in the tunnel, the following contents are also included: The closest parking position of the construction vehicle to the tunnel face is determined based on the maximum radius of the tunnel section and the minimum galvanometer projection angle.

7. The laser galvanometer projection correction method for uneven tunnel sections according to claim 6, characterized in that: The parking position of the construction vehicle is determined based on the following formula: Where d represents the distance from the parking position of the construction vehicle to the tunnel face, R represents the maximum radius of the tunnel section, and α represents the minimum galvanometer projection angle.

8. A laser galvanometer projection correction system suitable for uneven tunnel sections, characterized in that: include: The projection design parameter acquisition module is used to obtain the positioning information of the laser galvanometer projection device in the tunnel and obtain the projection design parameters at the current mileage based on the positioning information, wherein the projection design parameters include the projection coordinates of the tunnel contour points and the blasthole points; The concave-convex area point cloud acquisition module is used to obtain the point cloud data of the tunnel face and extract the point cloud data of the concave-convex area; The laser galvanometer projection correction module is used to correct the projection coordinates of the tunnel contour points and blasthole points for each concave and convex area using point cloud data, and perform laser galvanometer projection according to the corrected projection design parameters.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the steps of the method according to any one of claims 1 to 7 by calling the computer program stored in the memory.

10. A computer-readable storage medium for storing a computer program for laser galvanometer projection correction of uneven tunnel sections, characterized in that: When the computer program is run on a computer, the steps of the method according to any one of claims 1 to 7 are executed.

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