Non-contact measurement method for structural plane of surrounding rock of circular tunnel and related equipment

Abstract

The application relates to the technical field of geotechnical mechanics testing, in particular to a non-contact measurement method for a circular tunnel surrounding rock structure surface and related equipment, establishes a measurement control point and a measurement station position, establishes a local measurement coordinate system, determines feature points of a structure surface trace and coordinates of the feature points, converts the local coordinates into global coordinates by correcting a hole axis azimuth angle, constructs a corrected local coordinate system, obtains new coordinates of the feature points, projects the new coordinates to a tunnel cross section, calculates a perpendicular distance from the feature points to a circumferential line, optimizes the feature points according to the perpendicular distance to meet constraint conditions, determines a structure surface trace distribution map and occurrence of the feature points, and realizes accurate measurement and analysis of the tunnel surrounding rock structure surface. The application can obtain actual circular tunnel surrounding rock structure surface trace and occurrence information by reducing field measurement workload.

Description

Technical Field

[0001] This application relates to the field of geotechnical testing technology, and in particular to a non-contact measurement method and related equipment for the structural surface of the surrounding rock of a circular tunnel. Background Technology

[0002] In recent years, in order to minimize damage and disturbance to the rock mass, TBM technology has been used for the excavation of hydraulic tunnels. The excavated tunnel walls are smooth and flat, so that there are no exposed structural surfaces in the tunnel walls like those in natural geological formations.

[0003] Furthermore, hydraulic tunnels have large diameters, making it difficult to closely inspect many exposed structural surfaces, thus hindering the implementation of traditional methods using geological compasses for structural surface measurement. Therefore, a non-contact measurement method using a total station can be employed to obtain the tunnel structural surface trace map and attitude. Specifically, a total station is installed inside the tunnel. By leveling the total station and adjusting the telescope to a horizontal line of sight, the vertical brake screw is tightened, and the telescope is swung left and right to find the direction of minimum horizontal distance. The horizontal distance between the station and the left and right tunnel walls is measured. Combined with the diameter of the circular tunnel, the position of the coordinate system origin in the tunnel cross-section can be determined. Based on the coordinates of the construction control points, the station's location and station number are determined, thus confirming the station's actual position. After completing the station and tunnel axis azimuth measurements, the traces exposed by the structural surfaces cutting through the tunnel walls are used. At least three non-collinear points along these traces are selected for coordinate measurement. Geometric analysis and calculation then yield the structural surface trace distribution map and structural surface attitude. However, this method requires the measurement of the tunnel axis azimuth and the measurement of the position of the measuring station on the cross section. The accuracy of the tunnel axis azimuth measurement (usually using a compass) and the accuracy of the measuring station position measurement are not high. This leads to a deviation between the field measurement results of the coordinates of characteristic points on the trace of the surrounding rock structure of the circular tunnel and the actual situation. As a result, the distribution map of the trace of the structure obtained by the field non-contact measurement and the calculated attitude results are inaccurate. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention provides a non-contact measurement method and related equipment for the structural surface of the surrounding rock of a circular tunnel. This method eliminates the need for on-site measurement at the location of the measuring station in the cross-section and corrects the measurement data so that the projection of the measuring point on the cross-section is as close as possible to the circular cross-section, thereby obtaining a true and realistic structural surface trace diagram and attitude information.

[0005] The first aspect of this application provides a non-contact measurement method for the structural surface of surrounding rock in a circular tunnel, the method comprising:

[0006] Determine the measurement control points and station locations of the target tunnel in order to establish a local measurement coordinate system;

[0007] The station position chainage is determined based on the measurement control point, and the azimuth of the station tunnel axis is determined based on the station position chainage.

[0008] Determine M feature points in any one of the n structural surface traces, and the first coordinate value corresponding to each of the M feature points, where M is an integer greater than 3 and n is an integer greater than or equal to 1;

[0009] The azimuth of the tunnel axis is corrected, and the first coordinate value is transformed to the global coordinate system based on the corrected azimuth of the tunnel axis to obtain the second coordinate value. The global coordinate system is constructed with the station position as the origin O, the azimuth angle of 0° as the positive X-axis, the azimuth angle of 90° as the positive Y-axis, and the vertical upward direction as the positive Z-axis.

[0010] Construct a modified local coordinate system to obtain the third coordinate value of each of the M feature points in the local coordinate system;

[0011] Based on the M feature points, constraints are constructed, and the M third coordinate values ​​are projected onto the tunnel cross-section corresponding to the target tunnel to calculate the vertical distance of each of the M feature points projected onto the circumference line corresponding to the tunnel cross-section.

[0012] The M feature points are optimized based on the vertical distance to ensure that the M feature points satisfy the constraints, and the structural surface trace distribution and structural surface orientation of the M feature points are determined.

[0013] In an optional implementation, the first coordinate value corresponding to each of the M feature points includes:

[0014] Obtain the slope distance, vertical angle, and azimuth angle of the i-th feature point on the j-th structural surface trace, wherein the j-th structural surface trace is any one of the n structural surface traces, and the i-th feature point is any one of the M feature points;

[0015] The first coordinate value is determined based on the slope distance, the vertical angle, and the azimuth angle.

[0016] In an optional implementation, determining the first coordinate value based on the slope distance, the vertical angle, and the azimuth angle includes: when M=4, the M feature points are four feature points arbitrarily selected on the j-th structural surface trace that are not on the same straight line, and the slope distance is... The vertical angle is The azimuth angle is Then the first coordinate value of the i-th feature point on the j-th structural surface trace is .

[0017] In an optional implementation, the step of converting the first coordinate value to the global coordinate system based on the corrected azimuth angle of the hole axis to obtain the second coordinate value includes:

[0018] The second coordinate value of the i-th feature point on the j-th trace is determined using the following coordinate expression:

[0019] ;

[0020] in, This is the correction value for the azimuth angle of the tunnel axis. The azimuth angle is the orientation of the tunnel axis at the station.

[0021] In an optional implementation, obtaining the third coordinate value of each of the M feature points in the local coordinate system includes:

[0022] The third coordinate value of the i-th feature point on the j-th trace is determined using the following coordinate expression:

[0023] ;

[0024] in, The azimuth angle of the actual tunnel axis or the azimuth angle designed for the tunnel axis.

[0025] In an optional implementation, when M=4, the constraint conditions constructed based on the M feature points are as follows:

[0026] .

[0027] In an optional implementation, the method further includes:

[0028] The vertical distance to the i-th feature point on the j-th trace is determined using the following formula:

[0029] ;

[0030] in, The vertical distance is... R represents the coordinates of the center of the cross-section circle, and R represents the tunnel radius of the target tunnel.

[0031] In an optional implementation, the method further includes:

[0032] Step 1: Convert the perpendicular distance of the i-th feature point on the j-th trace into matrix form:

[0033] ;

[0034] in, The vertical distance is the i-th feature point on the j-th trace.

[0035] Let the set of parameters to be solved be The set of parameters to be solved is obtained by weighted least squares method so that the following equation holds:

[0036] ;

[0037] in, The weight matrix;

[0038] Step 2: Solve for the weight matrix:

[0039] ;

[0040] in, Then, by expanding, we can obtain ;

[0041] Step 3: Based on the constraints, transform the problem of solving the set of parameters into a quadratic programming problem:

[0042] ;

[0043] Step 4: Use MATLAB to write a program to calculate. The optimal solution is found by replacing the determinant of the constraint condition with an inequality, and then solving according to the following constraints. The optimal solution:

[0044] ;

[0045] in, a It is a constant.

[0046] A second aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the non-contact measurement method for the surrounding rock structure of a circular tunnel.

[0047] A third aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described non-contact measurement method for the surrounding rock structure surface of a circular tunnel.

[0048] The non-contact measurement method and related equipment for the surrounding rock structural surface of a circular tunnel provided in this application establish a relatively accurate local measurement coordinate system by determining the measurement control points and station positions of the target tunnel. This provides a stable reference benchmark for subsequent feature point coordinate measurements. Based on the established local measurement coordinate system, the azimuth angle of the tunnel axis is corrected to reduce the deviation of the tunnel axis azimuth angle caused by initial measurement errors, thereby improving the accuracy of subsequent coordinate transformation. According to the corrected tunnel axis azimuth angle, the coordinates of the feature points in the local measurement coordinate system are transformed to the global coordinate system. By constructing the corrected local coordinate system, the accurate coordinate values ​​of the feature points in the local coordinate system are obtained, further reducing errors. After obtaining the feature point coordinates, this application proposes to construct constraint conditions based on the feature points and project the feature point coordinates onto the tunnel cross-section, calculating the vertical distance from the feature point to the circumference. By optimizing the feature points to satisfy the constraint conditions, the accuracy of the feature point coordinates can be further improved, and the structural surface trace distribution map and structural surface attitude can be determined accordingly, improving the accuracy and reliability of non-contact measurement of the surrounding rock structural surface of a circular tunnel. Attached Figure Description

[0049] Figure 1 These are schematic diagrams of the projection of coordinate points obtained by the actual measurement of non-contact measurement methods in the prior art onto the cross section of the tunnel. (A) is a schematic diagram with less error, and (B) is a schematic diagram with larger error.

[0050] Figure 2 This is a flowchart illustrating a non-contact measurement method for the surrounding rock structure of a circular tunnel, as shown in an embodiment of this application.

[0051] Figure 3 This is another flowchart illustrating a non-contact measurement method for the surrounding rock structure surface of a circular tunnel, as shown in an embodiment of this application.

[0052] Figure 4 This is a schematic diagram of the projection of feature points on the structural surface trace line onto the cross section of a tunnel, as shown in an embodiment of this application, where (A) are feature points before correction and (B) are feature points after correction;

[0053] Figure 5 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application. Detailed Implementation

[0054] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0055] The following will clearly and completely describe the concept, specific structure, and technical effects of the present invention in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages involved in the patent do not simply refer to direct contact between components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. The various technical features in this invention can be combined interactively without contradicting each other.

[0056] In existing non-contact measurement methods, the coordinate points obtained from the actual measurements do not necessarily fall on the circumference of the tunnel cross-section. (See details...) Figure 1 As shown, deviations exist, causing the structural surface trace distribution diagram and the calculated attitude results to be inaccurate and require correction. Taking a tunnel axis azimuth measurement error Δθ of 0.5° as an example (considering instrument errors and azimuth alignment deviations, the actual azimuth measurement error may be greater than 0.5°), the resulting measurement point coordinate error is analyzed. Assuming the distance between the measurement point and the station is L = 100m, the offset distance between the measurement point result and the true value is Δ = L * Δθ = 100 * (0.5 * 3.14 / 180) = 0.87m; if the azimuth measurement error is 1°, the offset distance of the measurement point position is Δ = L * Δθ = 100 * (1 * 3.14 / 180) = 1.76m, indicating that the points on the trace measured by the existing non-contact measurement method may significantly deviate from the tunnel (cavity) column surface, requiring correction. Therefore, when conducting non-contact measurements of the structural surface traces and attitude of smooth-walled circular tunnels (or tunnels), it is necessary to address the problems of correcting azimuth measurement errors and station position measurement errors on the cross-section, while reducing the workload and errors in the field measurement to obtain accurate trace maps and attitude information. Based on this, this application proposes a non-contact measurement method for the structural surface of the surrounding rock of circular tunnels.

[0057] Reference Figure 2 The diagram shown is a flowchart illustrating a non-contact measurement method for the surrounding rock structure of a circular tunnel according to an embodiment of this application. The non-contact measurement method for the surrounding rock structure of a circular tunnel includes the following steps.

[0058] To facilitate understanding of the inventive concept of this application, the embodiments of this application are illustrated using a circular tunnel excavated by a TBM in a certain water diversion project as an example.

[0059] S21, determine the measurement control points and station locations of the target tunnel in order to establish a local measurement coordinate system.

[0060] The target tunnel refers to the tunnel that needs to be constructed. Measurement control points are a series of points established within the target tunnel area before measurement work begins. These points have known location and elevation information and serve as benchmarks and references for the measurement work. Figure 3 In some embodiments, once a measurement control point is determined, and a suitable location is selected near the control point, such as a place with good visibility and relatively flat terrain, to install a tripod and total station, the total station is leveled, and the telescope is adjusted so that the telescope's central axis is horizontal, i.e., the vertical angle reading is "0° horizontal," and the eyepiece points towards the tunnel axis. Here, the station refers to the total station, and the station position refers to the installation location of the total station equipment. This allows the electronic equipment to establish a local measurement coordinate system with the station position as the origin, the tunnel axis direction (i.e., 0° azimuth) as the positive X-axis, 90° azimuth as the positive Y-axis, and the zenith direction as the positive Z-axis.

[0061] S22, determine the station location chainage of the station based on the measurement control point, and determine the orientation of the station tunnel axis based on the station location chainage.

[0062] Refer to together Figure 3 In some embodiments, once the electronic device determines the control point of the survey station, it can obtain the control point's station number. The station number can then be calculated by measuring the distance between the survey station and the control point along the tunnel axis using a total station. Furthermore, based on this station number, the azimuth angle of the tunnel axis can be measured using a geological compass. .

[0063] For example, assuming the station location is determined to be station number 8186.136 by control point measurement, the axial azimuth of the tunnel section can be measured using a compass, that is, the azimuth of the tunnel axis of the station is NE57°.

[0064] S23, determine M feature points in any one of the n structural surface traces, and the first coordinate value corresponding to each of the M feature points.

[0065] Where M is an integer greater than 3 and n is an integer greater than or equal to 1. n can be determined by observation within the line of sight, based on the actual situation on site and the purpose of measurement. For example, if two obvious structural surface traces are observed within 30m in front, then n=2.

[0066] In some embodiments, the electronic device can select n structural surface traces for measurement and data analysis. For example, M feature points not on the same straight line can be arbitrarily selected on the j-th structural surface trace, where the j-th structural surface trace is any one of the n structural surface traces. Since the determinant plane equation is determined by using 4 feature points on the same structural surface trace when establishing constraints in this embodiment, the following explanation will use M=4 as an example.

[0067] Refer to together Figure 3 When M=4, four feature points not on the same straight line can be arbitrarily selected on the j-th structural surface trace, and the feature point measurement data corresponding to each feature point, including slope distance, vertical angle, and azimuth angle, can be measured. The slope distance can be measured within the local measurement coordinate system as follows: Vertical angle measurement is and azimuth measurement is Then, the first coordinate value of the i-th feature point on the j-th structural surface trace can be determined based on the slant distance, vertical angle, and azimuth angle. for The i-th feature point is any one of the M feature points.

[0068] It should be noted that M can also be an integer greater than 4.

[0069] For example, the electronic device can select five structural surface traces near the measuring station, and select four feature points on each structural surface trace that are not on the same straight line, which are respectively called the first feature point P1, the second feature point P2, the third feature point P3, and the fourth feature point P4. The specific feature point data is shown in Table 1 (Feature Point Measurement Data Table):

[0070] Table 1:

[0071]

[0072] Based on the feature point measurement data, the electronic device can further calculate the feature point coordinates corresponding to each feature point of the structural surface trace, i.e., the first coordinate value, based on the data in Table 1, as shown in Table 2 (Feature Point Coordinate Table (Measurement Coordinate System)).

[0073] Table 2:

[0074]

[0075] S24, correct the azimuth angle of the tunnel axis, and convert the first coordinate value to the global coordinate system based on the corrected azimuth angle of the tunnel axis to obtain the second coordinate value.

[0076] In some embodiments, the electronic device can correct the azimuth of the tunnel axis and construct a global coordinate system with the station position as the origin O, the geodetic azimuth of 0° as the positive X-axis, the geodetic azimuth of 90° as the positive Y-axis, and the vertical upward as the positive Z-axis. Based on the corrected azimuth of the tunnel axis, the first coordinate values ​​of M feature points are transformed from the local measurement coordinate system to the global coordinate system to obtain the corresponding coordinates, which are called the second coordinate values.

[0077] Specifically, assuming the azimuth correction value of the tunnel axis is... Then, in the global coordinate system, the coordinate expression of the second coordinate value of the i-th feature point on the corrected j-th trace is specifically represented as follows:

[0078] .

[0079] S25, construct a modified local coordinate system to obtain the third coordinate value of each of the M feature points in the local coordinate system.

[0080] In some embodiments, the electronic device establishes a modified local coordinate system based on the actual azimuth angle of the tunnel axis (or the designed azimuth angle of the tunnel axis). Specifically, the local coordinate system is constructed with the station position as the origin, the actual tunnel axis direction (i.e., azimuth angle 0° as the positive X-axis direction, azimuth angle 90° as the positive Y-axis direction, and the zenith direction as the positive Z-axis direction). In the modified local coordinate system, the coordinates of the i-th feature point on the j-th trace are called the third coordinate values, and are represented by the following coordinate expression:

[0081] ;

[0082] in, Provide the actual azimuth angle of the tunnel axis or the designed azimuth angle of the tunnel axis. i =1, 2, 3, 4, j =1, 2, 3, 4, 5.

[0083] S26, construct constraints based on the M feature points, and project the M third coordinate values ​​onto the tunnel cross-section corresponding to the target tunnel to calculate the vertical distance of each feature point among the M feature points projected onto the circumference line corresponding to the tunnel cross-section.

[0084] Refer to together Figure 3 In some embodiments, the electronic device can establish constraints in a plane based on four feature points on the same structural surface trace, that is, the fourth-order determinant equals 0, expressed as:

[0085] ;

[0086] For example, four constraints are established to ensure that the feature points are coplanar. The following example illustrates one constraint using the coplanarity of the feature points of the first trace. The other constraints are similar:

[0087] .

[0088] Once the constraints are determined, the coordinates (i.e., the third coordinate values) of each feature point in the local coordinate system are projected onto the tunnel cross-section of the target tunnel, and the perpendicular distance from each feature point to the corresponding circle of the tunnel cross-section is calculated after the projection. Assuming the tunnel axis is a straight line within a short distance of the station, and the coordinates of the center of a certain cross-section are... The radius (inner diameter) of the target tunnel is R. The perpendicular distance to the i-th feature point on the j-th trace can be determined using the following formula. :

[0089] ;

[0090] For example, assume that the coordinates of the center of the tunnel cross section at the known monitoring station are... The tunnel radius is 3.95 meters. Calculate the perpendicular distance from the projection of a feature point on the structural surface trace to the circumference. Displaced by the first feature point of the first trace, D 11 Taking the example calculation, we can obtain:

[0091] .

[0092] S27, optimize the M feature points according to the vertical distance so that the M feature points satisfy the constraint conditions, and determine the structural surface trace distribution map and structural surface orientation of the M feature points.

[0093] Given the perpendicular distances from the projections of M feature points to the circumference of a circle, and under the constraint that the feature points on the trace are coplanar, the weighted least squares method is used to calculate the perpendicular distances from the projections of all feature points to the circumference, with the criterion being minimizing the sum of the squares of the perpendicular distances from the projections of all feature points to the circumference. That is, the azimuth correction. and the center coordinates of the tunnel cross section y , z This ensures that the corrected feature point data satisfies the coplanarity of feature points on the structural surface trace, and that the projection points of the feature points on the cross-section most likely fall on the cylindrical surface of the tunnel. This makes the corrected feature point data consistent with the actual situation, eliminating the need to measure the specific location of the measuring station within the tunnel. This not only reduces on-site workload but also minimizes measurement errors in harsh environments. (See also...) Figure 4 As shown, the projected points of the feature points before correction do not satisfy the coplanarity of the same structural surface trace. (Refer to...) Figure 4As shown in (A), the projected points of the corrected feature points all fall on the cylindrical surface of the tunnel, referring to... Figure 4 As shown in (B), the measuring points before correction were significantly deviated from the actual tunnel surface, while the measuring points after correction were basically on the tunnel surface. Therefore, the corrected measurement data conforms to the actual situation.

[0094] Refer to together Figure 3 Solve the parameter set to be solved The steps may include:

[0095] 1) The perpendicular distance from the i-th feature point on the j-th structural surface trace to the circumference line. Written in matrix form, specifically as follows:

[0096] ;

[0097] make Using the weighted least squares method to find the optimal solution for the unknown parameter X, the following equation holds:

[0098] ;

[0099] in, It is a weight matrix.

[0100] 2) Calculate the weight matrix.

[0101] Since the greater the distance between the feature point and the station, the greater the distance the feature point may deviate from the cylindrical surface (actual position), the weight matrix is ​​calculated based on the distance between the feature point and the station.

[0102] The weight matrix is ​​calculated as follows:

[0103] ;

[0104] In the formula, The weights in the weighted least squares method. ;

[0105] When expanded, .

[0106] 3) List the constraints on the unknown parameter X, and then apply the formula... Solving for the unknown parameters in the problem transforms it into a quadratic programming problem, namely:

[0107] ;

[0108] 4) Use MATLAB to write a program to calculate The optimal solution and the corresponding parameter set X to be solved. To facilitate the solution of the extreme value problem, the determinant in the constraint condition equal to 0 can be replaced by an inequality, that is, the volume of the parallelepiped described by the determinant is close to 0. That is, the following constraint condition can be used, that is, a least squares model satisfying the constraint condition can be established to calculate the parameter set X to be solved, and the corresponding optimal solution X can be obtained:

[0109] ;

[0110] in, a For a relatively small number. Specifically, a Calculated by the program, such as a =0.01. Adjust if MATLAB calculations do not converge. a Set the value to 0.1 until the MATLAB calculation converges, thus obtaining the optimal solution.

[0111] The constraint con2 in the mathematical model assumes that the station is located inside the tunnel. a The value is 6. The constraint condition con2 is determined based on the fact that the station is located inside the tunnel and that the maximum error in the azimuth measurement is assumed to be approximately 10°. The optimal parameters can be solved using MATLAB programming. The optimal solution is .

[0112] When the optimal parameter set is obtained by solving the parameter set to be solved. Afterwards, it can be based on By correcting the coordinates of the feature points and further calculating their corrected coordinates in the local coordinate system, the true distribution diagram and attitude of the structural surface traces can be obtained. Specifically, the electronic device can establish a planar coordinate system after the cylindrical surface is unfolded, and the coordinates of the feature points on the structural surface traces can be transformed into the unfolding planar coordinate system. In this system, the station number of the measuring point is the X-axis, and the circumferential direction is the Y-axis. The circumferential length of the cylindrical unfolding is 2πR. Since the station number of each feature point and the circumferential angle of its projection onto the cross-section can be obtained, the coordinates of each feature point in the unfolding planar coordinate system can be derived.

[0113] To address the technical problems of low accuracy in azimuth and station location measurements in existing technologies, and discrepancies between the field measurement results and the actual situation regarding the coordinates of characteristic points on the structural surface traces of a circular tunnel, resulting in inaccurate structural surface trace distribution maps and calculated attitude results obtained through non-contact field measurements, this application eliminates the need for on-site measurement of the station's position within the tunnel, i.e., it removes the need for on-site measurement of the station's position in the cross-section. Instead, it utilizes the objective fact that the measured characteristic points should fall on the cylindrical surface of the tunnel to correct the measurement data. This ensures that the projection of the measuring points on the cross-section is as close as possible to the actual situation, thus obtaining reliable and accurate structural surface traces and attitude information.

[0114] See Figure 5 The diagram shown is a schematic representation of the structure of an electronic device according to an embodiment of this application. In a preferred embodiment of this application, the electronic device 5 includes a memory 51, at least one processor 52, and at least one communication bus 53.

[0115] Those skilled in the art should understand that Figure 5 The structure of the electronic device shown does not constitute a limitation of the embodiments of this application. It can be a bus structure or a star structure. The electronic device 5 may also include more or fewer other hardware or software than shown, or different component arrangements.

[0116] In some embodiments, the electronic device 5 is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), programmable gate arrays (FPGAs), digital processors, and embedded devices. The electronic device 5 may also include user equipment, which includes, but is not limited to, any electronic product capable of human-computer interaction with a user via a keyboard, mouse, remote control, touchpad, or voice control device, such as a personal computer, tablet computer, smartphone, or digital camera.

[0117] In the embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, computer-readable storage media, and electronic devices can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple components or modules may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices, components, or modules may be electrical, mechanical, or other forms.

[0118] The components described as separate parts may or may not be physically separate. The components shown as components may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the components can be selected to achieve the purpose of this embodiment according to actual needs.

[0119] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each component can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0120] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0121] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0122] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0123] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A non-contact measurement method of a circular tunnel surrounding rock structural plane, characterized in that, The method comprises: determining the station position of the survey control point and the station of the target tunnel to establish a local survey coordinate system; determining the station position stake number of the station position according to the survey control point, and determining the strike azimuth of the station tunnel axis based on the station position stake number using a geological compass; determining M feature points in any one of the n structure trace lines, and a first coordinate value corresponding to each of the M feature points, wherein M is an integer greater than 3, and n is an integer greater than or equal to 1; correcting the tunnel axis azimuth, and converting the first coordinate value to a global coordinate system according to the corrected tunnel axis azimuth to obtain a second coordinate value, wherein the global coordinate system is constructed by taking the station position as the origin O, taking the great circle azimuth 0° as the positive direction of the X axis, taking the great circle azimuth 90° as the positive direction of the Y axis, and taking the vertical upward as the positive direction of the Z axis; constructing a corrected local coordinate system to obtain a third coordinate value of each of the M feature points in the local coordinate system; constructing a constraint condition according to the M feature points, and projecting the M third coordinate values onto the tunnel cross section corresponding to the target tunnel to calculate the perpendicular distance of each of the M feature points to the corresponding circumferential line of the tunnel cross section; optimizing the M feature points according to the perpendicular distance to make the M feature points satisfy the constraint condition, and determining the structure trace line distribution and the structure occurrence of the M feature points.

2. The non-contact measurement method of the circular tunnel surrounding rock structural plane according to claim 1, characterized in that, The first coordinate value corresponding to each of the M feature points comprises: obtaining the slant distance, the vertical angle and the azimuth of the i-th feature point on the j-th structure trace line, the j-th structure trace line being any selected one of the n structure trace lines, and the i-th feature point being any one of the M feature points; determining the first coordinate value based on the slant distance, the vertical angle and the azimuth.

3. The non-contact measurement method of the circular tunnel surrounding rock structural plane according to claim 2, characterized in that, The determining the first coordinate value based on the slant distance, the vertical angle and the azimuth angle comprises: when M=4, the M feature points are four feature points not on the same straight line selected on the jth structural surface trace, the slant distance is , the vertical angle is , the azimuth angle is , and the first coordinate value of the ith feature point on the jth structural surface trace is .

4. The non-contact measurement method of the circular tunnel surrounding rock structural plane according to claim 1, characterized in that, The conversion of the first coordinate value to the global coordinate system according to the corrected tunnel axis azimuth to obtain the second coordinate value comprises: determining the second coordinate value of the i-th feature point on the j-th trace line through the following coordinate expression: ； wherein, is the hole axis azimuth correction number, is the strike azimuth of the hole axis at the station.

5. The non-contact measurement method of the rock discontinuities of a circular tunnel according to claim 4, characterized by, The determination of the third coordinate value of the i-th feature point on the j-th trace line comprises: When M=4, the construction of the constraint condition according to the M feature points is: ； wherein is the true hole axis azimuth or hole axis design azimuth.

6. The non-contact measurement method of the circular tunnel surrounding rock structural plane according to claim 5, characterized in that, The method further comprises: 。 7. The non-contact measurement method of the rock discontinuities of a circular tunnel according to claim 5, characterized by, determining the perpendicular distance of the i-th feature point on the j-th trace line through the following formula: The method further comprises: ； wherein, is the vertical distance, is the cross-sectional center coordinate, and R is the tunnel path radius of the target tunnel.

8. The non-contact measurement method of structural planes of surrounding rock of a circular tunnel according to any one of claims 1 to 7, characterized in that, Step 1: converting the perpendicular distance of the i-th feature point on the j-th trace line into a matrix form: Step 2: solving the weight matrix: ； wherein, is the vertical distance of the i-th feature point on the j-th trace line; Let a parameter group to be solved be , the parameter group to be solved is solved according to the weighted least square method so that the following formula is established: ； wherein is a weight matrix; Step 3: converting the to-be-solved parameter group into a quadratic programming problem according to the constraint condition: ； wherein then the expansion gives ; A computer program product comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method for non-contact measurement of the structure surface of the circular tunnel surrounding rock according to any one of claims 1 to 7 when executing the computer program. ； Step 4, use matlab program to calculate the optimal solution of replacing the determinant equal to 0 in the constraints with inequalities, solve the optimal solution of according to the following constraints: ； wherein a is a constant.

9. An electronic device, comprising: ​ 10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the steps of the non-contact measurement method of the structural plane of the surrounding rock of a circular tunnel according to any one of claims 1 to 7.

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