Optimization processing method, device and equipment of hole starting position and storage medium

Abstract

The application provides an optimization processing method, device and equipment of a hole starting position and a storage medium. The method comprises the following steps: acquiring a tunnel face point cloud data and a tunnel wall point cloud data; acquiring a design hole file and reading hole information in the design hole file; wherein the hole information comprises hole coordinate information and hole rotation information; determining a drilling normal vector corresponding to the hole according to the tunnel face point cloud data and the hole coordinate information corresponding to the hole; determining an effective area point cloud corresponding to a rubber pad top support movable area according to the drilling normal vector, the hole rotation information and a preset jib parameter; determining a target top support surface according to the effective area point cloud; and determining a target push beam rotation angle according to the target top support surface and the tunnel wall point cloud data. The accuracy of the hole starting position is improved.

Description

Technical Field

[0001] This application relates to the fields of civil engineering and underground engineering technology, and in particular to a method, apparatus, equipment and storage medium for optimizing the hole starting position. Background Technology

[0002] Drill-and-blast method has become the mainstream blasting technology for geological tunnel engineering of varying complexity due to its strong adaptability, controllable low cost, and the positioning accuracy of the blast holes directly affects the blasting effect and construction safety.

[0003] In existing technologies, the main methods for locating blast holes include manual calibration and fully computerized drilling rig projection positioning. Manual calibration, which combines a total station with manual hole drilling, relies on human experience and is therefore inefficient. Furthermore, the rig is prone to obstruction and errors. Fully computerized drilling rig projection positioning improves positioning speed by mapping the blast hole diagram using a multi-coordinate system. However, the preset parameters only apply to flat surfaces and do not dynamically correct for actual face undulations, leading to deviations in the hole starting position and angle.

[0004] Therefore, the existing technology suffers from insufficient accuracy in the location of the hole. Summary of the Invention

[0005] This application provides a method, apparatus, device, and storage medium for optimizing the hole starting position, so as to improve the accuracy of the hole starting position.

[0006] In a first aspect, embodiments of this application provide a method for optimizing the starting position of a hole, comprising:

[0007] Acquire point cloud data of the tunnel face and tunnel wall;

[0008] Obtain the design blast hole file and read the blast hole information in the design blast hole file; the blast hole information includes hole coordinate information and hole rotation information;

[0009] Based on the point cloud data of the working face and the hole coordinate information corresponding to the blast hole, determine the drilling normal vector corresponding to the blast hole;

[0010] Based on the drilling normal vector, hole rotation information, and preset boom parameters, determine the effective area point cloud corresponding to the movable area of ​​the rubber pad top support;

[0011] Based on the point cloud of the effective area, determine the target top support surface;

[0012] The rotation angle of the target propulsion beam is determined based on the target top support surface and tunnel wall point cloud data.

[0013] In one possible implementation, the hole coordinate information includes start hole information and end hole information;

[0014] Based on the point cloud data of the working face and the corresponding hole coordinates of the blast hole, the drilling normal vector corresponding to the blast hole is determined, including:

[0015] Based on the initial hole information, neighboring point clouds in the face point cloud data are filtered out in the first dimension; where the first dimension refers to the dimension where the vertical axis and the front and rear axes are located under different horizontal axis coordinates, and the horizontal axis direction is the excavation direction.

[0016] The neighboring point cloud is mapped to a preset theoretical reference working surface to obtain the mapped point cloud; where the preset theoretical reference working surface refers to the plane with a horizontal axis coordinate of 0 in the first dimension.

[0017] In the mapped point cloud, a preset number of candidate points that are closest to the starting hole information are selected;

[0018] If the candidate point meets the preset distance requirement, the starting hole information is updated according to the horizontal axis coordinates of the neighboring point cloud corresponding to the candidate point to determine the target starting hole coordinates;

[0019] If the candidate point does not meet the preset distance requirement, the coordinates of the target starting hole are determined by inverse distance weighted interpolation based on the distance values ​​between the mapped point cloud and the starting hole information, as well as the horizontal axis coordinate values ​​in the neighboring point cloud.

[0020] Based on the coordinates of the starting and ending holes, determine the drilling normal vector corresponding to the blast hole.

[0021] In one possible implementation, the hole rotation information includes a default rotation angle and a rotation limit;

[0022] Based on the drilling normal vector, hole rotation information, and preset boom parameters, the effective area point cloud corresponding to the movable area of ​​the rubber pad support is determined, including:

[0023] Calculate the rotatable range of the propulsion beam based on the default rotation angle and rotation limit;

[0024] Based on the rotatable range of the propulsion beam and the preset boom parameters, calculate the movable area of ​​the rubber pad top support;

[0025] Point cloud extraction is performed on the neighboring point cloud located in the movable area of ​​the rubber pad top support to obtain the effective area point cloud.

[0026] In one possible implementation, determining the target support surface based on the effective region point cloud includes:

[0027] The effective area point cloud data is sequentially segmented into planes to obtain multiple segmented plane point clouds;

[0028] Based on the preset point cloud quantity threshold and the preset drilling angle threshold, the point clouds of multiple segmented planes are initially verified in sequence.

[0029] All segmented planar point clouds that pass the initial verification are identified as the target segmented planar point cloud;

[0030] The target segmentation plane point cloud and the target starting hole are transformed by coordinate transformation to obtain the transformed plane point cloud and the center point, and the drilling angle of the transformed plane point cloud is determined.

[0031] Based on the transformed planar point cloud, the center point, and the drilling angle, the hole-starting feature vector is determined; where the hole-starting feature vector refers to the vector used to store the transformed planar point cloud, the center point, and the drilling angle.

[0032] Iterate through the elements in the hole feature vector and set the angle vector and the propulsion beam rotation angle vector for each element; where the angle vector is used to store the angle values ​​of all points in the transformed plane point cloud relative to the center point, and the propulsion beam rotation angle vector is used to store the rotation angle of the propulsion beam.

[0033] Sort the angle values ​​in the angle vector in ascending order and set a sliding window;

[0034] Select the target window from the sliding window and store the propulsion beam rotation angle of the target window into the propulsion beam rotation angle vector;

[0035] Iterate through the elements of the propulsion beam rotation angle vector to obtain the current propulsion beam rotation angle;

[0036] The target top support surface is determined based on the hole-starting feature vector and the current rotation angle of the propulsion beam.

[0037] In one possible implementation, determining the rotation angle of the target propulsion beam based on point cloud data of the target top support surface and the tunnel wall includes:

[0038] The point cloud quantity is verified on the target top support surface according to the preset point cloud quantity threshold requirement;

[0039] If the target support surface passes the point cloud count verification, then collision detection is performed on the point cloud of the target support surface based on the tunnel wall point cloud data;

[0040] If the point cloud of the target top support surface passes the collision detection, the current rotation angle of the propulsion beam is determined as the rotation angle of the target propulsion beam.

[0041] In one possible implementation, determining the target support surface based on the effective region point cloud includes:

[0042] The effective area point cloud is divided sequentially to obtain multiple supporting surfaces;

[0043] For each top support surface, perform planar segmentation to obtain the top support plane;

[0044] Based on the preset point cloud quantity threshold and preset drilling angle threshold, the top support plane is initially verified, and the top support plane that meets the preset point cloud quantity threshold and preset drilling angle threshold is determined as the target top support plane.

[0045] In one possible implementation, determining the rotation angle of the target propulsion beam based on point cloud data of the target top support surface and the tunnel wall includes:

[0046] For each target support surface, a boom bounding box model in the positive attitude corresponding to the target support surface is generated based on the preset boom parameters and the center of the target support surface.

[0047] For each boom bounding box model in a positive orientation, calculate the actual bounding box model parallel to the drilling normal vector based on the boom bounding box model in the positive orientation.

[0048] For each actual bounding box model, collision detection is performed sequentially on the actual bounding box model based on the tunnel wall point cloud data;

[0049] If the target top support surface corresponding to the actual bounding box model passes the collision detection, the rotation angle of the target propulsion beam is determined based on the target top support surface and hole rotation information.

[0050] In one possible implementation, after performing collision detection on each actual bounding box model sequentially based on the tunnel wall point cloud data, the method further includes:

[0051] If none of the target top supports corresponding to all actual bounding box models pass the collision detection, then the two adjacent target top supports are merged in turn to obtain N first minimum bounding rectangles; N is an integer greater than or equal to 1.

[0052] For each first minimum bounding rectangle, construct a merged surface corresponding to the first minimum bounding rectangle based on the first minimum bounding rectangle and the effective region point cloud;

[0053] For each merged surface, perform planar segmentation to obtain the maximum merged plane corresponding to the merged surface;

[0054] For each maximum merging plane, a preliminary verification is performed based on the preset point cloud quantity threshold and the preset drilling angle threshold. If the maximum merging plane passes the preliminary verification, the maximum merging plane is determined as the target merging plane.

[0055] Cluster the target merging plane to obtain N discontinuous regions; where N is an integer greater than or equal to 1.

[0056] Construct the second minimum enclosing rectangle based on N discontinuous regions;

[0057] Construct the minimum sector based on the drilling normal vector and the second minimum enclosing rectangle;

[0058] Based on the minimum sector, determine the sector region that meets the preset point cloud quantity threshold and preset sector angle requirements;

[0059] Based on the sector-shaped region, determine the rotation angle of the target propulsion beam.

[0060] Secondly, embodiments of this application provide an optimization processing apparatus for the starting position of a hole, comprising:

[0061] The first acquisition module is used to acquire point cloud data of the tunnel face and point cloud data of the tunnel wall;

[0062] The second acquisition module is used to acquire the design blast hole file and read the blast hole information in the design blast hole file; wherein, the blast hole information includes hole coordinate information and hole rotation information;

[0063] The first determining module is used to determine the drilling normal vector corresponding to the blast hole based on the point cloud data of the working face and the hole coordinate information corresponding to the blast hole;

[0064] The second determining module is used to determine the effective area point cloud corresponding to the movable area of ​​the rubber pad top support based on the drilling normal vector, hole rotation information and preset boom parameters.

[0065] The third determination module is used to determine the target top support surface based on the point cloud of the effective area;

[0066] The fourth determination module is used to determine the rotation angle of the target propulsion beam based on the target top support surface and tunnel wall point cloud data.

[0067] Thirdly, embodiments of this application provide an optimization processing device for hole starting positions, including: a memory and a processor;

[0068] The memory stores the instructions that the computer executes;

[0069] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0070] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0071] The method, apparatus, equipment, and storage medium for optimizing borehole location provided in this application acquire point cloud data of the tunnel face, point cloud data of the tunnel wall, and design blast hole files, and reads blast hole information from the design blast hole files. The blast hole information includes hole coordinate information and hole rotation information. Based on the point cloud data of the tunnel face and the corresponding hole coordinate information, the drilling normal vector corresponding to the blast hole is determined. Based on the drilling normal vector, hole rotation information, and preset boom parameters, the effective area point cloud corresponding to the movable area of ​​the rubber pad support is determined. Based on the effective area point cloud and tunnel wall point cloud data, the target support surface is determined. Based on the target support surface, the rotation angle of the target propulsion beam is determined. Compared to the manual calibration method and fully computerized rock drilling rig projection positioning in the prior art, the method of this application, by combining the tunnel face point cloud data and design blast hole files, constructs a three-dimensional model including over- and under-excavation situations. By determining the rotation angle of the target support surface and the target propulsion beam, and based on the actual situation inside the tunnel, the accuracy of the borehole location is improved. Attached Figure Description

[0072] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0073] Figure 1 A schematic diagram of the system architecture for an optimization method of hole starting position provided in this application;

[0074] Figure 2 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 1 ;

[0075] Figure 3 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 2 ;

[0076] Figure 4 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 3 ;

[0077] Figure 5 A schematic diagram of the effective area provided for this application;

[0078] Figure 6 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 4 ;

[0079] Figure 7 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 5 ;

[0080] Figure 8A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 6 ;

[0081] Figure 9 A schematic diagram of the boom enclosure box model provided in this application is generated.

[0082] Figure 10 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 7 ;

[0083] Figure 11 A schematic diagram of the merged surface provided in this application;

[0084] Figure 12 A comparative diagram showing the hole location optimization before and after this application;

[0085] Figure 13 A schematic diagram of the structure of the device for optimizing the hole starting position provided in this application;

[0086] Figure 14 A schematic diagram of the structure of the device for optimizing the hole starting position provided in this application.

[0087] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0088] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0089] It should be noted that all data involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0090] With the continuous construction of infrastructure and the ongoing optimization of transportation networks, the tunnel construction market has grown significantly. In particular, in tunnel engineering projects in complex geological environments, the drill-and-blast method has become the preferred construction strategy due to its high efficiency and flexibility. In the process of implementing the drill-and-blast method, the selection of blast holes is particularly important, as it relates to the blasting effect and construction safety.

[0091] In existing technologies, the location of blast holes is usually determined using a total station combined with manual marking; or by using a modern fully computerized rock drill to perform coordinate system transformation, inputting the coordinates of the blast hole diagram of the working face into a projection device so that the boom can accurately reach the blast hole location. However, manual marking is inefficient and may be subject to visual obstruction caused by boom posture, resulting in errors in the starting hole position and reducing its accuracy. On the other hand, coordinate system transformation using a modern fully computerized rock drill is usually based on an idealized flat working face, but the working face after blasting is uneven, causing deviations between the actual drilling position and the starting hole position, affecting over-excavation and under-excavation control and blasting effect.

[0092] Therefore, the existing technology suffers from insufficient accuracy in the location of the hole.

[0093] To address the aforementioned issues, the core concept of this application is as follows: By combining point cloud data of the tunnel face, point cloud data of the tunnel wall, and design blast hole information, the drilling normal vector is determined using the point cloud data of the tunnel face and the blast hole information, thereby determining the effective area point cloud of the rubber pad support; based on the effective area point cloud, the target support surface is determined, and by combining the tunnel wall point cloud data, the rotation angle of the propulsion beam of the target support surface is determined to optimize drilling accuracy and construction effect.

[0094] Optionally, Figure 1 A schematic diagram of the system architecture for an optimization method of hole starting position provided in this application. (See attached diagram.) Figure 1 As shown, the system architecture of the hole-starting position optimization processing method includes at least one of a data acquisition device 101, a processing device 102, and a display device 103.

[0095] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the above architecture. In other feasible embodiments of this application, the above architecture may include more or fewer components than illustrated, or combine some components, or split some components, or arrange different components, which can be determined according to the actual application scenario and is not limited here. Figure 1 The components shown can be implemented in hardware, software, or a combination of both.

[0096] In the specific implementation process, the data acquisition device 101 may include an input / output interface or a communication interface, and the data acquisition device 101 can be connected to the processing device through the input / output interface or the communication interface.

[0097] The processing device 102 can determine the drilling normal vector corresponding to the blast hole based on the point cloud data of the tunnel face and the hole coordinate information corresponding to the blast hole; determine the effective area point cloud corresponding to the movable area of ​​the rubber pad support based on the drilling normal vector, hole rotation information and preset boom parameters; determine the target support surface based on the effective area point cloud; and determine the rotation angle of the target propulsion beam based on the target support surface and the tunnel wall point cloud data.

[0098] The display device 103 can also be a touch screen or the screen of a terminal device, used to receive user commands while displaying the above-mentioned content, so as to realize interaction with the user.

[0099] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0100] Figure 2 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 1 ,like Figure 2 As shown, the method includes:

[0101] S201. Obtain point cloud data of the tunnel face and tunnel wall.

[0102] In this embodiment, the tunnel face refers to the frontmost working face that is being excavated in a tunnel or underground project. The tunnel construction area in front is scanned by three-dimensional laser scanning or photogrammetry technology to obtain tunnel point cloud data in the geodetic coordinate system. The tunnel point cloud data in the geodetic coordinate system is then transformed to obtain tunnel point cloud data based on the trolley coordinate system. The tunnel point cloud data is then segmented to obtain tunnel face point cloud data and tunnel wall point cloud data.

[0103] The point cloud data of the face is a collection of three-dimensional coordinates of the face surface, which records spatial information in the form of discrete points. The point cloud data of the face includes three-dimensional coordinates, normal vectors and curvature. The three-dimensional coordinates are used to describe the spatial coordinates of each specific location on the face surface, the normal vectors are used to describe the orientation of the points, and the curvature reflects the surface concavity and convexity.

[0104] S202. Obtain the design blast hole file and read the blast hole information in the design blast hole file; wherein, the blast hole information includes hole coordinate information and hole rotation information.

[0105] In this embodiment, the hole coordinate information includes starting hole information and ending hole information; the starting hole refers to the starting position of a single blast hole; the ending hole refers to the ending position of a single blast hole. The spatial trajectory of the blast hole is determined by the starting hole and the ending hole together.

[0106] The hole rotation information includes the default rotation angle and rotation limit; the default rotation angle refers to the default drilling direction of the blast hole, and the rotation limit refers to the maximum angle adjustment range of the blast hole during the drilling process.

[0107] Furthermore, the boom parameters and threshold parameters are read. The boom parameters refer to the structural parameters of the trolley's operating boom, including the boom's length and width. The threshold parameters include preset point cloud quantity threshold requirements and preset drilling angle threshold requirements, and the threshold parameters can be dynamically adjusted.

[0108] S203. Based on the point cloud data of the working face and the hole coordinate information corresponding to the blast hole, determine the drilling normal vector corresponding to the blast hole.

[0109] In this embodiment, based on the point cloud data mapped on the preset theoretical working surface and the hole coordinate information corresponding to the blast hole, a preset number of point cloud data closest to the hole coordinates are selected, wherein the preset number can be 3;

[0110] If the distance between the nearest point cloud data to the hole coordinates and the hole coordinate information is less than the preset distance requirement, then the filtered point cloud data is determined by index, and the horizontal axis coordinates of the corresponding filtered point cloud data are updated to the horizontal axis coordinates of the hole coordinate information.

[0111] Optionally, if the distance between a preset number of point cloud data points closest to the hole coordinates and the hole coordinate information is not less than a preset distance requirement, then in the filtered point cloud data, a preset number of point cloud data points closest to the hole coordinates are selected, and based on the horizontal axis coordinates of the preset number of point cloud data points closest to the hole coordinates, the horizontal axis coordinates of the hole coordinate information are updated using the inverse distance weighted interpolation method; and the drilling normal vector corresponding to the blast hole is determined according to the updated hole coordinate information.

[0112] S204. Based on the drilling normal vector, hole rotation information, and preset boom parameters, determine the effective area point cloud corresponding to the movable area of ​​the rubber pad top support.

[0113] In this embodiment, with the drilling normal vector as the center, the rotation range of the propulsion beam is calculated using the default rotation angle and rotation limit in the hole rotation information. Based on the preset boom parameters, the movable area of ​​the rubber pad support is determined, and the point cloud in the movable area of ​​the rubber pad support is extracted as the effective area point cloud. The operating range of the rock drill propulsion beam is accurately identified, improving the accuracy of the hole start position selection.

[0114] S205. Determine the target top support surface based on the point cloud of the effective area.

[0115] In this embodiment, the effective area point cloud is segmented and verified sequentially to determine the target support surface for propulsion.

[0116] S206. Determine the rotation angle of the target propulsion beam based on the target top support surface and tunnel wall point cloud data.

[0117] In this embodiment, by identifying the target top support surface and performing collision detection on the target top support surface, the current propulsion beam rotation angle corresponding to the target top support surface that passes the collision detection is determined as the target propulsion beam rotation angle.

[0118] This application provides an optimization method for borehole location. By combining point cloud data from the tunnel face, tunnel wall, and designed blast hole information, a theoretical reference surface coordinate system including over-excavation and under-excavation scenarios is constructed. The drilling normal vector is determined using point cloud data and blast hole information, thereby determining the effective area point cloud of the rubber pad support. Based on the effective area point cloud, the target support surface is determined. Collision detection is performed using the tunnel wall point cloud to further determine the rotation angle of the target propulsion beam. During construction, boreholes are started based on the actual conditions inside the tunnel, optimizing the accuracy of drilling and construction results.

[0119] Figure 3 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 2 ,like Figure 3 As shown, in this embodiment... Figure 2 Based on the embodiments, the method of determining the drilling normal vector corresponding to the blast hole according to the point cloud data of the working face and the hole coordinate information corresponding to the blast hole in step S203 above is described in detail. The method includes:

[0120] S301. Based on the initial hole information, filter out the neighboring point clouds in the face point cloud data under the first dimension; where the first dimension refers to the dimension where the vertical axis and the front and rear axes are located under different horizontal axis coordinates, and the horizontal axis direction is the excavation direction.

[0121] In this embodiment, the first dimension refers to the dimension in which the vertical axis (also known as the Y-axis) and the front-back axis (also known as the Z-axis) are located under different horizontal axis coordinates;

[0122] From the face point cloud data, multiple neighboring point clouds in the first dimension are filtered out. For example, if the coordinates of the starting hole A are (10, 0, -1) and the distance from the borehole center to the bottom of the rubber pad is 0.2 m, then in the face point cloud data, the area with Y-axis coordinate values ​​greater than or equal to -0.2 and less than or equal to 0.2, and Z-axis coordinate values ​​greater than or equal to -1.2 and less than or equal to 0.8 is filtered out, and the face point cloud data in this area is taken as the neighboring point cloud.

[0123] S302. Map the neighboring point cloud to the preset theoretical reference working surface to obtain the mapped point cloud; wherein, the preset theoretical reference working surface refers to the plane with the horizontal axis coordinate of 0 in the first dimension.

[0124] In this embodiment, for example, the preset theoretical reference working surface can be a plane with the horizontal axis (also known as the X-axis) set to 0 and consisting of the vertical axis and the front and rear axes. The neighboring point clouds mapped onto the theoretical reference working surface are used as the mapped point clouds. For example, if the coordinates of the neighboring point cloud B are (-2, -0.1, -1) and the coordinates of the neighboring point cloud C are (10, 0.2, -1.2), then the coordinates of the mapped point cloud B1 corresponding to the neighboring point cloud B are (0, -0.1, -1), and the coordinates of the mapped point cloud C1 corresponding to the neighboring point cloud C are (0, 0.2, -1.2).

[0125] S303. In the mapped point cloud, select a preset number of candidate points that are closest to the starting hole information.

[0126] In this embodiment, the distance between the mapped point cloud and the starting hole is calculated by using the coordinates of the mapped point cloud and the coordinates of the starting hole. The distances between the mapped point cloud and the starting hole are then sorted in ascending order, and a preset number of mapped point clouds are selected to obtain the candidate point closest to the starting hole. For example, the preset number can be 3.

[0127] S304. If the candidate point meets the preset distance requirement, the starting hole information is updated according to the horizontal axis coordinates of the neighboring point cloud corresponding to the candidate point to determine the target starting hole coordinates.

[0128] In this embodiment, if the distance between the candidate point and the starting hole is less than the preset distance requirement, the neighboring point cloud corresponding to the candidate point is determined by indexing, the horizontal axis coordinates of the corresponding neighboring point cloud are updated to the horizontal axis coordinates of the starting hole, and the starting hole with the updated horizontal axis coordinates is taken as the target starting hole.

[0129] S305. If the candidate point does not meet the preset distance requirement, the target starting hole coordinates are determined by inverse distance weighted interpolation based on the distance values ​​between the mapped point cloud and the starting hole information, as well as the horizontal axis coordinate values ​​in the neighboring point cloud.

[0130] In this embodiment, if the distance between the candidate point and the starting hole is not less than the preset distance requirement, the horizontal axis coordinate of the starting hole is updated by inverse distance weighted interpolation based on the distance value between the mapped point cloud corresponding to the candidate point and the starting hole, and the horizontal axis coordinate of the neighboring point cloud corresponding to the candidate point. The first starting hole with the updated horizontal axis coordinate is then used as the target starting hole.

[0131] S306. Determine the drilling normal vector corresponding to the blast hole based on the target starting hole coordinates and ending hole coordinates.

[0132] In this embodiment, the direction vector from the target starting hole to the ending hole is calculated based on the target starting hole coordinates and ending hole coordinates to obtain the starting hole feature vector; the starting hole feature vector is normalized to obtain the drilling normal vector corresponding to the blast hole, wherein the ending hole coordinates are the initial ending hole coordinates.

[0133] This application provides an optimization method for the starting hole position. By filtering and mapping the point cloud data of the tunnel face, the method determines the candidate point closest to the starting hole and further determines the coordinates of the target starting hole. The method also calculates the drilling normal vector based on the coordinates of the target starting hole and the ending hole. This improves the accuracy of the drilling path, ensures the accuracy and efficiency of construction, and reduces resource waste and construction errors.

[0134] Figure 4 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 3 ,like Figure 4 As shown, in this embodiment... Figure 2 Based on the embodiments, the method for determining the effective area point cloud corresponding to the movable area of ​​the rubber pad support in step S204 above, based on the drilling normal vector, hole rotation information, and preset boom parameters, is described in detail. The method includes:

[0135] S401. Calculate the rotatable range of the propulsion beam based on the default rotation angle and rotation limit.

[0136] In this embodiment, the rotatable range of the propulsion beam is determined based on the default rotation angle and rotation limit, wherein, for example... Figure 5 As shown, the rotatable range of the propulsion beam is the default rotation angle of the propulsion beam and the angle between the two rotation limits.

[0137] S402. Calculate the movable area of ​​the rubber pad top support based on the rotatable range of the propulsion beam and the preset boom parameters.

[0138] In this embodiment, as Figure 5 As shown, the top support area can be calculated using preset boom parameters. The top support area is set at the rotation angle limit to determine the limit top support area; then the movable area of ​​the rubber pad top support is the range of the included angle between the limit top support areas.

[0139] S403. Extract the point cloud from the neighboring point cloud in the movable area of ​​the rubber pad top support to obtain the effective area point cloud.

[0140] In this embodiment, the neighboring point cloud within the rotatable range of the propulsion beam is extracted, and the neighboring point cloud within the rotatable range of the propulsion beam is used as the effective region point cloud.

[0141] This application provides an optimization method for the starting position of the drilling machine. By using the default rotation angle and rotation limit, as well as preset boom parameters, the method calculates the rotatable range of the propulsion beam and the movable area of ​​the rubber pad top support, accurately identifying the operating range of the rock drill propulsion beam and improving the accuracy of the starting position selection.

[0142] Figure 6 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 4 ,like Figure 6 As shown, in this embodiment... Figure 2 Based on the embodiments, the determination of the target support surface according to the effective area point cloud in step S205 above will be described in detail. The method includes:

[0143] S601. Perform planar segmentation processing on the effective area point cloud data in sequence to obtain multiple segmented planar point clouds.

[0144] In this embodiment, multiple segmented planar point clouds are obtained by sequentially performing planar segmentation processing on the effective area point cloud data. The area formed by the multiple segmented planar point clouds may be less than, equal to or greater than the area of ​​the propulsion beam rubber pad.

[0145] S602. Based on the preset point cloud quantity threshold and the preset drilling angle threshold, perform preliminary verification on multiple segmented plane point clouds in sequence.

[0146] In this embodiment, the number of points in each segmented plane point cloud is counted, and the corresponding drilling angle is determined. If the number of points in the segmented plane point cloud is greater than the preset point cloud number threshold requirement, and the corresponding drilling angle is less than the preset drilling angle threshold requirement, then the segmented plane point cloud passes the preliminary verification.

[0147] S603. All segmented plane point clouds that have passed the preliminary verification are identified as target segmented plane point clouds.

[0148] In this embodiment, for multiple segmented planar point clouds, the segmented planar point cloud that has passed the preliminary verification will be retained and determined as the target segmented planar point cloud.

[0149] S604. Perform coordinate transformation on the target segmentation plane point cloud and the target starting hole to obtain the transformed plane point cloud and the center point, and determine the drilling angle of the transformed plane point cloud.

[0150] In this embodiment, the target segmentation plane point cloud and the target starting hole are projected onto a plane parallel to the preset theoretical working surface to achieve coordinate transformation, thereby obtaining the transformed plane point cloud corresponding to the target segmentation plane point cloud and the center point corresponding to the target starting hole; and the drilling angle of the transformed plane point cloud is determined by the normal vector of the plane where the transformed plane point cloud is located and the drilling normal vector.

[0151] S605. Determine the hole-starting feature vector based on the transformed plane point cloud, the center point, and the drilling angle; wherein, the hole-starting feature vector refers to the vector used to store the transformed plane point cloud, the center point, and the drilling angle.

[0152] In this embodiment, the transformed plane point cloud, center point, and drilling angle obtained through verification and coordinate transformation are stored in the hole-starting feature vector.

[0153] S606. Traverse the elements in the hole feature vector and set the angle vector and the propulsion beam rotation angle vector for each element; where the angle vector is used to store the angle values ​​of all point clouds in the transformed plane point cloud relative to the center point, and the propulsion beam rotation angle vector is used to store the rotation angle of the propulsion beam.

[0154] In this embodiment, by taking the center point as the origin, coordinate translation, projection, and pitch angle calculation are performed, and then normalization is performed to obtain the angle values ​​of all point clouds in the transformed plane point cloud relative to the center point.

[0155] Furthermore, a search tree is constructed for the current transformed planar point cloud.

[0156] S607. Sort the angle values ​​in the angle vector in ascending order and set a sliding window.

[0157] In this embodiment, a fixed-size sliding window is set to traverse the angle values ​​sorted in ascending order and calculate the difference between the maximum and minimum angle values ​​in the sliding window.

[0158] S608. Select the target window from the sliding window and store the propulsion beam rotation angle of the target window into the propulsion beam rotation angle vector.

[0159] In this embodiment, if the difference between the maximum and minimum angle values ​​in the sliding window is lower than a preset difference threshold, it indicates that the points in the current sliding window belong to the same propulsion beam. The current window is then used as the target window, and the rotation angle of the propulsion beam corresponding to the target window is stored in the propulsion beam rotation angle vector.

[0160] S609. Traverse the elements in the propulsion beam rotation angle vector to obtain the current propulsion beam rotation angle.

[0161] In this embodiment, the elements in the propulsion beam rotation angle vector are traversed, and the center coordinates of the top support are calculated based on the propulsion beam rotation angle and the corresponding center point in the hole feature vector. The point cloud in the center region of the top support is obtained in the search tree, and the number of point clouds in the center region of the top support is counted.

[0162] Furthermore, the number of point clouds inside the propulsion beam and the number of point clouds inside the rock drill can also be obtained.

[0163] S610. Determine the target top support surface based on the hole-starting feature vector and the current rotation angle of the propulsion beam.

[0164] In this embodiment, the transformation plane point cloud in the hole feature vector and the current propulsion beam rotation angle corresponding to the transformation plane point cloud can form a corresponding target top support surface to determine the top support area of ​​the propulsion beam rubber pad.

[0165] After determining the target top support surface based on the hole-starting characteristic vector and the current rotation angle of the propulsion beam, as follows: Figure 7 As shown, based on the point cloud data of the target top support surface and the tunnel wall, the rotation angle of the target propulsion beam is determined, including:

[0166] S701. Verify the number of points on the target top support surface according to the preset point cloud number threshold requirements.

[0167] In this embodiment, the number of point clouds on the target support surface is determined. If the number of point clouds on the target support surface is greater than the preset point cloud number threshold requirement, it indicates that the target support surface has passed the point cloud number verification.

[0168] S702. If the target top support surface passes the point cloud quantity verification, then collision detection is performed on the point cloud of the target top support surface based on the tunnel wall point cloud data.

[0169] In this embodiment, collision detection is performed on the point cloud of the target top support surface based on the point cloud data of the tunnel wall.

[0170] S703. If the point cloud of the target top support surface passes the collision detection, the current rotation angle of the propulsion beam is determined as the rotation angle of the target propulsion beam.

[0171] In this embodiment, for multiple determined target support surfaces, the rotation angle of the target propulsion beam corresponding to the target support surface, the number of point clouds in the support center area, the drilling angle, the number of point clouds in the propulsion beam, and the number of point clouds in the rock drill are stored in a vector. The elements in the vector are comprehensively scored using a preset weighting coefficient to obtain the corresponding score, and the score is stored in the vector. The comprehensive scores in the vector are traversed, and the rotation angle of the target propulsion beam with the highest comprehensive score is selected as the actual target propulsion beam rotation angle used in the construction process.

[0172] This application provides an optimization method for borehole starting position. The method involves planar segmentation and preliminary verification to determine the target segmented planar point cloud. Coordinate transformation is performed on the target segmented planar point cloud to obtain the borehole starting feature vector. This feature vector is then traversed, and a sliding window technique is used to filter out the target window to determine the current propulsion beam rotation angle. Based on the borehole starting feature vector and the current propulsion beam rotation angle, the target top support surface is determined, and tunnel wall point cloud data is acquired for boom collision detection to ensure safe operation of the propulsion beam. The optimal propulsion beam rotation angle is selected based on a comprehensive score. Through precise analysis of point cloud data and vector operations, the propulsion beam rotation angle is optimized, thereby improving drilling efficiency and safety. The comprehensive scoring mechanism ensures that the selected propulsion beam angle meets operational requirements while minimizing collision risks and improving overall construction efficiency.

[0173] Figure 8 A flowchart illustrating an optimization method for the hole starting position provided in this application. Figure 5 ,like Figure 8 As shown, in this embodiment... Figure 2 Based on the embodiments, the determination of the target support surface based on the effective area point cloud and tunnel wall point cloud data in step S206 above will be described in detail. The method includes:

[0174] S801. The effective area point cloud is divided sequentially to obtain multiple supporting surfaces.

[0175] In this embodiment, the effective area is divided into multiple adjacent support surfaces with a radius of r, and the number of effective area point clouds mapped in each support surface is counted. The multiple support surfaces are sorted in descending order. Here, the radius r can be the radius of the rubber pad of the propulsion beam, and the support surface is the area corresponding to the rubber pad. The support surface is not necessarily a flat surface.

[0176] S802. Perform planar segmentation on each top support surface to obtain the top support plane.

[0177] In this embodiment, the top support surfaces are sequentially divided into planar sections according to their order of arrangement to obtain the top support planes corresponding to the top support surfaces. This provides alternative top support planes for the target top support surfaces of the subsequent propulsion beam rubber pads. The top support plane is a flat surface under the area corresponding to the propulsion beam rubber pads, and the area of ​​the top support plane is less than or equal to the area of ​​the propulsion beam rubber pads.

[0178] S803. Based on the preset point cloud quantity threshold requirement and the preset drilling angle threshold requirement, perform preliminary verification on the top support plane and determine the top support plane that meets the preset point cloud quantity threshold requirement and the preset drilling angle threshold requirement as the target top support plane.

[0179] In this embodiment, the target top support surface is determined by initially verifying the number of point clouds and the drilling angle of the top support plane, which effectively satisfies the placement stability of the rubber pad of the propulsion beam and thus improves the accuracy of the hole starting position.

[0180] Furthermore, after determining the top support plane that meets the preset point cloud quantity threshold and preset drilling angle threshold as the target top support surface, the rotation angle of the target propulsion beam is determined based on the target top support surface and tunnel wall point cloud data, including:

[0181] S804. For each target support surface, generate a boom bounding box model in the forward orientation corresponding to the target support surface based on the preset boom parameters and the center of the target support surface.

[0182] In this embodiment, for each target support surface, a boom bounding box model is generated based on preset boom parameters and the center of each target support surface, corresponding to the positive attitude of the target support surface.

[0183] For example, for one of the target support surfaces, the generated boom bounding box model in the positive orientation is as follows: Figure 9 As shown, Figure 9 The white model in the image is the boom enclosure box model in the forward orientation. The white lines indicate the drilling direction of the propulsion beam. The bottom of the boom enclosure box model in the forward orientation is a rubber pad support.

[0184] S805. For each boom bounding box model in a positive orientation, calculate the actual bounding box model parallel to the drilling normal vector based on the boom bounding box model in the positive orientation.

[0185] In this embodiment, for example, the actual bounding box model generated for one of the target support surfaces is as follows: Figure 9 As shown, Figure 9 The black line in the diagram represents the drilling normal vector. Based on the boom bounding box model in the positive orientation, and according to the rotation angle of the propulsion beam, the boom bounding box model is rotated around the starting hole to generate an actual bounding box model parallel to the drilling normal vector. For example, Figure 9 The black model shown is the actual bounding box model parallel to the drilling normal vector.

[0186] S806. For each actual bounding box model, collision detection is performed sequentially on the actual bounding box model based on the tunnel wall point cloud data.

[0187] In this embodiment, for each target top support surface, the actual bounding box model is divided into a first plane model, a second plane model, a third plane model, a fourth plane model, a fifth plane model, and a sixth plane model in the directions of up, down, left, right, front, and back.

[0188] Based on the tunnel wall point cloud data and the first plane model, the first tunnel wall point cloud data whose distance from the first plane model is within a preset height threshold range is determined;

[0189] Based on the first tunnel wall point cloud data and the second plane model, the second tunnel wall point cloud data whose distance from the second plane model is within a preset height threshold range is determined;

[0190] Based on the second tunnel wall point cloud data and the third plane model, the third tunnel wall point cloud data that are within the preset height threshold range in distance from the third plane model are determined.

[0191] Based on the point cloud data of the third tunnel wall and the fourth plane model, the point cloud data of the fourth tunnel wall that are within the preset height threshold range from the fourth plane model are determined.

[0192] Based on the point cloud data of the fourth tunnel wall and the fifth plane model, the point cloud data of the fifth tunnel wall that are within the preset height threshold range from the fifth plane model are determined.

[0193] Based on the point cloud data of the fifth tunnel wall and the sixth plane model, the point cloud data of the sixth tunnel wall that are within the preset height threshold range from the sixth plane model are determined.

[0194] If the number of point cloud data points on the sixth tunnel wall is less than the preset number of filtered point clouds, the actual bounding box model passes the collision detection, meaning that the target initial face corresponding to the current actual bounding box model satisfies the condition that the boom does not collide with the tunnel wall; if the number of point cloud data points on the sixth tunnel wall is not less than the preset number of filtered point clouds, the actual bounding box model fails the collision detection, meaning that the target initial face corresponding to the current actual bounding box model does not satisfy the condition that the boom does not collide with the tunnel wall.

[0195] Optionally, after performing collision detection on each actual bounding box model in sequence based on the tunnel wall point cloud data, if at least one target top support surface corresponding to an actual bounding box model passes the collision detection, then step S807 is executed.

[0196] S807. If the target top support surface corresponding to the actual bounding box model passes the collision detection, then the rotation angle of the target propulsion beam is determined based on the target top support surface and hole rotation information.

[0197] Alternatively, such as Figure 10 As shown, if none of the target top support surfaces corresponding to all actual bounding box models pass the collision detection, then steps S808 to S816 are executed.

[0198] S808. Merge adjacent target top surfaces sequentially to obtain N first minimum enclosing rectangles; N is an integer greater than or equal to 1.

[0199] In this embodiment, target top supports that are adjacent in spatial location and have a non-zero number of effective area point clouds are selected for merging to obtain the corresponding merged region. The extreme values ​​of the merged region in the vertical axis dimension and the front and back axis dimensions are obtained to construct the first minimum bounding rectangle.

[0200] S809. For each first minimum bounding rectangle, construct a merged surface corresponding to the first minimum bounding rectangle based on the first minimum bounding rectangle and the effective region point cloud.

[0201] In this embodiment, for each first minimum bounding rectangle, the effective region point cloud within the range of the first minimum bounding rectangle is obtained, and a merged surface corresponding to the first minimum bounding rectangle is constructed based on the effective region point cloud within the range of the first minimum bounding rectangle.

[0202] S810. For each merged surface, perform planar segmentation processing on the merged surface to obtain the maximum merged plane corresponding to the merged surface.

[0203] In this embodiment, for each merged surface, after all merged surfaces have been constructed, the merged surfaces are sorted in ascending order based on the number of valid point clouds in the merged surfaces.

[0204] According to the order of merging faces, the merging faces are sequentially divided into planes to obtain multiple maximum merging planes.

[0205] S811. For each maximum merging plane, perform a preliminary check on the maximum merging plane according to the preset point cloud quantity threshold and the preset drilling angle threshold. If the maximum merging plane passes the preliminary check, then the maximum merging plane is determined as the target merging plane.

[0206] In this embodiment, the target merging plane is determined by filtering the number of point clouds and the drilling angle of the largest merging plane.

[0207] S812. Cluster the target merging plane to obtain N discontinuous regions; where N is an integer greater than or equal to 1.

[0208] In this embodiment, the target merging plane is clustered to obtain N discontinuous regions, thereby improving the calculation accuracy.

[0209] S813. Based on N discontinuous regions, construct the second minimum enclosing rectangle.

[0210] In this embodiment, the extreme values ​​of each region in the vertical axis dimension and the front and back axis dimensions are obtained to construct the second minimum bounding rectangle.

[0211] S814. Construct the minimum sector based on the drilling normal vector and the second minimum enclosing rectangle.

[0212] In this embodiment, as Figure 11 As shown, a minimum sector is constructed around the drilling normal vector, enclosing the second minimum bounding rectangle.

[0213] S815. Based on the minimum sector, determine the sector region that meets the preset point cloud quantity threshold requirement and the preset sector angle requirement.

[0214] In this embodiment, the angle range in the smallest sector and the number of effective point clouds in the smallest sector are obtained to determine the sector area that meets the preset point cloud number threshold requirement and the preset sector angle requirement.

[0215] S816. Determine the rotation angle of the target propulsion beam based on the sector-shaped area.

[0216] In this embodiment, starting from the fan-shaped area with the largest number of effective area point clouds, the system expands to both sides according to a preset operating angle until the fan-shaped area reaches the preset rotation angle limit. If the number of effective area point clouds in the fan-shaped area meets the point cloud number requirement, the system detects whether the propulsion beam boom collides with the tunnel wall. If no collision occurs, the current fan-shaped area is the target propulsion beam rotation angle.

[0217] This application provides an optimization method for borehole starting position. It divides the effective area point cloud to obtain multiple support surfaces, then performs planar segmentation on each support surface to obtain corresponding support planes. The number of point clouds and drilling angle are verified for each support plane to determine the target support surface. A boom bounding box model in a positive orientation is generated. Based on the boom bounding box model in a positive orientation, an actual bounding box model parallel to the drilling normal vector is calculated. Combined with tunnel wall point cloud data, the target support surface that does not collide with the tunnel wall is identified. Finally, combined with borehole rotation information, the rotation angle of the target propulsion beam is determined. If all target support surfaces pass the collision check, these target support surfaces are merged, segmented into planes, and the number of point clouds and drilling angles are checked to determine the target merging plane. The target merging plane is then clustered to construct a second minimum bounding rectangle and a minimum sector to determine the sector region that meets the requirements for the number of point clouds and angles. By expanding the sector region and detecting potential collisions, the rotation angle of the target propulsion beam is determined. Through precise geometric analysis and point cloud processing, the positioning and rotation of the propulsion beam are optimized to ensure the safety, accuracy, and efficiency of the drilling.

[0218] Optionally, such as Figure 12 The diagram showing the comparison before and after the hole-starting position optimization demonstrates that the hole-starting position optimization method provided in this application results in a more accurate hole-starting position.

[0219] Figure 13A schematic diagram of the structure of the device for optimizing the hole starting position provided in this application is shown below. Figure 13 As shown, the hole-starting position optimization device provided in this embodiment includes:

[0220] The first acquisition module 1301 is used to acquire point cloud data of the tunnel face and point cloud data of the tunnel wall;

[0221] The second acquisition module 1302 is used to acquire the design blast hole file and read the blast hole information in the design blast hole file; wherein, the blast hole information includes hole coordinate information and hole rotation information;

[0222] The first determining module 1303 is used to determine the drilling normal vector corresponding to the blast hole based on the point cloud data of the working face and the hole coordinate information corresponding to the blast hole.

[0223] The second determining module 1304 is used to determine the effective area point cloud corresponding to the movable area of ​​the rubber pad top support based on the drilling normal vector, hole rotation information and preset boom parameters.

[0224] The third determining module 1305 is used to determine the target top support surface based on the effective area point cloud;

[0225] The fourth determination module 1306 is used to determine the rotation angle of the target propulsion beam based on the target top support surface and tunnel wall point cloud data.

[0226] In one possible implementation, the first determining module 1303 can also be used for:

[0227] Based on the initial hole information, neighboring point clouds in the face point cloud data are filtered out in the first dimension; where the first dimension refers to the dimension where the vertical axis and the front and rear axes are located under different horizontal axis coordinates, and the horizontal axis direction is the excavation direction.

[0228] The neighboring point cloud is mapped to a preset theoretical reference working surface to obtain the mapped point cloud; where the preset theoretical reference working surface refers to the plane with a horizontal axis coordinate of 0 in the first dimension.

[0229] In the mapped point cloud, a preset number of candidate points that are closest to the starting hole information are selected;

[0230] If the candidate point meets the preset distance requirement, the starting hole information is updated according to the horizontal axis coordinates of the neighboring point cloud corresponding to the candidate point to determine the target starting hole coordinates;

[0231] If the candidate point does not meet the preset distance requirement, the coordinates of the target starting hole are determined by inverse distance weighted interpolation based on the distance values ​​between the mapped point cloud and the starting hole information, as well as the horizontal axis coordinate values ​​in the neighboring point cloud.

[0232] Based on the coordinates of the starting and ending holes, determine the drilling normal vector corresponding to the blast hole.

[0233] In one possible implementation, the second determining module 1304 can also be used for:

[0234] Calculate the rotatable range of the propulsion beam based on the default rotation angle and rotation limit;

[0235] Based on the rotatable range of the propulsion beam and the preset boom parameters, calculate the movable area of ​​the rubber pad top support;

[0236] Point cloud extraction is performed on the neighboring point cloud located in the movable area of ​​the rubber pad top support to obtain the effective area point cloud.

[0237] In one possible implementation, the third determining module 1305 can also be used for:

[0238] The effective area point cloud data is sequentially segmented into planes to obtain multiple segmented plane point clouds;

[0239] Based on the preset point cloud quantity threshold and the preset drilling angle threshold, the point clouds of multiple segmented planes are initially verified in sequence.

[0240] All segmented planar point clouds that pass the initial verification are identified as the target segmented planar point cloud;

[0241] The target segmentation plane point cloud and the target starting hole are transformed by coordinate transformation to obtain the transformed plane point cloud and the center point, and the drilling angle of the transformed plane point cloud is determined.

[0242] Based on the transformed planar point cloud, the center point, and the drilling angle, the hole-starting feature vector is determined; where the hole-starting feature vector refers to the vector used to store the transformed planar point cloud, the center point, and the drilling angle.

[0243] Iterate through the elements in the hole feature vector and set the angle vector and the propulsion beam rotation angle vector for each element; where the angle vector is used to store the angle values ​​of all points in the transformed plane point cloud relative to the center point, and the propulsion beam rotation angle vector is used to store the rotation angle of the propulsion beam.

[0244] Sort the angle values ​​in the angle vector in ascending order and set a sliding window;

[0245] Select the target window from the sliding window and store the propulsion beam rotation angle of the target window into the propulsion beam rotation angle vector;

[0246] Iterate through the elements of the propulsion beam rotation angle vector to obtain the current propulsion beam rotation angle;

[0247] The target top support surface is determined based on the hole-starting feature vector and the current rotation angle of the propulsion beam.

[0248] In one possible implementation, the fourth determining module 1306 can also be used for:

[0249] The point cloud quantity is verified on the target top support surface according to the preset point cloud quantity threshold requirement;

[0250] If the target support surface passes the point cloud count verification, then collision detection is performed on the point cloud of the target support surface based on the tunnel wall point cloud data;

[0251] If the point cloud of the target top support surface passes the collision detection, the current rotation angle of the propulsion beam is determined as the rotation angle of the target propulsion beam.

[0252] In one possible implementation, the third determining module 1305 can also be used for:

[0253] The effective area point cloud is divided sequentially to obtain multiple supporting surfaces;

[0254] For each top support surface, perform planar segmentation to obtain the top support plane;

[0255] Based on the preset point cloud quantity threshold and preset drilling angle threshold, the top support plane is initially verified, and the top support plane that meets the preset point cloud quantity threshold and preset drilling angle threshold is determined as the target top support plane.

[0256] In one possible implementation, the fourth determining module 1306 can also be used for:

[0257] For each target support surface, a boom bounding box model in the positive attitude corresponding to the target support surface is generated based on the preset boom parameters and the center of the target support surface.

[0258] For each boom bounding box model in a positive orientation, calculate the actual bounding box model parallel to the drilling normal vector based on the boom bounding box model in the positive orientation.

[0259] For each actual bounding box model, collision detection is performed sequentially on the actual bounding box model based on the tunnel wall point cloud data;

[0260] If the target top support surface corresponding to the actual bounding box model passes the collision detection, the rotation angle of the target propulsion beam is determined based on the target top support surface and hole rotation information.

[0261] In one possible implementation, the fourth determining module 1306 can also be used for:

[0262] If none of the target top supports corresponding to all actual bounding box models pass the collision detection, then the two adjacent target top supports are merged in turn to obtain N first minimum bounding rectangles; N is an integer greater than or equal to 1.

[0263] For each first minimum bounding rectangle, construct a merged surface corresponding to the first minimum bounding rectangle based on the first minimum bounding rectangle and the effective region point cloud;

[0264] For each merged surface, perform planar segmentation to obtain the maximum merged plane corresponding to the merged surface;

[0265] For each maximum merging plane, a preliminary verification is performed based on the preset point cloud quantity threshold and the preset drilling angle threshold. If the maximum merging plane passes the preliminary verification, the maximum merging plane is determined as the target merging plane.

[0266] Cluster the target merging plane to obtain N discontinuous regions; where N is an integer greater than or equal to 1.

[0267] Construct the second minimum enclosing rectangle based on N discontinuous regions;

[0268] Construct the minimum sector based on the drilling normal vector and the second minimum enclosing rectangle;

[0269] Based on the minimum sector, determine the sector region that meets the preset point cloud quantity threshold and preset sector angle requirements;

[0270] Based on the sector-shaped region, determine the rotation angle of the target propulsion beam.

[0271] The hole-starting position optimization device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0272] Figure 14 A schematic diagram of the structure of the device for optimizing the hole starting position provided in this application. Figure 14 As shown, the hole-starting position optimization processing device provided in this embodiment includes at least one processor 1401 and a memory 1402. Optionally, the hole-starting position optimization processing device further includes a communication component 1403. The processor 1401, memory 1402, and communication component 1403 are connected via a bus 1404.

[0273] In a specific implementation, at least one processor 1401 executes computer execution instructions stored in memory 1402, causing at least one processor 1401 to perform the above-described method.

[0274] The specific implementation process of processor 1401 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so it will not be repeated here.

[0275] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0276] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0277] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0278] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0279] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0280] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0281] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0282] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0283] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0284] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0285] If a function is implemented as a software functional unit 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 this invention, or the part that contributes to the prior art, or a 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 of the various embodiments of this 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.

[0286] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0287] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for optimizing the starting position of a hole, characterized in that, include: Acquire point cloud data of the tunnel face and tunnel wall; Obtain the design borehole file and read the borehole information in the design borehole file; wherein, the borehole information includes hole coordinate information and hole rotation information; Based on the point cloud data of the working face and the hole coordinate information corresponding to the blast hole, the drilling normal vector corresponding to the blast hole is determined; Based on the drilling normal vector, the hole rotation information, and the preset boom parameters, determine the effective area point cloud corresponding to the movable area of ​​the rubber pad support; Based on the point cloud of the effective area, determine the target top support surface; The rotation angle of the target propulsion beam is determined based on the target top support surface and the tunnel wall point cloud data; The hole coordinate information includes the starting hole information and the ending hole information; The step of determining the drilling normal vector corresponding to the blast hole based on the point cloud data of the working face and the hole coordinate information corresponding to the blast hole includes: Based on the starting hole information, neighboring point clouds in the face point cloud data are filtered out in the first dimension; wherein, the first dimension refers to the dimension where the vertical axis and the front and rear axes are located under different horizontal axis coordinates, and the horizontal axis direction is the excavation direction. The neighboring point cloud is mapped to a preset theoretical reference working surface to obtain a mapped point cloud; wherein, the preset theoretical reference working surface refers to a plane with a horizontal axis coordinate of 0 in the first dimension; In the mapped point cloud, a preset number of candidate points that are closest to the starting hole information are selected; If the candidate point meets the preset distance requirement, the starting hole information is updated according to the horizontal axis coordinates of the neighboring point cloud corresponding to the candidate point to determine the target starting hole coordinates; If the candidate point does not meet the preset distance requirement, the target starting hole coordinates are determined by inverse distance weighted interpolation based on the distance value between the mapped point cloud and the starting hole information, as well as the horizontal axis coordinate value in the neighboring point cloud. Based on the target starting hole coordinates and the ending hole coordinates, determine the drilling normal vector corresponding to the blast hole; The hole rotation information includes the default rotation angle and rotation limit; The step of determining the effective area point cloud corresponding to the movable area of ​​the rubber pad support based on the drilling normal vector, the hole rotation information, and preset boom parameters includes: The rotatable range of the propulsion beam is calculated based on the default rotation angle and the rotation limit. Based on the rotatable range of the propulsion beam and the preset boom parameters, calculate the movable area of ​​the rubber pad top support; Point cloud extraction is performed on the neighboring point cloud located in the movable area of ​​the rubber pad top support to obtain the effective area point cloud.

2. The method according to claim 1, characterized in that, The step of determining the target support surface based on the effective region point cloud includes: The effective area point cloud data is sequentially segmented into planes to obtain multiple segmented plane point clouds; Based on the preset point cloud quantity threshold and the preset drilling angle threshold, the multiple segmented plane point clouds are initially verified in sequence. All segmented planar point clouds that pass the initial verification are identified as the target segmented planar point cloud; The target segmentation plane point cloud and the target starting hole are transformed by coordinate transformation to obtain the transformed plane point cloud and the center point, and the drilling angle of the transformed plane point cloud is determined. Based on the transformed plane point cloud, the center point, and the drilling angle, a hole-starting feature vector is determined; wherein, the hole-starting feature vector is a vector used to store the transformed plane point cloud, the center point, and the drilling angle; Traverse the elements in the hole feature vector and set an angle vector and a propulsion beam rotation angle vector for the elements; wherein, the angle vector is used to store the angle values ​​of all point clouds in the transformation plane point cloud relative to the center point, and the propulsion beam rotation angle vector is used to store the propulsion beam rotation angle; Sort the angle values ​​in the angle vector in ascending order and set a sliding window; The target window is selected in the sliding window, and the rotation angle of the propulsion beam of the target window is stored in the propulsion beam rotation angle vector; By iterating through the elements of the propulsion beam rotation angle vector, the current propulsion beam rotation angle is obtained; The target top support surface is determined based on the hole-starting feature vector and the current rotation angle of the propulsion beam.

3. The method according to claim 2, characterized in that, The step of determining the rotation angle of the target propulsion beam based on the target top support surface and the tunnel wall point cloud data includes: The point cloud quantity is verified on the target top support surface according to the preset point cloud quantity threshold requirement; If the target support surface passes the point cloud quantity verification, then collision detection is performed on the point cloud of the target support surface based on the tunnel wall point cloud data; If the point cloud of the target top support surface passes the collision detection, then the current rotation angle of the propulsion beam is determined as the rotation angle of the target propulsion beam.

4. The method according to claim 1, characterized in that, The step of determining the target support surface based on the effective region point cloud includes: The effective region point cloud is divided sequentially to obtain multiple supporting surfaces; For each top support surface, perform planar segmentation to obtain the top support plane; Based on the preset point cloud quantity threshold and the preset drilling angle threshold, the top support plane is initially verified, and the top support plane that meets the preset point cloud quantity threshold and the preset drilling angle threshold is determined as the target top support plane.

5. The method according to claim 4, characterized in that, The step of determining the rotation angle of the target propulsion beam based on the target top support surface and the tunnel wall point cloud data includes: For each target support surface, a boom bounding box model in the positive posture corresponding to the target support surface is generated based on the preset boom parameters and the center of the target support surface. For each boom bounding box model in the positive orientation, calculate the actual bounding box model parallel to the drilling normal vector based on the boom bounding box model in the positive orientation. For each actual bounding box model, collision detection is performed sequentially on the actual bounding box model based on the tunnel wall point cloud data; If the target top support surface corresponding to the actual bounding box model passes the collision detection, the rotation angle of the target propulsion beam is determined based on the target top support surface and the hole rotation information.

6. The method according to claim 5, characterized in that, After performing collision detection on each actual bounding box model sequentially based on the tunnel wall point cloud data, the method further includes: If none of the target top supports corresponding to all the actual bounding box models pass the collision detection, then the two adjacent target top supports are merged in turn to obtain N first minimum bounding rectangles; N is an integer greater than or equal to 1. For each of the first minimum bounding rectangles, a merged surface corresponding to the first minimum bounding rectangle is constructed based on the first minimum bounding rectangle and the effective region point cloud; For each of the merged surfaces, the merged surface is subjected to planar segmentation to obtain the maximum merged plane corresponding to the merged surface; For each of the aforementioned maximum merging planes, a preliminary verification is performed on the maximum merging planes according to the preset point cloud quantity threshold requirement and the preset drilling angle threshold requirement. If the maximum merging plane passes the preliminary verification, the maximum merging plane is determined as the target merging plane. Clustering is performed on the target merging plane to obtain N discontinuous regions; where N is an integer greater than or equal to 1; Based on the N discontinuous regions, construct a second minimum enclosing rectangle; Construct a minimum sector based on the drilling normal vector and the second minimum enclosing rectangle; Based on the minimum sector, determine the sector region that meets the preset point cloud quantity threshold requirement and the preset sector angle requirement; The rotation angle of the target propulsion beam is determined based on the described sector area.

7. An optimization processing device for the starting position of a hole, characterized in that, include: The first acquisition module is used to acquire point cloud data of the tunnel face and point cloud data of the tunnel wall; The second acquisition module is used to acquire the design blast hole file and read the blast hole information in the design blast hole file; wherein, the blast hole information includes hole coordinate information and hole rotation information, the hole coordinate information includes starting hole information and ending hole information, and the hole rotation information includes default rotation angle and rotation limit; The first determining module is used to determine the drilling normal vector corresponding to the blast hole based on the face point cloud data and the hole coordinate information corresponding to the blast hole, including: filtering out neighboring point clouds in a first dimension from the face point cloud data based on the starting hole information; wherein, the first dimension refers to the dimension where the vertical axis and the front-back axis are located under different horizontal axis coordinates, and the horizontal axis direction is the excavation direction; mapping the neighboring point clouds to a preset theoretical reference working face to obtain a mapped point cloud; wherein, the preset theoretical reference working face refers to a plane with a horizontal axis coordinate of 0 in the first dimension; in the... In the mapped point cloud, a preset number of candidate points closest to the starting hole information are selected. If the candidate points meet the preset distance requirement, the starting hole information is updated based on the horizontal axis coordinates of the neighboring point clouds corresponding to the candidate points to determine the target starting hole coordinates. If the candidate points do not meet the preset distance requirement, the target starting hole coordinates are determined by inverse distance weighted interpolation based on the distance between the mapped point cloud and the starting hole information, as well as the horizontal axis coordinates in the neighboring point clouds. The drilling normal vector corresponding to the blast hole is determined based on the target starting hole coordinates and the termination hole coordinates. The second determining module is used to determine the effective region point cloud corresponding to the movable area of ​​the rubber pad support based on the drilling normal vector, the hole rotation information, and preset boom parameters. This includes: calculating the rotatable range of the propulsion beam based on the default rotation angle and the rotation limit; calculating the movable area of ​​the rubber pad support based on the rotatable range of the propulsion beam and the preset boom parameters; and extracting the point cloud from the neighboring point clouds located in the movable area of ​​the rubber pad support to obtain the effective region point cloud. The third determining module is used to determine the target top support surface based on the effective area point cloud; The fourth determining module is used to determine the rotation angle of the target propulsion beam based on the target top support surface and the tunnel wall point cloud data.

8. An optimization processing device for the starting position of holes, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the hole-starting position optimization processing method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method for optimizing the hole position as described in any one of claims 1 to 6.

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