A spiral tunnel precision excavation method, device, medium and product

Abstract

The application discloses a spiral tunnel precise excavation method, equipment, medium and product, relates to the technical field of tunnel engineering, and the method comprises the following steps: acquiring point cloud data of a current segment spiral tunnel and next segment spiral tunnel design data; the point cloud data of the current segment spiral tunnel is obtained by scanning a target ball installed in the current segment spiral tunnel through a three-dimensional laser scanner; and the actual excavation direction of the next segment spiral tunnel is determined based on the point cloud data of the current segment spiral tunnel and the next segment spiral tunnel design data. The application can realize the precise excavation of the spiral tunnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel engineering, in particular to a spiral tunnel precise excavation method, device, medium and product. BACKGROUND

[0002] In the field of tunnel engineering, spiral tunnel is a common structure form, which is widely used in underground traffic, mining and water conservancy engineering fields. However, the spiral tunnel excavation construction has high technical difficulty, and the spiral tunnel deviates from the design path due to various reasons during the spiral tunnel excavation process. Therefore, the three-dimensional coordinates of the axis point of each section of the spiral tunnel section need to be measured, and the azimuth of the spiral tunnel excavation is adjusted by means of the measurement results and the theoretical design value of the three-dimensional coordinates of the axis point. In the prior art, the spiral tunnel excavation faces high-precision technical challenges, and in the prior art, the measured values of each section of the tunnel need to be converted after measurement, resulting in low efficiency of the spiral tunnel excavation construction. SUMMARY

[0003] The purpose of the present application is to provide a spiral tunnel precise excavation method, device, medium and product, which can realize the precise excavation of the spiral tunnel.

[0004] To achieve the above purpose, the present application provides the following solutions:

[0005] In a first aspect, the present application provides a spiral tunnel precise excavation method, comprising:

[0006] obtaining point cloud data of a current section of the spiral tunnel and design data of a next section of the spiral tunnel; the point cloud data of the current section of the spiral tunnel is obtained by scanning a target ball installed in the current section of the spiral tunnel by a three-dimensional laser scanner;

[0007] determining an actual excavation azimuth of the next section of the spiral tunnel based on the point cloud data of the current section of the spiral tunnel and the design data of the next section of the spiral tunnel.

[0008] Optionally, determining the actual excavation azimuth of the next section of the spiral tunnel based on the point cloud data of the current section of the spiral tunnel and the design data of the next section of the spiral tunnel comprises

[0009] obtaining an actual three-dimensional model of the current section of the spiral tunnel based on the point cloud data of the current section of the spiral tunnel;

[0010] obtaining actual spatial point cloud data of the current section of the spiral tunnel based on the actual three-dimensional model of the current section of the spiral tunnel;

[0011] determining the actual excavation azimuth of the next section of the spiral tunnel based on the actual spatial point cloud data of the current section of the spiral tunnel and the design data of the next section of the spiral tunnel.

[0012] Optionally, determining the next segment spiral tunnel actual excavation azimuth based on the spatial point cloud data of the current segment spiral tunnel and the next segment spiral tunnel design data comprises:

[0013] Obtaining the current segment spiral tunnel actual section axis point based on the spatial point cloud data of the current segment spiral tunnel;

[0014] Obtaining the next segment spiral tunnel design section axis point based on the next segment spiral tunnel design data;

[0015] Determining the next segment spiral tunnel actual excavation azimuth based on the current segment spiral tunnel actual section axis point and the next segment spiral tunnel design section axis point; the next segment spiral tunnel actual excavation azimuth comprises: the next segment spiral tunnel actual excavation distance, horizontal inclination and vertical inclination.

[0016] Optionally, determining the next segment spiral tunnel actual excavation azimuth based on the current segment spiral tunnel actual section axis point and the next segment spiral tunnel design section axis point comprises:

[0017] Connecting the current segment spiral tunnel actual section axis point and the next segment spiral tunnel design section axis point into a direction vector;

[0018] Determining the next segment spiral tunnel actual excavation distance, horizontal inclination and vertical inclination based on the direction vector.

[0019] Optionally, the formula is used to determine the next segment spiral tunnel actual excavation distance based on the direction vector .

[0020] In the formula, represents the direction vector, . represents the current segment spiral tunnel actual section axis point, represents the next segment spiral tunnel design section axis point, represents the spatial coordinates of the current segment spiral tunnel actual section axis point, represents the spatial coordinates of the next segment spiral tunnel design section axis point.

[0021] Optionally, the formula is used to determine the next segment spiral tunnel actual excavation horizontal inclination based on the direction vector .

[0022] In the formula, represents the current segment spiral tunnel actual section axis point axis coordinate value, represents the actual section axis center point of the current spiral tunnel coordinate values of the axis; represents the design section axis center point of the next spiral tunnel coordinate values of the axis, represents the design section axis center point of the next spiral tunnel coordinate values of the axis.

[0023] Optionally, the formula determines the vertical inclination angle of the actual excavation of the next spiral tunnel based on the direction vector ;

[0024] In the formula, represents the spatial coordinates of the actual section axis center point of the current spiral tunnel, represents the spatial coordinates of the design section axis center point of the next spiral tunnel.

[0025] In a second aspect, the present application provides a computer device, comprising: a memory, a processor to store a computer program on the memory and executable on the processor, and the processor executes the computer program to implement the steps of the spiral tunnel precise excavation method in any one of the above.

[0026] In a third aspect, the present application provides a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the spiral tunnel precise excavation method in any one of the above.

[0027] In a fourth aspect, the present application provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the spiral tunnel precise excavation method in any one of the above.

[0028] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0029] The present application provides a spiral tunnel precise excavation method, device, medium and product. The point cloud data of the current spiral tunnel is obtained in real time by scanning the target ball installed in the current spiral tunnel by a three-dimensional laser scanner, and the excavation direction of the next tunnel is calculated more accurately in combination with the design data of the next spiral tunnel, so that a more accurate excavation direction is provided for the spiral tunnel excavation, and the spiral tunnel is excavated according to the designed path to realize the precise excavation of the spiral tunnel. And only three-dimensional laser scanner and target ball are needed to obtain data when determining the development direction of the next spiral tunnel, which is simple and convenient to operate and reduces the workload of construction personnel.

[0030] In addition, in actual application, the target ball can be used to splice the measuring stations, and then the measurement data of the measuring stations can be integrated into the overall coordinate system, so that the calculation problem of coordinate conversion is omitted, the data obtained are in the same coordinate system, cost is saved, and efficiency is improved, and resource waste and time cost are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0032] Figure 1 The figure is a top view of the spiral tunnel in an embodiment of the present application;

[0033] Figure 2 The figure is a top view of the spiral tunnel in an embodiment of the present application; Figure 1 The figure is a top view of the spiral tunnel in an embodiment of the present application; The figure is a top view of the spiral tunnel in an embodiment of the present application;

[0034] Figure 3 The figure is a top view of the spiral tunnel in an embodiment of the present application; The figure is a top view of the spiral tunnel in an embodiment of the present application; The figure is a top view of the spiral tunnel in an embodiment of the present application;

[0035] Figure 4 The figure is a top view of the spiral tunnel in an embodiment of the present application;

[0036] Figure 5 The figure is a top view of the spiral tunnel in an embodiment of the present application;

[0037] Figure 6 The figure is a top view of the spiral tunnel in an embodiment of the present application;

[0038] Figure 7 The figure is a top view of the spiral tunnel in an embodiment of the present application;

[0039] Figure 8 The figure is a top view of the spiral tunnel in an embodiment of the present application; The figure is a top view of the spiral tunnel in an embodiment of the present application;

[0040] Figure 9 The figure is a top view of the spiral tunnel in an embodiment of the present application;

[0041] Figure 10 The figure is a top view of the spiral tunnel in an embodiment of the present application;

[0042] Reference: 1 - 3D laser scanner, 2 - theoretical design of spiral tunnel Segment axis, 3 - theoretical design of spiral tunnel Segment axis, 4 - excavated spiral tunnel Segment axis, 5 - theoretical design of spiral tunnel Segment, 6 - theoretical design of spiral tunnel Segment, 7 - excavated spiral tunnel Segment, 8 - design section , 9 - design section , 10 - design section , 11 - actual section , 12 - actual section . DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0044] The above purposes, features and advantages of the present application can be more obvious and easy to understand. The present application will be described in further detail below with reference to the drawings and specific embodiments.

[0045] In an exemplary embodiment, a spiral tunnel precise excavation method is provided, which is executed by a computer device, specifically, can be executed by a terminal or a server, or can be executed by a terminal and a server together. In the embodiments of the present application, the method is described by taking the determination of the excavation direction of the next segment of the spiral tunnel as an example, which comprises the following steps.

[0046] In step 100, point cloud data of the current segment of the spiral tunnel and design data of the next segment of the spiral tunnel are obtained. The point cloud data of the current segment of the spiral tunnel is obtained by scanning a target ball installed in the current segment of the spiral tunnel by a 3D laser scanner.

[0047] In step 200, the actual excavation direction of the next segment of the spiral tunnel is determined based on the point cloud data of the current segment of the spiral tunnel and the design data of the next segment of the spiral tunnel.

[0048] As an optional implementation, step 200 comprises the following steps.

[0049] In step 210, an actual 3D model of the current segment of the spiral tunnel is obtained based on the point cloud data of the current segment of the spiral tunnel.

[0050] Step 220, obtaining actual spatial point cloud data of the current spiral tunnel segment based on the actual three-dimensional model of the current spiral tunnel segment.

[0051] Step 230, determining the actual excavation orientation of the next spiral tunnel segment based on the actual spatial point cloud data of the current spiral tunnel segment and the design data of the next spiral tunnel segment.

[0052] In step 230, the following steps are included:

[0053] Step 231, obtaining the actual cross-section axis point of the current spiral tunnel segment based on the spatial point cloud data of the current spiral tunnel segment.

[0054] Step 232, obtaining the design cross-section axis point of the next spiral tunnel segment based on the design data of the next spiral tunnel segment.

[0055] Step 233, determining the actual excavation orientation of the next spiral tunnel segment based on the actual cross-section axis point of the current spiral tunnel segment and the design cross-section axis point of the next spiral tunnel segment. The actual excavation orientation of the next spiral tunnel segment includes the distance, horizontal inclination angle and vertical inclination angle of the actual excavation of the next spiral tunnel segment.

[0056] In step 232, the following steps are included: connecting the actual cross-section axis point of the current spiral tunnel segment and the design cross-section axis point of the next spiral tunnel segment into a direction vector. Determining the distance, horizontal inclination angle and vertical inclination angle of the actual excavation of the next spiral tunnel segment based on the direction vector.

[0057] As an optional implementation, the actual excavation orientation of the next spiral tunnel segment can be determined based on the direction vector in the following manner.

[0058] For example, the formula is adopted to determine the distance of the actual excavation of the next spiral tunnel segment based on the direction vector . In the formula, represents the direction vector, ; represents the actual cross-section axis point of the current spiral tunnel segment, represents the design cross-section axis point of the next spiral tunnel segment, represents the spatial coordinates of the actual cross-section axis point of the current spiral tunnel segment, represents the spatial coordinates of the design cross-section axis point of the next spiral tunnel segment.

[0059] The formula is adopted to determine the horizontal inclination angle of the actual excavation of the next spiral tunnel segment based on the direction vector . In the formula, represents the actual cross-section axis point of the current spiral tunnel segment represents the coordinate value of the axis of the current spiral tunnel segment, Indicates the actual cross-sectional center point of the current spiral tunnel section. The coordinate values ​​of the axis; Indicates the design cross-sectional center point of the next spiral tunnel section. The coordinate values ​​of the axis. Indicates the design cross-sectional center point of the next spiral tunnel section. The coordinate values ​​of the axis.

[0060] Using formula The vertical inclination angle of the actual excavation of the next section of the spiral tunnel is determined based on the direction vector. ;

[0061] In the formula, This represents the spatial coordinates of the actual cross-sectional center point of the current section of the spiral tunnel. This indicates the spatial coordinates of the center point of the design section of the next spiral tunnel.

[0062] In one exemplary embodiment, taking into account the steps in the above embodiments, a section of a spiral tunnel under excavation is selected as an example for illustration. Figure 1 As shown, the spiral tunnel consists of multiple sections of tunnels with high curvature ( Figure 1 Composed of sections ① to ⑥, achieving precise spatial excavation of a spiral tunnel using conventional methods is extremely difficult, especially when the excavation has deviated from the theoretical design trajectory. The challenge lies in how to adjust it back to the theoretical trajectory through precise excavation of subsequent sections. In this embodiment, the method for precise excavation of a spiral tunnel is specifically illustrated using spiral tunnel ①, which is currently under excavation. Figure 2 As shown, tunnel ① is divided into The spiral tunnel is a straight section of tunnel because it is a mountain tunnel, and when constructed using the blasting method, each advance is a straight section of tunnel. These straight sections are numbered. arrive Due to inherent errors in tunnel excavation, the actual excavation axis of the spiral tunnel will deviate to some extent from the design axis at any given location. In this embodiment, the theoretical design of the spiral tunnel is selected. Section (the section of spiral tunnel that has already been excavated is referred to as...) (Section) and theoretical design for excavation Taking this segment as an example, the spiral tunnel precision excavation method provided in the above embodiments is used to determine the section to be excavated. The actual excavation location of the spiral tunnel section includes the following steps:

[0063] Step S1: Obtain the point cloud data of the current spiral tunnel segment and the design data of the next spiral tunnel segment. The point cloud data of the current spiral tunnel segment is obtained by scanning the target sphere installed within the current spiral tunnel segment using a 3D laser scanner.

[0064] For example, the process of obtaining the point cloud data of the current spiral tunnel segment (i.e. the point cloud data of the excavated spiral tunnel segment) includes: (1) installing target balls. A plurality of target balls are installed at appropriate positions in the hole of the excavated spiral tunnel segment, ensuring that the target balls are uniformly arranged and within the scanning range of the three-dimensional laser scanner. In this embodiment, the target balls can be placed in front of and behind the three-dimensional laser scanner. In order to ensure the accuracy of the data, three (or more) target balls can be placed in front of the three-dimensional laser scanner and three (or more) target balls can be placed behind the three-dimensional laser scanner. The distance between each two target balls among the target balls placed in front of the three-dimensional laser scanner is not limited, as long as all the target balls are not in the same plane and the distance between the target balls and the three-dimensional laser scanner is controlled within 50 m, so as to ensure more accurate measurement data. (2) Installing the three-dimensional laser scanner. The three-dimensional laser scanner is installed at an appropriate position behind the actual spiral tunnel segment, ensuring that the three-dimensional laser scanner can scan all the target balls at this position. After the three-dimensional laser scanner is installed, the position of the three-dimensional laser scanner during the scanning process should not be changed, so as to avoid errors caused by the change of the position of the three-dimensional laser scanner, which may result in inaccurate measurement results. It should be noted that the installation position of the three-dimensional laser scanner behind the actual spiral tunnel of the starting segment (i.e. the first segment) should be the same as the position of the first measurement point of the theoretically designed spiral tunnel (i.e. the measurement position of the three-dimensional laser scanner at the first segment of the theoretically designed spiral tunnel). In actual application, the position of the three-dimensional laser scanner should be selected by fully considering the impact of the position of the three-dimensional laser scanner on the construction, so as to ensure the smooth construction of the construction personnel. (3) Scanning the installed target balls by using the three-dimensional laser scanner to obtain the point cloud data of the excavated spiral tunnel segment (i.e. the point cloud data of the current spiral tunnel segment).

[0065] Step S2, determining the actual excavation direction of the next spiral tunnel segment based on the point cloud data of the current spiral tunnel segment and the design data of the next spiral tunnel segment.

[0066] S21, obtaining the actual three-dimensional model of the current spiral tunnel segment based on the point cloud data of the current spiral tunnel segment. For example, obtaining the actual three-dimensional model of the current spiral tunnel segment based on the obtained point cloud data of the current spiral tunnel segment (i.e. the point cloud data of the excavated spiral tunnel segment). The theoretically designed segment 6 of the spiral tunnel, the theoretically designed segment 5 of the spiral tunnel and the actual three-dimensional model 7 of the current spiral tunnel segment (i.e. the excavated spiral tunnel segment) are shown in Figure 3 FIG. 1. The actual cross section 12 of the excavated spiral tunnel segment 7 (i.e. the actual cross section of the current spiral tunnel segment) is denoted as the excavated spiral tunnel Segment 7 records the actual cross section 11 of the excavated spiral tunnel (i.e. segment) before excavation ; the design cross section 9 of the theoretically designed segment 5 is recorded as ; the design cross section 10 of the theoretically designed segment 6 is recorded as ; and the design cross section 8 of the theoretically designed segment is recorded as . Figure 3 In the figure, reference numeral 1 represents a three-dimensional laser scanner.

[0067] S22, obtaining actual spatial point cloud data of the current segment spiral tunnel based on the actual three-dimensional model of the current segment spiral tunnel.

[0068] S3, determining the actual excavation direction of the next segment spiral tunnel based on the actual spatial point cloud data of the current segment spiral tunnel and the design data of the next segment spiral tunnel.

[0069] S31, obtaining the actual cross section axis point of the current segment spiral tunnel based on the spatial point cloud data of the current segment spiral tunnel ; and obtaining the design cross section axis point of the next segment spiral tunnel based on the design data of the next segment spiral tunnel .

[0070] In the above step S1, the point cloud data of the current segment spiral tunnel and the design data of the next segment spiral tunnel are in the same coordinate system, i.e. the theoretically designed segment 6, the theoretically designed segment 5 and the actual three-dimensional model 7 of the current segment spiral tunnel are in the same coordinate system, which is the overall coordinate system used when the spiral tunnel is theoretically designed. The origin of the overall coordinate system is the first observation point of the three-dimensional laser scanner, the positive direction of the x-axis is horizontal to the right, the positive direction of the y-axis is vertical upward.

[0071] S32, as shown in Figure 4 , connecting and into a directional vector , represents the actual cross section axis point of the current segment spiral tunnel, represents the design cross section axis point of the next segment spiral tunnel. . represents the spatial coordinates of the actual cross section axis point of the current segment spiral tunnel, ​This indicates the spatial coordinates of the center point of the design section of the next spiral tunnel.

[0072] S33, based on the direction vector, determines the actual excavation distance, horizontal dip angle, and vertical dip angle of the next spiral tunnel segment. The actual excavation distance of the next spiral tunnel segment can be obtained by calculating the modulus of the direction vector. The direction vector is plotted in the global coordinate system. The projection of the surface is calculated by plotting the direction vector in the global coordinate system. Projection of the surface and The angle along the positive axis can be used to obtain the horizontal inclination angle of the actual excavation of the next section of the spiral tunnel. This is achieved by calculating the direction vector in the global coordinate system. The angle between the projection of the surface and the direction vector can be used to obtain the vertical inclination angle of the actual excavation of the next section of the spiral tunnel.

[0073] For example, such as Figure 4 As shown, the actual excavation distance of the next spiral tunnel segment can be obtained by calculating the magnitude of the direction vector. , .like Figure 5 As shown, the direction vector in the global coordinate system is calculated. Projection of the surface and The angle along the positive axis can be used to obtain the horizontal inclination angle of the actual excavation of the next section of the spiral tunnel. , .like Figure 6 As shown, the direction vector in the global coordinate system is calculated. The angle between the projection of the surface and the direction vector can be used to obtain the vertical inclination angle of the actual excavation of the next section of the spiral tunnel. , .

[0074] By obtaining the actual excavation distance, horizontal inclination angle, and vertical inclination angle of the next spiral tunnel segment, the excavation orientation of the next spiral tunnel segment can be determined. When a 3D laser scanner is used to scan the target sphere installed in the current spiral tunnel segment in real time, the excavation orientation of the next spiral tunnel segment can be determined in real time. Based on the obtained actual excavation distance, horizontal inclination angle, and vertical inclination angle of the next spiral tunnel segment, the development orientation of the next spiral tunnel segment can be adjusted, thereby achieving precise excavation of the spiral tunnel.

[0075] In practical applications, blasting methods can be used to excavate tunnels. The steps of the spiral tunnel precision excavation method described in the above embodiments can determine the axis of the next tunnel segment based on the actual excavation distance, horizontal inclination angle, and vertical inclination angle. For example... Figure 7 to Figure 9 As shown, the spatial orientation of the blasting hole in the blasting method is determined according to the horizontal and vertical inclination angles of the axis, ensuring that the spatial orientation of the blasting hole is consistent with the spatial orientation of the axis (i.e., the horizontal and vertical inclination angles) to achieve the effect of precise excavation.

[0076] The application can accurately calculate the excavation direction of the next spiral tunnel by obtaining the point cloud data of the current segment of the spiral tunnel and the theoretical design data of the next segment of the spiral tunnel when the spiral tunnel excavation deviates from the designed trajectory, and adjust the excavation path of the subsequent tunnel to realize accurate excavation of the spiral tunnel

[0077] In an exemplary embodiment, a computer device, which can be a server or a terminal, is provided, and an internal structure diagram thereof can be as shown in Figure 10 The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the computer device is configured to store data related to the spiral tunnel accurate excavation method. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with external terminals through network connection. The computer program is executed by the processor to implement a spiral tunnel accurate excavation method.

[0078] Those skilled in the art can understand that Figure 10 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the above method embodiments.

[0079] In an exemplary embodiment, a computer readable storage medium is provided, storing a computer program, which is executed by a processor to implement the steps in the above method embodiments.

[0080] In an exemplary embodiment, a computer program product is provided, including a computer program, which is executed by a processor to implement the steps in the above method embodiments.

[0081] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0082] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments of each method. Among them, any reference to memory, database or other medium used in each embodiment provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.

[0083] The database involved in each embodiment provided by the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in each embodiment provided by the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0084] Each technical feature of the above embodiments can be combined arbitrarily. In order to make the description simple, not all possible combinations of each technical feature in the above embodiments are described, but as long as the combination of these technical features does not exist contradictory, it should be considered as the scope of the present application.

[0085] The principles and implementations of the present application are described in the specific examples used herein, and the above examples are only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation and application range will be changed. Therefore, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method for accurately excavating a spiral tunnel, characterized by, The method comprises the following steps: acquiring point cloud data of a current spiral tunnel and design data of a next spiral tunnel; the point cloud data of the current spiral tunnel is obtained by scanning a target ball installed in the current spiral tunnel by a three-dimensional laser scanner; determining an actual excavation position of the next spiral tunnel based on the point cloud data of the current spiral tunnel and the design data of the next spiral tunnel, which comprises the following steps: obtaining an actual three-dimensional model of the current spiral tunnel based on the point cloud data of the current spiral tunnel; obtaining actual spatial point cloud data of the current spiral tunnel based on the actual three-dimensional model of the current spiral tunnel; and determining the actual excavation position of the next spiral tunnel based on the actual spatial point cloud data of the current spiral tunnel and the design data of the next spiral tunnel. determining the actual excavation position of the next spiral tunnel based on the actual spatial point cloud data of the current spiral tunnel and the design data of the next spiral tunnel, which comprises the following steps: obtaining an actual cross-section axis point of the current spiral tunnel based on the spatial point cloud data of the current spiral tunnel; obtaining a design cross-section axis point of the next spiral tunnel based on the design data of the next spiral tunnel; and determining the actual excavation position of the next spiral tunnel based on the actual cross-section axis point of the current spiral tunnel and the design cross-section axis point of the next spiral tunnel; the actual excavation position of the next spiral tunnel comprises a distance, a horizontal inclination and a vertical inclination of actual excavation of the next spiral tunnel. wherein determining the actual excavation position of the next spiral tunnel based on the actual cross-section axis point of the current spiral tunnel and the design cross-section axis point of the next spiral tunnel comprises the following steps: connecting the actual cross-section axis point of the current spiral tunnel and the design cross-section axis point of the next spiral tunnel into a direction vector; and determining the distance, the horizontal inclination and the vertical inclination of actual excavation of the next spiral tunnel based on the direction vector.

2. The spiral tunnel precision excavation method according to claim 1, characterized in that, using the formula determining a distance of actual excavation of the next spiral tunnel section based on the direction vector ; wherein denotes a direction vector, ; denotes the actual cross section axis point of the current spiral tunnel segment, denotes the design cross section axis point of the next spiral tunnel segment, denotes the spatial coordinates of the actual cross section axis point of the current spiral tunnel segment, denotes the spatial coordinates of the design cross section axis point of the next spiral tunnel segment.

3. The spiral tunnel precision excavation method according to claim 1, wherein, using the formula determining a horizontal inclination angle of the next segment of the spiral tunnel to be actually excavated based on the direction vector ; wherein represents the actual cross-sectional axis point of the current segment of the spiral tunnel the coordinate value of the axis, represents the actual cross-sectional axis point of the current segment of the spiral tunnel the coordinate value of the axis; represents the design cross-sectional axis point of the next segment of the spiral tunnel the coordinate value of the axis, represents the design cross-sectional axis point of the next segment of the spiral tunnel the coordinate value of the axis.

4. The method of claim 1, wherein, using the formula determining a vertical inclination of the actual excavation of the next helical tunnel segment based on the direction vector ; wherein denotes the spatial coordinates of the actual cross-sectional center point of the current spiral tunnel segment, denotes the spatial coordinates of the design cross-sectional center point of the next spiral tunnel segment.

5. A computer device comprising: A memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the spiral tunnel precise excavation method of any one of claims 1-4.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the spiral tunnel precise excavation method of any one of claims 1-4.

7. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the spiral tunnel precise excavation method of any one of claims 1-4.

Images