Geological engineering reduced scale model high-precision manufacturing system and method

Abstract

The invention provides a geological engineering reduced scale model high-precision manufacturing system and method, and belongs to the technical field of rock soil and geological engineering, and the geological engineering reduced scale model high-precision manufacturing system comprises a model test box, an engraving unit, a monitoring unit, a deslagging unit and a control unit; a reduced-scale rock-soil body is placed in the model test box; the engraving unit comprises a lifter, a mechanical arm and a cutter; the monitoring unit comprises a monitor and a replenisher; the deslagging unit comprises a deslagging pipe and a negative pressure assembly, one end of the deslagging pipe is arranged close to the carving area on the reduced-scale rock-soil body, and the other end of the deslagging pipe is connected with the negative pressure assembly; and the control unit is electrically connected with the engraving unit, the monitoring unit and the deslagging unit. According to the geological engineering reduced scale model high-precision manufacturing system provided by the invention, the model manufacturing precision is improved, and geological and geomorphic characteristic environmental parameters of a complex mountainous area are precisely restored by virtue of correction of mechanical automatic carving and a monitoring unit; and meanwhile, the manufacturing efficiency is also remarkably improved, the complex operation process is simplified, and the dependence on the skills of operators is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of geotechnical and geological engineering, and more particularly relates to a high-precision manufacturing system and method for a geological engineering scale model. BACKGROUND

[0002] The traffic infrastructure in complex mountainous areas is often threatened by geological disasters such as mountain torrents, landslides, and debris flows due to the influence of climate, hydrology, and geological factors, and the operation risk is extremely high. How to simulate and pre-act the operation conditions of the traffic infrastructure in complex mountainous areas in the early stage to avoid surveying and design defects or reinforce the risk sections in advance has become a big problem for researchers. Currently, the research on the development and evolution of geological disasters is mainly carried out through physical model tests and numerical simulations. Compared with numerical models, physical models are affected by actual geometric features, stratum distribution, and water migration, and are difficult to make, which has become a key problem to be solved in the research on the development and evolution of geological disasters.

[0003] The first problem to be solved in the physical model making is the restoration of geology and topography, and there are currently two methods: one is to fill the soil in layers and manually repair the slope, and the other is 3D printing. Among them, the manual slope repair method is suitable for models with simple topography, and is greatly affected by the skill of the operator, has great discreteness, and cannot reflect the real operation environment of the traffic infrastructure; the 3D printing method is complex to operate, has obvious layering phenomenon, and the mechanical properties of the printing material are quite different from those of the actual geological stratum. In addition, the above methods cannot be used for the construction of frozen soil layer models, and the construction of physical models of geological engineering in plateau and cold regions is still in the blank stage. SUMMARY

[0004] The purpose of the present application is to provide a high-precision manufacturing system and method for a geological engineering scale model to solve the technical problems of insufficient trimming precision, low efficiency, and inability to reflect the real parameters of the terrain in the prior art.

[0005] To achieve the above purpose, the technical solution adopted by the present application is to provide a high-precision manufacturing system for a geological engineering scale model, comprising a model test box, a carving unit, a monitoring unit, a slag removal unit, and a control unit. The model test box is used to place the scale rock-soil body; The carving unit comprises a lifter, a mechanical arm mounted on the lifter, and a cutter mounted on the mechanical arm, and the cutter is used to cut and carve the scale rock-soil body; The monitoring unit comprises a monitor for monitoring the parameters of the carved area on the scale rock-soil body and a supplement for acting on the carved area of the scale rock-soil body to adjust the parameters; The slag discharging unit comprises a slag discharging pipe and a negative pressure assembly, one end of the slag discharging pipe is arranged close to the engraved area on the scaled rock-soil body, and the other end is connected with the negative pressure assembly.

[0006] In a possible implementation, the model test box is provided with a seepage test interface and a load interface, and an overhead filter layer is arranged at the bottom; the mechanical arm comprises at least two connected operation arms, and one of the operation arms is connected to the lifter; the cutter is mounted on one of the operation arms away from the lifter.

[0007] In a possible implementation, the monitor is a spectral imager for monitoring the water content, and the replenisher is a sprayer for spraying water towards the engraved area on the scaled rock-soil body; the monitoring unit further comprises a temperature and humidity controllable environment box, which surrounds the scaled rock-soil body and provides a constant temperature and humidity environment.

[0008] In a possible implementation, the slag discharging unit further comprises a soil storage container, the negative pressure assembly is mounted on the soil storage container, and the other end of the slag discharging pipe is connected with the soil storage container.

[0009] The geological engineering scaled model high-precision manufacturing system provided in the application has the following beneficial effects: compared with the prior art, the geological engineering scaled model high-precision manufacturing system firstly places the scaled rock-soil body into the model test box, inputs the topographic and geomorphic data, mechanical performance indicators and other core parameters of the target geological model through the control unit, then starts the engraving unit according to the instruction from the control unit, and the lifter and the mechanical arm drive the cutter to carry out the cutting and engraving operation according to the preset path, the lifter and the mechanical arm control the cutter in the three-dimensional coordinates in space, the cutter cuts the rock-soil body, and the cutter mainly controls the cutting speed and the feed speed of the cutter head during the cutting of the rock-soil body, so as to balance the cutting efficiency and heat management and avoid water evaporation caused by high-speed friction; during the operation, the monitoring unit continuously collects real-time parameters of the engraved area, if there is a parameter deviation, the control unit immediately instructs the replenisher to correct, and the slag discharging unit is started at the same time to discharge the waste slag through the slag discharging pipe by negative pressure adsorption, so as to ensure that the engraving process is not disturbed; after the operation is completed, the monitoring unit detects the overall parameters of the model, and the control unit issues a fine-tuning instruction according to the detection result until the model completely meets the preset standard. In this way, the model manufacturing precision is improved, the complex mountainous geological and geomorphic feature environment parameters are accurately restored by means of mechanical automatic engraving and correction of the monitoring unit; meanwhile, the manufacturing efficiency is also significantly improved, the automatic collaborative operation is designed to discharge the slag in real time, which avoids the time-consuming problem of manual finishing and waste slag cleaning, greatly shortens the model manufacturing period, and simplifies the complex operation process by the integrated control of the control unit, thereby reducing the dependence on the skills of the operator.

[0010] Another object of the present application is to provide a high-precision manufacturing method for a geological engineering scale model, comprising any one of the above high-precision manufacturing systems for a geological engineering scale model, comprising: S1: obtaining point cloud data of the research object and surrounding topography; S2: obtaining data of soil (rock) layer distribution, density, and water (ice) content of the research object; S3: constructing an initial physical model of the layered geological engineering; S4: spatially positioning the carving unit and the model test box, constructing a carved digital model through coordinate conversion and equal-scale scaling, and generating a carving path for the terrain, topography, and infrastructure model; S5: selecting soil layer carving parameters, including tool, tool head speed, and feed speed; S6: carving the layered soil (rock) layer and evaluating the carving precision; determining whether the reconstructed topography and the digital model are in high-precision agreement, and if so, ending the carving; if not, generating a carving path again and locally correcting the parts that do not agree.

[0011] In one possible implementation, S1 comprises: S1-1: first, obtaining point cloud data of the research object and surrounding topography through three-dimensional laser scanning or unmanned aerial vehicle surveying; S1-2: then, filtering vegetation point cloud and outliers and repairing the point cloud through point cloud processing software; S2 comprises: S2-1: obtaining data of soil (rock) layer distribution, layered soil density, and water (ice) content of the research object through field investigation or based on existing surveying and design data; S2-2: selecting soil or rock layer materials for the scaled geological model based on the similarity ratio theory.

[0012] In one possible implementation, S3 comprises: S3-1: determining the projection area and range of the point cloud of the research object according to the size of the model test box and the model scaling ratio, and determining the distribution of the soil (rock) layer according to the projection range; S3-2: filling the initial physical model of the geological engineering in layers according to the distribution of the soil (rock) layer, and the initial physical model has a cubic geometric shape; S3-3: for the rock layer, the model is constructed by layering pouring, and optical fiber grating sensing devices are pre-embedded to facilitate later test determination of rock mass strain information; for the soil layer, the model is constructed by layering filling, and the compaction degree of the layered soil is controlled according to the soil density and water content in S2-1 during filling, and sensing devices are pre-embedded to facilitate test determination of soil strain, water content, and seepage information; S3-4: For frozen soil models, after the initial physical model of the geological engineering is filled in layers, it is placed in a temperature and humidity controlled environment box to freeze the soil.

[0013] In one possible implementation, S4 includes: S4-1: Secure the carving unit and the model test box; S4-2: Use a 3D laser scanner to scan the fixed marker points on the carving unit and the model test box, calculate the coordinate transformation matrix T from the projected coordinate system of the model test box to the carving coordinate system, and then calculate the coordinates of the projection range point cloud in the carving coordinate system according to the following formula:

[0014] In the formula: The original coordinates of the point cloud within the projection range. ; Let be the coordinates of the point cloud within the projection range in the sculpting coordinate system. ; The scaling matrix is ​​the ratio of the model's scale. s Relevant; among them, ; S4-3: The coordinate transformation matrix T from the projected coordinate system to the engraving coordinate system of the model test chamber is calculated using the following method, with the three marker points on the scanning engraving unit as follows: , , The three marked points on the scanned model test chamber are , , The coordinates of the engraving unit marker points in the engraving coordinate system are: , , The coordinates of the marked points of the model test chamber in the projected coordinate system are represented as follows: , , First utilize , , and , , Construct the covariance matrix and perform singular value decomposition. Calculate the rotation and translation matrices based on the decomposition results to obtain the transformation matrix from projected coordinates to scan coordinates. Reuse , , and , , Obtain the transformation matrix from scan coordinates to carving coordinates. The transformation matrix from projected coordinates to engraved coordinates is: .

[0015] S4-4: Calculate the average distance of the point cloud in the projection range r ; S4-5: Cut the point cloud in the projection range into n cross sections along the height, project the point cloud in the range of n / 2 above and below the cross section to the cross section, fit the point cloud projected to the cross section into a B-spline curve, denoted as the original B-spline curve, and form the carving path of the tool head in the height cross section according to the B-spline curve; r S4-6: According to the series of carving paths formed, carve layer by layer from top to bottom.

[0016] In a possible implementation, S5 includes: S5-1: Classify the rock or soil of the carved soil layer; S5-2: Preliminarily select a tool according to the classification of the rock or soil; S5-3: Cut the soil layer into a cubic sample, with a minimum area of 20cm*20cm and a sample height greater than 3 times the height of the tool head; S5-4: Use the selected tool to cut a 10cm*10cm area and a depth of one tool head in the rock and soil sample; conduct parallel tests by changing the tool head speed and feed rate; determine the optimal tool head speed and feed rate by minimizing the height and water content of the uncut soil 5mm from the edge of the soil pit.

[0017] In a possible implementation, S6 includes: S6-1: Layered carving of the soil (rock) layer; S6-2: After the entire soil (rock) layer is carved, scan the soil model and the reserved marker points using a three-dimensional scanner, convert the scanned point cloud coordinates to carving coordinates using the method in S4, slice, project, and fit the point cloud according to the n cross sections in S4-5 to form a B-spline curve; wherein the B-spline curve is denoted as the reconstructed B-spline curve, and the basis function of the reconstructed B-spline curve is consistent with that of the original B-spline curve in S4-5; S6-3: Take m points uniformly from the original B-spline curve and the reconstructed B-spline curve respectively, and denote the coordinates as and , , calculate the root mean square error of the two: ; S6-4: Set the root mean square threshold , if , end the carving; if , regenerate the carving path and make local corrections to the parts that do not fit​ The geological engineering scale model high-precision manufacturing method provided by the application adopts a geological engineering scale model high-precision manufacturing system. First, point cloud data of the research object and the surrounding topography is obtained by using laser scanning and other technologies, and the spatial form features of the topography are accurately captured, laying a foundation for the geometric precision of the model. Then, core physical and mechanical data such as soil (rock) layer distribution, density, and water (ice) content rate are collected through geological exploration, laboratory testing, and other means to ensure that the model can truly reflect the geological properties of the research object. Based on the above data, an initial physical model is constructed according to the actual geological stratification, simulating the superimposed structure of the real stratum. Through spatial positioning of the carving unit and the model test box, combined with coordinate conversion technology and the principle of equal scale, the real geological data is converted into a carved digital model, and then a precise carving path that adapts to the terrain, topography, and infrastructure is generated, realizing the precise docking of the digital model and physical operation. Then, according to the mechanical properties of different soil (rock) layers, the appropriate tool type, tool head speed, and feed speed are selected, avoiding model damage or precision deviation caused by improper parameters. Finally, the geological engineering scale model high-precision manufacturing system is used to strictly follow the stratified carving strategy to carry out the work, and the precision is evaluated in time after each layer is carved. Specifically, the control unit controls the carving unit, the monitoring unit, the slag removal unit, and the carving; the elevator and the mechanical arm control the three-dimensional coordinates of the tool in space, and the tool cuts the rock-soil body, mainly controlling the tool head speed and the feed speed when cutting the soil body; the monitoring unit continuously collects real-time parameters of the carving area, and if there is a parameter deviation, the control unit immediately instructs the supplement to correct, and the slag removal unit is started at the same time, and the waste slag is removed through negative pressure adsorption. If there is a deviation during the carving process, a local carving path is regenerated for precise correction until the model fully meets the preset standard. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Fig. 1 The structure schematic diagram of the geological engineering scale model high-precision manufacturing system provided by the embodiments of the present application is shown in the figure. Fig. 2 The structure schematic diagram of the carving unit and the slag removal unit provided by the embodiments of the present application is shown in the figure. Fig. 3 The structure schematic diagram of the model test box provided by the embodiments of the present application is shown in the figure.

[0020] In the figure, each reference sign represents: 1, base; 2, lifter; 3, carving unit; 4, mechanical arm; 5, cutter; 101, soil storage container; 102, slag discharge pipe; 103, negative pressure assembly; 104, slag discharge adsorption end; 201, spectral imager; 202, sprayer; 203, temperature and humidity controllable environment box; 301, model test box; 302, scaled rock-soil body; 303, road model; 304, seepage test interface; 305, seepage test water tank; 306, overhead filter water layer; 307, load interface; 308, actuator; 401, carving unit marking point; 402, model test box marking point. DETAILED DESCRIPTION

[0021] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application.

[0022] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0023] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0024] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0025] Please refer to Figs. 1 to 3 , the geological engineering scale model high-precision manufacturing system provided by the present application will be described. A geological engineering scale model high-precision manufacturing system, comprising a model test box 301, a carving unit 3, a monitoring unit, a slag discharge unit and a control unit; The model test box 301 is used to place the scaled rock-soil body 302; The engraving unit 3 comprises the lifter 2, the mechanical arm 4 mounted on the lifter 2, and the cutter 5 mounted on the mechanical arm 4, and the cutter 5 is used for cutting and engraving the scaled rock-soil body 302; The monitoring unit comprises a monitor for monitoring the parameters of the engraved area on the scaled rock-soil body 302 and a supplement device for acting on the engraved area of the scaled rock-soil body 302 to adjust the parameters; The slag discharge unit comprises the slag discharge pipe 102 and the negative pressure assembly 103, one end of the slag discharge pipe 102 is arranged close to the engraved area of the scaled rock-soil body 302, and the other end is connected with the negative pressure assembly 103; The control unit is electrically connected with the engraving unit 3, the monitoring unit, and the slag discharge unit.

[0026] The geological engineering scaled model high-precision manufacturing system provided in the application, compared with the prior art, takes the model test box 301 as a basic carrier for stably bearing the scaled rock-soil body 302 to be processed and provides a basic operation environment for subsequent accurate engraving; the engraving unit 3 is a core processing assembly, which flexibly adjusts the operation height through the lifter 2, accurately adjusts the operation angle through the mechanical arm 4, and realizes fine cutting and engraving of the scaled rock-soil body 302 in cooperation with the cutter 5, completely gets rid of the discrete problems caused by the difference in human skills compared with manual slope repair, effectively avoids the layered phenomenon compared with 3D printing, and dynamically adjusts the engraving path according to actual geological parameters, solves the core problem that the traditional method cannot reflect the real topographic parameters; the monitor in the monitoring unit captures the parameters such as the water content of the engraved area in real time and transmits them to the control unit, and once it is found that the parameters deviate from the preset values, the supplement device timely adjusts the engraved area, so as to ensure that the model parameters are highly consistent with the real geological conditions; the slag discharge unit timely discharges the engraved slag under the action of the negative pressure generated by the negative pressure assembly 103 through the slag discharge pipe 102 close to the engraved area, avoids the influence of slag accumulation on the engraving precision and operation progress, and significantly improves the production efficiency; the control unit is the core of the system and is electrically connected with other units to realize automatic collaborative control, accurately regulates the operation parameters of each component according to the preset geological and topographic data, and maximally reduces the human intervention error.

[0027] Firstly, the scaled rock-soil body 302 is placed flat into the model test box 301, and the target geological model topography data, mechanical performance indicators and other core parameters are input through the control unit; then the control unit issues a command to start the carving unit 3, and the lifter 2 and the mechanical arm 4 drive the cutter 5 to carry out the cutting and carving operation according to the preset path, the lifter 2 and the mechanical arm 4 control the cutter 5 in the three-dimensional coordinates in space, and the cutter 5 cuts the rock-soil body; when cutting the soil body, the cutter speed and the feed speed are mainly controlled to balance the cutting efficiency and heat management, and to avoid water evaporation caused by high-speed friction; during the operation, the monitoring unit continuously collects real-time parameters of the carving area, and if there is a parameter deviation, the control unit immediately instructs the supplement to correct, and at the same time the slag removal unit is started synchronously, and the waste slag is removed through negative pressure adsorption through the slag removal pipe 102, so as to ensure that the carving process is not disturbed; after the operation is completed, the monitoring unit detects the overall parameters of the model, and the control unit issues a fine-tuning instruction according to the detection result until the model completely meets the preset standard. In this way, the model manufacturing precision is improved, and the complex mountainous geological and topographical feature environment parameters are accurately restored with the help of mechanical automatic carving and the correction of the monitoring unit; at the same time, the manufacturing efficiency is also significantly improved, and the automatic collaborative operation is designed to remove slag in real time, which avoids the time-consuming problem of manual finishing and waste slag cleaning, greatly shortens the model manufacturing cycle; the integrated control of the control unit simplifies the complex operation process and reduces the dependence on the skills of the operator.

[0028] The control unit controls the spatial position, travel route, speed and feed speed of the cutter 5; controls the start and stop of the slag removal unit, and removes the cut soil in time to avoid the accumulation affecting the carving precision; controls the monitoring instrument to collect hyperspectral images, judges whether the water content of the carving area is lower than the threshold value, and controls the supplement to work.

[0029] The lower end of the lifter 2 is provided with the base 1 to ensure that the lifter 2 is used stably and firmly. The base 1 can be provided with a walking function. The road model 303 including a highway model or a railway model is arranged on the scaled rock-soil body 302.

[0030] Please refer to Figs. 1 to 3As a specific embodiment of the high-precision manufacturing system for a geological engineering scale model provided in the present application, the model test box 301 is provided with a seepage test interface 304 and a load interface 307, and an overhead water filtering layer 306 is arranged at the bottom; the mechanical arm 4 comprises at least two connected operation arms, and one operation arm is connected to the lifter 2; the cutter 5 is installed on the operation arm away from the lifter 2; the model test box 301 is additionally provided with the seepage test interface 304 and the load interface 307, so as to facilitate the seepage or static and dynamic load test of the carved geological engineering and infrastructure model; the mechanical arm 4 adopts the design of at least two connected operation arms, so as to quickly and accurately control the three-dimensional coordinates of the cutter 5 in space. The overhead water filtering layer 306 is arranged at the bottom of the model test box 301 and is used for containing accumulated water. The cutter 5 is installed on the distal operation arm, which greatly improves the operation flexibility and spatial coverage. The seepage test water tank 305 is connected with the seepage test interface 304, and the static and dynamic actuator 308 is connected with the load interface 307. The two operation arms are rotationally connected, and the operation arm and the lifter 2 are rotationally connected. The lifter 2 and the mechanical arm 4 are both controlled by a servo system.

[0031] Please refer to Fig. 1 and Fig. 2 As a specific embodiment of the high-precision manufacturing system for a geological engineering scale model provided in the present application, the monitor is a spectral imager 201 for monitoring the water content, and the replenisher is a sprayer 202 for spraying water towards the carved area on the scale rock-soil body 302; the monitoring unit further comprises a temperature and humidity controllable environment box 203, which surrounds the scale rock-soil body 302 and provides a constant temperature and humidity environment. The spectral imager 201 is used as the monitor, which can quickly and accurately capture the water content distribution data of the carved area of the rock-soil body, realizing non-contact and efficient monitoring; the sprayer 202 is used as the replenisher, which can spray water directionally according to the monitoring result of the water content, completing fine adjustment and regulation of the water content; the temperature and humidity controllable environment box 203 surrounds the scale rock-soil body 302, constructing a stable constant temperature and humidity working and testing environment, isolating external climate interference, ensuring the accuracy of parameter control and the stability of the environment, and the spectral imager 201 in combination with the sprayer 202 forms a closed-loop control of the water content, avoiding the blindness of traditional water content regulation, and the constant temperature and humidity environment ensures the stability of the mechanical properties of the rock-soil body, reducing the influence of environmental fluctuations on the model precision, which is especially suitable for special scenes such as permafrost layers which are sensitive to temperature and humidity.

[0032] When the temperature and humidity controllable environment box 203 is working, the sprayer 202 is prohibited from working.

[0033] Please refer to Fig. 1 and Fig. 2As a specific embodiment of the high-precision manufacturing system of a geological engineering scale model provided in the present application, the residue discharging unit further comprises a soil storage container 101, a negative pressure assembly 103 is installed on the soil storage container 101, and the other end of the residue discharging pipe 102 is connected with the soil storage container 101. The soil storage container 101 is of a closed structure, the residue discharging pipe 102 is a hose, and the negative pressure assembly 103 is a non-thermal airflow vacuum pump. One end of the residue discharging pipe 102 is a residue discharging suction end head 104 arranged close to the cutter 5. After the soil is cut and chipped, the non-thermal airflow vacuum pump works, the chipped soil enters the residue discharging suction end head 104 and is conveyed into the closed soil storage container 101 through the hose.

[0034] Not shown in the figure, the present application also provides a high-precision manufacturing method of a geological engineering scale model, which comprises any one of the above high-precision manufacturing systems of a geological engineering scale model, and comprises the following steps: S1: obtaining point cloud data of a research object (such as a mountain, a slope, a roadbed, etc.) and surrounding topography; S2: obtaining data of soil (rock) layer distribution, density, water (ice) content rate, etc. of the research object; S3: constructing an initial physical model of a layered geological engineering; S4: spatially positioning the carving unit and the model test box, constructing a carved digital model through coordinate conversion and equal scale reduction, and generating a carving path of a topography, a landform and an infrastructure model; S5: selecting soil layer carving parameters, including a cutter, a cutter head rotating speed and a feeding speed; S6: carving the soil (rock) layer layer by layer and evaluating the carving precision; determining whether the reconstructed landform and the digital model are in high-precision agreement, and if so, ending the carving; if not, generating a carving path again, and locally correcting the parts that are not in agreement.

[0035] The geological engineering scale model high-precision manufacturing method provided by the embodiment of the present application adopts the above-mentioned geological engineering scale model high-precision manufacturing system, first acquires point cloud data of the research object and the surrounding topography by using laser scanning and other technologies, accurately captures the spatial form features of the topography and geomorphology, and lays a foundation for the geometric precision of the model; then collects core physical and mechanical data such as soil (rock) layer distribution, density, and water (ice) content through geological exploration, laboratory testing, and other means, to ensure that the model can truly reflect the geological properties of the research object; based on the above data, an initial physical model is constructed according to the actual geological stratification, simulating the superimposed structure of the real stratum; by positioning the carving unit and the model test box in space, combining coordinate conversion technology and equal scale principle, the real geological data is converted into a carved digital model, and then a precise carving path that adapts to the terrain, topography and infrastructure is generated, realizing the precise docking of the digital model and physical operation; then according to the mechanical properties of different soil (rock) layers, the appropriate tool type, tool head speed and feed speed are selected, to avoid model damage or precision deviation caused by improper parameters; finally, the geological engineering scale model high-precision manufacturing system is used to strictly carry out the operation according to the stratified carving strategy, and the precision is evaluated in time after each layer of carving is completed. Specifically, the control unit controls the carving unit, the monitoring unit, the slag removal unit, and the carving; among them, the lifter and the mechanical arm control the three-dimensional coordinates of the tool in space, the tool cuts the rock-soil body, and the tool head speed and the feed speed are mainly controlled when cutting the soil body; the monitoring unit continuously collects real-time parameters of the carving area, if there is a parameter deviation, the control unit immediately instructs the supplement to correct, and the slag removal unit starts at the same time, and the waste slag is discharged through the slag removal pipe by negative pressure adsorption. If there is deviation during the carving process, a local carving path is regenerated for precise correction until the model fully meets the preset standard.

[0036] In this way, the high-precision replication of the geological model is realized, the topography and geomorphology features and the geological physical parameters of the research object are maximized, the standardization level of model production is improved, and the production stability under different geological conditions is ensured by the stratified operation and parameter adaptation strategy.

[0037] As a specific implementation of the geological engineering scale model high-precision manufacturing method provided by the present application, S1 includes: S1-1: first, acquire the topographic point cloud data of the research object and the surrounding area by three-dimensional laser scanning or unmanned aerial vehicle surveying and mapping; S1-2: then filter out vegetation point cloud and outliers by point cloud processing software, and repair the point cloud; S2 includes: S2-1: obtain the data such as soil (rock) layer distribution, stratified soil density, and water (ice) content of the research object through field survey or according to existing survey design data; S2-2: Select the soil or rock material for the scaled geological model based on the similarity ratio theory.

[0038] In S1, the topographic point cloud data is obtained by diversified means such as three-dimensional laser scanning or unmanned aerial mapping, and the point cloud processing software is used to filter out vegetation, outliers and repair defects, so as to realize the purification and improvement of the original data. In S2, the distribution and density of the soil (rock) layer are ensured to be comprehensive by combining field investigation with existing data, and the material for the scaled model is selected based on the similarity ratio theory to ensure that the material properties match the real geological body. The three-dimensional laser scanning and unmanned aerial mapping have higher efficiency and wider coverage, the point cloud preprocessing can eliminate interference information and improve data accuracy, the combination of field investigation and existing data can ensure data authenticity and reduce surveying cost, and the material selection under the guidance of the similarity ratio theory can avoid the disadvantages of traditional materials that do not match the mechanical properties.

[0039] As a specific embodiment of the high-precision manufacturing method of the geological engineering scaled model provided by the present application, S3 includes: S3-1: Determine the projection area and range of the point cloud of the research object according to the size of the model test box and the model scale ratio, and determine the distribution of the soil (rock) layer according to the projection range; S3-2: According to the distribution of the soil (rock) layer, the initial physical model of the geological engineering is filled layer by layer, and the initial physical model has a cubic shape; S3-3: For rock layers, the model is constructed by layering and pouring, and optical fiber Bragg grating and other sensing devices are pre-embedded to facilitate the measurement of rock mass strain and other information in the later test; for soil layers, the model is constructed by layering and filling, and the compaction degree of the layered soil is controlled according to the soil density and moisture content in S2-1, and sensing devices are pre-embedded to facilitate the measurement of soil strain, moisture content, and seepage information; S3-4: For permafrost models, after the initial physical model of the geological engineering is filled layer by layer, it is placed in a temperature and humidity controllable environment box, and the frozen soil is frozen; In the first step, the point cloud projection range is locked by combining the size of the model test box and the scale ratio, the soil (rock) layer distribution boundary is determined, and the scale matching of the model with the test equipment and the real research object is ensured; in the second step, the cubic initial shape is adopted to provide a regular basic carrier for subsequent layering; in the third step, the rock layers and soil layers are treated differently according to their characteristics, the rock layers are poured layer by layer and the optical fiber Bragg grating sensing devices are pre-embedded, the soil layers are filled layer by layer and the sensing devices are embedded simultaneously according to the previous data to control the compaction degree, so as to realize the controllability of mechanical parameters and the collectability of test data; in the fourth step, a temperature and humidity controllable environment box is added for the permafrost model to freeze, which solves the problem of constructing special geological scenes. The design of pre-embedding of sensing devices avoids the damage to the model caused by later implantation, and the special processing process of permafrost fills the technical gap of conventional methods.

[0040] As a specific embodiment of the high-precision manufacturing method of a geological engineering scale model provided in the present application, S4 comprises the following steps: S4-1: Fix the engraving unit and the model test box; S4-2: Scan the fixed mark points on the engraving unit and the model test box by using a three-dimensional laser scanner, calculate the coordinate conversion matrix T of the projection coordinate system of the model test box to the engraving coordinate system, and then calculate the coordinates of the point cloud in the projection range in the engraving coordinate system according to the following formula:

[0041] In the formula, P is the original coordinates of the point cloud in the projection range, ; P' is the coordinates of the point cloud in the projection range in the engraving coordinate system, ; is a scaling matrix related to the scale ratio of the model; wherein, s ; S4-3: The coordinate conversion matrix T of the projection coordinate system of the model test box to the engraving coordinate system is calculated by the following method. The three mark points on the engraving unit are scanned as , , , the three mark points on the model test box are scanned as , , ; the coordinates of the mark point 401 on the engraving unit in the engraving coordinate system are marked as , , , and the coordinates of the mark point 402 on the model test box in the projection coordinate system are represented as , , ; first, the , , and , , are used to construct a covariance matrix and perform singular value decomposition, and the rotation matrix and the translation matrix are calculated according to the decomposition result to obtain the conversion matrix of the projection coordinates to the scanning coordinates; then, the , , and , , are used to obtain the conversion matrix of the scanning coordinates to the engraving coordinates, and the conversion matrix of the projection coordinates to the engraving coordinates is .

[0042] ​​S4-4: Calculate the average distance of the projected range point cloud r ; S4-5: Cut the projected range point cloud into n cross sections along the height, project the point cloud within the r / 2 range of the cross section to the cross section, fit the point cloud projected to the cross section as a B-spline curve, denoted as the original B-spline curve, and form the engraving path of the tool head at the height cross section according to the B-spline curve; S4-6: According to the series of engraving paths formed, engrave layer by layer from top to bottom; Through the technical path of marking points, coordinate transformation matrix calculation and point cloud segmentation and fitting, high-precision mapping of the projection coordinate system to the engraving coordinate system is realized. First, fix the engraving unit and the model test box, scan the fixed marking points of both sides using a three-dimensional laser scanner, construct the transformation matrix T through singular value decomposition of the covariance matrix, and complete the point cloud coordinate transformation combined with the scaling matrix S; At the same time, calculate the average distance r of the point cloud, cut the cross section along the height and project and fit the point cloud as a B-spline curve. This way, through the quantitative calculation of marking points and matrix decomposition, the spatial positioning error is eliminated, and the B-spline curve fitting makes the engraving path smoother and more continuous, and adapts to the fine copying of complex topography. This method ensures that the spatial geometric parameters of the engraved digital model and the physical model are highly consistent, providing accurate digital reference for the accuracy control of subsequent layer-by-layer engraving.

[0043] As a specific embodiment of the high-precision manufacturing method of a geological engineering scale model provided by the present application, S5 includes: S5-1: Classify the rock or soil of the engraved soil layer; S5-2: According to the classification of the rock or soil, preliminarily select the tool; S5-3: Cut the soil layer into a cubic sample, with a minimum area of 20cm*20cm and a sample height greater than 3 times the height of the tool head; S5-4: Use the selected tool to cut a soil pit with an area of 10cm*10cm and a depth of one tool head on the rock and soil sample; Conduct parallel tests by changing the tool head rotation speed and feed rate; Determine the optimal tool head rotation speed and feed rate by minimizing the change in the height and moisture content of the uncut soil 5mm from the edge of the soil pit.

[0044] The first step is to classify the rock or soil of the carved object, and to clearly understand the differences in geotechnical properties. Then, based on the classification results, the cutting tool is selected, avoiding blind selection. Then, the specification of the cubic sample is strictly specified to ensure that the sample is representative. Further, through the cutting parallel test of the specific size of the soil pit, the minimum height and water content change of the uncut soil 5 mm away from the pit edge are used as the core evaluation index to determine the optimal cutting head speed and feed rate. Among them, the classification strategy improves the adaptability of the cutting tool, and the standardized sample and quantitative evaluation index ensure the scientificity of parameter optimization, effectively reducing the disturbance of the cutting process to the surrounding soil.

[0045] As a specific embodiment of the high-precision manufacturing method of a geological engineering scale model provided in the present application, S6 includes: S6-1: Layered carving of soil (rock) layers; S6-2: After all the soil (rock) layers are carved, the soil model and the reserved marker points are scanned by a three-dimensional scanner, the point cloud coordinates scanned are converted into carving coordinates by the method in S4, the point cloud is sliced, projected and fitted according to the n cross sections in S4-5 to form a B-spline curve; wherein the B-spline curve is recorded as a reconstructed B-spline curve, and the basis function of the reconstructed B-spline curve is consistent with the basis function of the original B-spline curve in S4-5; S6-3: m points are uniformly taken from the original B-spline curve and the reconstructed B-spline curve respectively, and the coordinates are recorded as and , , the root mean square error of the two is calculated: ; S6-4: Set the root mean square threshold , if , end the carving; if , regenerate the carving path and locally correct the inconsistent parts.

[0046] This way focuses on the quantitative evaluation and accurate correction of carving precision, and forms a closed-loop mechanism through three-dimensional scanning, B-spline curve fitting and root mean square error (RMSE) calculation: after layered carving is completed, the model point cloud is obtained by a three-dimensional scanner, the reconstructed B-spline curve is generated by coordinate conversion, slicing and projection fitting, the RMSE is calculated by taking points from the original curve, and whether to locally correct the inconsistent parts is determined according to the threshold. The three-dimensional point cloud technology and the mathematical quantitative method (RMSE) realize the objective and accurate control of precision, and only the inconsistent parts are locally corrected, avoiding overall rework, which greatly improves the efficiency. The beneficial effect is outstanding, which ensures that the topography of the scale model is highly consistent with the digital model, provides a high-precision physical carrier for complex mountainous geological disaster simulation (such as mountain torrents and landslides), and lays a reliable foundation for the reliability of geological engineering test data.

[0047] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. Any modification, equivalent replacement, and improvement made in the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A high-precision manufacturing system for scaled-down models of geological engineering, characterized in that, It includes a model testing chamber, an engraving unit, a monitoring unit, a slag removal unit, and a control unit; The model test chamber is used to hold scaled-down rock and soil bodies; The carving unit includes a lift, a robotic arm mounted on the lift, and a cutting tool mounted on the robotic arm. The cutting tool is used to cut and carve scaled-down rock and soil. The monitoring unit includes a monitoring instrument for monitoring parameters of the carved area on the scaled-down rock and soil body and a supplementary device for adjusting the parameters by acting on the carved area on the scaled-down rock and soil body. The slag discharge unit includes a slag discharge pipe and a negative pressure component. One end of the slag discharge pipe is located near the carved area on the scaled-down rock and soil, and the other end is connected to the negative pressure component. The control unit is electrically connected to the carving unit, the monitoring unit, and the slag removal unit.

2. The high-precision manufacturing system for scaled-down geological engineering models as described in claim 1, characterized in that, The model test chamber is equipped with a seepage test interface and a load interface, and an elevated filter layer is provided at the bottom; the robotic arm includes at least two connected operating arms, and one of the operating arms is connected to the lift; the cutting tool is mounted on one of the operating arms away from the lift.

3. The high-precision manufacturing system for scaled-down geological engineering models as described in claim 1, characterized in that, The monitoring instrument is a spectral imager used to monitor moisture content, and the supplementer is a sprayer used to spray water toward the carved area on the scaled-down rock and soil body; the monitoring unit also includes a temperature and humidity controllable environment box, which surrounds the scaled-down rock and soil body and provides a constant temperature and humidity environment.

4. The high-precision manufacturing system for scaled-down geological engineering models as described in claim 1, characterized in that, The slag discharge unit also includes a soil storage container, the negative pressure component is installed on the soil storage container, and the other end of the slag discharge pipe is connected to the soil storage container.

5. A high-precision manufacturing method for a scaled-down model of geological engineering, characterized in that, The high-precision manufacturing system for geological engineering scale-down models as described in any one of claims 1-4 includes: S1: Acquisition of point cloud data of the research object and surrounding landforms; S2: Data acquisition on the distribution, density, and water (ice) content of the soil (rock) layers of the research object; S3: Construction of the initial physical model for layered geological engineering; S4: Spatial positioning of the carving unit and model test box; construction of carving digital model through coordinate transformation and proportional scaling; generation of carving paths for terrain, landform and infrastructure models. S5: Select soil carving parameters, including tool, tool head speed and feed rate; S6: Carve the soil (rock) layers in layers and evaluate the carving accuracy; determine whether the reconstructed terrain matches the digital model with high precision. If it matches, end the carving; if it does not match, regenerate the carving path and make local corrections to the mismatched parts.

6. The high-precision manufacturing method for scaled-down geological engineering models as described in claim 5, characterized in that, S1 includes: S1-1: First, obtain point cloud data of the topography of the research object and its surroundings through 3D laser scanning or UAV mapping; S1-2: Then, use point cloud processing software to filter out vegetation point clouds and outliers, and repair the point cloud; S2 includes: S2-1: Obtain data on the distribution of soil (rock) layers, density of layered soil, and water (ice) content of the research object through field surveys or based on existing survey and design data; S2-2: Based on the similarity ratio theory, select soil or rock material for the scaled-down geological model.

7. The high-precision manufacturing method for scaled-down geological engineering models as described in claim 6, characterized in that, S3 includes: S3-1: Based on the size of the model test chamber and the model scaling ratio, determine the projected area and range of the point cloud of the research object, and determine the distribution of soil (rock) layers based on the projected range; S3-2: Based on the distribution of soil (rock) layers, construct the initial physical model of the geological engineering in layers. The geometry of the initial physical model is a cube. S3-3: For rock strata, the model is constructed by layered casting, and fiber optic grating sensing devices are pre-embedded to facilitate the later testing and measurement of rock mass strain information; for soil strata, the model is constructed by layered filling, and the compaction degree of the layered soil is controlled according to the soil density and moisture content in S2-1 during filling. At the same time, sensing devices are pre-embedded to facilitate the testing and measurement of soil strain, moisture content, and seepage information. S3-4: For frozen soil models, after the initial physical model of the geological engineering is filled in layers, it is placed in a temperature and humidity controlled environment box to freeze the soil.

8. The high-precision manufacturing method for scaled-down geological engineering models as described in claim 5, characterized in that, S4 includes: S4-1: Secure the carving unit and the model test box; S4-2: Use a 3D laser scanner to scan the fixed marker points on the carving unit and the model test box, calculate the coordinate transformation matrix T from the projected coordinate system of the model test box to the carving coordinate system, and then calculate the coordinates of the projection range point cloud in the carving coordinate system according to the following formula: In the formula: The original coordinates of the point cloud within the projection range. ; Let be the coordinates of the point cloud within the projection range in the sculpting coordinate system. ; The scaling matrix is ​​the ratio of the model's scale. s Relevant; among them, ； S4-3: The coordinate transformation matrix T from the projected coordinate system to the engraving coordinate system of the model test chamber is calculated using the following method, with the three marker points on the scanning engraving unit as follows: , , The three marked points on the scanned model test chamber are , , The coordinates of the engraving unit marker points in the engraving coordinate system are: , , The coordinates of the marked points of the model test chamber in the projected coordinate system are represented as follows: , , First utilize , , and , , Construct the covariance matrix and perform singular value decomposition. Calculate the rotation and translation matrices based on the decomposition results to obtain the transformation matrix from projected coordinates to scan coordinates. Reuse , , and , , Obtain the transformation matrix from scan coordinates to carving coordinates. The transformation matrix from projected coordinates to engraved coordinates is: . S4-4: Calculate the average spacing of the point cloud within the projected area. r ; S4-5: Divide the projected point cloud along the height into... n A cross-section, with the cross-section top and bottom r The point cloud within a range of / 2 is projected onto the cross section, and the point cloud projected onto the cross section is fitted into a B-spline curve, which is denoted as the original B-spline curve. The engraving path of the tool head at this height cross section is formed based on this B-spline curve. S4-6: Carve layer by layer from top to bottom according to the series of carving paths formed.

9. The high-precision manufacturing method for scaled-down geological engineering models as described in claim 8, characterized in that, S5 includes: S5-1: Classify the rock or soil in the sculpted soil layer; S5-2: Based on the classification of rock or soil, initially select the cutting tools; S5-3: Prepare cubic samples from the cut soil layer. The minimum sample area is 20cm*20cm, and the sample height is greater than 3 times the height of the cutter head. S5-4: Using the selected cutting tool, cut a 10cm*10cm pit in the soil sample with a depth of one cutting head; conduct parallel tests by changing the cutting head speed and feed rate; determine the optimal cutting head speed and feed rate by minimizing the change in the height and moisture content of the uncut soil 5mm from the edge of the pit.

10. The high-precision manufacturing method for scaled-down geological engineering models as described in claim 9, characterized in that, S6 includes: S6-1: Layered carving of soil (rock) layers; S6-2: After all soil (rock) layers are carved, the soil model and reserved marker points are scanned using a 3D scanner. The coordinates of the scanned point cloud are converted into carving coordinates using the method in S4. The point cloud is sliced, projected, and fitted according to the n cross sections in S4-5 to form a B-spline curve. This B-spline curve is denoted as the reconstructed B-spline curve. The basis functions of the reconstructed B-spline curve are consistent with the basis functions of the original B-spline curve in S4-5. S6-3: Take m points uniformly from both the original B-spline curve and the reconstructed B-spline curve, and denote their coordinates as follows: and , Calculate the root mean square error of both: ； S6-4: Set the root mean square threshold ,if End the carving; if The carving path is regenerated, and local corrections are made to areas that do not match.

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