A tunnel drilling angle measurement system and method based on a drone

Abstract

The application discloses a tunnel drilling angle measuring system and method based on a UAV, relates to the technical field of tunnels and underground engineering, and comprises a UAV measuring device, a handheld control device and a self-charging storage box. The UAV measuring device comprises a UAV body, a laser measuring unit is connected to the bottom of the UAV body through a stabilizer unit, visual sensors are arranged at the front end and the bottom end of the laser measuring unit, the visual sensors are used for identifying a tunnel face axis to establish an origin of a relative coordinate system and identifying a drilling rig drill rod position, a plurality of laser emitters are integrated at the bottom, the laser emitters are used for positioning the drilling rig drill rod and measuring the vertical distance between each laser emitter and the drill rod, an angle calculation processing unit is arranged in the UAV body, and the angle calculation processing unit is used for calculating a vertical deflection angle according to the ratio of the vertical distance difference and the horizontal distance of any two laser emitters. The application can realize real-time acquisition and feedback of drilling angle data through non-contact automatic measurement and can assist an operator in quickly adjusting the posture of the drill rod.

Description

Technical Field

[0001] This invention relates to the field of tunnel and underground engineering technology, and in particular to a tunnel borehole angle measurement system and method based on unmanned aerial vehicles (UAVs). Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In tunnel construction, the angular accuracy of boreholes used for advanced detection and curtain grouting directly determines the accuracy of the detection results and the effectiveness of grouting reinforcement. Therefore, the borehole angle must strictly adhere to the design parameters. Traditional methods for measuring borehole angles in tunnel engineering mainly rely on manual measurement. Workers use simple tools such as compasses and protractors to operate near the drill rod and tunnel face. This method is inefficient, its accuracy is easily affected by environmental interference and human observation bias, and the work area is a high-risk area, posing significant safety hazards to the operators.

[0004] Current tunnel borehole angle measurement technologies mostly employ modern instruments such as total stations and angle measuring instruments with built-in gyroscopes for measurement and calibration. However, total stations struggle to accurately determine the spatial attitude of the drill rod, making it difficult to accurately judge the consistency between the actual borehole angle and the design value. Conventional angle measuring instruments are susceptible to interference from strong magnetic fields generated by ferrous equipment at the tunnel construction site, leading to decreased measurement accuracy. While devices with built-in gyroscopes possess anti-magnetic interference capabilities, their measurement and calibration are based on the geographic North Pole to measure the northward angle, whereas tunnel borehole design typically uses a relative coordinate system based on the tunnel axis. This mismatch between the two references necessitates additional coordinate system conversion calculations by construction personnel, increasing on-site workload. Furthermore, manual conversion processes can easily introduce new errors, resulting in poor measurement accuracy.

[0005] Therefore, existing technologies cannot provide comprehensive and effective technical support in terms of measurement reliability, ease of operation, adaptability to complex environments, and safety of workers, which seriously affects the quality and efficiency of key construction links such as tunnel advance detection and grouting reinforcement. Summary of the Invention

[0006] To address the shortcomings of existing technologies, such as insufficient measurement accuracy, complex operation, and low safety, this invention provides a tunnel drilling angle measurement system and method based on unmanned aerial vehicles (UAVs). Through a non-contact automatic measurement method and adapted to a relative coordinate system with the tunnel axis as the reference angle, it can acquire and feed back drilling angle data in real time without additional calculations. It also assists operators in quickly adjusting the drill rod posture, effectively improving measurement accuracy and construction efficiency, and enhancing operational convenience and construction safety.

[0007] In a first aspect, the present invention provides a tunnel drilling angle measurement system based on unmanned aerial vehicles (UAVs).

[0008] A tunnel drilling angle measurement system based on a drone includes a drone measurement device; the drone measurement device includes a drone body, a laser measurement unit, a stabilizer unit, and a communication control unit;

[0009] The UAV adopts a small multi-rotor structure and is equipped with multiple vision sensors. A laser measurement unit is connected to the bottom of the UAV via a stabilizer unit. The front and bottom of the laser measurement unit are equipped with vision sensors to identify the tunnel face axis to establish the origin of the relative coordinate system and to identify the position of the drill rod. Several laser emitters are integrated at the bottom to locate the drill rod and measure the vertical distance between each laser emitter and the drill rod. An angle calculation and processing unit is installed inside to calculate the vertical deflection angle based on the ratio of the vertical distance difference between any two laser emitters to the horizontal distance. The communication control unit is used to monitor flight status data in real time, collect measurement data, and perform data communication transmission to control the operation of the UAV.

[0010] A further technical solution is that the main body and components of the drone are made of waterproof and lightweight materials; visual sensors are installed on the front, sides and bottom of the drone body for environmental perception and obstacle avoidance during drone flight; a landing support is provided at the bottom of the drone body to assist the drone in hovering, safe take-off and landing, and landing support in complex tunnel environments.

[0011] In a further technical solution, the communication control unit is used to drive the UAV body to run parallel to the tunnel face axis and directly above the drill rod position; the stabilizer unit is used to drive the laser measurement unit to rotate stably around the tunnel face axis to be parallel to the drill rod, and record the rotation angle as the borehole horizontal deflection angle;

[0012] The angle calculation and processing unit calculates the borehole vertical deflection angle based on the ratio of the vertical distance difference ΔH measured by any two laser emitters to the horizontal distance L, using inverse trigonometric functions.

[0013] In a further technical solution, the system also includes a handheld control device and a self-charging storage box. The handheld control device and the UAV measurement device transmit control commands and measurement data bidirectionally through the onboard 4G / 5G network communication module.

[0014] The handheld control device includes a touch screen, a drone flight control joystick, and operation buttons;

[0015] The self-charging storage box contains a storage area, a wireless charging port, and a power supply battery pack, and has an external charging interface on the outside.

[0016] In a further technical solution, the handheld control device includes a touch screen divided into upper and lower areas. The upper area dynamically displays the currently measured horizontal and vertical deflection angles and the drone's attitude relative to the tunnel face in real time. The lower area is used to input preset horizontal and vertical deflection angle values. The drone flight control joystick is used to control the drone's start, stop, and flight trajectory. The operation buttons assist the touch screen in parameter input, function menu access, and mode selection, including autonomous measurement mode and manual adjustment mode.

[0017] The handheld control device is also equipped with a wireless charging area for inductive wireless charging when adapted to a self-charging storage box.

[0018] A further technical solution is that the self-charging storage box is made of pressure-resistant, wear-resistant, and waterproof hard plastic material, with wheels at the bottom, a pull-rod type handle at the top, and a handrail on the side; the box is sealed by snap-fit, and the interior is equipped with a storage area for drone measuring devices, a storage area for handheld control devices, a storage area for spare parts and charging cables, and each device storage area is equipped with an independent wireless charging port for wireless charging of each device;

[0019] The housing integrates a high-capacity lithium battery pack to power the entire device. The wireless charging port is electrically connected to the battery pack via an internal cable, and the external charging interface is also electrically connected to the battery pack for wired charging via an external power source. The housing also includes a power indicator light to display the battery pack's charge level.

[0020] In a further technical solution, the drone body is also equipped with an indicator light group, which includes a horizontal deflection angle correct indicator light, a vertical deflection angle correct indicator light and a battery indicator light. The horizontal deflection angle correct indicator light and the vertical deflection angle correct indicator light are each equipped with an upper arrow indicator area, a lower arrow indicator area and a main light-emitting area.

[0021] The communication control unit is electrically connected to the indicator light group and is used to trigger different lighting modes of the indicator light group according to the deviation between the measured angle and the preset angle.

[0022] A further technical solution is that, in automatic measurement mode, the working logic of the indicator light group is as follows: the horizontal deflection angle correct indicator light and the vertical deflection angle correct indicator light are always in an active yellow constant-on state;

[0023] The working logic of the indicator light group in manual adjustment mode is as follows:

[0024] When the measured angle is greater than the preset angle, the upper arrow of the indicator light corresponding to the angle will light up; when the measured angle is less than the preset angle, the lower arrow of the indicator light corresponding to the angle will light up.

[0025] When the deviation is less than the set threshold, the main light-emitting area switches colors and flashes; when the angle matches the preset value, the main light-emitting area stops flashing and enters a green constant-on state, and the horizontal deviation angle correct indicator and the vertical deviation angle correct indicator return to the yellow constant-on state.

[0026] Secondly, the present invention provides a method for measuring tunnel borehole angle based on unmanned aerial vehicles (UAVs).

[0027] A method for measuring tunnel borehole angle based on an unmanned aerial vehicle (UAV), implemented based on the UAV-based tunnel borehole angle measurement system proposed in the first aspect, includes:

[0028] The horizontal deflection angle measurement is as follows: the drone is controlled to hover at a designated position on the tunnel face, the tunnel wall is identified through a visual sensor, and the drone is driven to a position parallel to the tunnel face axis to establish a relative coordinate system based on the tunnel face axis; the drill rod position is identified, the drone is driven to a position where the laser measurement unit is directly above the drill rod, and then the laser measurement unit is driven to rotate horizontally to be parallel to the drill rod, and the rotation angle is recorded as the horizontal deflection angle;

[0029] The vertical deflection angle is measured as follows: After the laser measurement unit is parallel to the drill rod, the vertical distance between each laser emitter and the drill rod is measured through the laser emitter. The height difference ΔH and horizontal distance L between any two laser emitters are selected, and the vertical deflection angle is calculated according to θ=arctan(ΔH / L). The measurement data of the remaining laser emitters are used to assist in verifying the calculation results.

[0030] Further technical solutions also include the overall operational process for measuring tunnel borehole angles:

[0031] Open the self-charging storage box, take out and start the drone measurement device and handheld control device, and activate the visual sensor configured on the drone body for environmental recognition and obstacle avoidance.

[0032] The drone is controlled by the flight control joystick to move to a designated area on the tunnel face and establishes a relative coordinate system on its own.

[0033] Select automatic measurement mode or manual adjustment mode to perform horizontal and vertical deflection angle measurements. In manual adjustment mode, adjust the drill rod posture of the drill rig to match the preset angle value according to the indicator lights and touch display. In automatic measurement mode, read the angle measurement value in real time.

[0034] After the measurement is completed, the device is returned to the self-charging storage box, and the device's power is checked. If the power is insufficient, the self-charging storage box is charged through the external charging interface.

[0035] The above one or more technical solutions have the following beneficial effects:

[0036] 1. This invention provides a tunnel borehole angle measurement system and method based on unmanned aerial vehicles (UAVs). The system includes an integrated measurement device consisting of a UAV measuring device, a handheld control device, and a self-charging storage box. It can directly establish a relative coordinate system benchmark based on the tunnel axis to perform automatic and accurate measurement and calibration of the horizontal and vertical deviation angles of the borehole without contact. The entire measurement process requires no additional calculations, significantly reducing manual operation intervention and calculation burden. It can effectively avoid interference from complex tunnel environments and human measurement errors, thereby greatly improving the accuracy of angle measurement and construction efficiency. At the same time, the device can assist operators in quickly adjusting the drill rod posture to ensure the consistency of the borehole angle with the design parameters, providing technical support for the accuracy of tunnel advance detection and the effect of curtain grouting reinforcement, and significantly improving the construction quality of tunnel engineering.

[0037] 2. This invention achieves non-contact measurement using drones, avoiding observational biases caused by manual operation. During the measurement process, the laser measurement unit, combined with a vision sensor and a stabilizer unit, enables precise positioning of the drill rod and attitude stability of the laser measurement unit, effectively suppressing the effects of environmental interference and drone vibration. In addition, the above method allows for the direct establishment of a relative coordinate system based on the tunnel axis, eliminating the need for additional coordinate system conversion, reducing conversion errors, and significantly improving the measurement accuracy of horizontal and vertical deflection angles.

[0038] 3. The entire system of this invention supports remote operation by a single person. The UAV measuring device achieves full automation of start-up, shutdown, and measurement. The touch screen of the handheld control device displays angle measurement data and equipment status in real time, and the indicator lights provide intuitive angle deviation feedback, simplifying the operation process, reducing the technical threshold for operators, and making operation convenient and highly automated. In addition, the operator can complete all operations from a location far away from the high-risk working area of ​​the tunnel face through the handheld control device, which can achieve physical isolation from the dangerous area and completely avoid the safety hazards of operators in traditional measurement methods.

[0039] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0040] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0041] Figure 1 This is a schematic diagram of the structure of the UAV measuring device in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the handheld control device in an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of the self-charging storage box in an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of vertical deflection angle measurement in an embodiment of the present invention;

[0045] Figure 5 This is a top view of the horizontal deflection angle measurement in an embodiment of the present invention.

[0046] The components include: 1. UAV body; 2. Visual sensor; 3. UAV rotor; 4. Communication control unit; 5. Communication connection cable; 6. Landing stand; 7. Laser emitter; 8. Laser measurement unit; 9. Stabilizer unit; 10. Battery indicator light; 11. Horizontal deviation angle correct indicator light; 12. UAV flight control joystick; 13. Upper half-area touch screen display; 14. Operation buttons; 15. Lower half-area touch screen display; 16. Wireless charging area; 17. UAV measurement device storage area; 18. Handheld control device storage area; 19. First wireless charging port; 20. Spare parts and charging cable storage area; 21. Roller; 22. Self-charging storage box buckle; 23. Handrail; 24. Second wireless charging port; 25. Connecting cable; 26. External charging interface; 27. Handle; 28. Power supply battery pack; 29. ​​Battery level display; 30. Self-charging storage box buckle; 31. Drill rod; 32. Vertical deviation angle correct indicator light. Detailed Implementation

[0047] It should be noted that the following detailed descriptions are exemplary and are intended only to describe specific embodiments and to provide further explanation of the invention, and are not intended to limit the scope of exemplary embodiments of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0048] Example 1

[0049] To address the issues of insufficient accuracy, complex operation, and low safety in existing borehole angle measurement methods, this embodiment provides a UAV-based tunnel borehole angle measurement system. The system mainly includes a UAV measuring device, a handheld control device, and a self-charging storage box. Using this device, a relative coordinate system with the tunnel axis as the reference angle is constructed through non-contact automatic measurement. This allows for the measurement and calibration of borehole angles, enabling real-time acquisition and feedback of accurate borehole angle data. It also assists operators in quickly adjusting the drill rod's posture. Furthermore, the UAV design supports remote single-person operation, significantly improving both measurement accuracy and operational convenience and construction safety.

[0050] In the measurement system proposed in this embodiment, the UAV measurement device is the most important device, and its structure is as follows: Figure 1 As shown, the device includes a drone body, a laser measurement unit, a stabilizer unit, and a communication control unit. The drone body 1 employs a small multi-rotor structure, meaning the drone measurement device is equipped with several drone rotors 3. This multi-rotor structure enhances flight power and stability. The drone body 1 and its components are constructed from robust, waterproof, and lightweight materials to reduce the overall weight of the device, while the waterproof material improves its adaptability in humid tunnel environments. Multiple visual sensors 2 are installed at the front, sides, and bottom of the drone body for environmental perception and obstacle avoidance during flight, ensuring stable hovering and safe takeoff and landing in complex tunnel environments.

[0051] A communication control unit 4 is installed at the bottom front of the UAV body 1. This unit is used to monitor the UAV's flight status data in real time (including attitude, trajectory, etc.), collect measurement data from the laser measurement unit 8, and transmit data through communication. It also controls the operation of the UAV body and the indicator lights (including battery indicator light 10, horizontal deflection angle correct indicator light 11, and vertical deflection angle correct indicator light 32) located on both sides of the UAV. At the same time, the communication control unit 4 transmits control commands and measurement data bidirectionally with the handheld control device through its built-in 4G / 5G network communication module. The communication control unit 4 is connected to the UAV body 1 and the laser measurement unit 8 via the communication connection cable 5 to transmit internal data of the UAV.

[0052] A stabilizer unit 9 is connected to the middle of the bottom of the UAV body 1. The stabilizer unit 9 is then connected to the laser measurement unit 8 to maintain the attitude stability of the laser measurement unit 8 in space, avoid the impact of shaking during UAV hovering or movement, and ensure that the laser measurement unit remains stable during UAV hovering and movement. It effectively suppresses slight vibrations during hovering, thereby significantly improving the accuracy of measurement data and the overall stability of the system. At the same time, the stabilizer unit 9 also has the function of driving the laser measurement unit 8 to rotate horizontally, and obtains the horizontal deflection angle of the borehole by measuring the angle value of this horizontal rotation.

[0053] Furthermore, the front and bottom ends of the laser measurement unit 8 are respectively equipped with vision sensors 2. The front vision sensor is used to identify the tunnel wall and determine the tunnel face centerline (hereinafter referred to as the face axis). At this time, the attitude of the UAV can be adjusted according to the identification result to ensure that the laser measurement unit 8 in the UAV measurement device is parallel to the tunnel face axis, and the origin of the relative coordinate system is established based on the tunnel axis. The bottom vision sensor is used to accurately identify the position of the drill rod of the drilling rig. At this time, the UAV can be controlled to move so that the laser measurement unit 8 on it is directly above the drill rod of the drilling rig. Under the cooperation of the stabilizer unit 9, the laser measurement unit 8 is driven to rotate and adjust with the face axis as the base point until it is parallel to the drill rod of the drilling rig (parallel on the vertical plane). At the same time, the horizontal deflection angle generated during this adjustment process is recorded. In addition, the bottom of the laser measurement unit 8 is equipped with several laser emitters 7, which are used to accurately position the drill rod in space and measure and record the vertical distance between each laser emitter 7 and the drill rod of the drilling rig in real time. The laser measurement unit 8 is equipped with an angle calculation and processing unit. This unit can perform inverse trigonometric function calculation on the ratio of the vertical distance difference measured by any two laser emitters and the horizontal distance between them, and finally calculate the vertical deflection angle.

[0054] The aforementioned laser measurement unit identifies the tunnel face and drill rod position through its vision sensor and establishes a spatial relative coordinate system based on the tunnel axis. Simultaneously, it coordinates with multiple laser emitters at its bottom to accurately measure horizontal and vertical deflection angles in real time. This significantly reduces manual intervention and calculation burden, effectively avoids environmental interference and human error, and greatly improves the accuracy and efficiency of angle measurement. Moreover, the laser measurement unit uses low-frequency safe lasers, which meet the safety standards for human visual inspection and mechanical protection, ensuring operational safety while also enhancing the visibility of laser markings.

[0055] The drone body 1 is also equipped with an indicator light group, which includes a horizontal deflection angle correct indicator light 11, a vertical deflection angle correct indicator light 32, and a battery indicator light 10. Its working logic is as follows: when the horizontal or vertical deflection angle is greater than a preset angle, the upper arrow of the corresponding angle indicator light illuminates, indicating a larger angle; when it is less than the preset angle, the lower arrow illuminates, indicating a smaller angle; when the deviation of the horizontal or vertical deflection angle from the preset angle is less than 2°, the corresponding horizontal or vertical deflection angle indicator light maintains the arrow indication state while its main luminous area located between the upper and lower arrows switches its light color and starts flashing; when the deflection angle reaches the preset angle, the corresponding indicator light stops flashing. Additionally, the battery indicator light 10 displays the remaining battery power inside the drone. Through this design, the indicator light group provides operators with intuitive visual feedback on the accuracy of angle correction through arrow direction indication and flashing status changes, significantly simplifying the operation complexity of handheld angle devices and lowering the barrier to entry for drilling rig operators and technicians.

[0056] In addition, the bottom of the drone body 1 is also equipped with a landing support 6, which is used to assist the drone in hovering, safe take-off and landing, and landing support in the complex environment of the tunnel. For example, after the device finishes working, the drone can land with the support of the landing support 6 at its bottom.

[0057] like Figure 2 As shown, the handheld control device includes a drone flight control joystick 12, a touch screen, operation buttons 14, and a wireless charging area 16. Specifically, the drone flight control joystick 12 is used to control the start / stop status and flight trajectory of the drone, so as to quickly position the drone measuring device to the working face; the touch screen is divided into upper and lower display areas, namely the upper half touch screen 13 and the lower half touch screen 15. The upper half touch screen 13 is used to dynamically display the currently measured horizontal and vertical deflection angle values ​​and the attitude of the drone relative to the tunnel face in real time. The lower half touch screen 15 is used to receive angle parameters input by the user as a reference or to set the autonomous measurement state. The autonomous measurement state is the autonomous measurement mode. When no angle parameters are set, the horizontal deflection angle correct indicator light 11 and the vertical deflection angle correct indicator light 32 set on the drone body 1 will not provide angle information prompts; the operation button 14 is used to assist the lower half touch screen 15 in inputting angle parameters or calling the function menu and function and mode selection of the handheld control device. This mode includes autonomous measurement mode and manual adjustment mode; the wireless charging area 16 is used for inductive wireless charging with the first wireless charging port 19 corresponding to the bottom of the handheld control device storage area 18 in the self-charging storage box.

[0058] Through the above design, the touch screen of the accompanying handheld control device can provide input interfaces for preset horizontal and vertical deflection angle parameters while enabling real-time dynamic monitoring. When no angle parameter input is received, the device can automatically execute the measurement task according to preset logic, improving operational flexibility and automation. Simultaneously, the handheld control device allows operators to complete measurement operations without entering high-risk work areas, significantly improving operator safety and enabling real-time acquisition and precise control of angle information. Furthermore, the joystick design further optimizes the control experience, significantly enhancing operational convenience.

[0059] like Figure 3 As shown, the self-charging storage box is made of pressure-resistant, wear-resistant, and waterproof hard plastic. Its interior includes a drone measurement device storage area 17, a handheld control device storage area 18, a spare parts and charging cable storage area 20, and a power supply battery pack 28. The drone measurement device storage area 17 is equipped with a second wireless charging port 24 on its side, and the handheld control device storage area 18 is equipped with a first wireless charging port 19 at its bottom, used to power the corresponding drone measurement device and handheld control device after they are returned to their original positions. Both the second wireless charging port 24 and the first wireless charging port 19 are connected to the power supply battery pack 28 via connecting cables 25. The power supply battery pack uses a high-capacity lithium battery, which effectively reduces the tedious operation of manually changing batteries and frequently charging the instrument, significantly extending the overall battery life of the entire device. A power display 29 is located at the top of the power supply battery pack 28 to display the remaining power level. In addition, the case is equipped with handles 23 on the sides and top, a carrying handle 27 on the top, and casters 21 on the bottom to facilitate handling, moving, and carrying, thus improving the portability and mobility of the equipment. The case is sealed using a snap-fit ​​connection (i.e., the self-charging storage box snap-fit ​​female 22 and the self-charging storage box snap-fit ​​female 30). Furthermore, the case is equipped with an external charging interface 26, which is electrically connected to the power supply battery pack for wired charging via an external power source, further enhancing charging convenience. This design not only significantly increases the equipment's usage time but also allows the entire system to be operated efficiently by a single person.

[0060] Example 2

[0061] This embodiment provides a method for measuring tunnel borehole angles based on unmanned aerial vehicles (UAVs). It is implemented using the aforementioned UAV-based tunnel borehole angle measurement system, specifically including two main processes: horizontal deflection angle measurement and vertical deflection angle measurement.

[0062] Procedure 1: Measure the horizontal deflection angle. For example... Figure 5As shown, the horizontal deflection angle measurement process is as follows: After the drone hovers at a designated position on the tunnel face, the visual sensor 2 configured at the front end of the laser measurement unit 8 first identifies the tunnel wall. The communication control unit then drives the drone to ensure that the drone and its laser measurement unit 8 are parallel to the tunnel face axis, and establishes the origin of a relative coordinate system based on this axis. Specifically, the visual sensor 2, as a component with spatial perception capabilities, captures or performs 3D scanning of the tunnel wall face and surrounding area. It identifies the tunnel wall face using its built-in image recognition algorithm and uses existing structural lines parallel to the axis (such as sidewalls and the apex of the arch) as references to identify corresponding features and determine the drone's current position. Based on this position, it adjusts and determines whether the drone and its laser measurement unit 8 are parallel to the tunnel face axis. After determining that the position is parallel, this direction is defined as an axis of the relative coordinate system, thus ensuring that the coordinate axis direction is strictly aligned with the tunnel's macroscopic axis.

[0063] Subsequently, the position of the drill rod 31 is accurately identified using the vision sensor 2 configured at the bottom of the laser measurement unit 8. Specifically, the vision sensor acquires images of the drilling rig's working area near the tunnel face and performs image analysis to identify the tunnel wall, the wall directly in front of the tunnel (also known as the tunnel face), the side walls on both sides, and the drill rod. Through image recognition, the drill rod itself (usually a slender cylinder) is accurately identified. By analyzing its position and shape in the image, the spatial position of the drill rod and its tilt direction are calculated.

[0064] Finally, with the coordinated action of the communication control unit 4 and the stabilizer unit 9, the position of the UAV is adjusted so that the laser measurement unit 8 is directly above the drill rod, and the axis of the laser measurement unit 8 is parallel (vertically) to the drill rod. Simultaneously, the horizontal deflection angle generated during this adjustment is recorded. The operator can determine whether the horizontal deflection angle matches the preset angle input on the touchscreen by observing the indicator light status or the real-time horizontal deflection angle value displayed on the handheld control device's touchscreen display, thus determining the final horizontal deflection angle. Preferably, the left deflection direction is recorded as a negative angle, and the right deflection direction as a positive angle.

[0065] Step 2: Measurement of vertical deflection angle. For example... Figure 4As shown, after the axis of the laser measuring unit 8 is parallel to the drill rod in the vertical plane, the laser emitter 7 at the bottom of the laser measuring unit 8 is used to accurately position the drill rod in space, and the vertical distance between each laser emitter 7 and the drill rod is measured and recorded in real time. In this embodiment, the height difference measured by the two laser emitters 7 at the front and rear ends is selected, and the real-time vertical deflection angle is calculated by the angle calculation and processing device built into the laser measuring unit 8 according to the preset calculation formula. The height difference measured by the laser emitters 7 at the remaining positions can be used to help verify the vertical deflection angle result. The operator also judges whether it is consistent with the preset angle by the prompt light group or the real-time vertical deflection angle displayed on the touch screen, and determines the final vertical deflection angle accordingly. Preferably, the upward direction of the drill rod is recorded as the positive angle (i.e., the elevation angle), and the downward direction is recorded as the negative angle (i.e., the depression angle).

[0066] The preset calculation formula is as follows:

[0067] (1)

[0068] In the above formula, For any two laser beams, the height difference is measured. =Height of the rear laser beam -Height of the front laser beam L is the horizontal distance between any two laser beams mentioned above. When it is a positive value Angle of elevation, When it is negative The angle of depression.

[0069] Furthermore, based on the above testing process, the specific implementation process of using a drone to measure the tunnel drilling angle in this embodiment includes the following steps:

[0070] Step S1: The operator opens the self-charging storage box, takes out and starts the UAV measuring device and handheld control device. Subsequently, the visual sensors 2 at each preset position on the UAV body 1 are activated simultaneously, and the visual sensors 2 are used for environmental recognition and real-time obstacle avoidance.

[0071] Step S2: The operator uses the drone flight control joystick 12 on the handheld control device to control the drone to fly to the designated working area at the tunnel face. Upon arrival, the vision sensors 2 configured at the front and bottom of the laser measurement unit 8 are activated to scan and identify the tunnel face and the drill rod of the drilling rig. Based on the identified tunnel axis, a relative coordinate system origin is established with this axis as the reference.

[0072] Step S3: Based on actual needs, the operator selects and executes either the automatic measurement mode (Mode 1) or the manual angle parameter input mode (or manual adjustment mode, Mode 2) via a handheld control device. In automatic measurement mode, the system automatically calculates and measures the horizontal and vertical deflection angles. In manual angle parameter input mode, the operator inputs preset angle parameters via the touchscreen display of the handheld control device, and the system performs measurement comparisons based on the input parameters.

[0073] Step S4: The system performs the measurement of the horizontal and vertical deflection angles. The specific measurement methods are described in the above-described horizontal and vertical deflection angle measurement processes (i.e., processes 1 and 2). If the manual angle parameter input mode is selected, the operator can observe the indicator lights during the measurement process, such as the color, flashing pattern, and arrow direction changes of the horizontal deflection angle correct indicator light 11 and the vertical deflection angle correct indicator light 32. Simultaneously, the touchscreen display of the handheld control device displays the measured horizontal and vertical deflection angle values ​​and their deviation from the preset angle in real time. Based on this, and according to the indicator light status or the deviation information displayed on the touchscreen, the operator adjusts the drilling rig's posture until both the measured horizontal and vertical deflection angles meet the preset angle requirements. If the automatic measurement mode is selected, the operator can observe the measured horizontal and vertical deflection angle values ​​displayed on the touchscreen display of the handheld control device in real time during the measurement process, and determine whether the angle measurement is complete based on the real-time angle display.

[0074] Step S5: After confirming that the angle measurement is completed, the operator controls the drone measuring device to land safely and retrieve it into the self-charging storage box, while placing the handheld control device in the designated position in the self-charging storage box.

[0075] Step S6: The operator checks the battery status of the drone's measuring device, handheld control device, and self-charging storage box. If the battery is low, the self-charging storage box must be charged promptly to ensure the continued availability of the equipment.

[0076] Furthermore, considering that the drilling angle must be determined according to professional drawings during tunnel drilling construction, and not arbitrarily drilled, this embodiment is designed with the function of inputting the angle from the design drawings. It proposes a manual angle parameter input mode, i.e., a manual adjustment mode. After the preset angle is input from the drawing, the UAV system begins angle measurement. When the angle of the drill rod reaches the angle requirement of the design drawing, an indicator light will illuminate, allowing the operator or driller to quickly make a judgment on the angle measurement. This avoids situations where the operator is constantly looking down at the control screen and cannot promptly detect dangerous factors in the work area, while also ensuring the accuracy of angle adjustment.

[0077] In the manual angle parameter input mode, i.e., the manual adjustment mode, the horizontal deflection angle correct indicator 11 and the vertical deflection angle correct indicator 32 of the indicator light group execute the corresponding operating logic as follows:

[0078] First, after the equipment is started, both the horizontal deflection angle correct indicator light 11 and the vertical deflection angle correct indicator light 32 are initially off.

[0079] Secondly, when the drone hovers at the designated position on the tunnel face, after the laser measurement unit 8 completes the calibration parallel to the tunnel face axis and successfully establishes the origin of the relative coordinate system based on the axis, the horizontal deviation angle correct indicator light 11 and the vertical deviation angle correct indicator light 32 are activated and illuminated in yellow.

[0080] Next, when the measured horizontal or vertical deflection angle value is greater than the preset angle input on the touch screen, the upper arrow indicator area of ​​the corresponding horizontal deflection angle correct indicator 11 and vertical deflection angle correct indicator 32 is activated to a red light state; conversely, when the measured angle value is less than the preset angle, the lower arrow indicator area is activated to a red light state.

[0081] When the measured horizontal or vertical deflection angle deviates from the preset angle within a specific threshold range of ±2°, the corresponding deflection angle correct indicator light maintains the red indication state of the upper or lower arrows, while the main light-emitting area between the upper and lower arrows switches to red and starts flashing. When both the horizontal and vertical deflection angles of the drill rod are within the normal error allowable range of the preset angle, such as ±1°, the main light-emitting area between the upper and lower arrows of the two deflection angle correct indicator lights maintains the current red color, while the flashing mode is turned off. When both the horizontal and vertical deflection angles of the drill rod are precisely within the target range of the preset angle of ±0.2°, the main light-emitting area between the upper and lower arrows of the two deflection angle correct indicator lights activates a stable green light-emitting state, and the upper and lower arrow indication areas return to the initial yellow light-emitting state. At the same time, the upper half of the touch screen 13 in the handheld control device displays the currently measured horizontal and vertical deflection angle values ​​and their deviation from the preset angle in real time in numerical form.

[0082] Based on the above operating logic, the operator can continuously adjust the angle of the drill rod according to the actual light prompts, ensuring that the tunnel drilling angle is consistent with the preset angle and ensuring the accuracy of the angle adjustment. Moreover, during the adjustment process, the operator or driller can observe the light prompts and quickly make a judgment on the angle measurement. While observing the light prompts, the operator can also observe the surrounding environment of the tunnel, which can minimize the situation where the operator is always looking down at the control screen and cannot detect the dangerous factors in the work area in time, thus ensuring the safety of the operator when adjusting the angle.

[0083] As a further implementation, when the operation mode is selected as the automatic measurement mode without inputting a preset reference angle, the two correct deflection angle indicator lights are always in an active yellow light state and will not provide corresponding angle prompts. However, the upper half of the touch screen 13 in the handheld control device will still display the currently measured horizontal and vertical deflection angle values ​​in real time in numerical form.

[0084] It should be noted that the physical shape, light emission color configuration, and specific threshold ranges of ±2°, ±1°, and ±0.2° of the indicator light group described in this embodiment can be adjusted and changed according to actual application requirements. The description in this embodiment is for illustrative purposes only and does not constitute a limitation on the scope of protection.

[0085] The UAV-based tunnel drilling angle measurement system and method proposed in this embodiment, compared with existing technologies, achieves fully automated operation of the entire process of start-up, shutdown, and measurement using the UAV measuring device. This effectively reduces measurement errors introduced by manual operation and significantly improves construction efficiency. The indicator light group and visual laser design of the UAV measuring device provide clear and real-time operation status indications, enhancing the intuitiveness of monitoring the measurement process. The accompanying handheld control device allows operators to stay away from the dangerous areas of tunnel drilling operations, greatly improving operational safety. The accompanying self-charging storage box supports wireless charging and is conveniently transported and operated by a single person. This embodiment has the advantages of simple operation, high measurement accuracy, good safety, and strong portability. It can adapt to the measurement and calibration of drilling angles based on a relative coordinate system benchmark established on the tunnel axis, significantly improving tunnel drilling construction efficiency, reducing labor intensity, and effectively controlling costs.

[0086] The steps involved in the above embodiment two correspond to those in embodiment one. For specific implementation details, please refer to the relevant description section of embodiment one.

[0087] The above description is only a preferred embodiment of the present invention. Although the specific implementation of the present invention has been described in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that, based on the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative effort are still within the scope of protection of the present invention.

Claims

1. A drone-based tunnel drilling angle measurement system, characterized in that, This includes a drone measurement device; the drone measurement device includes the drone body, a laser measurement unit, a stabilizer unit, and a communication control unit; The UAV adopts a small multi-rotor structure and is equipped with multiple vision sensors. A laser measurement unit is connected to the bottom of the UAV via a stabilizer unit. The front and bottom of the laser measurement unit are equipped with vision sensors to identify the tunnel face axis to establish the origin of the relative coordinate system and to identify the position of the drill rod. Several laser emitters are integrated at the bottom to locate the drill rod and measure the vertical distance between each laser emitter and the drill rod. An angle calculation and processing unit is installed inside to calculate the vertical deflection angle based on the ratio of the vertical distance difference between any two laser emitters to the horizontal distance. The communication control unit is used to monitor flight status data in real time, collect measurement data, and perform data communication transmission to control the operation of the UAV. The communication control unit is used to drive the UAV body to run parallel to the tunnel face axis and directly above the drill rod position; the stabilizer unit is used to drive the laser measurement unit to rotate stably around the tunnel face axis to be parallel to the drill rod, and record the rotation angle as the borehole horizontal deflection angle; The angle calculation and processing unit calculates the borehole vertical deflection angle based on the ratio of the vertical distance difference ΔH measured by any two laser emitters to the horizontal distance L, using inverse trigonometric functions.

2. The UAV-based tunnel drilling angle measurement system of claim 1, wherein, The main body and components of the drone are made of waterproof and lightweight materials; visual sensors are installed on the front, sides and bottom of the drone body for environmental perception and obstacle avoidance during drone flight; a landing support is provided at the bottom of the drone body to assist the drone in hovering, safe take-off and landing in complex tunnel environments.

3. The UAV-based tunnel drilling angle measurement system of claim 1, wherein, The system also includes a handheld control device and a self-charging storage box. The handheld control device and the UAV measurement device transmit control commands and measurement data bidirectionally through the onboard 4G / 5G network communication module. The handheld control device includes a touch screen, a drone flight control joystick, and operation buttons; The self-charging storage box contains a storage area, a wireless charging port, and a power supply battery pack, and has an external charging interface on the outside.

4. The UAV-based tunnel drilling angle measurement system as described in claim 3, characterized in that, In the handheld control device, the touch screen is divided into upper and lower areas. The upper area dynamically displays the currently measured horizontal and vertical deflection angles and the attitude of the UAV relative to the tunnel face in real time. The lower area is used to input preset horizontal and vertical deflection angle values. The UAV flight control joystick is used to control the start, stop, and flight trajectory of the UAV. The operation buttons are used to assist the touch screen in parameter input, function menu access, and mode selection, including autonomous measurement mode and manual adjustment mode. The handheld control device is also equipped with a wireless charging area for inductive wireless charging when adapted to a self-charging storage box.

5. The UAV-based tunnel drilling angle measurement system of claim 3, wherein, The self-charging storage box is made of pressure-resistant, wear-resistant, and waterproof hard plastic material. It has wheels at the bottom, a pull handle at the top, and a handrail on the side. The box is sealed with snap fasteners. Inside, there are storage areas for drone measuring devices, handheld control devices, spare parts, and charging cables. Each device storage area has an independent wireless charging port for wireless charging. The housing integrates a power supply battery pack, which is a high-capacity lithium battery pack used to power the entire device. The wireless charging port is electrically connected to the power supply battery pack via an internal cable, and the external charging interface is electrically connected to the power supply battery pack for wired charging via an external power source; the housing is also equipped with a power indicator light group for displaying the power level of the power supply battery pack.

6. The UAV-based tunnel drilling angle measurement system of claim 1, wherein, The drone body is also equipped with an indicator light group, which includes a horizontal deflection angle correct indicator light, a vertical deflection angle correct indicator light and a battery indicator light. The horizontal deflection angle correct indicator light and the vertical deflection angle correct indicator light are each equipped with an upper arrow indicator area, a lower arrow indicator area and a main light-emitting area. The communication control unit is electrically connected to the indicator light group and is used to trigger different lighting modes of the indicator light group according to the deviation between the measured angle and the preset angle.

7. The UAV-based tunnel drilling angle measurement system as described in claim 6, characterized in that, In automatic measurement mode, the working logic of the indicator light group is as follows: the horizontal deflection angle correct indicator light and the vertical deflection angle correct indicator light are always in an active yellow solid light state; The operating logic of the indicator light group in manual adjustment mode is as follows: When the measured angle is greater than the preset angle, the upper arrow of the indicator light corresponding to the angle will light up; when the measured angle is less than the preset angle, the lower arrow of the indicator light corresponding to the angle will light up. When the deviation is less than the set threshold, the main light-emitting area switches colors and flashes; when the angle matches the preset value, the main light-emitting area stops flashing and enters a green constant-on state, and the horizontal deviation angle correct indicator and the vertical deviation angle correct indicator return to the yellow constant-on state. 8.A method for measuring a tunnel drilling angle based on a UAV, characterized in that, The tunnel drilling angle measurement system based on any one of claims 1-7 is implemented, comprising: The horizontal deflection angle measurement is as follows: the drone is controlled to hover at a designated position on the tunnel face, the tunnel wall is identified through a visual sensor, and the drone is driven to a position parallel to the tunnel face axis to establish a relative coordinate system based on the tunnel face axis; the drill rod position is identified, the drone is driven to a position where the laser measurement unit is directly above the drill rod, and then the laser measurement unit is driven to rotate horizontally to be parallel to the drill rod, and the rotation angle is recorded as the horizontal deflection angle; The vertical deflection angle is measured as follows: After the laser measurement unit is parallel to the drill rod, the vertical distance between each laser emitter and the drill rod is measured through the laser emitter. The height difference ΔH and horizontal distance L between any two laser emitters are selected, and the vertical deflection angle is calculated according to θ=arctan(ΔH / L). The measurement data of the remaining laser emitters are used to help verify the calculation results. 9.The UAV-based tunnel drilling angle measurement method of claim 8, wherein, It also includes the overall operation process for measuring tunnel borehole angles: Open the self-charging storage box, take out and start the drone measurement device and handheld control device, and activate the visual sensor configured on the drone body for environmental recognition and obstacle avoidance. The drone is controlled by the flight control joystick to move to a designated area on the tunnel face and establishes a relative coordinate system on its own. Select automatic measurement mode or manual adjustment mode to perform horizontal and vertical deflection angle measurements. In manual adjustment mode, adjust the drill rod posture of the drill rig to match the preset angle value according to the indicator lights and touch display. In automatic measurement mode, read the angle measurement value in real time. After the measurement is completed, the device is returned to the self-charging storage box, and the device's power is checked. If the power is insufficient, the self-charging storage box is charged through the external charging interface.

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