Tunnel construction laser projection guiding method, intelligent trolley and tunnel construction laser projection guiding system

Abstract

The embodiment of the application provides a tunnel construction laser projection guiding method, an intelligent trolley and a tunnel construction laser projection guiding system, and relates to the technical field of tunnel engineering construction. The method obtains the trolley coordinates of the intelligent trolley in the tunnel coordinate system and a three-dimensional tunnel model of a to-be-constructed tunnel face, performs contour discrete processing on the model, obtains a plurality of three-dimensional trajectory coordinates representing the contour shape, forms a target trajectory, and converts the coordinates into the local coordinate system of the intelligent trolley based on the trolley coordinates to generate a scanning trajectory. Since the laser pen projection indicator is directly installed on the intelligent trolley, the laser pen projection indicator can project laser points on the tunnel face in sequence according to the scanning trajectory, intuitive construction guidance is achieved, and overbreak or underbreak caused by experience is avoided. Especially in a curved tunnel, since the projection reference is dynamically updated according to the pose of the trolley, it is unnecessary to fix a station, and the problem of poor adaptability of traditional equipment is effectively overcome. Meanwhile, the manual lofting link is omitted, and the efficiency and safety are improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and more specifically, to a laser projection guidance method, an intelligent trolley, and a laser projection guidance system for tunnel construction. Background Technology

[0002] In tunnel construction, controlling over-excavation and under-excavation is a key challenge affecting cost, efficiency, and safety. Traditional methods rely on manual point setting with a total station or centerline marking with a laser pointer. The former is cumbersome and inefficient, and requires surveyors to work at close range, posing safety risks; the latter can only provide centerline guidance and cannot display the outline or blast hole location, making it unsuitable for curved tunnels.

[0003] While laser scanning projection layout technology, developed in recent years, can project complete outlines, the equipment must be deployed in the center of the tunnel and far from the tunnel face (at a distance not less than the cross-sectional dimension). Construction trolleys typically operate close to the tunnel face, easily causing laser obstruction and affecting usability. Furthermore, this type of equipment is complex to position, difficult to debug, requires high operational skills, is costly, and lacks deployment flexibility. Due to the shortcomings of existing technologies in terms of real-time performance, safety, functionality, and economy, there is an urgent need for a low-cost, highly compatible, flexibly deployable, and intuitive laser projection guidance method to meet the development needs of modern intelligent and efficient tunnel construction. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a laser projection guidance method, an intelligent trolley, and a laser projection guidance system for tunnel construction, which can improve guidance efficiency and safety while realizing direct construction guidance.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows: In a first aspect, the present invention provides a laser projection guidance method for tunnel construction, the method being applied to an intelligent trolley equipped with a laser pointer projection indicator; the method includes: Obtain the trolley coordinates in the tunnel coordinate system and the three-dimensional tunnel model corresponding to the design outline of the working face to be constructed; the three-dimensional tunnel model is the digital geometric model of the working face to be constructed in the three-dimensional tunnel coordinate system. The three-dimensional tunnel model is discretized to obtain the target trajectory; the target trajectory includes multiple three-dimensional trajectory coordinates that characterize the contour shape of the tunnel face to be constructed. Based on the trolley coordinates, the three-dimensional trajectory coordinates in the target trajectory are transformed from the tunnel coordinate system to the local coordinate system of the intelligent trolley to obtain the corresponding scanning coordinates and form the scanning trajectory; The laser pointer projection indicator is controlled to project onto the working face to be constructed sequentially according to the scanning trajectory, so as to guide the construction workers to carry out construction on the working face according to the projection.

[0006] In an optional implementation, the step of performing contour discretization on the three-dimensional tunnel model to obtain the target trajectory includes: The design contour in the three-dimensional tunnel model is discretely sampled according to a preset sampling step size to obtain the target coordinates corresponding to multiple sampling points; The target trajectory is generated based on all the target coordinates.

[0007] In an optional implementation, generating the target trajectory based on all the target coordinates includes: The target coordinates are used as three-dimensional trajectory coordinates to form the target trajectory.

[0008] In an optional implementation, generating the target trajectory based on all the target coordinates includes: Based on all the target coordinates, curve interpolation is performed to generate the interpolated coordinates; The target coordinates and the inserted coordinates are used as the three-dimensional trajectory coordinates to form the target trajectory.

[0009] In an optional implementation, the step of transforming the three-dimensional trajectory coordinates in the target trajectory from the tunnel coordinate system to the local coordinate system of the intelligent trolley based on the trolley coordinates to obtain the corresponding scanning coordinates includes: A local coordinate system for the intelligent trolley is established with its geometric center as the origin. The rotation matrix is ​​determined based on the trolley coordinates, the tunnel coordinate system, and the local coordinate system. The product of each of the three-dimensional trajectory coordinates and the rotation matrix is ​​used as the scan coordinate of each of the three-dimensional trajectory coordinates in the local coordinate system.

[0010] In an optional implementation, establishing the local coordinate system of the intelligent trolley includes: Obtain the pitch angle, yaw angle, and roll angle of the intelligent trolley; The three axes of the local coordinate system are corrected based on the pitch angle, yaw angle, and roll angle of the intelligent trolley to obtain a local coordinate system with consistent orientation.

[0011] In an optional implementation, the laser pointer projection indicator includes a laser pointer and a pan-tilt unit; controlling the laser pointer projection indicator to project onto the working face sequentially according to the scanning trajectory includes: Obtain the three-dimensional laser mounting coordinates of the laser pointer projection indicator in the local coordinate system of the intelligent trolley; Select a scanning coordinate from the scanning trajectory as the projection coordinate; The adjustment angle of the laser pointer is determined based on the spatial relationship between the projection coordinates and the three-dimensional laser mounting coordinates. Drive the gimbal to rotate the attitude angle adjustment, and control the laser pointer to project the laser point corresponding to the projection coordinates onto the working face to be constructed; New projection coordinates are selected sequentially according to the order of the scanning trajectory, and the scanning trajectory is continuously tracked and projected until the laser points corresponding to all scanning coordinates are obtained.

[0012] In an optional implementation, the step of sequentially selecting new projection coordinates according to the order of the scanning trajectory and continuously tracking and projecting the scanning trajectory until the laser points corresponding to all scanning coordinates are obtained includes: Use the scan coordinates corresponding to the currently projected laser point as the current coordinates; Obtain the next scan coordinate from the current coordinate in the scan trajectory and use it as the new projection coordinate; Calculate the positional deviation between the new projection coordinates and the current coordinates to obtain the error attitude angle, and use the error attitude angle as the new adjustment attitude angle; Drive the gimbal to rotate at a new adjustment angle, and control the laser pointer to project a laser point corresponding to the new projection coordinates onto the working face to be constructed; The new projection coordinates are updated to the current coordinates until the laser pen projects laser points corresponding to all scan coordinates.

[0013] Secondly, the present invention provides an intelligent trolley equipped with a laser pointer projection indicator. The intelligent trolley includes onboard electronic equipment, which is communicatively connected to the laser pointer projection indicator. The onboard electronic equipment executes a computer program to implement the tunnel construction laser projection guidance method described in any of the foregoing embodiments.

[0014] Thirdly, the present invention provides a tunnel construction laser projection guidance system, which includes a laser pointer projection indicator and the intelligent trolley described in the foregoing embodiments, wherein the laser pointer projection indicator is mounted on the intelligent trolley.

[0015] Compared to existing technologies, the laser projection guidance method, intelligent trolley, and laser projection guidance system for tunnel construction provided in this invention obtain the trolley coordinates in the tunnel coordinate system and a three-dimensional tunnel model of the tunnel face to be constructed. The model is then discretized to obtain multiple three-dimensional trajectory coordinates representing the contour morphology, forming the target trajectory. These coordinates are then transformed to the local coordinate system of the intelligent trolley based on the trolley coordinates to generate a scanning trajectory. Since the laser pointer projection indicator is directly mounted on the intelligent trolley, it can be controlled to project laser points sequentially onto the tunnel face according to the scanning trajectory, achieving intuitive construction guidance and avoiding over- or under-excavation caused by reliance on experience. Especially in curved tunnels, because the projection reference is dynamically updated with the trolley's position, no fixed station is required, effectively overcoming the problem of poor adaptability of traditional equipment. Simultaneously, the manual layout step is eliminated, improving efficiency and safety.

[0016] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic flowchart of a laser projection guidance method for tunnel construction provided by an embodiment of the present invention is shown.

[0019] Figure 2 This paper illustrates another flowchart of the laser projection guidance method for tunnel construction provided by an embodiment of the present invention.

[0020] Figure 3 A block diagram of an intelligent trolley provided in an embodiment of the present invention is shown.

[0021] Figure 4 A block diagram of a tunnel construction laser projection guidance system provided in an embodiment of the present invention is shown. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0025] In tunnel construction, over-excavation leads to waste of initial support materials and increased burden on secondary lining, while under-excavation requires additional widening, delaying the construction period and creating safety hazards. Therefore, achieving precise and efficient excavation guidance is crucial.

[0026] The inventors' research revealed that current mainstream construction guidance methods still rely on manual measurement and experience-based judgment. Typically, a total station is used to lay out discrete points after blasting at the tunnel face to mark key locations. However, this method is cumbersome, time-consuming, and data acquisition is delayed, failing to provide real-time guidance for machinery operation. More importantly, surveyors must work close to the unstable tunnel face, facing safety threats such as collapses and falling rocks, posing a high risk. Under these circumstances, operators often rely on personal experience for "blind operation," lacking intuitive and continuous visual references, making it difficult to guarantee excavation accuracy.

[0027] To improve guidance, some construction sites have introduced laser pointing devices. These devices use fixed lasers installed on the tunnel roof or sidewalls to emit beams parallel to the centerline, thus guiding the excavation direction. While this device has advantages such as simple structure, low cost, and no space occupation, its functionality is limited. It can only provide a centerline reference and cannot display the cross-sectional outline or borehole layout, making it difficult to meet the needs of precise excavation. Furthermore, it cannot adaptively adjust to changes in curvature in curved tunnels, resulting in poor applicability.

[0028] The laser lens scanning projection layout technology developed in recent years can dynamically change the direction of the laser beam by adjusting the objective lens or reflection system using a stepper motor, and generate a complete design outline on the tunnel face. Although it has achieved a leap from "point" to "line", its application is obviously limited: the equipment usually needs to be set up on the central axis of the tunnel and kept at a sufficient distance from the tunnel face (generally not less than the maximum cross-sectional dimension) to ensure complete projection.

[0029] However, in mechanized construction, drilling rigs and other equipment are often positioned close to the working face, which can easily block the laser path, causing interruptions or omissions in the projection and severely affecting the effectiveness of the equipment. Furthermore, the setup and positioning of this type of equipment is complex, often requiring precise calibration with a total station. The debugging process is cumbersome and demands a high level of technical skill from operators. At the same time, its high cost and difficult maintenance limit its widespread application in small and medium-sized projects.

[0030] To address the aforementioned pain points, this invention provides a laser projection guidance method, an intelligent trolley, and a laser projection guidance system for tunnel construction. The method acquires the trolley coordinates in the tunnel coordinate system and a 3D tunnel model of the tunnel face to be constructed. The model is then discretized to obtain multiple 3D trajectory coordinates representing the contour morphology, forming the target trajectory. These coordinates are then transformed to the local coordinate system of the intelligent trolley based on the trolley coordinates, generating a scanning trajectory. Since the laser pointer projection indicator is directly mounted on the intelligent trolley, it can be controlled to project laser points sequentially onto the tunnel face according to the scanning trajectory, achieving intuitive construction guidance and avoiding over- or under-excavation caused by reliance on experience. Especially in curved tunnels, because the projection reference dynamically updates with the trolley's position, no fixed station is required, effectively overcoming the poor adaptability of traditional equipment. Simultaneously, it eliminates the manual layout step, improving efficiency and safety.

[0031] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0032] Please refer to Figure 1 , Figure 1 A schematic flowchart of a laser projection guidance method for tunnel construction provided by an embodiment of the present invention is shown. The method includes the following steps: Step S10: Obtain the trolley coordinates in the tunnel coordinate system and the three-dimensional tunnel model corresponding to the design outline of the working face to be constructed; the three-dimensional tunnel model is a digital geometric model of the working face to be constructed in the three-dimensional tunnel coordinate system.

[0033] To improve the accuracy of laser projection guidance during tunnel construction, this invention fixes a laser pointer projection indicator on an intelligent trolley. By combining the intelligent trolley with laser projection, automatic and precise guidance of construction work points or construction outlines can be achieved.

[0034] In this embodiment of the invention, the coordinates of the intelligent trolley in the tunnel coordinate system are first obtained, reflecting the current spatial position of the intelligent trolley. At the same time, a three-dimensional tunnel model corresponding to the design outline of the working face to be constructed is loaded. This three-dimensional tunnel model is a digital geometric representation built based on the design drawings, which fully describes the spatial shape that the working face to be constructed should have.

[0035] Step S20: Perform contour discretization on the three-dimensional tunnel model to obtain the target trajectory; the target trajectory includes multiple three-dimensional trajectory coordinates that characterize the contour shape of the tunnel face to be constructed.

[0036] In this embodiment of the invention, the three-dimensional tunnel model is then subjected to contour discretization, that is, the original continuous contour curve is decomposed into a series of discrete points, which are called three-dimensional trajectory coordinates. All three-dimensional trajectory coordinates together constitute a target trajectory that reflects the original contour direction. This process is equivalent to decomposing the ideal design line segment into multiple sets of spatial coordinates that can be recognized and manipulated by a computer.

[0037] Step S30: Based on the trolley coordinates, the three-dimensional trajectory coordinates in the target trajectory are transformed from the tunnel coordinate system to the local coordinate system of the intelligent trolley to obtain the corresponding scanning coordinates and form the scanning trajectory.

[0038] In this embodiment of the invention, using the known trolley coordinates, the coordinates of each three-dimensional trajectory in the target trajectory are transformed from a unified tunnel coordinate system to a local coordinate system based on the intelligent trolley itself, thus obtaining the corresponding scanning coordinates and forming a scanning trajectory. The significance of this coordinate transformation is that it allows subsequent projection actions to be dynamically adjusted based on the intelligent trolley, ensuring that the position of the laser projection accurately matches the actual space on site.

[0039] It should be understood that the tunnel coordinate system is a spatial reference frame for constructing a tunnel, used to describe the absolute position of all objects within the tunnel. A fixed origin is typically set in the tunnel coordinate system, for example, the center of the tunnel entrance, and three mutually perpendicular directions are defined as coordinate axes. Assuming the direction along the tunnel's extension is designated as the X-axis, the horizontal direction as the Y-axis, and the vertical direction as the Z-axis, and that these three axes are mutually perpendicular, every point on the design profile can be represented by a unique three-dimensional coordinate system.

[0040] Step S40: Control the laser pointer projection indicator to project onto the working face to be constructed in sequence according to the scanning trajectory, so as to guide the construction workers to carry out construction on the working face according to the projection.

[0041] In this embodiment of the invention, after obtaining a series of scanning coordinates, the laser pointer projection indicator installed on the intelligent trolley is controlled to project the position corresponding to each scanning coordinate onto the working face to be constructed in sequence according to the generated scanning trajectory, so that the construction personnel can carry out construction according to the laser projection.

[0042] As one possible implementation method, such as blasting operations, when the position corresponding to each scanning coordinate is projected onto the working face of the tunnel in sequence with laser points, the construction personnel operate a rock drill to drill holes in sequence at the position of each laser point on the working face of the tunnel, and install the blasting device in the hole.

[0043] As another possible implementation method, such as in excavation operations, when the position corresponding to each scanning coordinate is projected onto the face to be constructed with laser points in sequence, as the laser points light up in sequence, the complete construction outline is gradually drawn. The operators can then control the tunneling machine to carry out excavation operations according to these clearly visible laser point outlines, thus avoiding deviations caused by blind construction.

[0044] It should be noted that the intelligent trolley can be a vehicle with the function of moving within the tunnel, or it can be a mobile working platform that integrates or carries construction equipment (such as rock drills, tunneling machines, etc.). This invention does not limit it in this respect.

[0045] In summary, the laser projection guidance method for tunnel construction provided by this invention first obtains the coordinates of the intelligent trolley in the tunnel coordinate system and a three-dimensional tunnel model generated from the design contour corresponding to the working face to be constructed. This model is a digital geometric expression constructed based on tunnel design data, accurately reflecting the spatial morphology of the working face, including the complete contours of straight and curved segments. Based on this, the three-dimensional tunnel model undergoes contour discretization processing, that is, the continuous closed contour line is decomposed into multiple three-dimensional trajectory coordinates with spatial position information. These coordinates together constitute the target trajectory describing the contour shape.

[0046] Next, using the known trolley coordinates, each three-dimensional trajectory coordinate in the target trajectory is transformed from the global tunnel coordinate system to a local coordinate system based on the intelligent trolley, thus obtaining a set of scanning coordinates related to the trolley's own pose, forming a complete scanning trajectory. This transformation process ensures that even in curved tunnels, the projection reference can be dynamically adjusted according to the trolley's current actual position and orientation, avoiding the problem that traditional fixed laser equipment cannot adapt to curvature changes. Since the laser pointer projection indicator is directly mounted on the intelligent trolley, it moves and turns synchronously with the trolley, and can continuously project accurate contour lines on different mileages and different curves, truly achieving "wherever it goes, it illuminates."

[0047] Finally, the laser pointer projection indicator is controlled to project laser points onto the working face in sequence according to the scanning coordinates of the scanning trajectory, forming a clearly visible projection for construction workers to visually reference. This method eliminates the need for manual layout or expensive measuring equipment, allowing the design boundary to be displayed on the working face in real time. This enables operators to "excavate what they see," significantly reducing the risk of over- or under-excavation due to experience-based judgment. It also eliminates the need for measurement waiting time, improving construction efficiency and keeping personnel away from hazardous areas, thus enhancing operational safety.

[0048] Compared to expensive fully automated tunneling systems or scanning and setting-out instruments that require independent stations, this method is simple in structure, low in cost, and easy to deploy. It is particularly suitable for various tunnel projects constructed using drill-and-blast methods or small mechanical methods, and has good economic efficiency and wide applicability.

[0049] Alternatively, one possible implementation for generating the target trajectory is provided below. Figure 1 The sub-steps of step S20 may include: Step S200: Discretely sample the design contour in the three-dimensional tunnel model according to the preset sampling step size to obtain the target coordinates corresponding to multiple sampling points.

[0050] In this embodiment of the invention, in order to convert the design outline of the tunnel face into an action sequence executable by a laser pointer projection indicator, high-density equidistant sampling is performed on the design outline. The preset sampling step size refers to the distance interval between two adjacent sampling points, which can be flexibly set according to the accuracy required for actual construction.

[0051] For example, if high positioning accuracy is required, the preset sampling step size can be set to 5 centimeters, with a sampling point selected every 5 centimeters. However, if the accuracy requirements are relatively relaxed, the preset sampling step size can be appropriately increased.

[0052] During this process, multiple sampling points are extracted sequentially along the design outline of the working face to be constructed. Each sampling point has a clear spatial location, and these locations are recorded in the form of three-dimensional coordinates, forming a set of target coordinates. This set of target coordinates fully reflects the orientation and shape of the original design outline in three-dimensional space.

[0053] Step S210: Generate the target trajectory based on all target coordinates.

[0054] In this embodiment of the invention, a target trajectory is constructed based on all target coordinates. It should be understood that the target trajectory is no longer a smooth curve, but rather a polyline composed of a series of precise coordinate points. Each three-dimensional trajectory coordinate on the target trajectory corresponds to a key position in the future laser projection. Therefore, generating the target trajectory based on fixed-step sampling not only ensures the integrity of the contour information but also provides a clear and operable sequence of actions for sequential laser projection.

[0055] Optionally, regarding how to directly generate the target trajectory using sampling points, the following is a possible implementation method. The sub-steps of step S210 may include: Step S210-1: Use all target coordinates as three-dimensional trajectory coordinates to form the target trajectory.

[0056] In this embodiment of the invention, the coordinates of each target can be directly used as the three-dimensional trajectory coordinates that constitute the target trajectory. These points are connected in the original order to form a trajectory line composed of discrete coordinates, thus completely preserving the spatial shape of the design outline.

[0057] Optionally, to improve scanning efficiency and projection effect, the discrete sampling points are smoothed. Regarding how to utilize smoothing to generate the target trajectory, a possible implementation method is provided below. The sub-steps of step S210 may include: Step S210-2: Perform curve interpolation based on all target coordinates to generate the interpolated coordinates.

[0058] In this embodiment of the invention, the laser pointer projection indicator includes a laser pointer and a pan-tilt unit. If the target coordinates are directly used as the projection basis, the laser pointer may exhibit a "jumping point" phenomenon as it moves with the pan-tilt unit, that is, it quickly jumps from one point to the next and pauses briefly, resulting in a series of discrete light spots appearing on the working face instead of continuous lines. This jerky movement not only affects the observation effect but may also reduce scanning efficiency.

[0059] To address this, an interpolation algorithm is used to calculate at least one new intermediate position between two adjacent target coordinates; these newly generated positions are called interpolated coordinates. The interpolation process takes into account the motion capabilities of the laser projection indicator itself, such as dynamic constraints like the maximum angular velocity and angular acceleration of the gimbal motor, to ensure that the generated path is both smooth and feasible.

[0060] Step S210-3: Use the target coordinates and the inserted coordinates as three-dimensional trajectory coordinates to form the target trajectory.

[0061] In this embodiment of the invention, the sampled target coordinates and the newly generated inserted coordinates are used together as the three-dimensional trajectory coordinates constituting the target trajectory. In this way, the original point sequence of coefficients is significantly encrypted, forming a spatially continuous and temporally smooth target trajectory, which can effectively improve the smoothness of the projection action, enabling the laser to draw a clear and coherent construction outline on the working face, making it easier for construction personnel to intuitively identify and operate.

[0062] Alternatively, one possible implementation for generating scan coordinates is provided below. Figure 1 The sub-steps of step S30 may include: Step S300: Establish a local coordinate system for the intelligent trolley, with the geometric center of the intelligent trolley as the origin.

[0063] In this embodiment of the invention, in order for the laser pointer to project according to the current position of the intelligent trolley, a local coordinate system needs to be established with the geometric center of the intelligent trolley as the origin. The local coordinate system represents the spatial direction that the laser pointer can "see".

[0064] Step S310: Determine the rotation matrix based on the trolley coordinates, tunnel coordinate system, and local coordinate system.

[0065] In this embodiment of the invention, since the trolley may experience attitude changes such as pitch, yaw, or roll, the actual orientation of the local coordinate system may not be consistent with the tunnel coordinate system. The three-axis movement is determined based on the trolley coordinates, and the three-axis rotation is determined based on the angular relationship between the tunnel coordinate system and the local coordinate system. A rotation matrix is ​​then generated based on the three-axis movement and rotation. The rotation matrix is ​​essentially a set of mathematical parameters used to describe the relative rotation state between the two coordinate systems in space. Its function is to align the three-dimensional track coordinates from the global tunnel coordinate system according to the trolley's current true attitude.

[0066] Step S320: The product of each three-dimensional trajectory coordinate and the rotation matrix is ​​used as the scan coordinate of each three-dimensional trajectory coordinate in the local coordinate system.

[0067] In this embodiment of the invention, the scan coordinates of the three-dimensional trajectory coordinates in the local coordinate system of the intelligent trolley are calculated by multiplying each three-dimensional trajectory coordinate by a rotation matrix. This process takes into account the position and orientation of the trolley, enabling the laser projection to accurately follow changes in the device's posture and always align with the design contour, ensuring that the guidance accuracy is not affected by the on-site environment.

[0068] Optionally, regarding how to establish the local coordinate system of the intelligent trolley, the following is a possible implementation method. The sub-steps of step S300 may include: Step S300-1: Obtain the pitch angle, yaw angle, and roll angle of the intelligent trolley.

[0069] In practical applications, the local coordinate system of the intelligent trolley is initially set according to the structure of the intelligent trolley itself: the forward direction of the intelligent trolley is the positive X-axis, the left direction is the positive Y-axis, and the vertical upward direction is the positive Z-axis. These three axes are perpendicular to each other and form a spatial reference frame fixed to the vehicle body.

[0070] However, when the intelligent trolley operates in a tunnel, its body may tilt due to uneven ground or undulating tracks. If this attitude change is not considered, the laser projection will deviate from the designed profile. Therefore, the attitude of the intelligent trolley needs to be quickly determined to obtain its pitch angle, yaw angle, and roll angle. The pitch angle indicates the degree to which the trolley's nose tilts upwards or downwards; the yaw angle indicates the angle at which the trolley's nose turns left or right; and the roll angle describes the angle at which the trolley tilts sideways around its direction of travel.

[0071] Step S300-2: Correct the three-axis orientation of the local coordinate system according to the pitch angle, yaw angle and roll angle of the intelligent trolley to obtain a local coordinate system with consistent orientation.

[0072] In this embodiment of the invention, the three axes of the local coordinate system, which was originally aligned with the vehicle body, are mathematically rotated and corrected based on these three angles. This process is equivalent to readjusting the initial X, Y, and Z axes according to the current actual posture, so that the corrected local coordinate system is consistent with the actual spatial orientation of the vehicle at this moment, thereby ensuring that the guidance accuracy is not affected by the terrain and the posture of the intelligent vehicle.

[0073] Optionally, the laser pointer projection indicator includes a laser pointer and a pan-tilt unit. The following is one possible implementation method for controlling the laser pointer to project onto the working face. Please refer to... Figure 2 , Figure 1 The sub-steps of step S40 may include: Step S400: Obtain the three-dimensional laser installation coordinates of the laser pointer projection indicator in the local coordinate system of the intelligent trolley.

[0074] In this embodiment of the invention, the laser pointer projection indicator consists of two parts: a laser pointer and a gimbal. The gimbal is a mechanical structure capable of rotating in both horizontal and vertical directions, allowing the laser pointer to point in different directions. The gimbal is fixedly mounted on the top of the intelligent trolley, ensuring a stable structure and preventing it from shaking during operation.

[0075] To achieve precise control, the pan-tilt unit integrates a high-precision angle measuring element, capable of sensing its own rotation angle in real time with a resolution of up to 0.01 degrees, thus ensuring the accuracy and stability of laser pointing. A high-brightness, high-collimation semiconductor laser (i.e., a laser pointer) is mounted on the pan-tilt unit. It possesses high brightness and excellent beam concentration; even when the emitted laser beam travels tens of meters away on the working face, it can still form a clearly visible spot.

[0076] First, obtain the three-dimensional laser mounting coordinates of the laser pointer projection indicator in the local coordinate system of the intelligent trolley. The three-dimensional laser mounting coordinates represent the fixed position of the laser pointer's emission point in the trolley's own coordinate system (i.e., the local coordinate system of the intelligent trolley).

[0077] Step S410: Select a scanning coordinate from the scanning trajectory as the projection coordinate.

[0078] In this embodiment of the invention, a scanning coordinate is arbitrarily selected from the scanning trajectory as the projection coordinate for this projection.

[0079] Step S420: Determine the adjustment attitude angle of the laser pointer based on the spatial relationship between the projection coordinates and the three-dimensional laser mounting coordinates.

[0080] In this embodiment of the invention, an arbitrary scanning coordinate is selected from the scanning trajectory as the first projection coordinate. Since the initial attitude angle of the laser pointer is consistent with the attitude angle of the intelligent vehicle, when determining the angle difference between the first projection coordinate and the laser pointer, a spatial vector pointing from the laser emission point to the target point can be directly constructed based on the relative positional relationship between the current projection coordinate and the three-dimensional laser installation coordinate. Using three-dimensional spatial geometric calculations, combined with the spatial vector between the current projection coordinate and the three-dimensional laser installation coordinate, the attitude angle that the gimbal needs to be adjusted (i.e., the attitude adjustment angle) is solved, including the horizontal azimuth angle (i.e., the angle of left and right deflection) and the vertical pitch angle (i.e., the angle of up and down tilt).

[0081] Step S430: Drive the gimbal to rotate and adjust the attitude angle, and control the laser pointer to project the laser point corresponding to the projection coordinates on the working face to be constructed.

[0082] In this embodiment of the invention, the driving gimbal rotates according to the calculated adjustment attitude angle, so that the laser beam is precisely aligned with the position corresponding to the current projection coordinates, and the laser pointer is turned on, thereby projecting a clear laser point onto the working face to be constructed.

[0083] In step S440, new projection coordinates are selected sequentially according to the order of the scanning trajectory, and the scanning trajectory is continuously tracked and projected until the laser points corresponding to all scanning coordinates are obtained.

[0084] In this embodiment of the invention, each scanning coordinate is selected as a new projection coordinate in a clockwise or counterclockwise order of the scanning trajectory. A new adjustment attitude angle is determined based on the new projection coordinate and the previous projection coordinate. Tracking projection is performed according to the new adjustment attitude angle until the point-by-point tracking projection of the entire design contour is completed.

[0085] Optionally, regarding how to adjust the projection angle of the laser pointer for tracking projection, the following is a possible implementation method. The sub-steps of step S440 may include: Step S440-1: Use the scanning coordinates corresponding to the currently projected laser point as the current coordinates.

[0086] In this embodiment of the invention, after the laser pointer completes the projection of the first laser point on the working face, the scanning coordinates corresponding to the currently projected laser point are used as the current coordinates, serving as the starting point for the next action. In other words, the gimbal uses the current coordinates as the starting point for the next movement.

[0087] Step S440-2: Obtain the next scan coordinate from the current coordinate in the scan trajectory and use it as the new projection coordinate.

[0088] When controlling the laser pointer to project onto each scanning coordinate in the scanning trajectory, the projection order remains consistent. Following a preset clockwise or counterclockwise direction, the next scanning coordinate from the current coordinate in the scanning trajectory is selected and used as the new projection coordinate.

[0089] Step S440-3: Calculate the positional deviation between the new projection coordinates and the current coordinates to obtain the error attitude angle, and use the error attitude angle as the new adjustment attitude angle.

[0090] In this embodiment of the invention, the positional deviation between the new coordinates and the current coordinates is calculated, and the required angle change of the gimbal, i.e., the error attitude angle, is calculated based on this deviation. The error attitude angle reflects the specific values ​​that the gimbal should rotate in the horizontal and vertical directions in order to accurately move to the next target point.

[0091] Step S440-4: Drive the gimbal to rotate to a new adjustment angle, and control the laser pointer to project a laser point corresponding to the new projection coordinates onto the working face to be constructed.

[0092] In this embodiment of the invention, the error attitude angle is used as the new adjustment attitude angle to drive the gimbal to rotate by the corresponding angle, thereby controlling the laser pointer to project a new laser point on the working face to be constructed.

[0093] Step S440-5: Update the new projection coordinates to the current coordinates until the laser pointer projects laser points corresponding to all scan coordinates.

[0094] In this embodiment of the invention, the new projection coordinates are then updated to the current coordinates to prepare for the next iteration. Steps S440-1 to S440-5 are executed cyclically to process subsequent scan coordinates sequentially until all scan coordinates have been projected.

[0095] Throughout the projection process, the scanning order remains unchanged. Once a clockwise direction is determined, the entire process proceeds in a clockwise order; if a counter-clockwise direction is selected, the process continues in a counter-clockwise order. This fixed scanning order ensures that the laser point's movement path on the tunnel face is continuous and orderly, avoiding jumps or misalignments, thus forming a complete and coherent contour guide line.

[0096] It should be understood that when the gimbal needs to move the laser pointer from one scanning coordinate to the next, the system first calculates the spatial difference between these two positions, also known as the "position deviation." Based on this position deviation, the system further calculates the angle that the gimbal needs to adjust. This angle is called the error attitude angle, which is actually the specific angle command that the gimbal needs to rotate next.

[0097] After the attitude angle is generated, an error signal is generated based on the attitude angle. The error signal is then fed into a control algorithm called PID (Proportional-Integral-Derivative), or possibly a more advanced control algorithm, for processing. After control processing, the output control signal drives the two servo motors on the gimbal to work, so that the gimbal can rotate continuously along a pre-planned smooth trajectory with high dynamic response.

[0098] Meanwhile, the laser pointer remains on, emitting a highly directional, collimated beam. As the gimbal rotates precisely, this beam is guided to scan each corresponding coordinate on the face of the machine, ultimately forming a bright, continuous, and perfectly aligned closed beam curve.

[0099] Therefore, this invention, through a complete process of "pose determination, design model extraction, contour discretization, trajectory interpolation, coordinate transformation, coordinate calculation (i.e., angle adjustment calculation), and servo tracking (i.e., difference adjustment)," realistically and dynamically presents the digital design contour stored in the computer on the tunnel face at the construction site. This visual guidance is highly intuitive, enabling construction personnel to clearly distinguish the difference between the design boundary and the current excavation face when operating the excavation trolley. This significantly improves operational accuracy and efficiency, reduces the possibility of over-excavation and under-excavation, fundamentally reducing material waste and increased support costs caused by over-excavation, as well as secondary processing problems caused by under-excavation. It represents an important technological practice for tunnel construction moving towards intelligence and precision.

[0100] Please refer to Figure 3 This is a block diagram of an intelligent trolley 500 provided in an embodiment of the present invention. The intelligent trolley 500 includes a trolley body 510 and an onboard electronic device 520. When the onboard electronic device 520 executes a computer program, it can implement the tunnel construction laser projection guidance method disclosed in the above embodiments.

[0101] It should be understood that, Figure 3 The structure shown is only a schematic diagram of the intelligent trolley 500. The intelligent trolley 500 may include components such as... Figure 3 The more or fewer components shown, or having the same Figure 3 The different configurations shown. Figure 3 The components shown can be implemented using hardware, software, or a combination thereof.

[0102] Please refer to Figure 4 This is a block diagram of a tunnel construction laser projection guidance system 10 provided in an embodiment of the present invention. The tunnel construction laser projection guidance system 10 includes a laser pointer projection indicator 400 and an intelligent trolley 500. The laser pointer projection indicator 400 is mounted on the intelligent trolley 500 and is communicatively connected to the intelligent trolley 500.

[0103] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0104] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0105] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A laser projection guidance method for tunnel construction, characterized in that, The method is applied to a smart cart equipped with a laser pointer projection indicator; the method includes: Obtain the trolley coordinates in the tunnel coordinate system and the three-dimensional tunnel model corresponding to the design outline of the working face to be constructed; the three-dimensional tunnel model is the digital geometric model of the working face to be constructed in the three-dimensional tunnel coordinate system. The three-dimensional tunnel model is discretized to obtain the target trajectory; the target trajectory includes multiple three-dimensional trajectory coordinates that characterize the contour shape of the tunnel face to be constructed. Based on the trolley coordinates, the three-dimensional trajectory coordinates in the target trajectory are transformed from the tunnel coordinate system to the local coordinate system of the intelligent trolley to obtain the corresponding scanning coordinates and form the scanning trajectory; The laser pointer projection indicator is controlled to project onto the working face to be constructed sequentially according to the scanning trajectory, so as to guide the construction workers to carry out construction on the working face according to the projection.

2. The laser projection guidance method for tunnel construction according to claim 1, characterized in that, The process of discretizing the contour of the three-dimensional tunnel model to obtain the target trajectory includes: The design contour in the three-dimensional tunnel model is discretely sampled according to a preset sampling step size to obtain the target coordinates corresponding to multiple sampling points; The target trajectory is generated based on all the target coordinates.

3. The laser projection guidance method for tunnel construction according to claim 2, characterized in that, The step of generating the target trajectory based on all the target coordinates includes: The target coordinates are used as three-dimensional trajectory coordinates to form the target trajectory.

4. The laser projection guidance method for tunnel construction according to claim 2, characterized in that, The step of generating the target trajectory based on all the target coordinates further includes: Based on all the target coordinates, curve interpolation is performed to generate the interpolated coordinates; The target coordinates and the inserted coordinates are used as the three-dimensional trajectory coordinates to form the target trajectory.

5. The laser projection guidance method for tunnel construction according to claim 1, characterized in that, The step of transforming the three-dimensional trajectory coordinates in the target trajectory from the tunnel coordinate system to the local coordinate system of the intelligent trolley based on the trolley coordinates to obtain the corresponding scanning coordinates includes: A local coordinate system for the intelligent trolley is established with its geometric center as the origin. The rotation matrix is ​​determined based on the trolley coordinates, the tunnel coordinate system, and the local coordinate system. The product of each of the three-dimensional trajectory coordinates and the rotation matrix is ​​used as the scan coordinate of each of the three-dimensional trajectory coordinates in the local coordinate system.

6. The laser projection guidance method for tunnel construction according to claim 5, characterized in that, Establishing the local coordinate system of the intelligent vehicle includes: Obtain the pitch angle, yaw angle, and roll angle of the intelligent trolley; The three axes of the local coordinate system are corrected based on the pitch angle, yaw angle, and roll angle of the intelligent trolley to obtain a local coordinate system with consistent orientation.

7. The laser projection guidance method for tunnel construction according to claim 1, characterized in that, The laser pointer projection indicator includes a laser pointer and a pan-tilt unit; controlling the laser pointer projection indicator to project onto the working face to be constructed sequentially according to the scanning trajectory includes: Obtain the three-dimensional laser mounting coordinates of the laser pointer projection indicator in the local coordinate system of the intelligent trolley; Select a scanning coordinate from the scanning trajectory as the projection coordinate; The adjustment angle of the laser pointer is determined based on the spatial relationship between the projection coordinates and the three-dimensional laser mounting coordinates. Drive the gimbal to rotate the attitude angle adjustment, and control the laser pointer to project the laser point corresponding to the projection coordinates onto the working face to be constructed; New projection coordinates are selected sequentially according to the order of the scanning trajectory, and the scanning trajectory is continuously tracked and projected until the laser points corresponding to all scanning coordinates are obtained.

8. The laser projection guidance method for tunnel construction according to claim 7, characterized in that, The step of sequentially selecting new projection coordinates according to the order of the scanning trajectory, and continuously tracking and projecting the scanning trajectory until the laser points corresponding to all scanning coordinates are obtained includes: Use the scan coordinates corresponding to the currently projected laser point as the current coordinates; Obtain the next scan coordinate from the current coordinate in the scan trajectory and use it as the new projection coordinate; Calculate the positional deviation between the new projection coordinates and the current coordinates to obtain the error attitude angle, and use the error attitude angle as the new adjustment attitude angle; Drive the gimbal to rotate at a new adjustment angle, and control the laser pointer to project a laser point corresponding to the new projection coordinates onto the working face to be constructed; The new projection coordinates are updated to the current coordinates until the laser pen projects laser points corresponding to all scan coordinates.

9. An intelligent trolley, characterized in that, The intelligent trolley is equipped with a laser pointer projection indicator. The intelligent trolley includes onboard electronic equipment, which is communicatively connected to the laser pointer projection indicator. The onboard electronic equipment executes a computer program to implement the tunnel construction laser projection guidance method according to any one of claims 1-8.

10. A laser projection guidance system for tunnel construction, characterized in that, The tunnel construction laser projection guidance system includes a laser pointer projection indicator and the intelligent trolley as described in claim 9, wherein the laser pointer projection indicator is mounted on the intelligent trolley.

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