Tunnel anchor drilling method, medium and equipment based on three-dimensional point cloud

Abstract

This invention relates to the field of tunnel drilling and blasting technology, and particularly discloses a method, medium, and equipment for tunnel anchor drilling based on three-dimensional point clouds. The tunnel anchor drilling method includes: scanning the surface of the initial shotcrete in the tunnel working section using lidar to obtain a three-dimensional point cloud model of the initial shotcrete surface; extracting the two-dimensional point cloud contour of the circumferential anchor cross-section based on the three-dimensional point cloud model of the initial shotcrete surface to obtain a two-dimensional physical contour model of the initial shotcrete surface; constructing the parametric equation of the anchor axis according to the designed anchor parameters, and solving it simultaneously with the two-dimensional physical contour model of the initial shotcrete surface to obtain the axis distance parameter and the actual drilling coordinates; and using a drilling-anchor-injection integrated trolley to perform drilling operations at a designed angle based on the axis distance parameter and the actual drilling coordinates. This invention directly solves for the actual drilling coordinates of the anchor based on the point cloud cross-section, overcoming the interference of unevenness of the initial shotcrete surface on anchor positioning and improving the accuracy of anchor placement.

Description

Technical Field

[0001] This invention relates to the field of tunnel drilling and blasting technology, and in particular to a tunnel anchor drilling method, medium, and equipment based on three-dimensional point clouds. Background Technology

[0002] In current tunnel initial support construction, anchor bolt placement is usually based on the design cross-section drawings. The anchor bolt hole positions given on the design drawings are mostly based on the theoretical excavation outline or the ideal initial shotcrete outline. However, on-site construction requires re-determining the drilling position of each anchor bolt on the already shotcreted concrete surface. Due to the influence of over- and under-excavation during blasting, shotcrete rebound, local leveling quality, and the degree of manual finishing during construction, the initial shotcrete surface often exhibits an irregular shape with continuous fluctuations and local unevenness.

[0003] Current methods mainly rely on manual measurement, template positioning, rope setting out, or total station-assisted positioning. For relatively flat areas, these methods can still complete the borehole calibration; however, when there are obvious undulations on the circumferential surrounding rock surface, there is no stable geometric correspondence between the designed borehole and the actual surface. On-site, the borehole position can only be shifted or the angle corrected based on experience, making it difficult to ensure the consistency of anchor spacing, anchoring direction, and anchoring length.

[0004] There is a critical blind spot in the existing anchor bolt trolley hole-laying technology: after tunnel blasting, the surrounding rock often exhibits over- or under-excavation, and even after initial shotcrete leveling, its surface remains extremely uneven.

[0005] When the trolley advances the drill arm to the designated position according to the "ideal design coordinates," the actual position (landing point) of the drill bit contacting the rock surface will have a serious normal and tangential deviation from the design position due to the convexity or depression of the actual sprayed layer surface. This results in: a large difference between the actual anchor bolt spacing and the design spacing, making it impossible to form a uniform and effective support ring; a deviation between the drilling angle and the design angle (usually required to be perpendicular to the excavation profile surface), reducing the anchoring force of the anchor bolts; and the time-consuming and labor-intensive nature of existing manual intervention adjustments, which seriously restricts the automated construction efficiency of the integrated drilling, anchoring, and grouting trolley.

[0006] Therefore, it is necessary to provide a new method, medium, and equipment for tunnel anchor drilling based on three-dimensional point clouds to solve the above-mentioned technical problems. Summary of the Invention

[0007] The main objective of this invention is to provide a method, medium, and equipment for drilling tunnel anchor bolts based on three-dimensional point clouds, aiming to solve the problem of inaccurate actual placement of anchor bolts in existing methods.

[0008] To achieve the above objectives, the present invention proposes a tunnel anchor drilling method based on three-dimensional point clouds, comprising the following steps: S1: Determine the tunnel work section to be constructed; S2: Use lidar to scan the surface of the initial shotcrete in the tunnel working section to obtain a three-dimensional point cloud model of the initial shotcrete surface. S3: Based on the three-dimensional point cloud model of the initial shotcrete surface, extract the two-dimensional point cloud contour of the circumferential anchor section to obtain the two-dimensional physical contour model of the initial shotcrete surface. S4: Obtain the design anchor bolt parameters in the existing tunnel design scheme, construct the parametric equation of the anchor bolt axis based on the design anchor bolt parameters, and solve it together with the two-dimensional physical contour model of the initial shotcrete surface to obtain the axis distance parameters and the actual drilling coordinates; where: the design anchor bolt parameters include the design coordinates of the anchor bolt on the ideal tunnel design contour surface, the design angle relative to the vertical centerline of the tunnel section, the design center point of the tunnel section, and the design drilling depth; S5: Using an integrated drilling, anchoring, and injection trolley, drilling operations are carried out by cutting in at a designed angle based on the axis distance parameters and the actual drilling coordinates.

[0009] Optionally, S2 includes: S2.1 Establish the local coordinate system of the tunnel and the radar's own coordinate system, and define feature points, specifically: A local coordinate system for the tunnel is established with the tunnel design axis as the X-axis, the vertical upward direction as the Z-axis, and the tunnel cross-section direction as the Y-axis, with the midpoint of the tunnel cross-section of the tunnel section to be constructed as the origin; Establish the radar's own coordinate system with the scanning center of the lidar as the origin; The lidar is fixedly arranged in a non-collinear manner on a rigid base. Using a high-precision total station reflecting prism as a feature point, the coordinate set of the tunnel local coordinate system in the radar's own coordinate system was measured and obtained. ;in: ≥3; S2.2 After the drilling, anchoring, and grouting integrated trolley is in place, a total station is used at known control points within the tunnel to measure the above-mentioned... The coordinates of each feature point in the local tunnel coordinate system are obtained, thus forming the set of feature point coordinates in the local tunnel coordinate system. ; S2.3, Based on the set of feature point coordinates and feature point coordinate set Calculation of rotation matrix based on SVD decomposition With translation matrix ; S2.4. Based on the positioning system on the integrated drilling, anchoring, and injection trolley, utilizing a rotation matrix. R With translation matrix QThe polar coordinate data acquired by the lidar in its own coordinate system is converted into three-dimensional point cloud coordinate data in the local coordinate system of the tunnel. A three-dimensional point cloud model of the initial shotcrete surface is obtained, wherein: Number the point cloud.

[0010] Optionally, S2.3 includes: S2.3.1 Calculate the coordinates of the centroid of the feature point set in the local coordinate system of the tunnel and the radar's own coordinate system, respectively. The specific formula is as follows: ; in: Number the feature points. The first in the radar's own coordinate system Coordinates of feature points The first in the local coordinate system of the tunnel Coordinates of feature points The coordinates of the centroid in the radar's own coordinate system. These are the coordinates of the centroid in the local coordinate system of the tunnel. S2.3.2. Decentrifuge all feature points to obtain decentrifuged coordinates. The specific formula is as follows: ; in: The first in the radar's own coordinate system Centroid-free coordinates of each feature point The first in the local coordinate system of the tunnel Centroid-decentered coordinates of each feature point; S2.3.3 Calculation of covariance matrix based on centroid-decentered coordinates The specific formula is as follows: ; in: For transpose; S2.3.4, Regarding the covariance matrix Perform singular value decomposition and solve for the rotation matrix based on the decomposition results. Translation matrix ； ; in: It is a 3×3 right singular vector matrix. It is the transpose of a 3×3 left singular vector matrix.

[0011] Optionally, in S2.4, the conversion formula is as follows: ; in, , and These are the first two coordinate systems of the lidar scanner in its own coordinate system. The X, Y, and Z coordinates of a point cloud.

[0012] Optionally, S3 includes: S3.1, Set slice thickness threshold Extracting the required parameters from the 3D point cloud model of the initial shotcrete surface The point cloud, and projected onto YOZ On the plane, a set of initial two-dimensional cross-sectional point clouds is obtained. ;in: The value is within an arbitrary range. The design longitudinal mileage of a certain ring anchor bolt; S3.2 Selecting the center point of the tunnel cross-section design As the pole, calculate the polar angle of each point cloud in the initial two-dimensional cross-sectional point cloud set. The specific formula is as follows: ; S3.3, Combine the initial two-dimensional cross-sectional point cloud. The points in the middle are according to the polar angle Sort the points from smallest to largest to form an ordered two-dimensional point cloud sequence. ; S3.4. The angle sliding window averaging method is used to filter out burr interference on the surface of the initial sprayed concrete, specifically including: Set the angle step of a sliding window In each angular range Within this interval, calculate the coordinates of the centroid of all points. ,in: For interval numbering; Replace all point clouds within the interval with the centroid, and arrange all point clouds in polar order to obtain the denoised and thinned key node sequence. ,in: The total number of intervals; S3.5. Connect the adjacent key nodes after noise reduction according to the key node sequence obtained in S3.4. and This forms a continuous polygonal outline and constructs a two-dimensional polyline function consisting of multiple segments, which is the two-dimensional physical outline model of the initial shotcrete surface.

[0013] Optionally, in S3.5, the first A piecewise two-dimensional piecewise linear function The specific expression is as follows: ; in: , and There are three coefficients respectively. , , .

[0014] Optionally, in step S4, the specific expression for the parametric equation of the anchor bolt axis is as follows: ; in: For the anchor bolt axis Axis coordinates For the anchor bolt axis Axis coordinates The design coordinates of the anchor bolt on the ideal tunnel design profile surface. The design angle is relative to the vertical centerline of the tunnel cross-section. The axial distance parameter along the anchor bolt axis, pointing towards the interior of the surrounding rock. If positive, otherwise It is a negative value; In S4, if based on the first The coordinates of the intersection points with the anchor bolt axis are calculated segment by segment. The constraints are satisfied: Then the intersection point That is, the actual anchor drilling coordinates on the initial shotcrete surface; otherwise, based on the first... The coordinates of the intersection points with the anchor rod axis are calculated for each segment. The process is repeated for each segment until a valid intersection point that satisfies the constraints is obtained. This intersection point is then used as the actual anchor rod drilling coordinates on the initial shotcrete surface.

[0015] Optionally, S5 includes: S5.1 Calculate and correct the actual borehole depth based on axis distance parameters Specifically: like If the intersection point is inside the design outline, meaning the concrete layer is bulging or under-excavated at that location, the actual drilling depth should be corrected as follows: ;in: To design the drilling depth; like If the intersection point is outside the design outline, indicating a recessed or over-drilled state, the actual drilling depth should be corrected as follows: ; S5.2. The control system of the integrated drilling, anchoring and injection trolley is used to drive the robotic arm to move to the actual drilling coordinates, and the actual drilling depth is corrected by the designed angle of entry and installation for drilling operations.

[0016] In addition, the present invention also provides a readable storage medium storing computer program instructions, which, when executed by a processor, implement the tunnel anchor drilling method based on three-dimensional point clouds as described above.

[0017] The present invention also provides an electronic device, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, wherein the computer program instructions are executed by the processor to perform the tunnel anchor drilling method based on three-dimensional point clouds as described above.

[0018] This invention provides a method for directly calculating the actual drilling coordinates of anchor bolts based on point cloud cross-sections. This provides directly accessible axis distance parameters and actual drilling coordinates for automated drilling rigs, overcoming the interference of uneven initial shotcrete surfaces on anchor bolt positioning. This ensures that the actual installation angle of the anchor bolts perfectly matches the design angle, the anchor bolt spacing is precise, and the support stress reaches the optimal design state. Simultaneously, it achieves "one-click scanning - automatic calculation - precise hole determination," eliminating the need for manual total station repetitive layout or experience-based visual adjustments on the rig, greatly improving the construction progress of anchor bolt operations in drill-and-blast tunnels. By automatically calculating and adjusting the actual drilling depth, it avoids the problem of insufficient anchor bolt penetration depth due to excessively thick shotcrete layers, eliminating potential safety hazards in the support system. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the tunnel anchor drilling method based on three-dimensional point clouds in an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram illustrating the calculation method of the two-dimensional point cloud profile of the circumferential anchor bolt cross-section in an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the calculation method of the two-dimensional piecewise linear function in an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating the method for calculating actual drilling coordinates in an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the implementation process of the tunnel anchor drilling method based on three-dimensional point clouds in an embodiment of the present invention.

[0022] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0025] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0028] This invention proposes a tunnel anchor drilling method, medium, and equipment based on three-dimensional point clouds, aiming to solve the problem of inaccurate actual anchor placement in existing methods.

[0029] This embodiment provides a tunnel anchor drilling method based on three-dimensional point clouds. See [link to relevant documentation]. Figure 1 and Figure 5The process includes: starting / inputting the design anchor bolt parameters; obtaining a 3D point cloud model in the local tunnel coordinate system (X, Y, Z) through steps such as trolley feature point coordinate measurement, SVD pose registration (solving rotation and translation matrices), lidar scanning, and coordinate transformation; slicing and projecting to the YOZ coordinate system, performing angle sliding window averaging filtering on high-density point clouds smaller than 5mm, and connecting nodes to construct a segmented multi-segment polyline contour function; constructing a simultaneous equation of the design axis parameter equations, solving for intersection points to obtain the actual drilling coordinates and axis distance parameters; inputting the actual drilling coordinates and axis distance parameters into the trolley computer, calculating the actual drilling depth based on the axis distance parameters; driving the trolley drill arm to complete the actual drilling depth at the actual drilling coordinates according to the design angle in the design anchor bolt parameters.

[0030] The specific technical solution of this embodiment includes the following steps: S1: Determine the tunnel work section to be constructed; S2: Use lidar to scan the surface of the initial shotcrete in the tunnel working section to obtain a three-dimensional point cloud model of the initial shotcrete surface. S2 includes: S2.1 Establish the local coordinate system of the tunnel and the radar's own coordinate system, and define feature points, specifically: A local coordinate system for the tunnel is established with the tunnel design axis as the X-axis, the vertical upward direction as the Z-axis, and the tunnel cross-section direction as the Y-axis, with the midpoint of the tunnel cross-section of the tunnel section to be constructed as the origin; A coordinate system for the radar itself is established with the scanning center of the lidar as the origin; the three axes of the radar's coordinate system are specifically set as follows: ZL axis: Usually set to coincide with the rotation axis of the radar scanner and point "up"; XL axis: can be set as the "forward" direction of the trolley (i.e., the direction along the longitudinal direction of the tunnel). YL axis: Determined according to the right-hand coordinate system rule, it usually points to the "left side" of the trolley.

[0031] The lidar is fixedly arranged in a non-collinear manner on a rigid base. Using a high-precision total station reflecting prism as a feature point, the coordinate set of the tunnel local coordinate system in the radar's own coordinate system was measured and obtained. ;in: ≥3; In this embodiment, a 360° autonomous positioning laser radar arranged on a drilling, anchoring and injection trolley is used to scan the surface of the initial shotcrete in the work area to form a three-dimensional point cloud model of the initial shotcrete surface, wherein the distance between points is less than 5mm.

[0032] S2.2 After the drilling, anchoring, and grouting integrated trolley is in place, a total station is used at known control points within the tunnel to measure the above-mentioned... The coordinates of each feature point in the local tunnel coordinate system are obtained, thus forming the set of feature point coordinates in the local tunnel coordinate system. ; S2.3, Based on the set of feature point coordinates and feature point coordinate set Calculation of rotation matrix based on SVD decomposition With translation matrix ; S2.3 includes: S2.3.1 Calculate the coordinates of the centroid of the feature point set in the local coordinate system of the tunnel and the radar's own coordinate system, respectively. The specific formula is as follows: ; in: Number the feature points. The first in the radar's own coordinate system Coordinates of feature points The first in the local coordinate system of the tunnel Coordinates of feature points The coordinates of the centroid in the radar's own coordinate system. These are the coordinates of the centroid in the local coordinate system of the tunnel. S2.3.2. Decentrifuge all feature points to obtain decentrifuged coordinates. The specific formula is as follows: ; in: The first in the radar's own coordinate system Centroid-free coordinates of each feature point The first in the local coordinate system of the tunnel Centroid-decentered coordinates of each feature point; S2.3.3 Calculation of covariance matrix based on centroid-decentered coordinates The specific formula is as follows: ; in: For transpose; S2.3.4, Regarding the covariance matrix Perform singular value decomposition and solve for the rotation matrix based on the decomposition results. Translation matrix ； ; in: It is a 3×3 right singular vector matrix. It is the transpose of a 3×3 left singular vector matrix.

[0033] S2.4. Based on the positioning system on the integrated drilling, anchoring, and injection trolley, utilizing a rotation matrix. With translation matrix The polar coordinate data acquired by the lidar in its own coordinate system is converted into three-dimensional point cloud coordinate data in the local coordinate system of the tunnel. A three-dimensional point cloud model of the initial shotcrete surface is obtained, wherein: Number the point cloud.

[0034] In S2.4, the conversion formula is as follows: ; in, , and These are the first two coordinate systems of the lidar scanner in its own coordinate system. The X, Y, and Z coordinates of a point cloud.

[0035] S3: Based on the 3D point cloud model of the initial shotcrete surface, extract the 2D point cloud contour of the circumferential anchor section to obtain the 2D physical contour model of the initial shotcrete surface; see [link to relevant documentation]. Figure 2 ; Because lidar scanning has extremely high precision, with the distance between points less than 5mm, directly connecting the extracted 2D slice point clouds results in the piecewise linear function containing a large amount of local roughness noise (such as tiny aggregate protrusions on the surface of shotcrete). This severely interferes with the calculation of the intersection points of the borehole axes and increases the computational load. Therefore, filtering and thinning processing are required.

[0036] S3 includes: S3.1, Set slice thickness threshold Extracting the required parameters from the 3D point cloud model of the initial shotcrete surface The point cloud, and projected onto YOZ On the plane, a set of initial two-dimensional cross-sectional point clouds is obtained. ;in: For any selected range, The design longitudinal mileage of a certain ring anchor bolt; S3.2 Selecting the center point of the tunnel cross-section design As the pole, calculate the polar angle of each point cloud in the initial two-dimensional cross-sectional point cloud set. The specific formula is as follows: ; S3.3, Combine the initial two-dimensional cross-sectional point cloud. The points in the middle are according to the polar angle Sort the points from smallest to largest to form an ordered two-dimensional point cloud sequence. ; S3.4. The angled sliding window averaging method is used to filter out burr interference on the initial shotcrete surface. For high-density characteristics with a spacing of less than 5mm, the angled sliding window averaging method is used to filter out minute burr interference on the shotcrete surface, preserving the true macroscopic undulations. Specifically, this includes: Set the angle step of a sliding window In each angular range Within this interval, calculate the coordinates of the centroid of all points. ,in: For interval numbering; Replace all point clouds within the interval with the centroid, and arrange all point clouds in polar order to obtain the denoised and thinned key node sequence. ,in: The total number of intervals; S3.5. Connect the adjacent key nodes after noise reduction according to the key node sequence obtained in S3.4. and This forms a continuous polygonal outline, and a two-dimensional polyline function consisting of multiple segments is constructed, which is the two-dimensional physical outline model of the initial shotcrete surface. (See [link]). Figure 3 .

[0037] In S3.5, for any line segment formed by two adjacent points... Its linear equation is: ; Rearranging the above into a general form, then the first... A piecewise two-dimensional piecewise linear function The specific expression is as follows: ; in: , and There are three coefficients respectively. , , .

[0038] S4: Obtain the design anchor bolt parameters from the existing tunnel design scheme, construct the parametric equation of the anchor bolt axis based on the design anchor bolt parameters, and solve it simultaneously with the two-dimensional physical contour model of the initial shotcrete surface to obtain the axis distance parameters and the actual drilling coordinates; where: the design anchor bolt parameters include the design coordinates of the anchor bolt on the ideal tunnel design contour surface. The design angle relative to the vertical centerline of the tunnel section The center point of the tunnel cross-section design and the design drilling depth ; See Figure 4 ,exist YOZ In the cross-sectional coordinate system, according to the design coordinates and included angle The parametric equations for the drilling axis of the anchor bolt design are constructed, and the specific expressions are as follows: ; in: For the anchor bolt axis Axis coordinates For the anchor bolt axis Axis coordinates The design coordinates of the anchor bolt on the ideal tunnel design profile surface. The design angle is relative to the vertical centerline of the tunnel cross-section. The axial distance parameter along the anchor bolt axis, pointing towards the interior of the surrounding rock. If positive, otherwise It is a negative value; In S4, if based on the first The coordinates of the intersection points with the anchor bolt axis are calculated segment by segment. The constraints are satisfied: Then the intersection point That is, the actual anchor drilling coordinates on the initial shotcrete surface; otherwise, based on the first... The coordinates of the intersection points with the anchor rod axis are calculated for each segment. The process is repeated for each segment until a valid intersection point that satisfies the constraints is obtained. This intersection point is then used as the actual anchor rod drilling coordinates on the initial shotcrete surface.

[0039] S5: Using an integrated drilling, anchoring, and injection trolley, drilling operations are carried out by cutting in at a designed angle based on the axis distance parameters and the actual drilling coordinates.

[0040] S5 includes: S5.1 Calculate and correct the actual borehole depth based on axis distance parameters Specifically: like If the intersection point is inside the design outline, meaning the concrete layer is bulging or under-excavated at that location, the actual drilling depth should be corrected as follows: ;in: To design the drilling depth; like If the intersection point is outside the design outline, indicating a recessed or over-drilled state, the actual drilling depth should be corrected as follows: ; S5.2. The control system of the integrated drilling, anchoring and injection trolley is used to drive the robotic arm to move to the actual drilling coordinates, and the actual drilling depth is corrected by the designed angle of entry and installation for drilling operations.

[0041] This embodiment uses a tunnel anchor drilling method based on three-dimensional point clouds to solve the technical problems caused by the uneven surface of the initial shotcrete (leveling layer) after tunnel blasting, which leads to the inability of the actual placement position of the circumferential anchors to correspond with the design coordinates, large deviations in anchor spacing, and reduced support effect. It also enables the integrated drilling, anchoring, and injection machine to achieve adaptive and precise positioning of the anchors and automated drilling.

[0042] This embodiment also provides a readable storage medium storing computer program instructions, which, when executed by a processor, implement the tunnel anchor drilling method based on three-dimensional point clouds as described above.

[0043] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0044] This embodiment also includes an electronic device, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, wherein the computer program instructions are executed by the processor to perform the tunnel anchor drilling method based on three-dimensional point clouds as described above.

[0045] For example, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the electronic device.

[0046] The electronic device can be a mobile phone, desktop computer, laptop, handheld computer, cloud server, or other computing device. The electronic device may include, but is not limited to, processors and memory. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0047] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the electronic device, connecting all parts of the electronic device via various interfaces and lines.

[0048] The memory can be used to store the computer program and / or modules. The processor implements the computer program by running or executing the computer program and / or modules stored in the memory, and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital card (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0049] If the modules / units integrated in the electronic device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0050] The above description is only a preferred embodiment of the present invention and does not limit the scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the protection scope of the present invention.

Claims

1. A tunnel anchor drilling method based on three-dimensional point clouds, characterized in that, Includes the following steps: S1: Determine the tunnel work section to be constructed; S2: Use lidar to scan the surface of the initial shotcrete in the tunnel working section to obtain a three-dimensional point cloud model of the initial shotcrete surface. S3: Based on the three-dimensional point cloud model of the initial shotcrete surface, extract the two-dimensional point cloud contour of the circumferential anchor section to obtain the two-dimensional physical contour model of the initial shotcrete surface. S4: Obtain the design anchor bolt parameters in the existing tunnel design scheme, construct the parametric equation of the anchor bolt axis based on the design anchor bolt parameters, and solve it together with the two-dimensional physical contour model of the initial shotcrete surface to obtain the axis distance parameters and the actual drilling coordinates; where: the design anchor bolt parameters include the design coordinates of the anchor bolt on the ideal tunnel design contour surface, the design angle relative to the vertical centerline of the tunnel section, the design center point of the tunnel section, and the design drilling depth; S5: Using an integrated drilling, anchoring, and injection trolley, drilling operations are carried out by cutting in at a designed angle based on the axis distance parameters and the actual drilling coordinates.

2. The tunnel anchor drilling method based on three-dimensional point cloud according to claim 1, characterized in that, S2 includes: S2.1 Establish the local coordinate system of the tunnel and the radar's own coordinate system, and define feature points, specifically: A local coordinate system for the tunnel is established with the tunnel design axis as the X-axis, the vertical upward direction as the Z-axis, and the tunnel cross-section direction as the Y-axis, with the midpoint of the tunnel cross-section of the tunnel section to be constructed as the origin; Establish the radar's own coordinate system with the scanning center of the lidar as the origin; The lidar is fixedly arranged in a non-collinear manner on a rigid base. Using a high-precision total station reflecting prism as a feature point, the coordinate set of the tunnel local coordinate system in the radar's own coordinate system was measured and obtained. ;in: ≥3; S2.2 After the drilling, anchoring, and grouting integrated trolley is in place, a total station is used at known control points within the tunnel to measure the above-mentioned... The coordinates of each feature point in the local tunnel coordinate system are obtained, thus forming the set of feature point coordinates in the local tunnel coordinate system. ; S2.3, Based on the set of feature point coordinates and feature point coordinate set Calculation of rotation matrix based on SVD decomposition With translation matrix ; S2.

4. Based on the positioning system on the integrated drilling, anchoring, and injection trolley, utilizing a rotation matrix. With translation matrix The polar coordinate data acquired by the lidar in its own coordinate system is converted into three-dimensional point cloud coordinate data in the local coordinate system of the tunnel. A three-dimensional point cloud model of the initial shotcrete surface is obtained, wherein: Number the point cloud.

3. The tunnel anchor drilling method based on three-dimensional point cloud according to claim 2, characterized in that, S2.3 includes: S2.3.1 Calculate the coordinates of the centroid of the feature point set in the local coordinate system of the tunnel and the radar's own coordinate system, respectively. The specific formula is as follows: ； in: Number the feature points. The first in the radar's own coordinate system Coordinates of feature points The first in the local coordinate system of the tunnel Coordinates of feature points The coordinates of the centroid in the radar's own coordinate system. These are the coordinates of the centroid in the local coordinate system of the tunnel. S2.3.

2. Decentrifuge all feature points to obtain decentrifuged coordinates. The specific formula is as follows: ； in: The first in the radar's own coordinate system Centroid-free coordinates of each feature point The first in the local coordinate system of the tunnel Centroid-decentered coordinates of each feature point; S2.3.3 Calculation of covariance matrix based on centroid-decentered coordinates The specific formula is as follows: ； in: For transpose; S2.3.4, Regarding the covariance matrix Perform singular value decomposition and solve for the rotation matrix based on the decomposition results. Translation matrix ； ； in: It is a 3×3 right singular vector matrix. It is the transpose of a 3×3 left singular vector matrix.

4. The tunnel anchor drilling method based on three-dimensional point cloud according to claim 3, characterized in that, In S2.4, the conversion formula is as follows: ； in , and These are the first two coordinate systems of the lidar scanner in its own coordinate system. The X, Y, and Z coordinates of a point cloud.

5. The tunnel anchor drilling method based on three-dimensional point cloud according to claim 4, characterized in that, S3 includes: S3.1, Set slice thickness threshold Extracting the required parameters from the 3D point cloud model of the initial shotcrete surface The point cloud, and projected onto On the plane, a set of initial two-dimensional cross-sectional point clouds is obtained. ;in: The value is within an arbitrary range. The design longitudinal mileage of a certain ring anchor bolt; S3.2 Selecting the center point of the tunnel cross-section design As the pole, calculate the polar angle of each point cloud in the initial two-dimensional cross-sectional point cloud set. The specific formula is as follows: ； S3.3, Combine the initial two-dimensional cross-sectional point cloud. The points in the middle are according to the polar angle Sort the points from smallest to largest to form an ordered two-dimensional point cloud sequence. ; S3.

4. The angle sliding window averaging method is used to filter out burr interference on the surface of the initial sprayed concrete, specifically including: Set the angle step of a sliding window In each angular range Within this interval, calculate the coordinates of the centroid of all points. ,in: For interval numbering; Replace all point clouds within the interval with the centroid, and arrange all point clouds in polar order to obtain the denoised and thinned key node sequence. ,in: The total number of intervals; S3.

5. Connect the adjacent key nodes after noise reduction according to the key node sequence obtained in S3.

4. and This forms a continuous polygonal outline, and a two-dimensional polyline function consisting of multiple segments is constructed, which is the two-dimensional physical outline model of the initial shotcrete surface.

6. The tunnel anchor drilling method based on three-dimensional point cloud according to claim 5, characterized in that, In S3.5, the first A piecewise two-dimensional piecewise linear function The specific expression is as follows: ； in: , and There are three coefficients respectively. , , .

7. The tunnel anchor drilling method based on three-dimensional point clouds according to claim 6, characterized in that, In S4, the specific expression of the parametric equation for the anchor bolt axis is as follows: ； in: For the anchor bolt axis Axis coordinates For the anchor bolt axis Axis coordinates The design coordinates of the anchor bolt on the ideal tunnel design profile surface. The design angle is relative to the vertical centerline of the tunnel cross-section. The axial distance parameter along the anchor bolt axis, pointing towards the interior of the surrounding rock. If positive, otherwise It is a negative value; In S4, if based on the first The coordinates of the intersection points with the anchor bolt axis are calculated segment by segment. The constraints are satisfied: Then the intersection point That is, the actual anchor drilling coordinates on the initial shotcrete surface; otherwise, based on the first... The coordinates of the intersection points with the anchor rod axis are calculated for each segment. The process is repeated for each segment until a valid intersection point that satisfies the constraints is obtained. This intersection point is then used as the actual anchor rod drilling coordinates on the initial shotcrete surface.

8. The tunnel anchor drilling method based on three-dimensional point cloud according to any one of claims 1-5, characterized in that, S5 includes: S5.1 Calculate and correct the actual borehole depth based on axis distance parameters Specifically: like If the intersection point is inside the design outline, meaning the concrete layer is bulging or under-excavated at that location, the actual drilling depth should be corrected as follows: ;in: To design the drilling depth; like If the intersection point is outside the design outline, indicating a recessed or over-drilled state, the actual drilling depth should be corrected as follows: ; S5.

2. The control system of the integrated drilling, anchoring and injection trolley is used to drive the robotic arm to move to the actual drilling coordinates, and the actual drilling depth is corrected by the designed angle of entry and installation for drilling operations.

9. A readable storage medium, characterized in that, It stores computer program instructions, which, when executed by a processor, implement the tunnel anchor drilling method based on three-dimensional point clouds as described in any one of claims 1 to 8.

10. An electronic device, characterized in that, include: The method for tunnel anchor drilling based on three-dimensional point clouds as described in any one of claims 1 to 8 includes at least one processor, at least one memory, and computer program instructions stored in the memory, which are executed by the processor when the computer program instructions are executed.

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