Construction bench based projection method and device for a subdrill

Abstract

The application provides a construction bench-based projection method and device for a working face hole, a plurality of laser projection units are arranged on the construction bench, the method comprises the following steps: determining the pose of each laser projection unit in a tunnel engineering coordinate system according to the coordinate data of a positioning target on the construction bench and the coordinate data of each laser projection unit; dividing the working face hole into a plurality of projection regions according to the plurality of laser projection units; adjusting the main optical axis of each laser projection unit to the center position of the corresponding projection region; calculating the pixel coordinates of each hole in the projection image of the corresponding laser projection unit, and drawing a hole mark at the corresponding pixel coordinate position in the projection image of each laser projection unit; and controlling each laser projection unit to project laser light to the working face according to the projection image. The distributed laser projection lofting of the application is organically combined with the construction bench and utilizes the spatial advantage of the bench to realize high-precision and high-efficiency hole lofting, thereby guaranteeing the quality and progress of the drill-and-blast method tunnel construction.

Description

Technical Field

[0001] This invention relates to the field of tunnel engineering drill-and-blast construction technology, specifically to a method and device for projecting blast holes in the tunnel face based on a construction platform. Background Technology

[0002] With the continuous advancement of transportation infrastructure construction in my country, tunnel engineering, as an important form of passage traversing mountains and rivers, occupies a vital position in the construction of transportation networks such as railways and highways. Traditional drill-and-blast methods remain one of the most important methods in tunnel blasting construction due to their adaptability to various tunnel cross-sections and geological conditions, as well as their significant economic cost advantages.

[0003] One of the core procedures in drill-and-blast construction is drilling and blasting, and accurate layout of the blast holes is a crucial prerequisite for ensuring drilling quality and blasting effectiveness. Currently, the layout of blast holes at the tunnel face mainly uses the steel tape measure method and the total station method. The former has low accuracy and high arbitrariness, while the latter is time-consuming and inefficient to lay out each hole individually, and the hole layout diagram does not take into account the unevenness of the tunnel face, resulting in widespread layout deviations.

[0004] Furthermore, tunnel drilling still primarily relies on manual pneumatic drilling, requiring the placement of portal-type construction platforms in front of the tunnel face for workers to stand and operate. However, these platforms are bulky and complex, not only occupying a significant portion of the working space but also severely obstructing the layout line of sight with their columns and beams. This makes it difficult for equipment such as total stations to accurately target the blast holes, resulting in only a small number of blast holes being laid out using total stations on-site. The locations of other blast holes are determined visually, leading to severely insufficient layout accuracy and significantly impacting the tunnel blasting and excavation results. Summary of the Invention

[0005] The primary objective of this invention is to provide a method for projecting boreholes in tunnel face tunnels based on a construction platform. This method organically integrates with the construction platform and utilizes the spatial advantages of the platform to achieve high-precision and high-efficiency borehole layout, thereby ensuring the quality and progress of drill-and-blast tunnel construction.

[0006] The second objective of this invention is to provide a tunnel boring machine projection device based on a construction platform that can realize the above-mentioned projection method.

[0007] The first objective of this invention is to provide a method for projecting blast holes in tunnel face using a construction platform. This method involves: a construction platform equipped with multiple laser projection units, distributed at at least two different height positions and at at least two different lateral positions; the method includes: moving the construction platform to a predetermined position in front of the tunnel face and fixing it; determining the pose of each laser projection unit in the tunnel engineering coordinate system based on the coordinate data of the positioning target on the construction platform and the coordinate data of each laser projection unit; dividing the blast holes in the tunnel face into multiple projection areas corresponding to each laser projection unit based on the distribution of the multiple laser projection units; adjusting the principal optical axis of each laser projection unit to the center position of the corresponding projection area; calculating the pixel coordinates of each blast hole in the projection image of the corresponding laser projection unit; drawing blast hole marks at the corresponding pixel coordinate positions in the projection image of each laser projection unit; and controlling each laser projection unit to project laser light onto the tunnel face based on the projection image with blast hole marks.

[0008] As can be seen from the above scheme, in this invention, multiple laser projection units are arranged on different working platforms and at different positions on the left and right sides of the construction platform. This firstly solves the problem of the construction platform obstructing laser projection in the past. Secondly, it ensures that the projection area of ​​multiple laser projection units can cover the tunnel face. In the projection method, the position and pose of each laser projection unit in the tunnel engineering coordinate system are determined by using the coordinate data of the positioning target and the laser projection unit, ensuring the accuracy of the projection reference. Then, the blast holes are divided into corresponding projection areas according to the distribution of the laser projection units, and the main optical axis of each laser projection unit is aligned with the center of the partition, so that the projected image covers the target projection area in the center, effectively suppressing the problem of edge distortion of the projected image. On this basis, the pixel coordinates of each blast hole in the projected image are calculated, marked, and the laser projection is driven, realizing the automated and high-precision layout of the blast hole position at the tunnel face. This invention, which is organically combined with the construction platform and utilizes the space advantage of the platform, achieves high-precision and high-efficiency blast hole layout through distributed laser projection layout, ensuring the quality and progress of drill-and-blast tunnel construction.

[0009] To achieve high-precision and high-efficiency borehole layout, ensuring the quality and progress of drill-and-blast tunnel construction.

[0010] A further approach involves moving and fixing the construction platform to a predetermined position in front of the tunnel face. Before determining the pose of each laser projection unit in the tunnel engineering coordinate system based on the coordinate data of the positioning target on the construction platform and the coordinate data of each laser projection unit, the approach also includes scanning the tunnel face with a 3D measuring device to generate a 3D curved surface model of the tunnel face and converting the model coordinates of the 3D curved surface model of the tunnel face to the tunnel engineering coordinate system. Based on the 3D curved surface model of the tunnel face and the design borehole layout drawing of the tunnel face, the coordinates of the intersection point of the line connecting the design borehole opening and the design borehole bottom with the 3D curved surface model of the tunnel face are calculated, and then the borehole opening coordinate data in the tunnel working coordinate system are calculated.

[0011] As can be seen from the above, scanning the tunnel face using 3D measuring equipment and generating a 3D curved surface model can more accurately reproduce the actual contour of the tunnel face and avoid errors caused by treating the tunnel face as a plane. Furthermore, after uniformly transforming the model coordinates to the tunnel engineering coordinate system, it is placed under the same coordinate reference as the designed borehole layout drawing, enabling the acquisition of borehole coordinates that conform to the actual tunnel face morphology. This step eliminates the influence of tunnel face unevenness on borehole positioning.

[0012] A further step involves moving and fixing the construction platform to a predetermined position in front of the tunnel face. Before determining the pose of each laser projection unit in the tunnel engineering coordinate system based on the coordinate data of the positioning targets on the construction platform and the coordinate data of each laser projection unit, the following steps are taken: selecting a reference point as the origin on the rigid structure of the construction platform to establish a local coordinate system for the platform; using a total station to measure the coordinates of all positioning targets on the construction platform in this local coordinate system; fixing the laser projection units at the predetermined position on the construction platform and measuring the coordinate data and attitude angle of each laser projection unit in the local coordinate system of the platform.

[0013] A further approach involves determining the pose of each laser projection unit in the tunnel engineering coordinate system based on the coordinate data of the positioning targets on the construction platform and the coordinate data of each laser projection unit. This includes setting up a total station on the construction platform to sequentially measure the coordinate data of each positioning target on the construction platform in the tunnel working coordinate system; and determining the pose of each laser projection unit in the tunnel engineering coordinate system based on the coordinate data and attitude angle of each laser projection unit in the platform's local coordinate system, as well as the coordinate data of each positioning target in the platform's local coordinate system and in the tunnel engineering coordinate system.

[0014] As can be seen from the above, after the test platform is in place, the coordinates of each positioning target in the tunnel engineering coordinate system can be measured sequentially using the total station set on it. Combined with the known coordinates of the target in the local coordinate system of the test platform, the transformation parameters from the local coordinate system to the tunnel engineering coordinate system can be calculated, and then the pose of all projection units can be obtained.

[0015] A further approach involves adjusting the principal optical axis of each laser projection unit to the center of the corresponding projection partition, including determining the center coordinates of the projection partition. P 1( x 1, y 1, z 1) Let the coordinates of the laser projection unit be... P 0( x 0, y 0, z 0), Let the horizontal azimuth angle of the initial principal optical axis direction of the laser projection unit be . α 0. Let the initial pitch angle of the laser projection unit along the principal optical axis be 0. β 0; The vector pointing from the laser projection unit to the center of the partition is The horizontal azimuth angle of the laser projection unit pointing to the center of its projection zone is calculated to be: The pitch angle of the laser projection unit pointing to the center of its projection zone is . The horizontal rotation angle of the laser projection unit's main optical axis to the center of the partition is... The pitch rotation angle of the laser projection unit's main optical axis when it rotates to the center of the partition is: Adjust the main optical axis of the laser projection unit according to the horizontal rotation angle and the pitch rotation angle.

[0016] As can be seen above, based on the coordinates of the projection zone center and the coordinates of the laser projection unit, the horizontal azimuth and pitch angles of the projection unit pointing to the zone center are calculated, and then the required horizontal rotation angle and pitch rotation angle are obtained by subtracting them from the initial principal optical axis angle, and the projection unit is accurately adjusted accordingly.

[0017] A further approach involves calculating the pixel coordinates of each borehole in the projected image of the corresponding laser projection unit, including setting the actual borehole coordinates on the working face as follows: P i w =( x w , y w , z w ), No. j The rotation matrix of each laser projection unit in the tunnel engineering coordinate system is: R j The translation vector is T j Its internal parameter is: focal length. f xj , f yj(in pixels), principal point coordinates c xj , c yj (Pixel unit); Transform the coordinates of the actual borehole opening to the coordinate system of the laser projection unit: ;in z p This represents the distance from the actual borehole opening along the optical axis to the laser projection unit. z p >0; The actual borehole opening at the face of the tunnel is calculated using the intrinsic parameters of the laser projection unit at the [number missing]th [number missing]. j Pixel coordinates of the projected image of each laser projection unit: .

[0018] A further approach involves, in the step of drawing borehole markers at the corresponding pixel coordinates in the projected image of each laser projection unit, collecting the boreholes and their pixel coordinates corresponding to each laser projection unit. u , v ); Create a blank image with the same resolution as the laser projection unit, at each pixel coordinate ( u , v Draw a hole mark at the location of the blast hole.

[0019] The second objective of this invention is to provide a tunnel borehole projection device based on a construction platform, which includes a construction platform and multiple laser projection units disposed on the construction platform. The multiple laser projection units are distributed at at least two different height positions and at at least two different lateral positions on the construction platform. The tunnel borehole projection device based on the construction platform can realize the above-mentioned tunnel borehole projection method based on the construction platform.

[0020] As can be seen from the above scheme, this invention avoids the problem of the construction platform obstructing the layout of blast holes by distributing projection equipment on the platform. Combined with the 3D surface model of the tunnel face obtained by lidar, it eliminates projection deviations caused by unevenness of the tunnel face, improves the accuracy of blast hole layout, and is beneficial to improving the quality of tunnel blasting construction. Furthermore, this invention achieves global projection of all blast holes, improving work efficiency compared to layout using a total station; and layout is completed immediately after the construction platform is in place, requiring no additional time or space.

[0021] A further proposed solution is to use a construction platform to be set in front of the tunnel face, and to provide a multi-layer drilling platform and serve as the mounting base for the laser projection units; each laser projection unit is set facing the tunnel face, each laser projection unit can independently adjust its projection angle, and the projection light path of each laser projection unit can avoid the obstruction of the construction platform itself to reach the tunnel face.

[0022] A further option includes a 3D scanning device and a control host; the 3D scanning device is used to acquire point cloud data of the tunnel face; the control host is used to communicate with the laser projection unit and the 3D scanning device. Attached Figure Description

[0023] Figure 1 This is an elevation view showing the relationship between the working face, the construction platform, and the projection device in an embodiment of the working face blast hole projection method based on a construction platform according to the present invention.

[0024] Figure 2 This is a schematic diagram of the laser projection unit in an embodiment of the tunnel borehole projection method based on a construction platform according to the present invention.

[0025] Figure 3 This is a schematic diagram showing the intersection of the blast hole and the three-dimensional curved surface model of the working face in an embodiment of the method for projecting blast holes based on a construction platform according to the present invention.

[0026] Figure 4 This is a schematic diagram of the horizontal adjustment of the main optical axis of the laser projection unit in an embodiment of the tunnel borehole projection method based on a construction platform according to the present invention.

[0027] Figure 5 This is a schematic diagram of the pitch adjustment of the main optical axis of the laser projection unit in an embodiment of the tunnel borehole projection method based on a construction platform according to the present invention.

[0028] Figure 6 This is a schematic diagram of the pixel coordinate transformation of the borehole projection in an embodiment of the borehole projection method based on a construction platform according to the present invention.

[0029] Figure 7 This is a schematic diagram of the projection partitioning of each laser projection unit in an embodiment of the tunnel borehole projection method based on a construction platform according to the present invention. Detailed Implementation

[0030] Embodiment of a Method and Device for Projecting Blade Holes Based on a Construction Platform The tunnel borehole projection device based on the construction platform of the present invention can realize the tunnel borehole projection method based on the construction platform of the present invention.

[0031] See Figure 1 The tunnel boring machine based on the construction platform includes a construction platform, which is set in front of the tunnel face to provide a multi-level drilling operation platform and serve as the mounting base for the laser projection unit. It can be a portal, truss, or other types of multi-level operation platform.

[0032] The tunnel face projection device based on the construction platform includes multiple laser projection units, which are fixed at different positions on the construction platform by mounting brackets. Each laser projection unit is set towards the tunnel face, and each laser projection unit can independently adjust the projection angle. Moreover, the projection light path of each laser projection unit can avoid the obstruction of the construction platform itself and reach the tunnel face.

[0033] The tunnel borehole projection device based on the construction platform includes a 3D scanning device for acquiring point cloud data of the tunnel face; and a control host that can communicate with the laser projection unit and the 3D scanning device respectively.

[0034] The tunnel borehole projection device based on the construction platform includes a control host, which is used to communicate with the laser projection units and the 3D scanning device. Further, the control host receives point cloud data of the tunnel face acquired by the 3D scanning device, constructs a realistic 3D curved surface model of the tunnel face, maps the designed borehole layout onto the realistic 3D curved surface model, corrects the borehole projection coordinates in concave and convex areas, generates projection instructions for each laser projection unit, and distributes the projection instructions to each laser projection unit. Each laser projection unit projects the actual borehole locations as laser spots onto the corresponding positions on the tunnel face according to the projection instructions.

[0035] Multiple laser projection units are distributed across different layers and lateral positions on the construction platform. Taking a two-layer construction platform as an example, one to two laser projection units can be placed at appropriate lateral positions on each layer, forming a projection array covering the entire cross-section of the working face. The spacing and placement of each laser projection unit are determined based on the cross-sectional dimensions to ensure a certain overlap in the projection areas of adjacent projection devices on the working face, avoiding blind spots. The positional relationship of each laser projection unit relative to the platform is determined through initial calibration.

[0036] See Figure 1 In this embodiment, the construction platform 2 on which the borehole projection method is based is provided with multiple laser projection units 1. The multiple laser projection units 1 are distributed at at least two different height positions on the construction platform 2, and the multiple laser projection units 1 are distributed at at least two different lateral positions. For example, in this embodiment, five laser projection units 1 are provided on the construction platform 2. One laser projection unit 1 is provided on each of the two construction platforms at different heights on the left and right sides of the construction platform 2, and one laser projection unit 1 is provided on the construction platform at the top middle of the construction platform 2.

[0037] The laser projection unit mounting bracket includes a fixed base and a multi-degree-of-freedom adjustment mechanism. The fixed base is secured to the crossbeam of the construction platform by bolts or welding. The multi-degree-of-freedom adjustment structure allows for pitch and horizontal rotation adjustment, enabling precise adjustment of the laser projection unit.

[0038] See Figure 2 The laser projection unit 1 includes a base 11, a horizontal rotating gimbal 13, a tilt rotating gimbal 14 and a projection device body connected in sequence. This arrangement enables the projection device body to have adjustable tilt and horizontal angles.

[0039] Methods for projecting boreholes from a construction platform include: First, see Figure 3 A 3D measuring device is used to scan the tunnel face 900, generating a 3D surface model of the tunnel face 900. The model coordinates of the 3D surface model of the tunnel face 900 are then transformed to the tunnel engineering coordinate system. Next, based on the 3D surface model of the tunnel face 900 and the designed borehole layout drawing of the tunnel face 900, the coordinates 80 of the intersection point between the line connecting the designed borehole opening 81 and the designed borehole bottom 82 and the 3D surface model of the tunnel face 900 are calculated. Finally, the borehole opening coordinate data in the tunnel working coordinate system are calculated.

[0040] See Figure 1 Then, a reference point is selected as the origin on the rigid structure of the construction platform 2 to establish a local coordinate system of the platform; the coordinates of all positioning targets 21 on the construction platform 2 in the local coordinate system of the construction platform 21 are measured using a total station; the laser projection unit 1 is fixed at the predetermined position of the construction platform 2 and the coordinate data and attitude angle of each laser projection unit 1 in the local coordinate system of the platform are measured to achieve the calibration of the platform and the projection device.

[0041] See Figure 1 Then, the construction platform 2 is moved to a predetermined position 900 degrees in front of the tunnel face and fixed. Based on the coordinate data of the positioning target 21 on the construction platform 1 and the coordinate data of each laser projection unit 1, the pose of each laser projection unit 1 in the tunnel engineering coordinate system is determined. Specifically: The construction platform 2, with the laser projection unit 1 installed, is moved to a predetermined position 900 degrees in front of the tunnel face and fixed in place. A total station is set up at an appropriate position behind the construction platform 2, and the coordinate data of each positioning target 21 on the construction platform 2 in the tunnel working coordinate system are measured in sequence. Based on the coordinate data and attitude angle of each laser projection unit 1 in the local coordinate system of the platform, and based on the coordinate data of each positioning target 21 in the local coordinate system of the platform and the coordinate data in the tunnel engineering coordinate system, the pose of each laser projection unit 1 in the tunnel engineering coordinate system is determined. The pose includes the spatial position and the initial projection direction. Both the spatial position and the initial projection direction can be determined by calculating the coordinate data.

[0042] Based on the distribution of multiple laser projection units, the boreholes on the working face are divided into multiple projection areas corresponding to each laser projection unit; the main optical axis of each laser projection unit is adjusted to the center position of the projection area corresponding to that laser projection unit; the pixel coordinates of each borehole in the projection image of the corresponding laser projection unit are calculated, and borehole marks are drawn at the corresponding pixel coordinate positions in the projection image of each laser projection unit; each laser projection unit is controlled to project lasers onto the working face according to the projection image with borehole marks.

[0043] Then, see Figure 1 and Figure 7 Based on the distribution of multiple laser projection units, the 900-meter borehole at the working face is divided into multiple projection areas corresponding to the multiple laser projection units 1.

[0044] Then, the main optical axis of each laser projection unit 1 is adjusted to the center position of the projection zone corresponding to that laser projection unit 1.

[0045] See Figure 4 and Figure 5 This step specifically includes: determining the center coordinates P1(x1,y1,z1) of the center position of the projection zone based on the division of the borehole projection area at the working face. The specific calculation method is as follows: First, the vertex coordinates (x, y, z) of each projection partition are calculated based on the mileage of the working face, using the following coordinate system: Figure 4 and Figure 5 As shown. Since the projected area is a polygonal region with an arc, a segmentation method is used to divide the entire figure into several simple geometric parts (such as triangles, rectangles, sectors, arcs, etc.), and the area and centroid coordinates of each part are calculated respectively.

[0046] Then, the centroid of the partition is calculated using the weighted average formula: ,in For the area of ​​each part, Let x be the centroid coordinates of each region. Then, after determining the x-coordinate of the zone center based on the tunnel face mileage, the center coordinates P1(x1,y1,z1) of each projected zone can be calculated.

[0047] Let the coordinates of the laser projection unit be... P 0( x 0, y 0, z 0), Let the horizontal azimuth angle of the initial principal optical axis direction of the laser projection unit be . α 0. Let the initial pitch angle of the laser projection unit 1 along its principal optical axis be 0. β 0; The vector pointing from laser projection unit 1 to the center of the partition is The horizontal azimuth angle of the laser projection unit pointing to the center of its projection zone is calculated to be: The pitch angle of the laser projection unit pointing to the center of its projection zone is . The horizontal rotation angle of the laser projection unit's main optical axis to the center of the partition is... The pitch rotation angle of the laser projection unit's main optical axis when it rotates to the center of the partition is: The horizontal azimuth adjustment range is (-180°, 180°); and the horizontal pitch angle β... t =0, upward is positive, downward is negative. Then, the main optical axis of the laser projection unit 1 is adjusted according to the calculated horizontal rotation angle and pitch rotation angle.

[0048] Then, the pixel coordinates of each borehole in the projected image of the corresponding laser projection unit are calculated, and borehole marks are drawn at the corresponding pixel coordinate positions in the projected image of each laser projection unit. See [link to documentation]. Figure 6 In this step, the actual borehole coordinates on the working face are set as follows: P i w =( x w , y w , z w ), No. j The rotation matrix of each laser projection unit in the tunnel engineering coordinate system is: R j The translation vector is T j Its internal parameter is: focal length. f xj , f yj (in pixels), principal point coordinates c xj , c yj (Pixel unit); Transform the coordinates of the actual borehole opening to the coordinate system of the laser projection unit: ;in z p This represents the distance from the actual borehole opening along the optical axis to the laser projection unit. z p >0; The actual borehole opening at the face of the tunnel is calculated using the intrinsic parameters of the laser projection unit at the [number missing]th [number missing]. j Pixel coordinates of the projected image of each laser projection unit: .

[0049] Then, each laser projection unit is controlled to project laser light onto the working face based on the projection image containing the borehole markings. See also Figure 6In this step, the boreholes and their pixel coordinates corresponding to each laser projection unit are collected. u , v ); Create a blank image with the same resolution as the laser projection unit, at each pixel coordinate ( u , v Draw a hole mark at the location of the blast hole.

[0050] Then, the generated images are transmitted to each laser projection unit via a wireless network and projected synchronously using the control host. Since each laser projection unit is installed on the construction platform rather than behind it, its optical path is not blocked by the structure of the construction platform itself, thus enabling the blast holes to be accurately projected onto the corresponding positions on the working face.

[0051] In this invention, multiple laser projection units are arranged on different layers of the construction platform and at different positions on the left and right sides. This firstly solves the problem of the construction platform obstructing laser projection in the past. Secondly, it ensures that the projection area of ​​multiple laser projection units can cover the tunnel face. In the projection method, the pose of each laser projection unit in the tunnel engineering coordinate system is determined by using the coordinate data of the positioning target and the laser projection units, ensuring the accuracy of the projection reference. Then, the blast holes are divided into corresponding projection areas according to the distribution of the laser projection units, and the principal optical axis of each laser projection unit is aligned with the center of the partition, so that the projected image covers the target projection area in the center, effectively suppressing the problem of edge distortion of the projected image. On this basis, the pixel coordinates of each blast hole in the projected image are calculated, marked, and the laser projection is driven, realizing automated and high-precision layout of the blast hole position at the tunnel face. This invention, organically combined with the construction platform and utilizing the space advantage of the platform, achieves high-precision and high-efficiency blast hole layout, ensuring the quality and progress of drill-and-blast tunnel construction.

[0052] To achieve high-precision and high-efficiency borehole layout, ensuring the quality and progress of drill-and-blast tunnel construction.

[0053] Finally, it should be emphasized that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for projecting boreholes in tunnel face based on a construction platform, characterized in that: The construction platform is equipped with multiple laser projection units, which are distributed at at least two different height positions and at at least two different lateral positions. The method for projecting boreholes based on a construction platform includes: The construction platform is moved to a predetermined position in front of the tunnel face and fixed. Based on the coordinate data of the positioning target on the construction platform and the coordinate data of each laser projection unit, the pose of each laser projection unit in the tunnel engineering coordinate system is determined. Based on the distribution of the multiple laser projection units, the boreholes at the working face are divided into multiple projection areas corresponding to the multiple laser projection units respectively; Adjust the main optical axis of each laser projection unit to the center position of the projection partition corresponding to that laser projection unit; Calculate the pixel coordinates of each borehole in the projection image of the corresponding laser projection unit, and draw borehole marks at the corresponding pixel coordinate positions in the projection image of each laser projection unit. Each laser projection unit is controlled to project lasers onto the working face based on the projection image with borehole markings.

2. The method for projecting boreholes in tunnels based on a construction platform according to claim 1, characterized in that: Before the step of moving and fixing the construction platform to a predetermined position in front of the tunnel face, and determining the pose of each laser projection unit in the tunnel engineering coordinate system based on the coordinate data of the positioning target on the construction platform and the coordinate data of each laser projection unit, the method further includes: The tunnel face is scanned using a three-dimensional measuring device to generate a three-dimensional surface model of the tunnel face, and the model coordinates of the three-dimensional surface model of the tunnel face are transformed to the tunnel engineering coordinate system; Based on the three-dimensional curved surface model of the tunnel face and the design borehole layout diagram of the tunnel face, calculate the coordinates of the intersection point between the line connecting the design borehole opening and the design borehole bottom and the three-dimensional curved surface model of the tunnel face, and then calculate the borehole opening coordinate data in the tunnel working coordinate system.

3. The method for projecting boreholes in tunnels based on a construction platform according to claim 2, characterized in that: Before the step of moving and fixing the construction platform to a predetermined position in front of the tunnel face, and determining the pose of each laser projection unit in the tunnel engineering coordinate system based on the coordinate data of the positioning target on the construction platform and the coordinate data of each laser projection unit, the method further includes: A reference point is selected as the origin on the rigid structure of the construction platform to establish a local coordinate system for the platform; The coordinates of all positioning targets on the construction platform in the local coordinate system of the construction platform were determined using a total station. The laser projection unit is fixed at a predetermined position on the construction platform, and the coordinate data and attitude angle of each laser projection unit in the local coordinate system of the platform are measured.

4. The method for projecting boreholes in tunnels based on a construction platform according to claim 3, characterized in that: The step of determining the pose of each laser projection unit in the tunnel engineering coordinate system based on the coordinate data of the positioning target on the construction platform and the coordinate data of each laser projection unit includes: A total station is set up behind the construction platform to measure the coordinate data of each positioning target on the construction platform in the tunnel working coordinate system in turn. Based on the coordinate data and attitude angle of each laser projection unit in the local coordinate system of the test platform, and based on the coordinate data of each positioning target in the local coordinate system of the test platform and the coordinate data in the tunnel engineering coordinate system, the pose of each laser projection unit in the tunnel engineering coordinate system is determined.

5. The method for projecting boreholes in a tunnel based on a construction platform according to claim 4, characterized in that: The step of adjusting the main optical axis of each laser projection unit to the center position of the projection partition corresponding to that laser projection unit includes: Determine the center coordinates of the center position of the projection partition. P 1( x 1, y 1, z 1); Let the coordinates of the laser projection unit be... P 0( x 0, y 0, z 0), Let the horizontal azimuth angle of the initial principal optical axis direction of the laser projection unit be . α 0. Let the initial pitch angle of the laser projection unit along the principal optical axis be 0. β 0; The vector pointing from the laser projection unit to the center of the partition is: The horizontal azimuth angle of the laser projection unit pointing to the center position of the projection partition is calculated to be: The pitch angle of the laser projection unit pointing to the center of the projection zone is . ; The horizontal rotation angle of the main optical axis of the laser projection unit to the center of the partition is: The pitch rotation angle of the laser projection unit's main optical axis when it rotates to the center of the partition is: ; The main optical axis of the laser projection unit is adjusted according to the horizontal rotation angle and the pitch rotation angle.

6. The method for projecting boreholes in a tunnel based on a construction platform according to claim 5, characterized in that: The step of calculating the pixel coordinates of each borehole in the projected image of the corresponding laser projection unit includes: Let the actual borehole coordinates on the working face be... P i w =( x w , y w , z w ), No. j The rotation matrix of each laser projection unit in the tunnel engineering coordinate system is: R j The translation vector is T j Its internal parameter is: focal length. f xj , f yj (in pixels), principal point coordinates c xj , c yj (pixel unit); Transform the coordinates of the actual borehole opening into the coordinate system of the laser projection unit: ； in z p This represents the distance from the actual borehole opening along the optical axis to the laser projection unit. z p >0; The actual borehole opening at the working face is obtained by combining the intrinsic parameters of the laser projection unit. j Pixel coordinates of the projected image of each laser projection unit: 。 7. The method for projecting boreholes in tunnels based on a construction platform according to claim 6, characterized in that: The step of drawing borehole marks at corresponding pixel coordinate positions in the projected image of each laser projection unit includes: Collect the boreholes and their pixel coordinates corresponding to each laser projection unit. u , v ); Create a blank image with the same resolution as the laser projection unit, at each pixel coordinate ( u , v Draw the borehole mark at the location of the borehole.

8. A tunnel boring machine projection device based on a construction platform, characterized in that: It includes a construction platform and multiple laser projection units mounted on the construction platform. The multiple laser projection units are distributed at at least two different height positions on the construction platform and at at least two different lateral positions. The aforementioned blast hole projection device based on a construction platform can realize the blast hole projection method based on a construction platform as described in any one of claims 1 to 7.

9. The tunnel boring machine projection device based on a construction platform according to claim 8, characterized in that: The construction platform is used to be set in front of the tunnel face, and is used to provide a multi-layer drilling operation platform and serve as the mounting base for the laser projection unit; Each laser projection unit is set towards the tunnel face. Each laser projection unit can independently adjust its projection angle, and the projection light path of each laser projection unit can avoid the obstruction of the construction platform itself to reach the tunnel face.

10. The tunnel borehole projection device based on a construction platform according to claim 9, characterized in that: It also includes a 3D scanning device and a control host; The three-dimensional scanning device is used to acquire point cloud data of the tunnel face; The control host is used to communicate with the laser projection unit and the three-dimensional scanning device.

Images