A kind of porous laser three-dimensional scanning fusion roadway blasting correction system and method

Abstract

The application discloses a kind of roadway blasting correction systems and methods of porous laser three-dimensional scanning fusion, it is related to engineering roadway blasting construction technical field, wherein, the system includes porous laser positioning unit, three-dimensional scanning module and host control unit, three-dimensional scanning module is installed in porous laser positioning unit side.By three-dimensional scanning module real-time acquisition roadway face three-dimensional point cloud and surrounding rock geological information, complete point cloud processing, surrounding rock feature identification and combine geological live dynamic correction blasting scheme and blast hole parameter, porous laser positioning unit will be converted into visual laser mark after parameter correction, realize drilling operation accurate guidance.Through the construction of "scan detection-intelligent correction-laser guidance-effect review", closed-loop operation system can be real-time identified face fissure, fracture zone and other adverse geology, dynamically optimize blast hole position, angle, depth, charge weight and detonation sequence.

Description

Technical Field

[0001] This invention relates to the field of underground tunnel blasting construction technology, and in particular to a tunnel blasting correction system and method based on multi-hole laser three-dimensional scanning fusion. Background Technology

[0002] Drill-and-blast method is a core operation in mining and underground transportation tunnel excavation. The rationality of the blasting plan and the accuracy of the blast hole construction directly determine the tunnel formation quality, surrounding rock stability, and construction safety. Currently, the industry generally adopts the traditional operation mode of "static design beforehand, manual control during the process, and passive rectification afterward": an initial blasting plan is formulated based on a large-scale geological exploration report; construction personnel manually mark the blast hole positions and inclinations at the working face using simple tools such as tape measures and slope gauges; after blasting, over- or under-excavation is assessed by visual observation or two-dimensional measurement, and corrective measures are fed back to the next cycle. This mode has long been used as a common industry practice, but its inherent extensiveness and lag have become a technical bottleneck restricting the intelligent development of tunnel excavation.

[0003] However, as underground engineering extends into deeper and more complex geological areas, the traditional methods mentioned above suffer from significant drawbacks. The manual measurement and layout using measuring tapes is extremely labor-intensive, prone to significant human error, and cannot be verified in real-time during drilling. Drilling deviations are often exposed after blasting, causing irreversible defects. Furthermore, existing correction mechanisms are "post-blast remediation" models, requiring adjustments only after blasting and muck removal, leading to interruptions in construction continuity and persistently high safety risks. While 3D laser scanners are currently used for post-blast cross-section detection and laser pointers for simple point layout, these operate in isolation and lack deep data integration, failing to meet the demands for safe, efficient, and precise blasting in complex and harsh tunnel conditions. Summary of the Invention

[0004] This invention provides a tunnel blasting correction system and method based on multi-hole laser three-dimensional scanning fusion, which can solve the problems of the existing technology, such as the high labor intensity and significant human error of manual tape measure angle setting, and the difficulty in meeting the construction requirements of safe, efficient and accurate blasting in tunnels under complex and harsh working conditions.

[0005] A tunnel blasting correction system based on multi-aperture laser three-dimensional scanning fusion includes a multi-aperture laser positioning unit, a three-dimensional scanning module, and a host control unit. The three-dimensional scanning module is installed on one side of the multi-aperture laser positioning unit, and the host control unit is electrically connected to both the multi-aperture laser positioning unit and the three-dimensional scanning module. The multi-aperture laser positioning unit is provided with an array of circular holes, corner fixing holes, and a bottom interface. The scanning beam emitted by the three-dimensional scanning module and the positioning beam projected by the multi-aperture laser positioning unit both exit through the same array of circular holes to form an optical path structure with a shared optical reference surface.

[0006] The present invention provides a tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion, which, compared with the prior art, has, but is not limited to, the following beneficial effects: This multi-aperture laser 3D scanning fusion tunnel blasting correction system installs the 3D scanning module on one side of the multi-aperture laser positioning unit, and ensures that the scanning beams and positioning beams emitted by both pass through the same array of circular holes to form a shared optical reference plane. This eliminates the system registration error caused by the separation of the scanning coordinate system and the projection coordinate system in traditional split-type equipment at the physical level, fundamentally improving the accuracy of borehole positioning. At the same time, the main control unit is electrically connected to the multi-aperture laser positioning unit and the 3D scanning module, respectively, and completes the real-time transmission of scanning data and the immediate issuance of positioning commands through the bottom interface. This constructs a hardware closed loop of "geological perception → scheme correction → laser guidance", completely eliminating the outdated operation method of relying on manual tape measure angle setting.

[0007] Furthermore, the array of circular holes is evenly arranged in a matrix on the front panel of the multi-hole laser positioning unit, and the corner fixing holes are symmetrically opened at the four corners of the multi-hole laser positioning unit to realize the detachable and fixed assembly and position calibration of the multi-hole laser positioning unit and the equipment frame. The bottom interface is opened at the bottom center of the multi-hole laser positioning unit to realize the power supply and signal transmission connection between the multi-hole laser positioning unit and the host control unit.

[0008] Furthermore, the 3D scanning module is equipped with a laser emitter, MEMS galvanometer, receiving window, photodetector, control circuit board, motor, main control chip, external interface and heat sink. The laser emitter is fixedly mounted on one side inside the 3D scanning module and is used to emit a detection laser beam. The detection laser beam passes through the array of circular holes and is projected onto the surface of the face to be measured.

[0009] Furthermore, the MEMS galvanometer is positioned on the light output path of the laser emitter to deflect and adjust the projection angle and scanning coverage of the laser beam at high speed. The motor works in conjunction with the MEMS galvanometer to provide driving power for the angle deflection of the MEMS galvanometer.

[0010] Furthermore, a receiving window is located at the optical path recovery position on the front shell of the 3D scanning module to receive laser signals reflected from the working face. A photodetector is fixed inside the receiving window and aligned with the optical path of the receiving window to receive the reflected laser signals and convert the optical signals into recognizable electrical signals.

[0011] Furthermore, the control circuit board is electrically connected to the laser emitter, MEMS galvanometer, photodetector, motor and main control chip respectively, to realize signal relay and circuit regulation of each electrical component. The main control chip is integrated on the control circuit board to receive control commands issued by the host control unit.

[0012] Furthermore, the external interface is embedded in the outer shell of the 3D scanning module, and the heat sink is attached and fixed to the heat-generating area of ​​the main control chip and the control circuit board to quickly dissipate working heat.

[0013] Furthermore, the host control unit is electrically connected to the multi-hole laser positioning unit and the three-dimensional scanning module via a bottom interface and an external interface, respectively.

[0014] Furthermore, the host control unit is equipped with a background operating system, which includes: The data acquisition module is used to drive the 3D scanning module to acquire high-density point cloud data of the working face and the morphological characteristics of the surrounding rock. The data processing and modeling module is used to automatically stitch, filter and reduce noise in point cloud data, generate a 3D point cloud model of the current section, and spatially register and align it with the original blasting design model. The dynamic correction module for blasting schemes is used to compare the point cloud model with the original design model to identify over-excavation, under-excavation, and areas of change in surrounding rock, and to automatically correct the number, location, angle, depth, and charge parameters of each borehole by calling the built-in blasting expert rule library. The instruction generation module is used to convert the revised scheme into positioning instructions containing hole position coordinates and drilling instructions containing angle and depth parameters, and send them to the multi-hole laser positioning unit and the rock drilling execution equipment respectively. The effect evaluation and closed-loop optimization module is used to drive the system to scan again after blasting and hazard removal, calculate the over-excavation and under-excavation volume and half-hole ratio to evaluate the correction effect, and store the evaluation results in the database to update the weight parameters of the expert rule base.

[0015] A tunnel blasting correction method based on multi-hole laser 3D scanning fusion, comprising the following steps: S1: The 3D scanning module is activated by the host control unit. The detection beam emitted by the laser emitter passes through the array of circular holes to perform a full-area scan of the current working face, acquiring high-density original point cloud data including over-excavation and under-excavation boundaries and the morphology of surrounding rock joints and fractures; S2: The host control unit performs stitching, filtering and noise reduction, and triangulation construction on the original point cloud data to generate a high-precision 3D point cloud model of the current cross-section, and aligns the model with the original blasting design model using feature point cloud registration; S3: The host control unit compares the two registered models to identify the over-excavation area, under-excavation area, and the attitude of the surrounding rock structure surface. Based on the identification results, the built-in blasting expert rule library is invoked to automatically correct the spatial distribution of the blast holes. S4: The host control unit generates positioning and drilling commands from the corrected borehole parameters, sends the positioning commands to the multi-hole laser positioning unit, and sends the drilling commands to the rock drilling rig or handheld terminal; S5: After receiving the positioning commands, the multi-hole laser positioning unit projects the corrected borehole layout map directly onto the working face through the array of circular holes, and the on-site drilling personnel or automatic rock drilling rig perform precise drilling operations according to the projected markings; S6: After blasting, hazard removal and muck removal are completed, step S1 is repeated to obtain the point cloud of the blasted section. The effect evaluation and closed-loop optimization module automatically calculates the over-excavation and under-excavation amounts, the maximum linear over-excavation value and the half-hole ratio index, quantitatively evaluates the implementation effect of this correction scheme, and sends the evaluation data back to the database to optimize subsequent blasting parameters and iteratively update the expert rule base. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion according to an embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the structure of the multi-hole laser positioning unit; Figure 3 for Figure 1 Internal diagram of the 3D scanning module Figure 1 ; Figure 4 for Figure 1 Internal diagram of the 3D scanning module Figure 2 ; Figure 5 This is a flowchart illustrating a method for tunnel blasting correction based on multi-hole laser three-dimensional scanning fusion, according to an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 1. Multi-hole laser positioning unit; 2. 3D scanning module; 3. Main unit control unit; 101. Array circular hole; 102. Corner fixing hole; 103. Bottom interface; 201. Laser emitter; 202. MEMS galvanometer; 203. Receiving window; 204. Photodetector; 205. Control circuit board; 206. Motor; 207. Main control chip; 208. External interface; 209. Heat sink. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application are described clearly and completely below with reference to the accompanying drawings. It should be understood that the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments described in this application without creative effort will fall within the scope of protection of this application.

[0019] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is for the purpose of describing specific embodiments only and is not intended to limit this application; the terms "comprising," "including," "having," "containing," "comprise," etc., in the specification, claims, and accompanying drawings of this application are open-ended terms, indicating that a method comprises one or more steps, or an apparatus comprises one or more elements, but do not exclude the inclusion of other steps or elements. The terms "first," "second," etc., in the specification, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or primary / secondary relationship. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this application, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0022] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0023] like Figure 1-2 As shown in the figure, an embodiment of the present invention provides a tunnel blasting correction system based on multi-aperture laser three-dimensional scanning fusion, comprising a multi-aperture laser positioning unit 1, a three-dimensional scanning module 2, and a host control unit 3. The three-dimensional scanning module 2 is installed on one side of the multi-aperture laser positioning unit 1, and the host control unit 3 is electrically connected to both the multi-aperture laser positioning unit 1 and the three-dimensional scanning module 2. The multi-aperture laser positioning unit 1 is provided with an array of circular holes 101, corner fixing holes 102, and a bottom interface 103. The scanning beam emitted by the three-dimensional scanning module 2 and the positioning beam projected by the multi-aperture laser positioning unit 1 both pass through the same array of circular holes 101 to form an optical path structure with a shared optical reference surface.

[0024] In this embodiment, by installing the three-dimensional scanning module 2 on one side of the multi-aperture laser positioning unit 1, and ensuring that the scanning beams and positioning beams emitted by both pass through the same array of circular holes 101 to form a shared optical reference surface optical path structure, the system registration error introduced by the separation of the scanning coordinate system and the projection coordinate system in traditional split-type equipment is eliminated at the physical level, thereby fundamentally improving the positioning accuracy of the borehole. At the same time, the host control unit 3 is electrically connected to the multi-aperture laser positioning unit 1 and the three-dimensional scanning module 2 respectively, and completes the real-time transmission of scanning data and the immediate issuance of positioning commands through the bottom interface 103, thus constructing a hardware closed loop of "scanning detection - scheme correction - laser guidance", completely getting rid of the backward operation method of relying on manual tape measure angle measurement and line laying.

[0025] Specifically, the 3D scanning module 2 collects real-time 3D point cloud data of the tunnel face and surrounding rock geological information, completes point cloud processing and surrounding rock feature identification, and dynamically corrects the blasting plan and borehole parameters based on the actual geological conditions. The multi-hole laser positioning unit 1 converts the corrected parameters into visual laser markers, enabling precise guidance for drilling operations. By constructing a closed-loop operation system of "scanning detection - intelligent correction - laser guidance - effect review," it can identify unfavorable geological conditions such as face fissures and fracture zones in real time, dynamically optimize the borehole position, angle, depth, charge quantity, and detonation sequence, effectively solving problems such as static design of traditional tunnel blasting schemes, large errors in manual measurement, delayed correction, and frequent over-excavation and under-excavation. It improves the quality of blasting formation, construction efficiency, and operational safety, and is suitable for blasting construction in various underground tunnels such as mines, tunnels, and water conservancy tunnels.

[0026] Among them, the corner fixing hole 102 ensures the positional stability of the equipment in harsh tunnel environments, and keeps the coordinate reference of the two scan data before and after blasting consistent, laying a reliable physical structural foundation for the integrated closed-loop control of the whole process.

[0027] like Figure 1 and Figure 2 As shown, the array of circular holes 101 are evenly arranged in a matrix on the front panel of the multi-hole laser positioning unit 1. The corner fixing holes 102 are symmetrically opened at the four corners of the multi-hole laser positioning unit 1 to realize the detachable fixed assembly and position calibration of the multi-hole laser positioning unit 1 and the equipment frame. The bottom interface 103 is opened at the bottom center of the multi-hole laser positioning unit 1 to realize the power supply and signal transmission connection between the multi-hole laser positioning unit 1 and the host control unit 3.

[0028] In this embodiment, the array of circular holes 101 are uniformly arranged in a matrix on the front panel of the multi-hole laser positioning unit 1, enabling the scanning beam and positioning beam to achieve full coverage of the optical reference points within the panoramic range of the working face through the multi-point array light transmission channel, effectively improving the overall positioning uniformity and repeatability of the system. The corner fixing holes 102 are symmetrically opened at the four corners of the multi-hole laser positioning unit 1, realizing the detachable fixed assembly and position calibration of the multi-hole laser positioning unit 1 and the equipment frame, ensuring that the detection reference of the three-dimensional scanning module 2 and the projection reference of the multi-hole laser positioning unit 1 are always consistent. The bottom interface 103 is opened at the bottom center of the multi-hole laser positioning unit 1, realizing the power supply and signal transmission connection between the multi-hole laser positioning unit 1 and the host control unit 3 through integrated docking, ensuring the electrical continuity of real-time scanning data feedback and immediate issuance of positioning commands, fundamentally solving the technical problems of loose structure, coordinate separation, and large manual layout errors in traditional split-type equipment.

[0029] like Figure 3 and Figure 4As shown, the three-dimensional scanning module 2 is equipped with a laser emitter 201, a MEMS galvanometer 202, a receiving window 203, a photodetector 204, a control circuit board 205, a motor 206, a main control chip 207, an external interface 208, and a heat sink 209. The laser emitter 201 is fixedly mounted on one side inside the three-dimensional scanning module 2 and is used to emit a detection laser beam. The detection laser beam passes through the array circular hole 101 and is projected onto the surface of the face to be measured.

[0030] In this embodiment, the detection laser beam emitted by the laser emitter 201 passes through the array circular aperture 101 and is projected onto the working face surface, ensuring that the scanning optical path and the positioning optical path share the same optical reference plane. This guarantees the consistency of scanning data and projection coordinates from the emission source, eliminating the need for additional coordinate transformation. The MEMS galvanometer 202 is driven by the motor 206 to achieve high-speed deflection. Together with the receiving window 203 and the photodetector 204, it completes the recovery and photoelectric conversion of the reflected signal, realizing automated scanning of the entire working face without blind spots. This completely replaces the outdated method of manually measuring angles point by point in the prior art, significantly improving data acquisition. Efficiency and precision: The control circuit board 205, as the core of circuit regulation, connects to various electrical components. The main control chip 207 is integrated on it to receive instructions from the host control unit 3 and coordinate the entire scanning process. It deeply integrates three-dimensional scanning and laser positioning at the circuit and logic level, enabling real-time linkage between data acquisition and on-site guidance. The external interface 208 provides a standardized data transmission and device interconnection channel. The heat sink 209 is attached and fixed to the heat-generating areas of the main control chip 207 and the control circuit board 205 to quickly dissipate working heat. The two work together to ensure the long-term stable operation of the system in the high temperature, high humidity and frequent vibration environment of the tunnel.

[0031] like Figure 3 and Figure 4 As shown, the MEMS galvanometer 202 is positioned on the light output path of the laser emitter 201 to deflect and adjust the projection angle and scanning coverage of the laser beam at high speed. The motor 206 is driven by the MEMS galvanometer 202 to provide driving power for the angle deflection of the MEMS galvanometer 202.

[0032] In this embodiment, the MEMS galvanometer 202 is positioned on the light output path of the laser emitter 201. By adjusting the projection angle and scanning coverage of the laser beam through high-speed deflection, a single laser emitter 201 can complete a rapid scan of the entire working face without relying on external mechanical moving devices or manual point-by-point measurements. This eliminates the inherent defects of the manual tape measure method in the prior art, such as high labor intensity, low measurement efficiency, and large human error, and significantly improves the automation level and data acquisition efficiency of the scanning operation. Through the transmission cooperation between the motor 206 and the MEMS galvanometer 202, precise driving power is provided for the angle deflection of the MEMS galvanometer 202, thereby ensuring that the projection path of the laser beam is accurately controllable and that the consistency and repeatability of the scanning range are effectively guaranteed.

[0033] Specifically, through the coordinated operation of the high-speed deflection of the MEMS galvanometer 202 and the precise transmission of the motor 206, high-density repeated scanning of key areas such as local fractures, joints, and weak interlayers at the tunnel face can be achieved. Targeted detailed investigations of areas of interest can also be conducted, significantly improving the precision of geological perception. By combining the high-speed deflection scanning mechanism with the shared optical reference surface structure of the array circular aperture 101, the three-dimensional scanning module 2 can complete the entire acquisition process from beam emission, angle deflection, signal recovery to data output in a very short time, further shortening the time required for geological exploration and data acquisition during single-cycle blasting construction.

[0034] like Figure 3 and Figure 4 As shown, the receiving window 203 is located at the optical path recovery position on the front shell of the three-dimensional scanning module 2, and is used to transmit the laser signal reflected from the face of the machine. The photodetector 204 is fixed inside the receiving window 203 and aligned with the optical path of the receiving window 203, and is used to receive the reflected laser signal and convert the optical signal into a recognizable electrical signal.

[0035] In this embodiment, the receiving window 203 is located at the optical path recovery position on the front shell of the three-dimensional scanning module 2, ensuring that the laser signal reflected back from the working face can be collected efficiently. At the same time, as a high-transmittance protective structure, the window can effectively block high-concentration dust, water mist and rock fragments from entering the module, protecting the precision optical components such as the built-in photodetector 204 from contamination and mechanical damage, and significantly improving the reliability and service life of the equipment in harsh underground environments.

[0036] Specifically, the photodetector 204 is fixedly installed inside the receiving window 203 and strictly aligned with the optical path of the receiving window 203. This allows the reflected laser signal to be directly incident on the photosensitive surface of the detector with the shortest optical path and minimal attenuation after passing through the window. This effectively avoids signal loss and noise interference caused by optical path deflection or scattering, ensuring the high fidelity of the photoelectric conversion signal and the accuracy of the raw data. The photodetector 204 converts the received reflected laser signal into a recognizable electrical signal in real time. In conjunction with the laser emitter 201 and the MEMS galvanometer 202, a complete optical acquisition channel of "emission-deflection-projection-reflection-reception-conversion" is constructed. This provides a high-density, high-quality source of raw point cloud data for the background data processing and modeling modules, supporting the real-time geological sensing capability lacking in the background technology from the source of signal perception.

[0037] like Figure 3 and Figure 4 As shown, the control circuit board 205 is electrically connected to the laser emitter 201, MEMS galvanometer 202, photodetector 204, motor 206 and main control chip 207 respectively, and is used to realize the signal relay and circuit regulation of each electrical component. The main control chip 207 is integrated on the control circuit board 205 and is used to receive control commands issued by the host control unit 3.

[0038] In this embodiment, the control circuit board 205 is electrically connected to the laser emitter 201, MEMS galvanometer 202, photodetector 204, motor 206, and main control chip 207, respectively. This enables signal relay and circuit control between each execution component and the main control chip 207, allowing the originally independently operating scanning light source, beam deflection, signal reception, and drive transmission components to form a unified and controlled whole at the circuit level. This ensures the coordination and synchronization of the entire scanning process from a hardware architecture perspective. The main control chip 207 is integrated on the control circuit board 205 and is responsible for receiving control commands issued by the host control unit 3. Based on these commands, it coordinates and controls the entire process of laser emission, galvanometer deflection, and signal acquisition. This allows the 3D scanning module 2 to automatically complete the standardized acquisition of face data without human intervention, completely replacing the outdated operation mode of relying on manual tape measure angle measurement and point-by-point measurement in the background technology. This eliminates the measurement deviation and efficiency bottleneck introduced by human factors from the root.

[0039] like Figure 3 and Figure 4 As shown, the external interface 208 is embedded in the outer shell of the 3D scanning module 2, and the heat sink 209 is attached and fixed to the heat-generating area of ​​the main control chip 207 and the control circuit board 205 to quickly dissipate working heat.

[0040] In this embodiment, the external interface 208 provides a standardized data exchange and communication channel for the device, enabling the 3D scanning module 2 to easily access the existing communication network of the mine and to interface with execution equipment such as rock drilling rigs, supporting online firmware upgrades and remote maintenance. The heat sink 209 is attached and fixed to the heat-generating area of ​​the main control chip 207 and the control circuit board 205. The high thermal conductivity material is used to quickly dissipate the large amount of heat generated by the core electronic components during long-term continuous scanning, avoiding the chip frequency reduction, signal drift, operation lag, or even device burnout caused by heat accumulation in the high temperature and humidity environment of the roadway. This ensures the long-term stable operation and data acquisition consistency of the 3D scanning module 2 in blasting cycle operations.

[0041] Specifically, the host control unit 3 is electrically connected to the multi-hole laser positioning unit 1 and the three-dimensional scanning module 2 via the bottom interface 103 and the external interface 208, respectively.

[0042] like Figure 1 As shown, the host control unit 3 is equipped with a background operating system, which includes: a data acquisition module, used to drive the 3D scanning module 2 to acquire high-density point cloud data of the working face and the morphological characteristics of the surrounding rock; a data processing and modeling module, used to automatically stitch, filter and reduce noise of the point cloud data, generate a 3D point cloud model of the current section, and spatially register and align it with the original blasting design model; a dynamic correction module for blasting scheme, used to compare the point cloud model with the original design model to identify over-excavation, under-excavation and changes in the surrounding rock, and call the built-in blasting expert rule base to automatically correct the number, position, angle, depth and charge parameters of each borehole; an execution instruction generation module, used to convert the corrected scheme into positioning instructions containing borehole coordinates and drilling instructions containing angle and depth parameters, and send them to the multi-hole laser positioning unit 1 and the rock drilling execution equipment respectively; and an effect evaluation and closed-loop optimization module, used to drive the system to scan again after blasting and risk removal, calculate the over-excavation and under-excavation volume and half-hole ratio to evaluate the correction effect, and store the evaluation results in the database to update the weight parameters of the expert rule base.

[0043] In this embodiment, the data acquisition module drives the 3D scanning module 2 to acquire high-density point cloud data of the tunnel face and the morphological characteristics of the surrounding rock. This upgrades the outdated method of relying on manual observation and simple tool measurement to a fully automated, high-precision digital perception, providing an accurate and comprehensive data source for subsequent scheme corrections. This fundamentally solves the industry pain point of lagging and crude geological information acquisition. The data processing and modeling module automatically stitches, filters, reduces noise, and constructs triangulation networks from the original point cloud data to generate a 3D point cloud model of the current section. This model is then spatially registered and aligned with the original blasting design model, allowing for precise quantification of the deviation between the actual tunnel face morphology and the design outline. This provides a precise digital basis for judging the inherent defect of "over-excavation and under-excavation cannot be predicted in advance." The dynamic correction module for the blasting scheme accurately identifies over-excavation areas, under-excavation areas, and the attitude of the surrounding rock structure by comparing the two registered models. Based on the identification results, it calls the built-in blasting expert rule library to automatically correct the number, location, angle, depth, and other parameters of each borehole. The charge parameters free decision-making from reliance on manual experience, enabling real-time correction capabilities that were previously lacking in "parameter optimization before single-cycle construction." The execution command generation module transforms the corrected plan into positioning and drilling commands, which are then sent to the multi-hole laser positioning unit 1 and the rock drilling execution equipment, respectively. This establishes a data channel between "plan decision-making" and "on-site execution," ensuring that the corrected plan is transmitted to the work face without attenuation and accommodating both manual drilling and automatic trolley construction modes. This completely eliminates the accumulation of deviations caused by traditional manual secondary layout. The effect evaluation and closed-loop optimization module drives the system to scan again after blasting and hazard removal, automatically calculating the over- and under-excavation volume and half-hole ratio to evaluate the correction effect. The evaluation results are stored in the database to iteratively update the weight parameters of the expert rule base, constructing a complete closed-loop process of "perception-correction-execution-evaluation-iteration." This enables blasting parameters to have self-learning and continuous evolution capabilities, providing a complete systematic solution to the problem of "lack of integrated closed-loop management."

[0044] like Figure 5As shown, a tunnel blasting correction method based on multi-hole laser three-dimensional scanning fusion, and the aforementioned tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion, includes the following steps: S1: The three-dimensional scanning module 2 is started by the host control unit 3. The detection beam emitted by the laser emitter 201 passes through the array of circular holes 101 to perform a full-domain scan of the current working face, acquiring high-density original point cloud data including over-excavation and under-excavation boundaries and the morphology of surrounding rock joints and fractures; S2: The host control unit 3 performs splicing, filtering and noise reduction, and triangulation construction on the original point cloud data to generate a high-precision three-dimensional point cloud model of the current cross-section, and aligns the model with the original blasting design model using feature point cloud registration; S3: The host control unit 3 compares the two registered models to identify the over-excavation area, under-excavation area, and the attitude of the surrounding rock structure surface. Based on the identification results, the built-in blasting expert rule library is called to automatically correct the caving holes. S4: The host control unit 3 generates positioning and drilling commands from the corrected borehole parameters, sends the positioning commands to the multi-hole laser positioning unit 1, and sends the drilling commands to the rock drilling rig or handheld terminal; S5: After receiving the positioning commands, the multi-hole laser positioning unit 1 projects the corrected borehole layout map directly onto the working face through the array of circular holes 101. On-site drilling personnel or automatic rock drilling rigs perform precise drilling operations based on the projected markings; S6: After blasting, hazard removal and slag removal are completed, step S1 is repeated to obtain the point cloud of the blasted section. The effect evaluation and closed-loop optimization module automatically calculates the over-excavation and under-excavation amounts, the maximum linear over-excavation value and the half-hole ratio index, quantitatively evaluates the implementation effect of this correction scheme, and sends the evaluation data back to the database to optimize subsequent blasting parameters and iteratively update the expert rule base.

[0045] In this embodiment, the host control unit 3 activates the 3D scanning module 2. The detection beam emitted by the laser emitter 201 passes through the array circular holes 101 to perform a full-area scan of the current working face, acquiring high-density original point cloud data including the over- and under-excavation boundaries and the morphology of the surrounding rock joints and fractures. This upgrades the outdated method of relying on manual visual observation and tape measure angle measurement to automated, high-precision digital perception, fundamentally solving the industry pain point of lagging and crude geological information acquisition, and providing an accurate data source for subsequent scheme correction. The host control unit 3 then stitches, filters and reduces noise from the original point cloud data and constructs a triangulation network to generate a high-precision 3D point cloud model of the current section, and registers the feature point cloud with the original blasting design model. Alignment allows for precise quantification of the deviation between the actual face shape and the design outline, eliminating the information blind spot of "over-excavation and under-excavation cannot be predicted in advance." By comparing the two registered models through the main control unit 3, over-excavation areas, under-excavation areas, and the attitude of the surrounding rock structure are accurately identified. Based on the identification results, the built-in blasting expert rule base is invoked to automatically correct the spatial distribution coordinates, dip angle, hole depth parameters, and charge structure and unit consumption value of each hole. This upgrades the scheme correction from a rough mode relying on manual experience to a data-driven intelligent decision-making mode, realizing the missing real-time correction capability of "completing parameter optimization before single-cycle blasting construction." The main control unit 3 generates positioning commands and drilling commands from the corrected hole parameters and sends them to... The multi-aperture laser positioning unit 1 and the drilling rig or handheld terminal establish a data channel between back-end decision-making and on-site execution. This ensures that the corrected plan is transmitted to the working face without attenuation, and also accommodates both manual drilling and automatic drilling rig construction modes, completely eliminating the cumulative deviation and efficiency loss caused by manual secondary layout. After receiving the positioning command, the multi-aperture laser positioning unit 1 projects the corrected borehole layout map directly onto the working face through the array of circular holes 101. On-site drilling personnel or the automatic drilling rig perform precise drilling operations based on the projected markings. Utilizing the hardware advantage that the scanning beam and positioning beam share the same optical reference plane, the corrected borehole coordinates can be directly mapped to the working face without additional conversion, fundamentally eliminating the need for transmission. Human error in the "drawing-on-site" conversion process in the unified layout method was eliminated, ensuring the high-fidelity execution of the revised plan. After blasting, hazard removal, and muck removal, step S1 was repeated to obtain the point cloud of the blasted section. The effect evaluation and closed-loop optimization module automatically calculated the over-excavation and under-excavation amounts, the maximum linear over-excavation value, and the half-hole ratio, quantitatively evaluating the implementation effect of the revised plan. The evaluation data was then sent back to the database to optimize subsequent blasting parameters and iteratively update the expert rule base, constructing a complete closed-loop process of "pre-blasting perception - plan revision - precise execution - post-blasting evaluation - rule iteration". This enabled the blasting parameters to have self-learning and continuous evolution capabilities, providing a complete solution from data collection to knowledge updating for the problem of "lack of integrated closed-loop management".

[0046] The above-disclosed embodiments are merely a few specific examples of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion, characterized in that, It includes a multi-hole laser positioning unit (1), a three-dimensional scanning module (2) and a host control unit (3). The three-dimensional scanning module (2) is installed on one side of the multi-hole laser positioning unit (1), and the host control unit (3) is electrically connected to the multi-hole laser positioning unit (1) and the three-dimensional scanning module (2) respectively. The multi-hole laser positioning unit (1) is provided with an array of circular holes (101), corner fixing holes (102) and a bottom interface (103). The scanning beam emitted by the three-dimensional scanning module (2) and the positioning beam projected by the multi-hole laser positioning unit (1) both pass through the same array of circular holes (101) to form an optical path structure with a shared optical reference surface.

2. The tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion as described in claim 1, characterized in that, The array of circular holes (101) is evenly arranged in a matrix on the front panel of the multi-hole laser positioning unit (1). The corner fixing holes (102) are symmetrically opened at the four corners of the multi-hole laser positioning unit (1) to realize the detachable fixed assembly and position calibration of the multi-hole laser positioning unit (1) and the equipment frame. The bottom interface (103) is opened at the bottom center of the multi-hole laser positioning unit (1) to realize the power supply and signal transmission connection between the multi-hole laser positioning unit (1) and the host control unit (3).

3. The tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion as described in claim 1, characterized in that, The three-dimensional scanning module (2) is equipped with a laser emitter (201), a MEMS galvanometer (202), a receiving window (203), a photodetector (204), a control circuit board (205), a motor (206), a main control chip (207), an external interface (208), and a heat sink (209). The laser emitter (201) is fixedly mounted on one side inside the three-dimensional scanning module (2) and is used to emit a detection laser beam. The detection laser beam passes through the array circular hole (101) and is projected onto the surface of the face to be tested.

4. The tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion as described in claim 3, characterized in that, The MEMS galvanometer (202) is positioned on the light output path of the laser emitter (201) to deflect and adjust the projection angle and scanning coverage of the laser beam at high speed. The motor (206) is driven by the MEMS galvanometer (202) to provide driving power for the angle deflection of the MEMS galvanometer (202).

5. The tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion as described in claim 3, characterized in that, The receiving window (203) is located at the optical path recovery position of the front shell of the three-dimensional scanning module (2) to transmit the laser signal reflected from the face of the machine. The photodetector (204) is fixed inside the receiving window (203) and aligned with the optical path of the receiving window (203) to receive the reflected laser signal and convert the optical signal into a recognizable electrical signal.

6. The tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion as described in claim 3, characterized in that, The control circuit board (205) is electrically connected to the laser emitter (201), MEMS galvanometer (202), photodetector (204), motor (206) and main control chip (207) respectively, and is used to realize the signal transfer and circuit regulation of each electrical component. The main control chip (207) is integrated on the control circuit board (205) and is used to receive control commands issued by the host control unit (3).

7. The tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion as described in claim 3, characterized in that, An external interface (208) is embedded in the outer shell of the three-dimensional scanning module (2), and a heat sink (209) is attached to the heat-generating area of ​​the main control chip (207) and the control circuit board (205) for rapid heat dissipation.

8. The tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion as described in claim 3, characterized in that, The host control unit (3) is electrically connected to the multi-hole laser positioning unit (1) and the three-dimensional scanning module (2) via the bottom interface (103) and the external interface (208) respectively.

9. The tunnel blasting correction system based on multi-hole laser three-dimensional scanning fusion as described in claim 1, characterized in that, The host control unit (3) is equipped with a background operating system, which includes: The data acquisition module is used to drive the three-dimensional scanning module (2) to acquire high-density point cloud data of the working face and the morphological characteristics of the surrounding rock; The data processing and modeling module is used to automatically stitch, filter and reduce noise in point cloud data, generate a 3D point cloud model of the current section, and spatially register and align it with the original blasting design model. The dynamic correction module for blasting schemes is used to compare the point cloud model with the original design model to identify over-excavation, under-excavation, and areas of change in surrounding rock, and to automatically correct the number, location, angle, depth, and charge parameters of each borehole by calling the built-in blasting expert rule library. The execution instruction generation module is used to convert the modified scheme into positioning instructions containing hole position coordinate diagrams and drilling instructions containing angle and depth parameters, and send them to the multi-hole laser positioning unit (1) and the rock drilling execution device respectively. The effect evaluation and closed-loop optimization module is used to drive the system to scan again after blasting and hazard removal, calculate the over-excavation and under-excavation volume and half-hole ratio to evaluate the correction effect, and store the evaluation results in the database to update the weight parameters of the expert rule base.

10. A method for correcting tunnel blasting using multi-hole laser three-dimensional scanning fusion, characterized in that, The tunnel blasting correction system applied to the multi-hole laser three-dimensional scanning fusion as described in any one of claims 1-9 includes the following steps: S1: The three-dimensional scanning module (2) is started by the host control unit (3). The detection beam emitted by the laser emitter (201) passes through the array circular hole (101) to perform a full-domain scan of the current working face and obtain high-density original point cloud data including the over-excavation boundary and the morphology of the surrounding rock joints and fissures. S2: The host control unit (3) splices, filters and reduces noise from the original point cloud data and constructs a triangular network to generate a high-precision three-dimensional point cloud model of the current section, and then registers and aligns the model with the original blasting design model using feature point cloud registration. S3: By comparing the two registered models through the host control unit (3), the over-excavation area, under-excavation area and the orientation of the surrounding rock structure surface are identified. Based on the identification results, the built-in blasting expert rule library is called to automatically correct the spatial distribution coordinates, inclination angle and hole depth parameters of the blast holes, and adjust the charge structure and unit consumption value of each hole. S4: The host control unit (3) generates positioning and drilling commands from the corrected borehole parameters, sends the positioning command to the multi-hole laser positioning unit (1), and sends the drilling command to the rock drilling rig or handheld terminal. S5: After receiving the positioning command, the multi-hole laser positioning unit (1) projects the corrected borehole layout map directly onto the working face through the array of circular holes (101). On-site drilling personnel or automatic rock drilling rigs perform precise drilling operations based on the projected markings. S6: After blasting, hazard removal and slag removal are completed, repeat step S1 to obtain the point cloud of the cross-section after blasting. The effect evaluation and closed-loop optimization module automatically calculates the over-excavation and under-excavation amount, the maximum linear over-excavation value and the half-hole ratio index, quantitatively evaluates the implementation effect of this correction plan, and sends the evaluation data back to the database to optimize subsequent blasting parameters and iteratively update the expert rule base.

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