CN113722866B

CN113722866B - Method and device for updating tunneling roadway space topology network model

Info

Publication number: CN113722866B
Application number: CN202110806926.XA
Authority: CN
Inventors: 武强; 张建安; 赵琳; 胡俭; 郑永飞; 杨帆; 张池; 朱信龙; 高彬; 呼少平; 王宏科; 刘辉; 田水豹; 谢沛; 徐华; 杜沅泽
Original assignee: China University of Mining and Technology Beijing CUMTB; Shenmu Zhangjiamao Mining Co Ltd of Shaanxi Coal Group Co Ltd
Current assignee: China University of Mining and Technology Beijing CUMTB; Shenmu Zhangjiamao Mining Co Ltd of Shaanxi Coal Group Co Ltd
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2024-04-30
Anticipated expiration: 2041-07-16
Also published as: CN113722866A

Abstract

The disclosure provides a method and a device for updating a tunnelling roadway space topology network model. The method comprises the following steps: acquiring an original roadway space topology network model, newly-added roadway data and a roadway data table, and assigning values to a roadway center line and a wire guide point in the newly-added roadway data according to the roadway data table so as to determine an attribute value of the roadway center line and an attribute value of the wire guide point; detecting that the wire guide point is not matched with the correct roadway center line to which the wire guide point belongs, and correcting the wire guide point to the correct roadway center line; detecting a wire guide point missing at a turning position of a roadway or at an intersection of the roadway, supplementing a virtual wire guide point, and determining a z coordinate of the virtual wire guide point according to linear interpolation based on a search algorithm; detecting a newly added roadway, determining a connection mode of an original roadway and the newly added roadway, and combining and connecting the new roadway to an original roadway space topology network model by adopting a corresponding combining processing mode; and forming a new roadway section according to the corrected wire guide points and the virtual wire guide points, and establishing a newly-added encryption section topology to update a roadway space topology network model.

Description

Method and device for updating tunneling roadway space topology network model

Technical Field

The disclosure relates to the technical field of computers, in particular to a method and a device for updating a tunnelling roadway space topology network model.

Background

The accuracy of the topological connection relation of the mine roadway space topological network model depends on how error data are analyzed and processed. In the related art, a roadway space topology network model is often built by extracting information in a mining engineering plan, but the method cannot be applied to all roadway types. In the research of solving the z coordinate of virtual wire points at the turning part and the intersection of the tunnel and continuously updating the tunnel space topology network model along with the increase of the mining depth, the problems that the space wire points are not on the central line of the tunnel, the wire points are absent at the turning part and the intersection of the tunnel and the mine tunnel space topology network model cannot be continuously updated along with the mining progress exist.

Disclosure of Invention

In view of the above, the present disclosure provides a method and an apparatus for updating a topology network model of a tunnelling roadway space.

Based on the above object, the present disclosure provides a method for updating a tunnelling roadway space topology network model, including:

Acquiring an original roadway space topology network model, newly-added roadway data and a roadway data table, and assigning values to a roadway center line and a wire guide point in the newly-added roadway data according to the roadway data table so as to determine an attribute value of the roadway center line and an attribute value of the wire guide point;

correcting the wire guide point to a correct roadway center line in response to detecting that the wire guide point does not match the correct roadway center line to which the wire guide point belongs;

In response to detecting that the wire guide point is absent at a roadway turning position or a roadway intersection, supplementing a virtual wire guide point, and determining a z coordinate of the virtual wire guide point according to linear interpolation based on a search algorithm;

Responding to the detection of a newly added roadway, determining the connection mode of an original roadway and the newly added roadway, and combining and connecting the new roadway to the original roadway space topology network model by adopting a corresponding combining processing mode;

and forming a new tunnel section according to the corrected wire points and the virtual wire points on the central line of the tunnel, and establishing a newly-added encryption section topology to update a tunnel space topology network model.

Based on the same inventive concept, the embodiment of the disclosure further provides a tunneling roadway space topology network model updating device, which comprises:

The acquisition module is configured to acquire an original roadway space topology network model, newly-added roadway data and a roadway data table, and assign values to a roadway center line and a wire guide point in the newly-added roadway data according to the roadway data table so as to determine an attribute value of the roadway center line and an attribute value of the wire guide point;

A correction module configured to correct the wire guide point to a correct lane centerline to which the wire guide point belongs in response to detecting that the wire guide point does not match the correct lane centerline;

A supplementing module configured to supplement a virtual wire point in response to detecting a lack of the wire point at a lane break or lane intersection, and determine the virtual wire point z-coordinate according to a linear interpolation based on a search algorithm;

The merging module is configured to respond to detection of the newly added roadway, determine the connection mode of the original roadway and the newly added roadway, and merge and connect the new roadway to the original roadway space topology network model by adopting a corresponding merging processing mode;

And the updating module is configured to form a new roadway section according to the corrected wire guide points and the virtual wire guide points on the central line of the roadway, and establish a newly-added encrypted section topology so as to update a roadway space topology network model.

From the above, it can be seen that the method and apparatus for updating a tunnelling roadway space topology network model provided by the present disclosure include: acquiring an original roadway space topology network model, newly-added roadway data and a roadway data table, and assigning values to a roadway center line and a wire guide point in the newly-added roadway data according to the roadway data table so as to determine an attribute value of the roadway center line and an attribute value of the wire guide point; correcting the wire guide point to a correct roadway center line in response to detecting that the wire guide point does not match the correct roadway center line to which the wire guide point belongs; in response to detecting that the wire guide point is absent at a roadway turning position or a roadway intersection, supplementing a virtual wire guide point, and determining a z coordinate of the virtual wire guide point according to linear interpolation based on a search algorithm; responding to the detection of a newly added roadway, determining the connection mode of an original roadway and the newly added roadway, and combining and connecting the new roadway to the original roadway space topology network model by adopting a corresponding combining processing mode; and forming a new tunnel section according to the corrected wire points and the virtual wire points on the central line of the tunnel, and establishing a newly-added encryption section topology to update a tunnel space topology network model. And visually displaying the model result, and determining the accuracy of the updated roadway space topology network model by visually analyzing the lead points and the adjacent roadway sections of the new roadway connection position and the old roadway connection position. The method realizes the continuous update of the roadway space topology network model along with the mining progress. By an automatic correction method aiming at error data, the wire guide points are corrected to the correct lane central line, so that the problem that errors possibly exist in the space wire guide points is solved; the linear interpolation calculation of the z coordinate of the virtual wire guide point is designed based on a search algorithm, so that the situation that the wire guide point is absent at the turning part and the bifurcation part of the roadway is solved; according to the different modes of the connection of the new roadway and the old roadway, the combination connection of the new roadway space topology network model and the old roadway space topology network model is realized by adopting different combination processing methods; the new roadway section difference value formed by the wire guide points and the virtual wire guide points on the roadway center line is encrypted, a newly added roadway topology is built, and finally an updated roadway space topology network model is formed, so that the roadway space topology network model which is updated continuously along with the mining progress is realized.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is apparent that the drawings in the following description are only one or more embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.

Fig. 1 is a schematic diagram of an exemplary updating method of a tunnelling roadway space topology network model according to an embodiment of the present disclosure.

Fig. 2 is an overall flowchart of a tunnelling roadway space topology network model updating method according to an embodiment of the present disclosure.

Fig. 3 is a schematic diagram of a single roadway body topology connection according to an embodiment of the present disclosure.

Fig. 4 is a schematic diagram of a curved roadway body topology connection according to an embodiment of the present disclosure.

Fig. 5 is a schematic diagram of a multi-junction topology connection according to an embodiment of the present disclosure.

Fig. 6 is a schematic diagram of a lane line drawn correctly in accordance with an embodiment of the present disclosure.

Fig. 7 is a schematic diagram of a wire guide point properly drawn according to an embodiment of the present disclosure.

Fig. 8 (a) is a schematic diagram of an exemplary internal linear interpolation scenario according to an embodiment of the present disclosure.

Fig. 8 (b) is a schematic diagram of another exemplary internal linear interpolation scenario according to an embodiment of the present disclosure.

Fig. 9 (a) is a schematic diagram of a first exemplary external linear interpolation scenario according to an embodiment of the present disclosure.

Fig. 9 (b) is a schematic diagram of a second exemplary external linear interpolation scenario according to an embodiment of the present disclosure.

Fig. 9 (c) is a schematic diagram of a third exemplary external linear interpolation scenario according to an embodiment of the present disclosure.

Fig. 10 is a schematic diagram of a newly added roadway diagram according to an embodiment of the disclosure.

Fig. 11 is a schematic diagram of a two-dimensional array of roadway centerline endpoint connection relationships according to an embodiment of the disclosure.

Fig. 12 (a) is a schematic diagram of a roadway section before merging of a first wire guide point join in accordance with an embodiment of the present disclosure.

Fig. 12 (b) is a schematic diagram of a roadway section after first wire-dot joining and merging according to an embodiment of the present disclosure.

Fig. 13 (a) is a schematic diagram of a roadway section before merging of a second type of wire-dot junction according to an embodiment of the present disclosure.

Fig. 13 (b) is a schematic diagram of a roadway section before merging of a second type of wire-dot junction according to an embodiment of the present disclosure.

Fig. 14 is a schematic diagram of another added roadway diagram according to an embodiment of the present disclosure.

Fig. 15 is a schematic diagram of a delta encrypted roadway segment according to an embodiment of the present disclosure.

Fig. 16 is a schematic illustration of a first visual presentation according to an embodiment of the present disclosure.

Fig. 17 is a schematic illustration of a highlighting visual presentation according to an embodiment of the present disclosure.

Fig. 18 is a schematic diagram of a second visual presentation according to an embodiment of the present disclosure.

Fig. 19 is a schematic diagram of a roadway space topology network model of a typical mine prior to updating in accordance with an embodiment of the present disclosure.

FIG. 20 is a schematic diagram of an updated roadway space topology network model of a typical mine, according to an embodiment of the present disclosure.

Fig. 21 is a schematic diagram of a third visual presentation according to an embodiment of the present disclosure.

Fig. 22 is a fourth visual presentation schematic according to an embodiment of the disclosure.

Fig. 23 is a schematic diagram of an exemplary updating device of a tunnelling roadway space topology network model according to an embodiment of the present disclosure.

Detailed Description

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.

It is noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present disclosure should be taken in a general sense as understood by one of ordinary skill in the art to which the present disclosure pertains. The use of the terms "first," "second," and the like in one or more embodiments of the present description does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

As described in the background section, the accuracy of the topological connection relationship of the mine roadway space topology network model depends largely on how the error data is analyzed and processed. In the related art, a roadway space topology network model is often built by extracting information in a mining engineering plan, but the method cannot be applied to all roadway types. In the research of solving the z coordinate of virtual wire points at the turning part and the intersection of the tunnel and continuously updating the space topology network model of the tunnel along with the increase of the mining depth, the problems that the space wire points are not on the central line of the tunnel, the wire points are absent at the turning part and the intersection of the tunnel and the mine tunnel space topology network model cannot be continuously updated along with the mining progress exist.

Mine roadways are one of the important channels in coal mine production, which can convey coal from a working surface to the ground through a conveyor belt, and play a very important role in coal mining. The applicant finds through research that compared with a two-dimensional plan such as a mining engineering plan, the mine tunnel space topology network model can reflect the space position and trend of the tunnel more truly and intuitively. However, as the mining depth is continuously increased, the mine roadway space topology network model also needs to be updated, so that the automatic updating of the tunneling roadway space topology network model is a current problem to be solved.

In view of this, an embodiment of the present disclosure provides a method for updating a tunnelling roadway space topology network model, including: acquiring an original roadway space topology network model, newly-added roadway data and a roadway data table, and assigning values to a roadway center line and a wire guide point in the newly-added roadway data according to the roadway data table so as to determine an attribute value of the roadway center line and an attribute value of the wire guide point; correcting the wire guide point to a correct roadway center line in response to detecting that the wire guide point does not match the correct roadway center line to which the wire guide point belongs; in response to detecting that the wire guide point is absent at a roadway turning position or a roadway intersection, supplementing a virtual wire guide point, and determining a z coordinate of the virtual wire guide point according to linear interpolation based on a search algorithm; responding to the detection of a newly added roadway, determining the connection mode of an original roadway and the newly added roadway, and combining and connecting the new roadway to the original roadway space topology network model by adopting a corresponding combining processing mode; and forming a new tunnel section according to the corrected wire points and the virtual wire points on the central line of the tunnel, and establishing a newly-added encryption section topology to update a tunnel space topology network model.

The embodiment of the disclosure provides a method and a device for updating a tunnelling roadway space topology network model, comprising the following steps: acquiring an original roadway space topology network model, newly-added roadway data and a roadway data table, and assigning values to a roadway center line and a wire guide point in the newly-added roadway data according to the roadway data table so as to determine an attribute value of the roadway center line and an attribute value of the wire guide point; correcting the wire guide point to a correct roadway center line in response to detecting that the wire guide point does not match the correct roadway center line to which the wire guide point belongs; in response to detecting that the wire guide point is absent at a roadway turning position or a roadway intersection, supplementing a virtual wire guide point, and determining a z coordinate of the virtual wire guide point according to linear interpolation based on a search algorithm; responding to the detection of a newly added roadway, determining the connection mode of an original roadway and the newly added roadway, and combining and connecting the new roadway to the original roadway space topology network model by adopting a corresponding combining processing mode; and forming a new tunnel section according to the corrected wire points and the virtual wire points on the central line of the tunnel, and establishing a newly-added encryption section topology to update a tunnel space topology network model. And visually displaying the model result, and determining the accuracy of the updated roadway space topology network model by visually analyzing the lead points and the adjacent roadway sections of the new roadway connection position and the old roadway connection position. By an automatic correction method aiming at error data, the wire guide points are corrected to the correct lane central line, so that the problem that errors possibly exist in the space wire guide points is solved; the linear interpolation calculation of the z coordinate of the virtual wire guide point is designed based on a search algorithm, so that the situation that the wire guide point is absent at the turning part and the bifurcation part of the roadway is solved; according to the different modes of the connection of the new roadway and the old roadway, the combination connection of the new roadway space topology network model and the old roadway space topology network model is realized by adopting different combination processing methods; the new roadway section difference value formed by the wire guide points and the virtual wire guide points on the roadway center line is encrypted, a newly added roadway topology is built, and finally an updated roadway space topology network model is formed, so that the roadway space topology network model which is updated continuously along with the mining progress is realized.

The technical scheme of the present disclosure is further described in detail below through specific examples.

Referring to fig. 1, an updating method for a tunnelling roadway space topology network model provided in an embodiment of the present disclosure specifically includes the following steps:

S101: and acquiring an original roadway space topology network model, newly-added roadway data and a roadway data table, and assigning values to a roadway center line and a wire guide point in the newly-added roadway data according to the roadway data table so as to determine an attribute value of the roadway center line and an attribute value of the wire guide point.

S102: and correcting the wire guide point to the correct roadway center line in response to detecting that the wire guide point is not matched with the correct roadway center line to which the wire guide point belongs.

S103: and in response to detecting the lack of the wire guide point at the roadway turning position or the roadway intersection, supplementing the virtual wire guide point, and determining the z coordinate of the virtual wire guide point according to linear interpolation based on a search algorithm.

S104: and responding to the detection of the newly added roadway, determining the connection mode of the original roadway and the newly added roadway, and combining and connecting the new roadway to the original roadway space topology network model by adopting a corresponding combining processing mode.

S105: and forming a new tunnel section according to the corrected wire points and the virtual wire points on the central line of the tunnel, and establishing a newly-added encryption section topology to update a tunnel space topology network model.

Referring to fig. 2, for step S101, for mine roadways, wire measurement data such as wire points and roadway lines are basic data required for constructing a mine roadway space topology network model. According to the actual mining engineering plan, each roadway can be abstracted into a roadway line, namely a roadway center line, the roadway represented by the roadway center line can be generalized into a two-dimensional model, and the roadway center lines are mutually connected in a staggered manner to form the mine roadway topology network model. The mine tunnel is usually provided with the wire guide points, the wire guide points have elevation information, and due to the specificity and complexity of underground mining environments, the existence of the wire guide point data can not only determine the space position of the wire guide points in the tunnel, but also is an important basis for determining the space trend of the tunnel. Therefore, the mine tunnel space topology network model can be constructed by using the tunnel center line data and the wire guide point data, but because of the staggering and complicacy of the mine tunnel space relationship and the crisscross, the establishment of the topology connection relationship is very complicated, and the complete mine tunnel can be divided into a non-intersecting tunnel and an intersecting tunnel according to actual conditions.

Referring to fig. 3, for non-intersecting roadways, a single roadway body, a curved roadway body, and a turning roadway body may be included. The single roadway body can comprise a straight roadway body and an inclined roadway body, and based on the topology connection thought in the GIS, the topology connection relation of the single roadway body can be abstracted into a node-roadway section-node.

Referring to fig. 4, when the curved roadway body builds a roadway topology network model, in order to make the curved roadway body more similar to a real roadway body, a method of using straight lines instead of curves is generally adopted to decompose the curved roadway into a plurality of small straight line segments, and the more the number of decomposed segments is, the more similar is the number of decomposed segments, and the intersection point of every two adjacent straight line segments is a common node. Therefore, each straight line segment topological connection relation of the bent roadway body can be abstracted into a node-roadway segment-node.

For a turning roadway body, the turning roadway body generally occurs at the intersection of two roadways, and the intersection is a common node of the two roadway sections. Therefore, the topological connection relation of the turning roadway body can be abstracted into a node-roadway section-node.

Referring to fig. 5, the intersecting roadway may include branch intersections, such as a three-way intersection, a four-way intersection, a multi-way intersection, and the like. The branch road is usually called as a roadway body with branches, and a plurality of branches are generally judged according to the number of intersecting sections at the intersection point, for example, three branches are arranged at a three-branch road and four branches are arranged at a four-branch road. Therefore, when the roadway topology network model is established, the number of adjacent sections is determined according to the number of intersecting sections at the node, and the topology connection relation of each adjacent section is abstracted into a node-roadway section-node.

Drawing a newly added roadway map according to an actual mining engineering plan map and an original roadway middle line map, wherein the newly added roadway map mainly comprises two parts: newly added lane lines and newly added wire guide points.

Referring to fig. 6, a newly added lane center line is drawn in the lane center line diagram layer on the basis of the last update, and a lane center line is marked with a serial number, and meanwhile, an attribute value is assigned to a corresponding position in the lane center line attribute table according to the lane center line serial number. When drawing the roadway center line, the following steps are ensured: in order to ensure the continuity of the mine tunnel topology network model, the tunnel center lines are drawn by straight lines, and the intersection points among the tunnel center lines are accurately captured; if the upper and lower roadways intersect alternately, the intersecting position is near the intersecting point of one layer of roadways, and in order to ensure the correctness of the topological connection relationship of the mine roadways, the centerline of the roadways needs to be drawn alternately when the centerline of the roadways is drawn, so that the intersecting position of the upper and lower roadways is ensured not to be at the intersecting point.

Referring to fig. 7, after the line drawing is completed, the existing wire points on the line in each newly added roadway are drawn into the wire point diagram layer, the wire points are marked with serial numbers according to the drawing sequence, and meanwhile, attribute values are assigned to corresponding positions in the wire point attribute table according to the wire point serial numbers. When the wire points are drawn, the following steps are ensured: the wire points are drawn by hollow circles with the radius of 1 m; the joint of the new roadway and the old roadway must be provided with a wire point; if the upper and lower roadways intersect alternately and a wire guide point is arranged near the intersection, in order to ensure that the wire guide point is matched to the correct roadway center line and the accuracy of the topological connection relationship of the mine roadway, the center line of the wire guide point needs to be determined when the wire guide point is drawn, and the wire guide point is made to be as close to the center line of the roadway to which the wire guide point belongs as possible.

In step S101, an original roadway space topology network model, newly-added roadway data and a roadway data table are obtained, and a roadway center line and a wire point in the newly-added roadway data are assigned according to parameters in the roadway data table, so that an attribute value of the roadway center line and an attribute value of the wire point are determined.

In some alternative embodiments, the lane data table includes a lane centerline attribute table and a wire point attribute table. The laneway center line attribute table is used for storing attribute parameters of each laneway center line, and specifically can comprise laneway center line serial number, laneway name, laneway type, coal mining laneway type, laneway shape, laneway section bottom width (meter), rectangular section height (meter), radius (meter), center-to-bottom surface distance (meter), great circle angle, small circle angle, great circle radius (meter), small circle radius (meter), drainage ditch bottom width, drainage ditch height and coal seam number.

For this attribute of the lane type, referring to table 1, different attribute values are assigned according to different lane types. Specifically, for a main roadway, a connecting roadway thereof, a shaft bottom parking lot and the like, the attribute value is 1; for the mining area lane (the gate way, the cutting hole lane and the coal face), the attribute value is 2; for vertical roadways such as coal bins, coal sliding holes and the like, the attribute value is 3; for wellbores (primary, secondary and wind wells), the attribute value is 4; for the refuge chamber, the attribute value is 5; for a mobile rescue capsule, the attribute value is 6; for planning, the attribute value is 7.

TABLE 1 roadway type Property Table

For this attribute of the coal mining tunnel type, referring to table 2, different attribute values are assigned according to different coal mining tunnel types. Specifically, for a belt gate, the attribute value is 1; for the return air cis-slot, the attribute value is 2; for a cut-off lane, the attribute value is 3; for a coal face, the attribute value is 4.

Table 2 coal mining roadway type attribute table

For the attributes of the tunnel shape, the tunnel section bottom width, the rectangular section height, the radius, the distance between the center and the bottom surface, the large circle angle, the small circle angle, the large circle radius and the small circle radius, the attribute values can be given to corresponding positions according to different tunnel shapes by referring to the table 3 in a comprehensive view. Wherein the ". V" label represents that the item requires an attribute value.

TABLE 3 roadway shape Property Table

In some alternative embodiments, the wire point attribute table is used to store each wire point attribute parameter, which may specifically include a wire point serial number, a wire point elevation (wire point z coordinate), whether an updated joint point is an updated joint point, and a coal seam number. If the wire point is the wire point at the joint, whether the wire point is the updated joint point is given an attribute value of 1; if the wire point is not the wire point at the joint, whether to update the attribute value of the joint point is assigned 0.

In some optional embodiments, the attribute values of the laneway center lines are obtained by matching corresponding attributes in the laneway center lines and laneway center line attribute tables in the newly added laneway graph, the newly added laneway graph and the laneway center line attribute tables can be input, then attribute parameters in the laneway center line attribute tables are stored according to sequence numbers, laneway center lines in a laneway center line graph layer of the newly added laneway graph are obtained according to sequence numbers, and finally the assigned laneway center lines are obtained according to the corresponding sequence numbers of the attributes.

In some optional embodiments, matching the wire points in the newly added roadway map with the corresponding attributes in the wire point attribute table to assign attribute values to the wire points, inputting the newly added roadway map and the wire point attribute table, storing attribute parameters in the wire point attribute table according to sequence numbers, acquiring the wire points in the wire point map layer of the newly added roadway map according to the sequence numbers, and assigning attribute values to the wire points one by one according to the corresponding sequence numbers of the attributes to obtain the assigned wire points.

For step S102, since there may be a certain error in the drawing of the wire guide point, the wire guide point is not completely on the lane center line, and thus the wire guide point needs to be corrected to the correct lane center line to which it belongs. And when detecting that the wire guide point is not matched with the correct roadway center line to which the wire guide point belongs, correcting the wire guide point to the correct roadway center line.

In some alternative embodiments, there may be instances where individual wire points are not entirely on the lane centerline or where wire points are drawn to the intersection of intersecting lanes of different planes, and thus, when wire points are re-matched to the lane centerline, an error condition may occur where wire points cannot be matched to the correct lane centerline or where wire points are matched to multiple lane centerlines. In order to avoid the occurrence of the error condition, when the wire guide point is corrected to the correct roadway central line, a first buffer area is firstly arranged for the roadway central line, a second buffer area is arranged for the end point of the roadway central line, and in order to ensure that the wire guide point is more accurately corrected to the correct roadway central line to which the wire guide point belongs, the first buffer area and the second buffer area are set to be in a smaller range. If the distance from the wire point to the end point of the central line of the roadway is in the range of the set second buffer zone, the wire point is considered to exist at the end point, and the coordinate value of the end point of the central line of the roadway is assigned to the wire point. In particular, the wire guide points can be represented as

Wherein, (x 1, y 1) is the first coordinate of the lane center line endpoint, (x 2, y 2) is the wire point coordinate, dist1 is the second buffer size, which may be set to a lane width of 3 meters.

In some optional embodiments, if the wire point at the end point belongs to the second buffer zone of the line end points of the multiple lanes, the number of intersecting lane segments at the position of the wire point can be judged according to the number of correct lane lines to which the wire point belongs, so that whether the wire point is located is a single lane body, a turning/bending lane body or a branching intersection can be determined.

In some alternative embodiments, if there is a line point at the non-end point that is within the first buffer from the centerline of one of the lanes and perpendicular to the centerline of the lane beyond the line point, the line point is considered to be on the centerline of the lane, and the second coordinate of the drop, i.e., coordinates x and y of the drop, is assigned to the line point. In particular, the wire guide point may be represented as within the first buffer region

Where (x, y) is the coordinates of the wire point, ax+by+c=0 is the straight line equation of the lane centerline, dist2 is the first buffer size, which may be set to a wire point radius of 1 meter.

Note that, the vertical foot coordinates may be expressed as

(x1-x3)(x4-x5)+(y1-y3)(y4-y5)＝0

x5＝x1+q(x1-x3) y5＝y1+q(y1-y3)

Wherein (x 1, y 1) (x 3, y 3) are respectively coordinates of two end points of a roadway center line, (x 4, y 4) are coordinates of a wire point, (x 5, y 5) are coordinates of a foot drop, and q is a coefficient.

In some alternative embodiments, if a wire point at a non-endpoint belongs to a first buffer zone of a plurality of lane centerlines, it should be matched to the nearest lane centerline and corrected to the correct lane centerline using the above-described drop coordinate formula. In practical terms, the rest of the wire points except the wire points at the center line end points of the roadway should only belong to one correct roadway center line.

For step S103, since the mine roadway space topology network model may be generalized to a topology network model using the wire points as model nodes and the roadway segments as model connection segments, the line in each roadway may be abstracted into the topology connection relationship of wire points, roadway segments and wire points according to the wire points. The coordinates of the wire points are three-dimensional coordinates, the space positions are expressed, the coordinates of two end points of the center line of any roadway are two-dimensional coordinates, and the two-dimensional model is expressed, so that the wire points are required to be arranged at the end points of the center line of any roadway to establish a roadway space topology network model. From the actual mining engineering plan view, the distribution of the wire points cannot meet that the wire points exist at the end points of all the laneway central lines, so that virtual wire points need to be supplemented at the end points of the laneway central lines lacking the wire points, and the coordinates of the laneway central lines are the x coordinates and the y coordinates of the virtual wire points.

In some optional embodiments, the z-coordinate of the virtual conducting wire point can be obtained through interpolation calculation, and the position of the virtual conducting wire point is a single tunnel body end point, a turning/bending tunnel body intersection or a bifurcation intersection according to the number of the tunnel central lines to which the virtual conducting wire point belongs. The most commonly used interpolation algorithm is a linear interpolation algorithm, and the linear interpolation algorithm can be divided into an internal linear interpolation algorithm and an external linear interpolation algorithm according to the difference of the relation between the wire guide points and the virtual wire guide points.

Further, for the internal linear interpolation algorithm, it is suitable for solving the z coordinate of the virtual wire point where two wire points are located at both sides of the virtual wire point. For intersecting lanes, the z-coordinates of the virtual wire points may be solved using an internal linear interpolation algorithm. According to the roadway center line to which the virtual wire guide point belongs, all wire guide points on the roadway center line to which the virtual wire guide point belongs can be obtained, two wire guide points closest to the virtual wire guide point are obtained through traversal, if the two wire guide points are collinear with three points of the virtual wire guide point and are positioned on two sides of the virtual wire guide point, the coordinates of the two wire guide points are substituted into an internal linear interpolation algorithm calculation formula to obtain the z coordinate of the virtual wire guide point, and otherwise, the next wire guide point closest to the virtual wire guide point is continuously traversed until the linear interpolation requirement is met. Referring to fig. 8 (a) and (b), the z-coordinates of the virtual wire point P3 are both calculated by linear interpolation of the wire points P1, P2. Wherein, the internal linear interpolation algorithm calculation formula can be expressed as

Where dist3 denotes the distance between wire points P1 and P3, and dist4 denotes the distance between wire points P3 and P2.

From the actual analysis, the interpolation error of the internal linear interpolation algorithm is 0. However, the internal linear interpolation algorithm cannot be used for calculating the Z coordinates of the virtual wire points at the intersection points of all intersecting lanes, and if two wire points are not located on two sides of the virtual wire points, the Z coordinates of the virtual wire points cannot be calculated through the internal linear interpolation algorithm.

Therefore, an external linear interpolation algorithm is needed, and the external linear interpolation algorithm is suitable for solving the z coordinate of the virtual wire guide point at one side of the virtual wire guide point. For non-intersecting lanes, the z-coordinates of the virtual wire points are typically solved using an external linear interpolation algorithm. The z coordinate z _P3 of the virtual wire point P3 is solved for knowing that the wire point P1 (x _p1,y_p1,z_p1),P2(x_p2,y_p2,z_p2) is on one side of the virtual wire point P3 (x _p3,y_p3,z_P3). If the z coordinate of the virtual conducting wire point is solved for a single roadway body, referring to fig. 9 (a), the coordinates of two conducting wire points P1 and P2 closest to the virtual conducting wire point P3 on the central line of the roadway are brought into an external linear interpolation algorithm calculation formula to obtain the virtual conducting wire point. Wherein, the calculation formula of the external linear interpolation algorithm can be expressed as

Wherein dist5 is the distance between wire points P1 and P3, and dist6 is the distance between wire points P2 and P3.

If the z coordinate of the virtual conducting point is solved for the turning roadway body, the roadway center line to which the virtual conducting point belongs needs to be traversed in sequence, if the number of the conducting points on the roadway center line is not less than 2, the coordinates of the conducting points P1 and P2 are brought into an external linear interpolation algorithm calculation formula to obtain the virtual conducting point z coordinate, otherwise, the roadway center line continues to be traversed. Referring to fig. 9 (b) and (c), the virtual wire point P3 is on the lane center line 1 and 2, respectively, the lane center line 1 is traversed first, the number of wire points on the lane center line 1 is smaller than 2, the lane center line 2 is traversed, the number of wire points on the lane center line 2 is not smaller than 2, and the coordinates of two wire points P1 and P2 closest to the virtual wire point P3 are brought into an external linear interpolation algorithm calculation formula to obtain the z coordinate of the virtual wire point P3.

From practical analysis, it is known that the distribution of the wire points cannot satisfy calculation to obtain the z coordinates of all virtual wire points, the virtual wire point P3 is on the central line of 1 and 2 lanes, and the number of the wire points on the central lines 1 and 2 of the lanes is smaller than 2, so that the z coordinates of the virtual wire points cannot be calculated through an external linear interpolation algorithm. Then a search algorithm-based interpolation calculation method needs to be further adopted for solving.

In some alternative embodiments, since both the internal linear interpolation algorithm and the external linear interpolation algorithm have certain limitations, a search algorithm-based virtual wire point z coordinate linear interpolation calculation is proposed. Referring to fig. 10, wherein gray is an original lane and black is a newly added lane. Firstly, a point list is created for storing the coordinates of the center line end point of the newly added roadway and the coordinates of the newly added wire point. If the wire guide point is at the end point, assigning the coordinates of the wire guide point and the center line of the roadway to the end point of the center line of the roadway; if there is no wire point at the end point, let the z coordinate equal to 0. And marks the numbers of the line endpoints of the roadway and the line points on the roadway.

Referring to fig. 11, next, a two-dimensional array having a length equal to the sum of the numbers of the wire points and the virtual wire points after the merging of the old and new lanes is created, for storing the connection relationship between the lane center line end point and the wire points. And assigning values of a laneway center line end point, a laneway center line, a conducting wire point and a conducting wire point which have a connection relationship as 1, and assigning values of a laneway center line end point, a laneway center line, a conducting wire point and a conducting wire point which have no connection relationship as-1 to a two-dimensional array. Fig. 10 shows the connection relationship between the center line end point of the roadway and the line guide point.

In some alternative embodiments, the virtual wire point z coordinate is linearly interpolated based on a search algorithm. The method specifically comprises the following steps: traversing the point list, and if the z coordinate of the point is 0, the point is a virtual conducting point. Traversing the two-dimensional array, and storing the points with connection relation with the virtual wire points into a point set. The number of wire points in the point set is obtained.

(1) If the number of the wire points is more than or equal to 2, sequentially acquiring two wire points closest to the wire points, and if the wire points are collinear with the three points of the virtual wire points, calculating the z coordinate of the virtual wire points by linear interpolation of the wire points; if the two conducting wire points which are collinear with the three points of the virtual conducting wire point do not exist, searching the points which have connection relation with the points in the point set, storing the points into the point set, and repeating the operation; if there are no two wire points collinear with the three points of the virtual wire point, then the next virtual wire point z coordinate is solved continuously.

(2) If the number of the wire points is less than 2, searching the wire points which have connection relation with the points in the point set, storing the wire points into the point set, sequentially obtaining two nearest wire points, and if the wire points are collinear with the three points of the virtual wire points, calculating the z coordinate of the virtual wire points by utilizing linear interpolation of the wire points; if there are no two wire points collinear with the three points of the virtual wire point, then the next virtual wire point z coordinate is solved continuously.

Until no virtual conducting wire point with the z coordinate can be calculated, the interpolation calculation of the z coordinate of the virtual conducting wire point is completed.

For step S104, after the interpolation calculation of the virtual wire points is completed, a connection position needs to be found in the original roadway topology model, and the connection position is connected with the wire points at the connection position in the newly added roadway topology model, so that a new roadway space topology network model is finally generated, and the connection modes mainly include two modes: one is connected with a wire point in the original roadway topology model; one is connected with a roadway center line in the original roadway topology model.

In some optional embodiments, since a certain error may exist in drawing, the wire points at the joint cannot find the wire points to be joined or the lane center line in the original lane topology model, in order to enable the wire points at the joint to accurately find the positions to be joined, a third buffer area may be set for all the wire points of the original lane space topology network model. For one of the connection modes, if the wire point at the connection position is in the buffer area of a certain wire point in the original roadway topology model, the wire point is considered as the connection position, the wire point at the connection position and the wire point are combined into one wire point, and the coordinate and attribute value of the wire point are given to the wire point at the connection position. Referring to fig. 12 (a) and (b), the wire point 2 and the wire point 3 are combined into one wire point, and the coordinates, attribute values of the wire point 2 are assigned to the wire point 3. Wherein the wire point at the joint is expressed as in a third buffer zone of a certain wire point in the original roadway topology model

Wherein, (x '1, y'1, z '1) is the coordinates of the wire points at the joint, and (x' 2, y '2, z' 2) is the coordinates of the wires in the original roadway topology model, dist7 is the size of a third buffer zone, and the size of the third buffer zone can be set to be 3 meters in roadway width.

For the other connection mode, if the wire points at the connection position are in the buffer area of a certain roadway center line in the original roadway topology model, the roadway center line is considered to be the connection position of the wire points, and the roadway center line is split into two parts due to the wire points during combination, so that the topological connection relation of the roadway center line needs to be changed. Referring to fig. 13 (a), the topology is shown in table 4, and referring to fig. 13 (b), the topology is shown in table 5.

Table 4 original lane centerline topology table

TABLE 5 roadway centerline topology after merging

Aiming at the step S105, a new encryption segment topology updating roadway space topology network model can be established according to a new roadway segment formed by corrected wire points and interpolation calculated virtual wire points on the roadway center line. That is to say, the tunnelling roadway space topology network model can be automatically updated according to the newly added roadway central line and the newly added wire guide point data.

In some alternative embodiments, after the calculation of the z coordinate of the virtual wire point is completed, a newly added roadway topology may be established according to the roadway section formed by the wire point and the virtual wire point on the line of each newly added roadway, and the topology structure of the newly added roadway is shown in table 6 with reference to fig. 14.

Table 6 topology table for roadway section

And carrying out differential encryption on each roadway section according to the differential distance, establishing a newly added roadway topology according to the new roadway section formed by the differential points, and giving related attribute values. The difference process can be expressed as:

dist÷d＝n……k

Vx_i＝x6+(x7-x6)÷(n+1)*(i+1)

Vy_i＝y6+(y7-y6)÷(n+1)*(i+1)

Vz_i＝z6+(z7-z6)÷(n+1)*(i+1)i＝0,1,2......

Wherein (x 6, y6, z 6) (x 7, y7, z 7) represents coordinates of two end points of the newly added roadway, dist represents a length of the newly added roadway, d represents a difference distance, n represents the number of difference points, and (Vx _i,Vy_i,Vz_i) represents coordinates of the difference points.

Referring to fig. 15, taking lane segment L1 as an example, the topology after the difference encryption is shown in table 7.

Table 7 topology table of roadway segment after differential encryption

In some optional embodiments, after the newly added roadway space topology network model is generated, all newly added wire points, newly added roadway sections and topological connection relations at the joint are visually displayed in different colors from those of the original roadway topology model, any wire point is selected, adjacent roadway sections are visually displayed, and analysis is performed according to the wire points and the adjacent roadway sections. And (5) visually analyzing the newly added wire guide point data and the newly added lane central line data. Since the wire points at the end points are automatically supplemented and certain errors may exist in the wire point data during drawing, referring to fig. 16, the wire point position distribution can be reflected by utilizing the visual display, and whether the wire points at the end points and the positions of the wire points are correct can be determined by analyzing and comparing the mining engineering plan.

Further, referring to fig. 17, by selecting any conducting wire point, the adjacent roadway sections of the conducting wire point can be visually displayed, the number of the adjacent sections can reflect that a plurality of branches exist at the conducting wire point, and whether the topological connection relation of each conducting wire point is correct can be known through analysis and comparison of the mining engineering plan.

Still further, since there may be a certain error between the positions of the wire points at the junction and the wire points or the central lines of the roadway connected with the former roadway topology model, referring to fig. 18, the adjacent roadway sections of the wire points at the junction can be reflected by using the visual display, and whether the topology connection relationship of the junction of the new roadway and the old roadway is correct can be determined by analyzing and comparing the plan of the mining engineering.

Referring to fig. 19 and fig. 20, fig. 19 is a schematic diagram of a roadway space topology network model before updating, and fig. 20 is a schematic diagram of a roadway space topology network model after updating, where it can be seen that a new roadway map is in a line frame, and the new roadway map is merged into the roadway space topology network model before updating.

In some optional embodiments, a new encrypted segment topology is built according to the corrected wire points and the virtual wire points on the lane center line to update a lane space topology network model, and then the method further includes: performing visual analysis on the updated roadway space topology network model; visually displaying the newly added roadway and the newly added wire points, and determining the missing condition of the wire points at the end points and the correctness of the positions of the wire points according to the distribution of the wire points; selecting any wire point, visually displaying adjacent roadway sections of the wire point, and determining the correctness of the topological connection relation of each wire point; and visually displaying adjacent roadway sections of the original roadway and the newly added roadway joint position, and determining the correctness of the topological connection relationship of the new roadway joint position and the old roadway joint position.

Referring to fig. 21, the newly added roadway and the newly added wire guide point are visually displayed, and the positions of the wire guide points are analyzed to obtain: the line end points of the roadway center line are all provided with wire points, and the wire points at the non-end points are all corrected to the roadway center line. Selecting any wire point, visually displaying adjacent roadway sections of the wire point, and analyzing according to the displayed adjacent sections to obtain: the topological connection relationship at the positions of the single roadway, the turning/bending roadway and the branch road is correct and the connectivity is good.

Referring to fig. 22, adjacent roadway sections of new and old roadway joining positions are visually displayed, and according to the analysis of the topological connection relation of the adjacent roadway sections of the joining positions, the following steps are obtained: the connectivity of the joint positions of the new roadway and the old roadway is good.

From the above, it can be seen that the method and apparatus for updating a tunnelling roadway space topology network model provided by the present disclosure include: acquiring an original roadway space topology network model, newly-added roadway data and a roadway data table, and assigning values to a roadway center line and a wire guide point in the newly-added roadway data according to the roadway data table so as to determine an attribute value of the roadway center line and an attribute value of the wire guide point; correcting the wire guide point to a correct roadway center line in response to detecting that the wire guide point does not match the correct roadway center line to which the wire guide point belongs; in response to detecting that the wire guide point is absent at a roadway turning position or a roadway intersection, supplementing a virtual wire guide point, and determining a z coordinate of the virtual wire guide point according to linear interpolation based on a search algorithm; responding to the detection of a newly added roadway, determining the connection mode of an original roadway and the newly added roadway, and combining and connecting the new roadway to the original roadway space topology network model by adopting a corresponding combining processing mode; and forming a new tunnel section according to the corrected wire points and the virtual wire points on the central line of the tunnel, and establishing a newly-added encryption section topology to update a tunnel space topology network model. And visually displaying the model result, and determining the accuracy of the updated roadway space topology network model by visually analyzing the lead points and the adjacent roadway sections of the new roadway connection position and the old roadway connection position. By an automatic correction method aiming at error data, the wire guide points are corrected to the correct lane central line, so that the problem that errors possibly exist in the space wire guide points is solved; the linear interpolation calculation of the z coordinate of the virtual wire guide point is designed based on a search algorithm, so that the situation that the wire guide point is absent at the turning part and the bifurcation part of the roadway is solved; according to the different modes of the connection of the new roadway and the old roadway, the combination connection of the new roadway space topology network model and the old roadway space topology network model is realized by adopting different combination processing methods; the new roadway section difference value formed by the wire guide points and the virtual wire guide points on the roadway center line is encrypted, a newly added roadway topology is built, and finally an updated roadway space topology network model is formed, so that the roadway space topology network model which is updated continuously along with the mining progress is realized.

According to the method and the device for updating the tunnelling roadway space topology network model, an automatic correction method for error data is provided, and the problem that certain errors may exist in the data is solved by setting the buffer zone, so that space wire points can be automatically and accurately corrected to the roadway central line to which the space wire points belong. Aiming at the situation that a wire point is missing at a roadway turning position or a roadway intersection and a virtual wire point needs to be supplemented, the z-coordinate linear interpolation calculation of the virtual wire point based on a search algorithm is provided, and the wire point is arranged at the roadway turning position or the roadway intersection through calculation. According to the different modes of the connection of the new roadway and the old roadway, the combination connection of the new roadway space topology network model and the old roadway space topology network model is realized by adopting different combination processing methods; the automatic updating method of the tunnelling roadway space topology network model is provided, new roadway sections formed by wire points and virtual wire points on the central line of the roadway are encrypted, newly added roadway topology is established, related attribute values are assigned, an updated space roadway topology network model is finally generated, and the model results are visually checked. Therefore, the method and the device can provide convenience for continuously updating the tunnelling roadway space topology network model along with the excavation progress.

The foregoing describes specific embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Referring to fig. 23, based on the same inventive concept, an embodiment of the present disclosure further provides a tunneling roadway space topology network model updating apparatus, including: the system comprises an acquisition module, a correction module, a supplement module, a combination module and an update module.

In some alternative embodiments, the lane data table includes: a laneway neutral line attribute table and a wire point attribute table;

the method comprises the steps of obtaining an original roadway space topology network model, newly-added roadway data and a roadway data table, assigning values to a roadway center line and a wire guide point in the newly-added roadway data according to the roadway data table to determine an attribute value of the roadway center line and an attribute value of the wire guide point, and further comprises the following steps:

acquiring a newly added roadway map according to the mining engineering plan map and the original roadway middle line map;

acquiring a laneway center line in a laneway center line diagram layer and a wire guide point in a wire guide point diagram layer according to the number according to the newly added laneway diagram;

And assigning values to the lane center line and the wire guide points according to the lane center line attribute table and the wire guide point attribute table to determine attribute values of the lane center line and the wire guide points.

In some alternative embodiments, the correcting the wire guide point to the correct lane centerline in response to detecting that the wire guide point does not match the correct lane centerline to which the wire guide point belongs further comprises:

A first buffer area and a second buffer area are respectively arranged for the central line of the roadway and the endpoints of the central line of the roadway;

and in response to the distance from the wire guide point to the end point of the lane center line being in the second buffer zone, acquiring a first coordinate value of the end point of the lane center line, and giving the first coordinate value to the wire guide point so as to correct the wire guide point to the correct lane center line.

and if the distance between the wire guide point and any roadway center line is in the first buffer zone and the foot obtained by making a vertical line to the roadway center line through the wire guide point is positioned on the roadway center line, acquiring a second coordinate value of the foot, and giving the second coordinate value to the wire guide point so as to correct the wire guide point to the correct roadway center line.

In some alternative embodiments, the responsive to detecting the absence of the wire point at a lane break or lane intersection, supplementing a virtual wire point, and determining the virtual wire point z-coordinate from a linear interpolation based on a search algorithm, further comprises:

Creating a point list, and marking numbers for the end points of the central line of the roadway and the wire guide points respectively, wherein the point list is used for storing coordinate values of the end points of the central line of the roadway and the wire guide points on the central line of the roadway;

Assigning coordinate values of the wire guide points to the end points of the lane center line in response to the wire guide points being at the end points of the lane center line;

In response to the absence of the wire guide point at the end point of the lane center line, making the z coordinate of the end point be 0;

creating a two-dimensional array, wherein the length of the two-dimensional array is the sum of the numbers of the wire points and the virtual wire points after the newly added roadway and the original roadway are combined, and the two-dimensional array is used for storing the connection relation between the center line end point of the roadway and the wire points;

Sequentially traversing all the roadway center lines to respectively obtain the numbers of each roadway center line end point and the wire guide point on the roadway center line, and assigning the connection relations among the roadway center line end points, the wire guide points and the wire guide points to be 1 and storing the connection relations into the two-dimensional array;

In response to the fact that the center line end point of the roadway and the wire guide point on the center line of the roadway are not connected, assigning the connection relation among the center line end point of the roadway, the center line of the roadway, the wire guide point and the wire guide point which are not connected to be-1, and storing the connection relation into the two-dimensional array;

and determining the z coordinate value of the virtual wire guide point according to the two-dimensional array based on a search algorithm.

In some alternative embodiments, the determining the z-coordinate value of the virtual wire point according to the two-dimensional array based on the search algorithm further includes:

traversing the point list, and taking the point as the virtual conducting wire point in response to the z coordinate of any point being 0;

traversing the two-dimensional array, storing the points with connection relation with the virtual wire points into a point set in response to the connection relation between the points and the virtual wire points, and acquiring the number of the wire points in the point set;

Responding to the number of the conducting wire points in the point set being more than or equal to 2, acquiring two conducting wire points closest to the virtual conducting wire points along the lane center line track;

In response to the two wire guide points being collinear with the three points of the virtual wire guide point, determining the z coordinate value of the virtual wire guide point according to the z coordinate values of the two wire guide points based on a linear interpolation algorithm; or (b)

Searching for the wire points having connection relation with the points in the point set to store in the point set in response to the fact that the two wire points collinear with the three points of the virtual wire points do not exist, and repeating the operation; if the conducting wire points with connection relation with the points in the point set are not searched, solving the z coordinate value of the next virtual conducting wire point;

Searching the wire guide points with connection relation with the points in the point set to store the wire guide points into the point set in response to the number of the wire guide points in the point set being smaller than 2, and acquiring two wire guide points closest to the virtual wire guide points along the lane center line track;

In response to there being no two of the wire points collinear with the virtual wire point three points, then the next virtual wire point z coordinate value is resolved.

In some optional embodiments, the responding to the detection of the newly added roadway determines a connection mode of the original roadway and the newly added roadway, and adopts a corresponding merging processing mode to merge and connect the newly added roadway to the original roadway space topology network model, and further includes:

setting a third buffer area for all wire points of the original roadway space topology network model;

In response to any one junction wire point being in the third buffer zone, merging the junction wire point and the wire point, and assigning coordinate values and attribute values of the wire point to the junction wire point;

And responding to the situation that any joint wire point is in the first buffer area, merging the joint wire point and the roadway center line, giving coordinate values of intersection points of the wire point and the roadway center line to the joint wire point, and changing roadway center line topology to merge and join the newly added roadway to the original roadway space topology network model.

In some optional embodiments, the forming a new roadway segment according to the corrected wire point on the lane center line and the virtual wire point establishes a new encrypted segment topology to update a roadway space topology network model, and further includes:

performing differential encryption on each roadway to determine a differential point;

Establishing a newly added encryption section topology according to the newly added roadway formed by the difference points; wherein the difference encryption is expressed as

dist÷d＝n……k

vx_i＝x6+(x7-x6)÷(n+1)*(i+1)

Vy_i＝y6+(y7-y6)÷(n+1)*(i+1)

Vz_i＝z6+(z7-z6)÷(n+1)*(i+1)i＝0,1,2......

In some optional embodiments, the forming a new roadway section according to the corrected wire point on the lane center line and the virtual wire point establishes a new encrypted section topology to update a roadway space topology network model, and then further includes:

performing visual analysis on the updated roadway space topology network model;

visually displaying the newly added roadway and the newly added wire points, and determining the missing condition of the wire points at the end points and the correctness of the positions of the wire points according to the distribution of the wire points;

selecting any wire point, visually displaying adjacent roadway sections of the wire point, and determining the correctness of the topological connection relation of each wire point;

And visually displaying adjacent roadway sections of the original roadway and the newly added roadway joint position, and determining the correctness of the topological connection relationship of the new roadway joint position and the old roadway joint position.

For convenience of description, the above system is described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in one or more pieces of software and/or hardware when implementing one or more embodiments of the present description.

The system of the foregoing embodiment is configured to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which is not described herein.

It should be noted that the embodiments of the present disclosure may be further described in the following manner:

a tunnel space topology network model updating method comprises the following steps:

Optionally, the roadway data table includes: a laneway neutral line attribute table and a wire point attribute table;

Optionally, in response to detecting that the wire guide point does not match a correct roadway centerline to which the wire guide point belongs, correcting the wire guide point to the correct roadway centerline, further includes:

Optionally, in response to detecting the absence of the wire point at the lane break or the lane intersection, supplementing a virtual wire point, and determining the virtual wire point z-coordinate according to a linear interpolation based on a search algorithm, further comprising:

Optionally, the determining, based on a search algorithm, the z-coordinate value of the virtual wire point according to the two-dimensional array further includes:

Optionally, the responding to the detection of the newly added roadway determines a connection mode of the original roadway and the newly added roadway, and adopts a corresponding merging processing mode to merge and connect the newly added roadway to the original roadway space topology network model, and further includes:

Optionally, the forming a new roadway section according to the corrected wire points and the virtual wire points on the central line of the roadway, and establishing a newly-added encrypted section topology to update a roadway space topology network model, further includes:

dist÷d＝n……k

Vx_i＝x6+(x7-x6)÷(n+1)*(i+1)

Vy_i＝y6+(y7-y6)÷(n+1)*(i+1)

Vz_i＝z6+(z7-z6)÷(n+1)*(i+1)i＝0,1,2......

Optionally, the forming a new roadway section according to the corrected wire points and the virtual wire points on the central line of the roadway establishes a newly added encrypted section topology to update a roadway space topology network model, and then further includes:

performing visual analysis on the updated roadway space topology network model;

The foregoing has described certain embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these examples; the technical features of the above embodiments or in different embodiments may also be combined under the idea of the present disclosure, the steps may be implemented in any order, and there are many other variations of the different aspects of the present disclosure as described above, which are not provided in details for the sake of brevity.

Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the present disclosure. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the present disclosure, and this also takes into account the fact that specifics with respect to the implementation of such block diagram devices are highly dependent upon the platform on which the present disclosure is to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.

While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description.

The present disclosure is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalents, improvements and the like that may be made within the spirit and principles of the disclosure are intended to be included within the scope of the disclosure.

Claims

1. A tunnel space topology network model updating method comprises the following steps:

Responding to the detection of a newly added roadway, determining the connection mode of an original roadway and the newly added roadway, and combining and connecting the newly added roadway to the original roadway space topology network model by adopting a corresponding combining processing mode;

Forming a new tunnel section according to the corrected wire points and the virtual wire points on the central line of the tunnel, and establishing a newly-added encryption section topology to update a tunnel space topology network model;

wherein, in response to detecting the lack of the wire guide point at the lane turning or lane crossing, supplementing a virtual wire guide point, and determining the z coordinate of the virtual wire guide point according to linear interpolation based on a search algorithm, further comprising:

Determining the z coordinate value of the virtual wire guide point according to the two-dimensional array based on a search algorithm;

the determining the z coordinate value of the virtual wire point according to the two-dimensional array based on the search algorithm further comprises:

2. The method of claim 1, wherein the lane data table comprises: a laneway neutral line attribute table and a wire point attribute table;

3. The method of claim 1, wherein the correcting the wire guide point to the correct lane centerline in response to detecting that the wire guide point does not match the correct lane centerline to which the wire guide point belongs further comprises:

4. The method of claim 3, wherein the correcting the wire guide point to the correct lane centerline in response to detecting that the wire guide point does not match the correct lane centerline to which the wire guide point belongs further comprises:

5. The method of claim 3, wherein the determining, in response to detecting the newly added roadway, a joining manner of the original roadway and the newly added roadway, and joining the newly added roadway to the original roadway space topology network model in a corresponding joining manner, further comprises:

6. The method of claim 1, wherein the creating a new lane segment from the corrected wire points and the virtual wire points on the lane centerline creates a new encrypted segment topology to update a lane space topology network model, further comprising:

dist÷d＝n……k

Vx_i＝x6+(x7-x6)÷(n+1)*(i+1)

Vy_i＝y6+(y7-y6)÷(n+1)*(i+1)

Vz_i＝z6+(z7-z6)÷(n+1)*(i+1)i＝0,1,2......

7. The method of claim 1, wherein the forming new roadway segments from the corrected wire points and the virtual wire points on the roadway centerline creates a newly added encrypted segment topology to update a roadway space topology network model, further comprising:

performing visual analysis on the updated roadway space topology network model;

8. An apparatus for updating a tunnelling roadway space topology network model, comprising:

The merging module is configured to respond to detection of the newly added roadway, determine the connection mode of the original roadway and the newly added roadway, and merge and connect the newly added roadway to the original roadway space topology network model by adopting a corresponding merging processing mode;

The updating module is configured to form a new roadway section according to the corrected wire points and the virtual wire points on the central line of the roadway, and establish a newly-added encryption section topology so as to update a roadway space topology network model;

The method further comprises the steps of supplementing a virtual wire guide point in response to the detection of the lack of the wire guide point at a roadway turning position or a roadway intersection position, and determining a z coordinate of the virtual wire guide point according to linear interpolation based on a search algorithm, and further comprising:

The determining the z coordinate value of the virtual wire point according to the two-dimensional array based on the search algorithm further comprises: traversing the point list, and taking the point as the virtual conducting wire point in response to the z coordinate of any point being 0;