CN116663762A - Urban planning underground space investigation and mapping method and system - Google Patents
Urban planning underground space investigation and mapping method and system Download PDFInfo
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Abstract
The application discloses a method and a system for surveying and mapping urban planning underground space, which relate to the technical field of urban planning and comprise the following steps: acquiring underground space data of a region to be explored, and constructing a three-dimensional terrain model; dividing the three-dimensional terrain model into equal areas to form a grid model, marking each grid as a target point, and acquiring influence factor data in the target point; establishing a plane matrix sub-model in the grid model; the technical key points are as follows: by calculating the impact evaluation value Evc of the construction of the underground tunnel corresponding to each target point, under the condition of considering geological factors, engineering factors, environmental factors and economic factors, the obtained numerical value can intuitively and reasonably reflect the risk degree of the construction of the underground tunnel corresponding to the target point, and the Dijkstra algorithm is used for path planning in the plane matrix submodel, so that accurate data reference is conveniently provided for subsequent underground pipeline arrangement and underground tunnel construction.
Description
Technical Field
The application relates to the technical field of urban planning, in particular to an urban planning underground space investigation and mapping method and system.
Background
The urban planning is a standard urban development construction, researches the future development of cities, reasonably distributes the cities and comprehensively arranges the comprehensive deployment of each engineering construction of the cities, is a blueprint of urban development in a certain period, is an important component of urban management, is the basis of urban construction and management, and is also a precondition in three stages of urban planning, urban construction and urban operation.
In urban planning, exploration and mapping are required for underground space, and conventional exploration technologies are to mount various exploration devices by using autonomous vehicles, for example: the laser probe and the ultrasonic ranging instrument can automatically cruise the underground space to perform investigation and data acquisition, and the effect is better when the laser probe and the ultrasonic ranging instrument are applied to large-scale underground engineering investigation; the unmanned aerial vehicle with the probe is applied to exploration and mapping, a large amount of data can be quickly and conveniently obtained, the overground space can be comprehensively explored and covered, certain limitation exists in exploration of the underground space, and after exploration data are obtained, planning processing can be carried out on construction of an underground tunnel and a pipeline according to the exploration data.
However, only the topographic space and part of geological factors are acquired in the existing planning process, and some engineering factors, environmental factors and economic factors cannot be comprehensively considered, so that a certain danger exists in the underground tunnel and pipeline which are subsequently constructed according to the planning; aiming at the laying of underground pipelines, if a plurality of rock layers exist on a planned path, the construction cost can be greatly increased, so that the path planning is unreasonable.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the application provides a city planning underground space investigation and mapping method and system, which are characterized in that a three-dimensional terrain model is subjected to equal area division to form a grid model, and an impact evaluation value Evc of the construction of a corresponding underground tunnel under each target point is calculated, so that the obtained numerical value can intuitively and reasonably reflect the risk degree of the construction of the underground tunnel under the corresponding target point under the condition of considering geological factors, engineering factors, environmental factors and economic factors, a Dijkstra algorithm is used for carrying out path planning in a plane matrix sub-model, a path and a minimum path can be obtained after a starting point and a finishing point are selected, the corresponding path is the path with the minimum risk degree when the underground tunnel is constructed, the subsequent underground pipeline arrangement and the effective planning of the underground tunnel construction are facilitated, and the problems in the background technology are solved.
(II) technical scheme
In order to achieve the above purpose, the application is realized by the following technical scheme:
a city planning underground space investigation and mapping method comprises the following steps:
firstly, acquiring underground space data of an area to be explored, constructing a three-dimensional terrain model, analyzing the underground space data by using data modeling software, combining the three-dimensional terrain model with a map of the area to be explored, and displaying the three-dimensional terrain model on a visual platform, wherein the data modeling software can select MATLAB or Python;
dividing a three-dimensional terrain model into equal areas to form a grid model, marking each grid as a target point, acquiring influence factor data in the target point, establishing a data set, preprocessing the data set, acquiring an influence evaluation value Evc constructed by an underground tunnel based on the data set, wherein the influence evaluation value Evc is inversely proportional to the risk degree of constructing the underground tunnel in the corresponding target point, if the influence evaluation value Evc exceeds an alarm threshold value, sending an early warning signal to the outside, wherein the alarm threshold value is a critical influence evaluation value Evc when the tunnel collapse is reached, and the critical influence evaluation value Evc is an average value obtained by collecting historical data of the collapse area influence evaluation value Evc and carrying out statistical calculation; if the impact assessment value Evc does not exceed the alert threshold, indicating that the risk is within a normal risk range; the data set is preprocessed by data cleaning, and specific cleaning processes are not described in detail herein;
and thirdly, establishing a plane matrix sub-model in the grid model, and performing path planning in the plane matrix sub-model by using a Dijkstra algorithm to obtain a path of the minimum path sum between two points, thereby forming a determined planning path.
Further, the step one of obtaining the underground space data of the area to be explored includes: geological structure, underground water flow distribution and soil type, wherein the underground space data is acquired in a field geological investigation mode, and acquisition of the underground space data is completed by using a geological exploration tool;
specifically, according to the acquisition mode of the geological structure information, a worker acquires the geological structure information by means of visual field observation and sampling identification by using a conventional shovel as a geological exploration tool; for the acquisition mode of the underground water flow distribution information, an electromagnetic induction type underground water exploration instrument can be selected as a geological exploration tool, the conductivity difference of underground water is detected by utilizing the induction action of an alternating current magnetic field, and the position and the range of the underground water are determined through signal processing; if the information of the underground water is needed to be obtained, the depth, volume and quality information of the underground water storage layer are judged by measuring the resistivity of the underground area by means of a resistivity type underground water exploration instrument; for the soil type acquisition mode, the geological exploration tool can be any one or more of steel drills, hard wood wedges, horizontal reciprocating beating devices and drilling tools, and soil type information can be acquired through sampling and dividing.
The process of analyzing the underground space data by using the data modeling software comprises the following steps:
using a three-dimensional measuring tool in the three-dimensional terrain model for measuring three-dimensional coordinates and shape of the subsurface space;
analyzing the underground space data by adopting a discrete element analysis algorithm to obtain the mechanical characteristics of the three-dimensional terrain model, wherein the mechanical characteristics at least comprise: the discrete element analysis algorithm is used for dispersing continuous, large and complex underground space environments into a plurality of small particles, simulating various physical processes and phenomena in the underground space through the interaction among the particles, and providing scientific basis and technical support for the design, development and management of the underground space and promoting the sustainable development of the underground space building through the mechanical characteristics obtained through discrete element analysis;
the method for acquiring the map of the area to be explored is to use an unmanned aerial vehicle carrying a probe, the moving route of the unmanned aerial vehicle comprehensively covers the area to be explored, and the carried probe adopts an omnidirectional image M4 panoramic camera; the information displayed on the visual platform is a three-dimensional image formed by combining an underground model and an overground live-action.
Further, the step of forming the network model in the step two is as follows:
first, a boundary is defined: performing frame selection on the peripheral outline of the three-dimensional terrain model, and defining the boundary of the three-dimensional terrain model;
next, determining the mesh size: a grid model is formulated according to the resolution of the map of the area to be explored, and the size of the grid is inversely proportional to the resolution;
finally, a grid model is compiled: and (3) arranging according to the square form in the boundary of the three-dimensional terrain model to finish the division of grids and generate a grid model.
Further, the influence factor data includes: the method comprises the steps of obtaining corresponding influence factor data in each target point, obtaining the groundwater permeability coefficient S, the tunnel design length L, the diameter D, the land subsidence value T and the construction cost M, and obtaining an influence evaluation value Evc of underground tunnel construction in a related manner after dimensionless treatment;
specifically, the above groundwater permeability coefficient S is a geological factor, the tunnel design length L and the diameter D are engineering factors, the land settlement value T is an environmental factor, and the construction cost M is an economic factor;
wherein the groundwater permeability coefficient S is an important index describing the permeability of rock-soil groundwater, and is generally expressed as the downward permeability rate of water from soil of unit area in unit time, and the unit is usually meter/second or centimeter/second, the groundwater permeability coefficient S is related to the soil porosity, pore structure, soil layer composition and hydraulic gradient factor, and the method for measuring the groundwater permeability coefficient S at least comprises: the method used in the application is a well test method;
the tunnel design length L and the tunnel diameter D can be obtained through pre-design or actual measurement;
land subsidence value T is a value of the subsidence of the ground surface relative to a reference surface, and is generally expressed as the depth of the ground subsidence per unit time in millimeters or centimeters; the land subsidence value T is one of important physical quantities for measuring the land subsidence phenomenon, and its measuring method can be generally divided into three types: direct measurement, empirical formulas and numerical simulation; among them, direct measurement is the most accurate method, and the commonly used measuring tools at least include: level gauge, displacement sensor and vibration sensor; the empirical formula is to estimate land subsidence according to the topography, geology, building and load, and the common empirical formula is a pressure-bearing subsidence calculation formula and a three-dimensional stratum subsidence calculation formula; the numerical simulation is to simulate land subsidence by using a computer, and common numerical methods comprise a finite element method and a finite difference method, and the measuring method used in the application is diameter measurement;
the construction cost M is obtained by budgeting of construction measuring and calculating staff, and can also be obtained according to actual cost settlement.
The impact evaluation value Evc of the underground tunnel construction is obtained as follows:
；
wherein ,，/>，/>and->=1，/>Are all weights, the specific values of which are set by the user adjustment, < ->Is a constant correction coefficient.
Further, when the plane matrix sub-model is built in the grid model in the third step, the plane matrix sub-model and the grid model are distributed in a superposition mode, and each number in the plane matrix sub-model represents an influence evaluation value Evc corresponding to each target point;
the steps of forming the determined planned path are:
creating a planar matrix sub-model: each grid in the grid model represents a node, and the number in the node is an impact evaluation value Evc under the corresponding grid to form a digital grid matrix;
initializing a planar matrix submodel: setting grid positions corresponding to a starting point node and an end point node;
solving according to Dijkstra algorithm: and acquiring a minimum path from the starting point node to the end point node, accumulating numbers corresponding to all nodes on the minimum path to obtain a minimum path sum, outputting the minimum path sum, and determining the minimum path as a planned path.
An urban planning subsurface space survey mapping system comprising:
the method comprises the steps of building a model building module, obtaining underground space data of a region to be explored, building a three-dimensional terrain model, analyzing the underground space data by using data modeling software, combining the three-dimensional terrain model with a map of the region to be explored, and displaying the three-dimensional terrain model on a visual platform;
the partition marking module is used for carrying out equal area division on the three-dimensional terrain model to form a grid model, marking each grid as a target point, acquiring influence factor data in the target point, establishing a data set, preprocessing the data set, acquiring an influence evaluation value Evc for constructing the underground tunnel based on the data set, and inversely proportional to the risk degree of constructing the underground tunnel in the corresponding target point;
and the calculation planning module is used for establishing a plane matrix sub-model in the grid model, carrying out path planning in the plane matrix sub-model by using a Dijkstra algorithm to obtain a path of the minimum path sum between two points, forming a determined planning path, and providing a judgment basis for path selection of urban planning personnel.
(III) beneficial effects
The application provides a method and a system for surveying and mapping urban planning underground space, which have the following beneficial effects:
by combining the three-dimensional terrain model with the map of the area to be explored, displaying the three-dimensional image of the combined underground model and the overground live-action on the visual platform, the construction and the characteristics of the underground space and the overground live-action under the corresponding condition can be better understood, and the staff can be helped to complete more effective and accurate planning;
the three-dimensional terrain model is subjected to equal area division to form a grid model, and an influence evaluation value Evc of the construction of the corresponding underground tunnel under each target point is calculated, so that the obtained value can intuitively and reasonably reflect the risk degree of the construction of the underground tunnel under the corresponding target point under the condition of taking geological factors, engineering factors, environmental factors and economic factors into consideration, if the influence evaluation value Evc is smaller, the risk degree is lower, and for the target point of which the influence evaluation value Evc exceeds an alarm threshold value, a worker can directly exclude the target point from a planning path to achieve the purpose of avoiding, or schedule maintenance supervision personnel is carried out on the target point according to requirements, so that the rationality and safety of the follow-up determined planning path are ensured;
by using Dijkstra algorithm to plan paths in plane matrix submodels, paths and minimum paths can be obtained after the starting point and the finishing point are selected, and the corresponding paths are paths with minimum risk degree when the underground tunnel is built, so that effective planning is conveniently carried out on subsequent underground pipeline arrangement and underground tunnel building, and accurate planning paths are provided for underground space for reference of management staff.
Drawings
FIG. 1 is a flow chart of a method for surveying and mapping urban planning underground space according to the present application;
fig. 2 is a schematic structural diagram of the urban planning underground space survey and mapping system of the present application.
In the figure: 10. a model building module; 20. a partition marking module; 30. and calculating a planning module.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1: referring to fig. 1, the application provides a method for surveying and mapping urban planning underground space, which comprises the following steps:
step one, acquiring underground space data of an area to be explored, constructing a three-dimensional terrain model, analyzing the underground space data by using data modeling software, combining the three-dimensional terrain model with a map of the area to be explored, and displaying the three-dimensional terrain model on a visual platform; the first step comprises the following steps:
step 101, acquiring underground space data of a region to be explored comprises the following steps: geological structure, underground water flow distribution and soil type, wherein the underground space data is acquired in a field geological investigation mode, and acquisition of the underground space data is completed by using a geological exploration tool;
specifically, according to the acquisition mode of the geological structure information, a worker acquires the geological structure information by means of visual field observation and sampling identification by using a conventional shovel as a geological exploration tool; for the acquisition mode of the underground water flow distribution information, an electromagnetic induction type underground water exploration instrument can be selected as a geological exploration tool, the conductivity difference of underground water is detected by utilizing the induction action of an alternating current magnetic field, and the position and the range of the underground water are determined through signal processing; if the underground water is required to obtain other information, the depth, volume and quality information of the underground water storage layer can be judged by measuring the resistivity of the underground area by means of a resistivity type underground water exploration instrument; for the soil type acquisition mode, the geological exploration tool can be any one or more of steel drills, hard wood wedges, horizontal reciprocating beating devices and drilling tools, and soil type information can be acquired through sampling and dividing.
Step 102, the process of analyzing the underground space data by using the data modeling software is as follows:
first,: use of a three-dimensional measurement tool in a three-dimensional terrain model, comprising at least: point measurement, line measurement, and area measurement for measuring three-dimensional coordinates and shape of an underground space; coordinate axis tools can be selected according to actual demands, coordinate axes are displayed in the three-dimensional view, and a user can conveniently measure three-dimensional coordinates and azimuth angle information of the underground space;
secondly: analyzing the underground space data by adopting a discrete element analysis algorithm to obtain the mechanical characteristics of the three-dimensional terrain model, wherein the mechanical characteristics at least comprise: stress, deformation and displacement; the discrete element analysis algorithm disperses continuous, large and complex underground space environments into a plurality of small particles, simulates various physical processes and phenomena in the underground space by calculating interaction among the particles, and the mechanical characteristics obtained by discrete element analysis can provide scientific basis and technical support for the design, development and management of the underground space and promote the sustainable development of an underground space building;
specifically, the map of the area to be explored is obtained by using an unmanned aerial vehicle carrying a probe, the moving route of the unmanned aerial vehicle covers the area to be explored in a whole way, and the carried probe adopts an all-dimensional image M4 panoramic camera; the information displayed on the visual platform is a three-dimensional image formed by combining an underground model and an overground live-action, and the display tool of the visual platform is a 3D stereoscopic display used for clearly displaying the corresponding three-dimensional image.
When the method is used, the three-dimensional terrain model is combined with the map of the area to be explored, and the three-dimensional image formed by combining the underground model and the overground live-action is displayed on the visual platform, so that the structure and the characteristics of the underground space and the overground live-action under the corresponding condition can be better understood, and the staff can be helped to complete more effective and accurate planning.
Dividing a three-dimensional terrain model into equal areas to form a grid model, marking each grid as a target point, acquiring influence factor data in the target point, establishing a data set, preprocessing the data set, acquiring an influence evaluation value Evc constructed by an underground tunnel based on the data set, wherein the influence evaluation value Evc is in direct proportion to the risk degree of constructing the underground tunnel in the corresponding target point, if the influence evaluation value Evc exceeds an alarm threshold value, sending an early warning signal to the outside, wherein the alarm threshold value is a critical influence evaluation value Evc when the tunnel collapse is reached, and the critical influence evaluation value Evc is an average value obtained by collecting historical data of the collapse area influence evaluation value Evc and carrying out statistical calculation; if the influence evaluation value Evc does not exceed the warning threshold value, it is indicated to be within the normal risk range.
The second step comprises the following steps:
step 201, performing frame selection on the peripheral outline of the three-dimensional terrain model, and defining the boundary of the three-dimensional terrain model;
step 202, a grid model is formulated according to the resolution of a map of a region to be explored, the size of grids is inversely proportional to the resolution, the size of the grids is determined, and if the resolution is lower, each grid is larger; for example: if the resolution is 1080p, the size of the grid is 40 meters by 40 meters; if the resolution is 720p, the size of the grid is 80 meters by 80 meters; if the resolution is 480p, the size of the grid is 160 meters by 160 meters.
Step 203, arranging according to a square form in the boundary of the three-dimensional terrain model to finish dividing grids and generating a grid model;
step 204, obtaining influence factor data in the target point includes: the method comprises the steps of obtaining corresponding influence factor data in each target point, obtaining the groundwater permeability coefficient S, the tunnel design length L, the diameter D, the land subsidence value T and the construction cost M, and obtaining an influence evaluation value Evc of underground tunnel construction in a related manner after dimensionless treatment;
the impact evaluation value Evc of the underground tunnel construction is obtained as follows:
；
wherein ,，/>，/>and->=1，/>Are all weights, the specific values of which are set by the user adjustment, < ->Is a constant correction coefficient;
specifically, the above groundwater permeability coefficient S is a geological factor, the tunnel design length L and the diameter D are engineering factors, the land settlement value T is an environmental factor, and the construction cost M is an economic factor;
wherein the groundwater permeability coefficient S is an important index describing the permeability of rock-soil groundwater, and is generally expressed as the downward permeability rate of water from soil of unit area in unit time, and the unit is usually meter/second or centimeter/second, the groundwater permeability coefficient S is related to the soil porosity, pore structure, soil layer composition and hydraulic gradient factor, and the method for measuring the groundwater permeability coefficient S at least comprises: the method used in the application is a well test method;
the tunnel design length L and the tunnel diameter D can be obtained through pre-design or actual measurement;
land subsidence value T is a value of the subsidence of the ground surface relative to a reference surface, and is generally expressed as the depth of the ground subsidence per unit time in millimeters or centimeters; the land subsidence value T is one of important physical quantities for measuring the land subsidence phenomenon, and its measuring method can be generally divided into three types: direct measurement, empirical formulas and numerical simulation; among them, direct measurement is the most accurate method, and the commonly used measuring tools at least include: level gauge, displacement sensor and vibration sensor; the empirical formula is to estimate land subsidence according to the topography, geology, building and load, and the common empirical formula is a pressure-bearing subsidence calculation formula and a three-dimensional stratum subsidence calculation formula; the numerical simulation is to simulate land subsidence by using a computer, and common numerical methods comprise a finite element method and a finite difference method, and the measuring method used in the application is diameter measurement;
the construction cost M is obtained by budget of construction measuring and calculating personnel.
Step 205, when a plane matrix sub-model is built in the grid model, the plane matrix sub-model and the grid model are distributed in a superposition mode, and each number in the plane matrix sub-model represents an influence evaluation value Evc corresponding to each target point;
when the method is used, the three-dimensional terrain model is subjected to equal area division in combination with steps 201 to 205 to form a grid model, the impact evaluation value Evc of the construction of the corresponding underground tunnel under each target point is calculated, the obtained value can intuitively and reasonably reflect the risk degree of the construction of the underground tunnel under the corresponding target point under the condition of considering geological factors, engineering factors, environmental factors and economic factors, if the impact evaluation value Evc is smaller, the risk degree is lower, and for the target point of which the impact evaluation value Evc exceeds an alarm threshold value, a worker can directly exclude the target point from a planning path to achieve the purpose of avoiding, or schedule maintenance supervision personnel on the target point according to requirements, so that the rationality and safety of the follow-up determined planning path are ensured.
Step three, a plane matrix sub-model is established in the grid model, path planning is carried out in the plane matrix sub-model by using Dijkstra algorithm, and a path of the minimum path sum between two points is obtained, so that a planned path is determined; the third step comprises the following steps:
step 301, creating a plane matrix sub-model: each grid in the grid model represents a node, and the number in the node is an impact evaluation value Evc under the corresponding grid to form a digital grid matrix;
step 302, initializing a plane matrix submodel: setting grid positions corresponding to a starting point node and an end point node;
step 303, solving according to Dijkstra algorithm: acquiring a minimum path from a starting point node to an end point node, accumulating numbers corresponding to all nodes on the minimum path to obtain a minimum path sum, outputting the minimum path sum, and determining the minimum path as a planned path;
for example: giving a matrix K, starting from the upper left corner (starting point), only going right or downwards each time, and finally reaching the position of the lower right corner (ending point), wherein all numbers on the paths are accumulated to be path sums, and returning the smallest path sum in all paths;
if given K is as follows:
；
path 1,2,0,1,3 is the smallest sum of all paths, so return 7, the return values between the paths can also be compared with each other to determine which path is least dangerous.
When the method is used, the Dijkstra algorithm is used for planning paths in the plane matrix submodel in combination with the steps 301 to 303, the paths and the smallest paths can be obtained after the starting point and the finishing point are selected, the corresponding paths are paths with the smallest risk degree when the underground tunnel is built, the effective planning of subsequent underground pipeline arrangement and underground tunnel building is facilitated, and accurate planning paths are provided for underground space for reference of management staff.
Example 2: referring to fig. 2, the present application provides an urban planning underground space survey and mapping system, comprising:
the method comprises the steps of (1) a model building module 10, acquiring underground space data of a region to be explored, building a three-dimensional terrain model, analyzing the underground space data by using data modeling software, combining the three-dimensional terrain model with a map of the region to be explored, and displaying the three-dimensional terrain model on a visual platform;
the partition marking module 20 is used for carrying out equal area division on the three-dimensional terrain model to form a grid model, marking each grid as a target point, acquiring influence factor data in the target point, establishing a data set, preprocessing the data set, acquiring an influence evaluation value Evc constructed by the underground tunnel based on the data set, wherein the influence evaluation value Evc is inversely proportional to the risk degree of constructing the underground tunnel in the corresponding target point, carrying out equal area division on the three-dimensional terrain model to form the grid model, calculating an influence evaluation value Evc constructed by the corresponding underground tunnel in each target point, and intuitively and reasonably reflecting the risk degree of constructing the underground tunnel in the corresponding target point under the condition of taking geological factors, engineering factors, environmental factors and economic factors into consideration, and directly excluding the target point with the influence evaluation value Evc exceeding an alarm threshold from a planning path by staff to achieve the purpose of avoiding or carrying out supervision on the target point according to requirements to ensure the rationality and the safety of a planning path to be obtained later;
the calculation planning module 30 establishes a plane matrix sub-model in the grid model, performs path planning in the plane matrix sub-model by using Dijkstra algorithm, obtains a path of the minimum path sum between two points, forms a determined planning path, and provides a judgment basis for path selection of urban planners.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.
Claims (10)
1. A city planning underground space investigation and mapping method is characterized in that: the method comprises the following steps:
acquiring underground space data of an area to be explored, constructing a three-dimensional terrain model, analyzing the underground space data by using data modeling software, combining the three-dimensional terrain model with a map of the area to be explored, and displaying the three-dimensional terrain model on a visual platform;
dividing a three-dimensional terrain model into equal areas to form a grid model, marking each grid as a target point, acquiring influence factor data in the target point, establishing a data set, preprocessing the data set, acquiring an influence evaluation value Evc built by the underground tunnel based on the data set, wherein the influence evaluation value Evc is in direct proportion to the risk degree of building the underground tunnel in the corresponding target point, and if the influence evaluation value Evc exceeds an alarm threshold value, sending an early warning signal to the outside;
and establishing a plane matrix sub-model in the grid model, and performing path planning in the plane matrix sub-model by using Dijkstra algorithm to obtain a path of the minimum path sum between two points, thereby forming a determined planning path.
2. A method of urban planning subsurface space survey mapping according to claim 1, wherein: acquiring the underground space data of the to-be-explored area comprises the following steps: geological structure, underground water flow distribution and soil type, wherein the underground space data is acquired in a field geological investigation mode, and the acquisition of the underground space data is completed by using a geological exploration tool.
3. A method of urban planning subsurface space survey mapping according to claim 2, wherein: the process of analyzing the underground space data by using the data modeling software comprises the following steps:
using a three-dimensional measuring tool in the three-dimensional terrain model for measuring three-dimensional coordinates and shape of the subsurface space;
analyzing the underground space data by adopting a discrete element analysis algorithm to obtain the mechanical characteristics of the three-dimensional terrain model, wherein the mechanical characteristics at least comprise: stress, deformation and displacement.
4. A method of urban planning subsurface space survey mapping according to claim 1, wherein: the method for acquiring the map of the area to be explored is to use an unmanned aerial vehicle carrying a probe, the moving route of the unmanned aerial vehicle comprehensively covers the area to be explored, and the carried probe adopts an omnidirectional image M4 panoramic camera; the information displayed on the visual platform is a three-dimensional image formed by combining an underground model and an overground live-action.
5. A method of urban planning subsurface space survey mapping according to claim 4, wherein: the steps of forming the network model are as follows:
defining a boundary: performing frame selection on the peripheral outline of the three-dimensional terrain model, and defining the boundary of the three-dimensional terrain model;
determining a grid size: a grid model is formulated according to the resolution of the map of the area to be explored, and the size of the grid is inversely proportional to the resolution;
programming a grid model: and (3) arranging according to the square form in the boundary of the three-dimensional terrain model to finish the division of grids and generate a grid model.
6. A method of urban planning subsurface space survey mapping according to claim 1, wherein: the influence factor data includes: the underground water permeability coefficient S, the tunnel design length L, the diameter D, the land subsidence value T and the construction cost M are acquired, corresponding influence factor data are required to be acquired in each target point, the underground water permeability coefficient S, the tunnel design length L, the diameter D, the land subsidence value T and the construction cost M are acquired, and after dimensionless treatment, the influence evaluation value Evc of the underground tunnel construction is acquired in a related mode.
7. A method of urban planning subsurface space survey mapping according to claim 6, wherein: the impact evaluation value Evc of the underground tunnel construction is obtained as follows:
；
wherein ,，/>，/>and->=1，/>Are all weights, the specific values of which are set by the user adjustment, < ->Is a constant correction coefficient.
8. A method of urban planning subsurface space survey mapping according to claim 1, wherein: when the plane matrix sub-model is built in the grid model, the plane matrix sub-model and the grid model are distributed in a superposition mode, and each number in the plane matrix sub-model represents an influence evaluation value Evc which corresponds to the representation under each target point.
9. A method of urban planning subsurface space survey mapping according to claim 8, wherein: the steps of forming the determined planned path are:
creating a planar matrix sub-model: each grid in the grid model represents a node, and the number in the node is an impact evaluation value Evc under the corresponding grid to form a digital grid matrix;
initializing a planar matrix submodel: setting grid positions corresponding to a starting point node and an end point node;
solving according to Dijkstra algorithm: and acquiring a minimum path from the starting point node to the end point node, accumulating numbers corresponding to all nodes on the minimum path to obtain a minimum path sum, outputting the minimum path sum, and determining the minimum path as a planned path.
10. An urban planning underground space investigation mapping system, which is characterized in that: comprising the following steps:
the method comprises the steps of building a model building module, obtaining underground space data of a region to be explored, building a three-dimensional terrain model, analyzing the underground space data by using data modeling software, combining the three-dimensional terrain model with a map of the region to be explored, and displaying the three-dimensional terrain model on a visual platform;
the partition marking module is used for carrying out equal area division on the three-dimensional terrain model to form a grid model, marking each grid as a target point, acquiring influence factor data in the target point, establishing a data set, preprocessing the data set, and acquiring an influence evaluation value Evc constructed by the underground tunnel based on the data set;
and the calculation planning module is used for establishing a plane matrix sub-model in the grid model, and carrying out path planning in the plane matrix sub-model by using a Dijkstra algorithm to obtain a path of the minimum path sum between two points so as to form a determined planning path.
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