Tunnel boring machine positioning and orientation method and device

Abstract

The present invention discloses a method and device for positioning and orienting a tunnel boring machine. The method comprises: when the tunnel boring machine is moving and excavating in a tunnel, a multi-beam laser radar installed at its rear end is used to scan a guide rod at the top of the tunnel to obtain relevant parameters of the guide rod, and according to the relevant parameters, the body offset angle and offset distance of the tunnel boring machine relative to the central axis of the tunnel are obtained, thereby controlling the tunnel boring machine walking system to adjust the walking direction and position, so that the tunnel boring machine can automatically walk along the central axis of the tunnel. During the automatic walking of the tunnel boring machine, whenever the guide rod is out of the laser radar scanning area, the guide rod is moved forward along the walking direction of the tunnel boring machine, so that the laser radar can scan the guide rod in real time, so that the tunnel boring machine can always walk automatically along the central axis. The method of the present invention calculates the offset distance and angle between the tunnel boring machine and the central axis of the tunnel through the guide rod, so as to realize that the tunnel boring machine automatically walks along the central axis in the tunnel, and the implementation method is simple and the result is accurate and reliable.

Description

Technical Field

[0001] The present invention relates to the field of engineering machinery positioning devices, and in particular to a method and device for positioning and orienting a tunnel boring machine based on a 3D laser radar in a coal mine. Background Art

[0002] 3D LiDAR uses a laser emitting component that rapidly rotates while emitting high-frequency laser beams to continuously scan the external environment, detect information such as the distance and reflectivity of the target object, and provide support for positioning, navigation, and obstacle avoidance. It is mainly used in the fields of autonomous vehicle environmental perception, robot environmental perception, and drone mapping.

[0003] In the process of coal mine roadheader operation, in order to excavate in the predetermined tunnel direction, it is necessary to correct the excavation direction in real time to ensure that the main body of the roadheader is in the center of the tunnel. In the existing technology, most of the roadheader positioning and orientation are achieved through laser guidance technology, but the operator needs to visually adjust the machine posture, and it is impossible to operate automatically.

[0004] Therefore, how to provide an accurate, reliable and automated positioning and orientation method for a tunnel boring machine is one of the key research topics for those skilled in the art. Summary of the invention

[0005] The purpose of the present invention is to solve the above-mentioned problems and to provide a method and device for positioning and orienting a tunnel boring machine based on 3D laser radar. The offset distance and angle between the tunnel boring machine and the central axis of the tunnel are calculated by setting a guide rod, so as to realize the positioning and orienting function of the tunnel boring machine automatically walking along the central axis of the tunnel in the tunnel. The implementation method is simple and the results are accurate and reliable.

[0006] To achieve the above-mentioned purpose of the present invention, the present invention provides a method for positioning and orienting a roadheader based on a 3D laser radar, which includes:

[0007] When the roadheader is moving and excavating in the tunnel, the multi-beam laser radar installed at its rear end scans the guide rod pre-installed at the top of the tunnel and located above the laser radar;

[0008] When the laser radar scans the guide rod, relevant parameters of the guide rod are obtained, and the body offset angle and offset distance of the roadheader relative to the central axis of the tunnel are obtained according to the obtained relevant parameters;

[0009] According to the obtained body offset angle and offset distance of the tunnel boring machine relative to the central axis of the tunnel, the walking system of the tunnel boring machine is controlled to adjust the walking direction and position so that the tunnel boring machine can automatically walk along the central axis of the tunnel;

[0010] During the automatic movement of the tunnel boring machine, whenever the guide rod leaves the laser radar scanning area, the guide rod is moved forward along the moving direction of the tunnel boring machine so that the laser radar can scan the guide rod in real time, so that the tunnel boring machine always moves automatically along the central axis of the tunnel.

[0011] The obtained relevant parameters of the guide rod are the coordinate data of the guide rod in the radar coordinate system.

[0012] Among them, according to the relevant parameters of the guide rod obtained, the body offset angle and offset distance of the roadheader relative to the central axis of the tunnel are obtained, including:

[0013] After obtaining the coordinate data of the guide rod in the radar coordinate system, the obtained coordinate data of the guide rod is transformed using a transformation matrix to obtain the coordinate data of the guide rod in the fuselage coordinate system in the roadway plane;

[0014] According to the obtained coordinate data of the guide rod in the fuselage coordinate system in the roadway plane, a plane linear equation of the guide rod in the fuselage coordinate system in the roadway plane is obtained;

[0015] The plane linear equation of the guide rod is used to obtain the body offset angle and offset distance of the roadheader relative to the central axis of the tunnel.

[0016] Wherein, the transformation matrix is:

[0017]

[0018] Where: is the guide rod data measured by the laser radar, For the general Corresponding to the guide rod data converted to the fuselage coordinate system, Rot is the attitude rotation matrix of the fuselage coordinate system relative to the radar coordinate system, and P is the translation vector of the radar coordinate system relative to the fuselage coordinate system;

[0019] Where P = [tx, ty, tz] T , Rot is obtained by the following formula:

[0020]

[0021] Where R, β, and γ are the corresponding coordinate system rotation angles of the radar coordinate system relative to the fuselage coordinate system.

[0022] Among them, according to the obtained coordinate data of the guide rod in the fuselage coordinate system in the roadway plane, the plane linear equation of the guide rod in the fuselage coordinate system in the roadway plane is obtained, including:

[0023] According to the coordinate data of the guide rod in the fuselage coordinate system in the tunnel plane, the projection data of the guide rod in the tunnel horizontal plane in the fuselage coordinate system [x i ,yi ], i = 0...n, then, the least squares linear fitting is used to obtain the plane linear equation of the guide rod in the fuselage coordinate system in the roadway plane:

[0024] y=a+b*x (3)

[0025] in:

[0026]

[0027] Among them, the plane linear equation of the guide rod is used to obtain the body offset angle and offset distance of the roadheader relative to the central axis of the tunnel, which are calculated by the following formulas:

[0028] Fuselage offset angle:

[0029] Ψ=pi / 2-atan(b) (5)

[0030] Offset distance:

[0031] x=-a / b*cos(ψ)-t (6)

[0032] Among them: pi is the pi, atan is the inverse tangent function, and t is the offset distance between the guide rod and the centerline of the tunnel, which is a known quantity.

[0033] The tunnel boring machine is equipped with a receiving unit for receiving the reflected laser signal obtained after the laser radar scans the guide rod and converting the reflected laser signal into an electrical signal, and a data processing unit for performing data processing according to the electrical signal.

[0034] The data processing unit processes the laser radar scanning data in real time and sends the result to the host computer.

[0035] Wherein, the guide rod is a white long strip guide rod with high reflectivity.

[0036] Wherein, the guide rod extends along the central axis direction of the tunnel.

[0037] Wherein, the scanning direction of the laser radar is perpendicular to the forward direction of the tunnel boring machine.

[0038] In addition, the present invention also provides a device for the above-mentioned method for positioning and orienting a tunnel boring machine.

[0039] Compared with the prior art, the 3D laser radar-based method and device for positioning and orienting a roadheader of the present invention has the following advantages:

[0040] The tunnel boring machine positioning and orienting device of the present invention installs a guide rod at the top of the tunnel to simulate the direction of the tunnel central axis. By scanning the guide rod with a laser radar, the offset distance and offset angle of the tunnel boring machine relative to the central axis of the tunnel can be obtained, so that the traveling direction and position of the tunnel boring machine can be automatically adjusted according to the offset distance and the offset angle, so that the tunnel boring machine always moves along the central axis of the tunnel. The positioning is accurate, the implementation method is simple, the result is accurate and reliable, and the tunnel boring machine can perform automated tunneling operations.

[0041] The present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic diagram of a method for positioning and orienting a roadheader based on a 3D laser radar according to an embodiment of the present invention;

[0043] Figure 2 is a schematic diagram of a device used in a method for positioning and orienting a roadheader according to an embodiment of the present invention;

[0044] Figure 3 Schematic diagram of the coordinate system used in the positioning and orientation method of the tunnel boring machine according to the embodiment of the present invention;

[0045] Figure 4 It is a control principle diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0046] like Figure 2 As shown, it is a schematic diagram of the device used in the positioning and orientation method of the tunnel boring machine in an embodiment of the present invention. As can be seen from the figure, the device of this embodiment includes: a guide rod pre-installed at the top of the tunnel, which extends along the central axis of the tunnel to simulate the direction of the central axis of the tunnel; a laser radar installed at the rear end of the tunnel boring machine, located below the guide rod so as to scan the guide rod; a data processing unit installed on the tunnel boring machine, which processes the parameter data obtained by the laser radar scanning the guide rod in real time and obtains the processing results; a host computer connected to the data processing unit and the walking system of the tunnel boring machine respectively, which adjusts the walking direction and position of the tunnel boring machine according to the processing results sent by the data processing unit, so that the tunnel boring machine can automatically walk along the central axis of the tunnel.

[0047] Specifically, the tunnel boring machine 1 of this embodiment is an automatic tunnel boring machine, such as an unmanned tunnel boring machine. The 3D laser radar 2 is installed on the left side of the rear end of the tunnel boring machine 1. The radar scanning direction is perpendicular to the forward direction of the tunnel boring machine 1. It is a multi-line radar that scans three-dimensional space. The existing 16-line 3D laser radar (such as Figure 2As shown in the figure). When the tunnel boring machine 1 moves along the central axis of the tunnel, the length direction of the machine body can be regarded as the Y direction in the three-dimensional coordinates, and the 3D laser radar can be regarded as having 16 laser sources placed along the Y direction of the machine body, and then rotating around the Y axis, and the obstacle distance and reflectivity information in the three-dimensional space can be obtained. In addition, the laser radar 2 can also use a higher number of lines, such as 32 lines, 64 lines, or 128 lines. Multi-beam 3D laser radars.

[0048] In this embodiment, the guide rod 3 is used to simulate the central axis direction of the tunnel. The guide rod 3 is pre-installed on the top of the tunnel and extends along the central axis direction of the tunnel. During installation, workers hang the guide rod on the top of the tunnel by binding. The guide rod is a slender rod-shaped object with a length not less than the width of the laser radar scanning. The specific length can be determined by the radar parameters and the tunnel parameters, but it should not be too short.

[0049] When in use, the laser radar 2 on the tunnel boring machine 1 is located below the guide rod 3, and the guide rod 3 is located within the laser radar scanning area so that the laser radar can illuminate the guide rod. If the guide rod 3 is no longer within the laser radar scanning area as the tunnel boring machine moves, the guide rod 3 should be moved forward in the forward direction of the tunnel boring machine in a timely manner so that the guide rod is within the laser radar scanning area. When moving the guide rod forward, the guide rod should be extended along the central axis of the tunnel.

[0050] Among them, after being scanned by the laser radar, the guide rod needs to be extracted from the environment (tunnel environment) by the reflectivity difference. Since the underground tunnel environment of the coal mine is mainly black coal seams with low reflectivity, the guide rod of this embodiment is made of white high-reflectivity material.

[0051] In addition to the above components, the device of this embodiment also includes a receiving unit 5 (such as a receiving unit 5 installed on the tunnel boring machine 1) for receiving the reflected laser signal obtained after the laser radar transmitting unit (i.e., the laser radar 2) scans the guide rod 3 and converting the reflected laser signal into an electrical signal. Figure 4 As shown), the data processing unit performs data processing according to the electrical signal of the receiving unit, and the processing result obtained after the data processing is sent to the upper computer 6 connected to the data processing unit. The upper computer 6 controls the traveling system 7 of the tunnel boring machine according to the processing result sent by the data processing unit to adjust the traveling direction and position of the tunnel boring machine, so that the tunnel boring machine can automatically travel along the central axis of the tunnel.

[0052] When the data processing unit processes the data according to the electrical signal of the receiving unit, it needs to process the distance information and reflectivity data of the guide rod extracted by the radar and extract the distance parameters of the guide rod. The above data are all based on the radar coordinate system, that is, based on Figure 3 In the three-dimensional coordinate system O1-X1Y1Z1 shown in ( Figure 3 The data of the Y1 axis is not shown in the figure. The method of extracting parameters can adopt the method of the prior art, which will not be described in detail here. Then, each data is converted into the fuselage coordinate system, that is, based on Figure 3 The three-dimensional coordinate system O0-X0Y0Z0( Figure 3 The Z0 axis is not shown in the figure); then, the guide rod is calculated in the plane coordinate system (i.e. Figure 3 Then, the relative angle and distance relationship between the guide rod and the machine body is calculated (i.e., the offset distance and angle between the machine and the central axis of the tunnel in the horizontal projection is calculated). The angle and distance data are sent to the host computer through the serial port of the data processing unit itself. After receiving the data, the host computer adjusts the direction and position of the machine to control the movement of the machine.

[0053] The flowchart of the method for positioning and orienting a tunnel boring machine using the above device is as follows: Figure 1 As shown in the figure, it can be seen that the method for positioning and orienting a roadheader based on a 3D laser radar in an embodiment of the present invention includes:

[0054] When the roadheader is moving and excavating in the tunnel, the multi-beam laser radar installed at its rear end scans the guide rod pre-installed at the top of the tunnel and located above the laser radar;

[0055] When the laser radar scans the guide rod, relevant parameters of the guide rod are obtained, and the body offset angle and offset distance of the roadheader relative to the central axis of the tunnel are obtained according to the obtained relevant parameters;

[0056] According to the obtained body offset angle and offset distance of the tunnel boring machine relative to the central axis of the tunnel, the walking system of the tunnel boring machine is controlled to adjust the walking direction and position so that the tunnel boring machine can automatically walk along the central axis of the tunnel;

[0057] During the automatic movement of the tunnel boring machine, whenever the guide rod leaves the laser radar scanning area, the guide rod is moved forward along the moving direction of the tunnel boring machine so that the laser radar can scan the guide rod in real time, so that the tunnel boring machine always moves automatically along the central axis of the tunnel.

[0058] The following is a detailed description of the positioning and orientation method for a roadheader according to an embodiment of the present invention.

[0059] S01. When the roadheader is moving and excavating in the tunnel, the multi-beam laser radar installed at its rear end scans the guide rod pre-installed at the top of the tunnel and located above the laser radar.

[0060] In this embodiment, the 3D laser radar 2 is installed on the left side of the rear end of the tunnel boring machine 1, and the radar scanning direction is perpendicular to the forward direction of the tunnel boring machine 1; the guide rod 3 is pre-installed on the top of the tunnel above the laser radar 2, and the guide rod is extended along the central axis direction of the tunnel; the industrial control computer 4 is installed near the laser radar 2 at the rear end of the tunnel boring machine 1.

[0061] When the tunnel boring machine is moving and excavating in the tunnel, the tunnel guide rod is scanned by the laser radar 2. Since the laser radar is a multi-beam laser radar, the laser radar scans the three-dimensional space in the tunnel.

[0062] Since the underground coal mine tunnel environment is mainly composed of black coal seams with low reflectivity, in order to be able to extract the guide rod from the tunnel environment later, this embodiment uses a white guide rod with high reflectivity. In this way, after being scanned by the laser radar, the guide rod can be extracted from the tunnel environment by the reflectivity difference.

[0063] S02. When the laser radar scans the guide rod, relevant parameters of the guide rod are obtained, and the body offset angle and offset distance of the roadheader relative to the central axis of the tunnel are obtained according to the obtained relevant parameters;

[0064] When the laser radar scans the guide rod, the reflected laser signal obtained after the laser radar 2 scans the guide rod 3 can be received by the receiving unit 5 installed on the tunnel boring machine 1 and converted into an electrical signal, and the electrical signal is sent to the data processing unit. The data processing unit performs data processing on the electrical signal after receiving it.

[0065] When the data processing unit processes the data according to the electrical signal of the receiving unit, it needs to process the distance information and reflectivity data of the guide rod extracted by the radar, and extract the distance parameters of the guide rod (the above parameters are parameters based on the radar coordinate system, that is, based on the following example Figure 3 The method of extracting parameters from the data in the coordinate system O1-X1Y1Z1 shown in the figure can adopt the method of the prior art, which will not be described in detail here); then, each data is converted into the fuselage coordinate system (that is, based on Figure 3 The coordinate system O0-X0Y0Z0 shown in the figure); then, calculate the guide rod in the plane coordinate system (i.e. Figure 3 Then, the relative angle and distance relationship between the guide rod and the tunnel boring machine body is calculated (that is, the offset distance and angle between the tunnel boring machine and the central axis of the tunnel in the horizontal projection are calculated), and the angle and distance data are sent to the host computer through the serial port of the data processing unit itself.

[0066] Specifically, after obtaining the coordinate data of the guide rod in the radar coordinate system, the obtained coordinate data of the guide rod is transformed into a spatial posture using a transformation matrix to obtain the coordinate data of the guide rod in the fuselage coordinate system in the roadway plane. The transformation matrix is:

[0067]

[0068] In formula (1):

[0069] is the guide rod data measured by the laser radar, i is 0 to n, n is the maximum value of all points on the guide rod measured by the laser radar (e.g., for a 16-line laser radar, n=15; for a 32-line laser radar, n=31), and the guide rod data of each point measured is a transposed matrix including the three coordinate value matrices of each point; For the general Corresponding to the guide rod data converted to the fuselage coordinate system, Rot is the attitude rotation matrix of the fuselage coordinate system relative to the radar coordinate system. According to the installation position of the radar on the fuselage, Rot can be obtained by the following formula:

[0070]

[0071] In formula (2), α, β, and γ are the corresponding coordinate system rotation angles of the radar coordinate system relative to the fuselage coordinate system.

[0072] P is the translation vector between the radar coordinate system and the fuselage coordinate system, P = [tx, ty, tz] T .

[0073] After the above coordinate transformation, the horizontal plane projection of the guide rod in the fuselage coordinate system [x i ,y i ], i = 0...n, and the least squares linear fitting is used to obtain the plane linear equation of the guide rod in the fuselage coordinate system in the roadway plane:

[0074] y=a+b*x (3)

[0075] in:

[0076]

[0077] By using the plane linear equation of the guide rod, the body offset angle and offset distance of the roadheader relative to the central axis of the tunnel can be obtained. The calculation formulas are as follows:

[0078] Fuselage offset angle:

[0079] Ψ=pi / 2-atan(b) (5)

[0080] Offset distance:

[0081] x=-a / b*cos(ψ)-t (6)

[0082] Among them: pi is the pi, atan is the inverse tangent function, and t is the offset distance between the guide rod and the centerline of the tunnel, which is a known quantity.

[0083] S03. According to the obtained body offset angle and offset distance of the tunnel boring machine relative to the central axis of the tunnel, the walking system of the tunnel boring machine is controlled to adjust the walking direction and position, so that the tunnel boring machine can automatically walk along the central axis of the tunnel. The angle and distance data are sent to the host computer through the serial port of the data processing unit itself.

[0084] After receiving the data of the body offset angle and offset distance of the tunnel boring machine relative to the central axis of the tunnel sent by the data processing unit, the upper computer controls the tunnel boring machine's walking system to adjust the walking direction and position so that the tunnel boring machine can automatically walk along the central axis of the tunnel.

[0085] It should be noted that during the automatic movement of the above-mentioned tunnel boring machine, whenever the guide rod leaves the laser radar scanning area, the guide rod must be moved forward along the walking direction of the tunnel boring machine so that the laser radar can scan the guide rod in real time, and process and upload the scanned data in real time, thereby controlling the tunnel boring machine's walking system through the upper computer, so that the tunnel boring machine can always move automatically along the central axis of the tunnel.

[0086] Next, taking the specific data of the guide rod detected by a 16-line laser radar at a certain position as an example, the process of calculating the body offset angle and offset distance of the tunnel boring machine relative to the central axis of the tunnel using the method of the present invention is described.

[0087] The 16-line laser radar detects the three-dimensional coordinates of the guide rod in the radar coordinate system O1-X1Y1Z1 at a certain position as follows:

[0088] [-0.678913, 1.63762, 0.464524]

[0089] [-0.657367, 1.65795, 0.402679]

[0090] [-0.63445, 1.66722, 0.33938]

[0091] [-0.604862, 1.65049, 0.272409]

[0092] [-0.589222, 1.66341, 0.212026]

[0093] [-0.562573, 1.65302, 0.149453]

[0094] [-0.546283, 1.6808, 0.0906364]

[0095] [-0.524684, 1.68393, 0.0301252]

[0096] [-0.336199, 1.65497, -0.442374]

[0097] [-0.36422, 1.6831, -0.388823]

[0098] [-0.386733, 1.69539, -0.330327]

[0099] [-0.41009, 1.68649, -0.268585]

[0100] [-0.439103, 1.69946, -0.210562]

[0101] [-0.458283, 1.67485, -0.148304]

[0102] [-0.481014, 1.68437, -0.0895165]

[0103] [-0.499343, 1.66792, -0.0294313]

[0104] It is known that α, β, and γ are 0, π / 2, and 0 respectively. The rotation matrix is ​​calculated according to the above formula (2) as follows:

[0105] Rot=[1 0 0; 0 0 -1; 0 1 0]

[0106] At the same time, the translation vector P = [0, -5, 0] is known, and the guide rod data in the fuselage coordinate system is obtained by formula (1):

[0107] [-0.678913, -5.46452, 1.63762]

[0108] [-0.657367, -5.40268, 1.65795]

[0109] [-0.63445, -5.33938, 1.66722]

[0110] [-0.604862, -5.27241, 1.65049]

[0111] [-0.589222, -5.21203, 1.66341]

[0112] [-0.562573, -5.14945, 1.65302]

[0113] [-0.546283, -5.09064, 1.6808]

[0114] [-0.524684, -5.03013, 1.68393]

[0115] [-0.336199, -4.55763, 1.65497]

[0116] [-0.36422, -4.61118, 1.6831]

[0117] [-0.386733, -4.66967, 1.69539]

[0118] [-0.41009, -4.73142, 1.68649]

[0119] [-0.439103, -4.78944, 1.69946]

[0120] [-0.458283, -4.8517, 1.67485]

[0121] [-0.481014, -4.91048, 1.68437]

[0122] [-0.499343, -4.97057, 1.66792]

[0123] Take the x and y values ​​in the above data to form [x i ,y i ], i=0...n, n=15.

[0124] According to formula (4), we can obtain a=-3.6233, b=2.70154.

[0125] According to formula (5), when the roadheader is located at this position, the offset distance of the roadheader relative to the central axis of the tunnel is 1.25779 m, and the offset angle is 20.3228 degrees.

[0126] Based on the above data, the traveling system of the tunnel boring machine can be controlled to adjust the traveling direction and position of the tunnel boring machine, so that the tunnel boring machine can automatically travel along the central axis of the tunnel.

[0127] In summary, the 3D laser radar-based method and device for positioning and orienting a roadheader of the present invention has the following advantages:

[0128] The present invention is based on 3D laser radar and realizes a mining tunneling machine positioning and orientation method based on 3D laser radar. It can determine the distance and angle of the tunneling machine from the central axis in real time and effectively during the operation of the tunneling machine, thereby improving the accuracy of the entire tunneling operation and facilitating the automation of the tunneling operation.

[0129] Although the present invention has been described in detail above, the present invention is not limited thereto. Those skilled in the art may make modifications based on the principles of the present invention. Therefore, all modifications made based on the principles of the present invention should be understood to fall within the protection scope of the present invention.

Claims

1. A method for positioning and orienting a tunnel boring machine, characterized in that: include: When the roadheader is moving and excavating in the tunnel, the multi-beam laser radar installed at its rear end scans the guide rod pre-installed at the top of the tunnel and located above the laser radar. The guide rod is a long white guide rod with high reflectivity, extending along the central axis of the tunnel to simulate the direction of the central axis of the tunnel. When the laser radar scans the guide rod pre-installed at the top of the tunnel and located above the laser radar, relevant parameters of the guide rod are obtained, and the body offset angle and offset distance of the tunnel boring machine relative to the central axis of the tunnel are obtained according to the obtained relevant parameters of the guide rod; According to the offset angle and offset distance of the machine body relative to the central axis of the tunnel obtained by scanning the guide rod with the laser radar, the traveling system of the machine is controlled to adjust the traveling direction and position so that the machine can automatically travel along the central axis of the tunnel; During the automatic movement of the tunnel boring machine, whenever the guide rod pre-installed at the top of the tunnel and located above the laser radar leaves the laser radar scanning area, the guide rod is moved forward along the moving direction of the tunnel boring machine so that the laser radar can scan the guide rod in real time, allowing the tunnel boring machine to always move automatically along the central axis of the tunnel.

2. The method for positioning and orienting a tunnel boring machine according to claim 1, characterized in that: The obtained relevant parameters of the guide rod are the coordinate data of the guide rod in the radar coordinate system.

3. The method for positioning and orienting a tunnel boring machine according to claim 2, characterized in that: According to the relevant parameters of the guide rod, the offset angle and offset distance of the machine body relative to the central axis of the tunnel are obtained, including: After obtaining the coordinate data of the guide rod in the radar coordinate system, the obtained coordinate data of the guide rod is transformed using a transformation matrix to obtain the coordinate data of the guide rod in the fuselage coordinate system in the roadway plane; According to the obtained coordinate data of the guide rod in the fuselage coordinate system in the roadway plane, a plane linear equation of the guide rod in the fuselage coordinate system in the roadway plane is obtained; The plane linear equation of the guide rod is used to obtain the body offset angle and offset distance of the roadheader relative to the central axis of the tunnel.

4. The method for positioning and orienting a roadheader according to claim 3, characterized in that: The transformation matrix is: Where: is the guide rod data measured by the laser radar, For the general Corresponding to the guide rod data converted to the fuselage coordinate system, Rot is the attitude rotation matrix of the fuselage coordinate system relative to the radar coordinate system, and P is the translation vector of the radar coordinate system relative to the fuselage coordinate system; Where P = [tx, ty, tz] T , Rot is obtained by the following formula: Where α, β, and γ are the corresponding coordinate system rotation angles of the radar coordinate system relative to the fuselage coordinate system.

5. The method for positioning and orienting a tunnel boring machine according to claim 4, characterized in that: According to the obtained coordinate data of the guide rod in the fuselage coordinate system in the tunnel plane, the plane linear equation of the guide rod in the fuselage coordinate system in the tunnel plane is obtained, including: According to the coordinate data of the guide rod in the fuselage coordinate system in the tunnel plane, the projection data of the guide rod in the tunnel horizontal plane in the fuselage coordinate system [x i ,y i ], i = 0...n, then, the least squares linear fitting is used to obtain the plane linear equation of the guide rod in the fuselage coordinate system in the roadway plane: y=a+b*x (3) in: 。 6. The method for positioning and orienting a roadheader according to claim 5, characterized in that: Using the plane linear equation of the guide rod, the body offset angle and offset distance of the roadheader relative to the central axis of the tunnel are obtained and calculated by the following formulas: Fuselage offset angle: Ψ=pi / 2-atan(b) (5) Offset distance: x=-a / b*cos(ψ)-t (6) Among them: pi is the pi, atan is the inverse tangent function, and t is the offset distance between the guide rod and the centerline of the tunnel, which is a known quantity.

7. The method for positioning and orienting a roadheader according to any one of claims 1 to 6, characterized in that: The tunnel boring machine is equipped with a receiving unit for receiving the reflected laser signal obtained after the laser radar scans the guide rod and converting the reflected laser signal into an electrical signal, and a data processing unit for performing data processing according to the electrical signal.

8. The method for positioning and orienting a roadheader according to claim 7, characterized in that: The data processing unit processes the laser radar scanning data in real time and sends the result to the host computer.

9. A device for use in the method for positioning and orienting a tunnel boring machine as claimed in any one of claims 1 to 8.

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