Tunnel construction equipment positioning method, device, electronic equipment and storage medium

Abstract

The present application discloses a method, device, electronic device and storage medium for positioning tunnel construction equipment, and the technical field to which it belongs is construction operation technology. The tunnel construction equipment positioning method includes: using one-dimensional laser data collected by a one-dimensional laser sensor to determine the initial position of the tunnel construction equipment in the geodetic coordinate system; using a two-dimensional laser sensor to scan the tunnel face in the initial position to obtain a reference point cloud; when the tunnel construction equipment moves to the next working position, using a two-dimensional laser sensor to scan the tunnel face to obtain a matching point cloud; performing point cloud registration on the reference point cloud and the matching point cloud to obtain the position change information of the tunnel construction equipment; according to the position change information and the initial position of the tunnel construction equipment, obtaining the current position of the tunnel construction equipment in the geodetic coordinate system, and completing the positioning of the tunnel construction equipment. The present application can accurately and efficiently realize the positioning of tunnel construction equipment.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel construction operations, and in particular to a method, device, electronic device and storage medium for positioning tunnel construction equipment. Background Art

[0002] Tunnel construction equipment such as shovel milling trolleys, cantilevered tunnel boring machines, and wet spraying trolleys usually need to be positioned to guide construction. Currently, tunnel construction equipment is usually positioned by laser dot marking using a total station or scanner. However, this positioning method requires surveyors to re-set the station and lay out the trolley each time, and at least two operators are required to coordinate to complete the trolley positioning. The positioning operation is time-consuming and inefficient.

[0003] Therefore, how to accurately and efficiently achieve device positioning is a technical problem that those skilled in the art currently need to solve. Summary of the Invention

[0004] The purpose of this application is to provide a tunnel construction equipment positioning method, a tunnel construction equipment positioning device, an electronic device and a storage medium, which can accurately and efficiently complete equipment positioning.

[0005] To solve the above technical problems, the present application provides a method for positioning tunnel construction equipment, which is applied to an industrial control computer of the tunnel construction equipment. The tunnel construction equipment also includes a scanner, and the scanner includes a one-dimensional laser sensor and a two-dimensional laser sensor. The method for positioning tunnel construction equipment includes:

[0006] Determining the initial position of the tunnel construction equipment in a geodetic coordinate system using the one-dimensional laser data collected by the one-dimensional laser sensor;

[0007] Scanning the tunnel face using the two-dimensional laser sensor in the initial posture to obtain a reference point cloud;

[0008] When the tunnel construction equipment moves to the next working position, the two-dimensional laser sensor is used to scan the tunnel face to obtain a matching point cloud;

[0009] Performing point cloud registration on the reference point cloud and the matching point cloud to obtain position change information of the tunnel construction equipment;

[0010] According to the posture change information of the tunnel construction equipment and the initial posture, the current posture of the tunnel construction equipment in the geodetic coordinate system is obtained to complete the positioning of the tunnel construction equipment.

[0011] Optionally, determining the initial position of the tunnel construction equipment in a geodetic coordinate system using the one-dimensional laser data collected by the one-dimensional laser sensor includes:

[0012] emitting laser light to a front known point and a rear known point in the tunnel respectively using the one-dimensional laser sensor, and collecting the one-dimensional laser data reflected by the front known point and the rear known point;

[0013] The one-dimensional laser data is used to determine the initial position of the tunnel construction equipment in the geodetic coordinate system.

[0014] Optionally, after determining the initial position of the tunnel construction equipment in the earth coordinate system using the one-dimensional laser data, the method further includes:

[0015] Acquiring calibration laser data; wherein the calibration laser data is obtained by the one-dimensional laser sensor emitting laser light toward a calibration point in the tunnel;

[0016] Using the verification laser data to determine whether the initial posture is accurate;

[0017] If so, the process proceeds to an operation of scanning the tunnel face using the two-dimensional laser sensor in the initial posture to obtain a reference point cloud.

[0018] Optionally, performing point cloud registration on the reference point cloud and the matching point cloud to obtain position and posture change information of the tunnel construction equipment includes:

[0019] Performing point cloud registration on the reference point cloud and the matching point cloud to obtain posture change information of the scanner;

[0020] The posture change information of the tunnel construction equipment is obtained based on the relative posture relationship between the scanner coordinate system and the equipment base coordinate system of the tunnel construction equipment, and the posture change information of the scanner.

[0021] Optionally, the tunnel construction equipment further includes a vehicle body prism;

[0022] Correspondingly, it also includes:

[0023] Acquire first coordinate information of the vehicle body prism in the equipment base coordinate system of the tunnel construction equipment;

[0024] Acquiring second coordinate information of the vehicle body prism in the scanner coordinate system;

[0025] A relative position relationship between the scanner coordinate system and the equipment base coordinate system of the tunnel construction equipment is obtained according to the first coordinate information and the second coordinate information.

[0026] Optionally, after obtaining the current posture of the tunnel construction equipment in the earth coordinate system and achieving equipment positioning, the method further includes:

[0027] The current positioning information of the tunnel construction equipment is uploaded to the main control system of the tunnel construction equipment.

[0028] The present application also provides a tunnel construction equipment positioning device, which is applied to the tunnel construction equipment. The scanner of the tunnel construction equipment includes a one-dimensional laser sensor and a two-dimensional laser sensor. The tunnel construction equipment positioning device includes:

[0029] An initial position determination module, configured to determine an initial position of the tunnel construction equipment in a geodetic coordinate system using the one-dimensional laser data collected by the one-dimensional laser sensor;

[0030] A reference point cloud determination module is used to obtain a reference point cloud by scanning the tunnel face using the two-dimensional laser sensor in the initial posture;

[0031] a matching point cloud determination module, configured to obtain a matching point cloud by scanning the tunnel face using the two-dimensional laser sensor when the tunnel construction equipment moves to a next operating position;

[0032] a point cloud registration module, configured to perform point cloud registration on the reference point cloud and the matching point cloud to obtain position change information of the tunnel construction equipment;

[0033] The posture determination module is used to obtain the current posture of the tunnel construction equipment in the geodetic coordinate system based on the posture change information of the tunnel construction equipment and the initial posture, so as to complete the positioning of the tunnel construction equipment.

[0034] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the above-mentioned tunnel construction equipment positioning method are implemented.

[0035] The present application also provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned tunnel construction equipment positioning method when calling the computer program in the memory.

[0036] Optionally, the tunnel construction equipment includes a shovel milling trolley, a cantilever tunnel boring machine or a wet spraying trolley.

[0037] The present application provides a tunnel construction equipment positioning method, which is applied to the industrial control computer of the tunnel construction equipment. The tunnel construction equipment also includes a scanner, and the scanner includes a one-dimensional laser sensor and a two-dimensional laser sensor. The tunnel construction equipment positioning method includes: using the one-dimensional laser data collected by the one-dimensional laser sensor to determine the initial posture of the tunnel construction equipment in the geodetic coordinate system; using the two-dimensional laser sensor to scan the tunnel face in the initial posture to obtain a reference point cloud; when the tunnel construction equipment moves to the next working position, using the two-dimensional laser sensor to scan the tunnel face to obtain a matching point cloud; performing point cloud registration on the reference point cloud and the matching point cloud to obtain posture change information of the tunnel construction equipment; according to the posture change information of the tunnel construction equipment and the initial posture, obtaining the current posture of the tunnel construction equipment in the geodetic coordinate system, thereby completing the positioning of the tunnel construction equipment.

[0038] The scanner for tunnel construction equipment provided in this application includes a one-dimensional laser sensor and a two-dimensional laser sensor. The one-dimensional laser sensor is used to determine the initial position of the tunnel construction equipment in the geodetic coordinate system. The two-dimensional laser sensor is used to scan the tunnel face when the tunnel construction equipment is in the initial position to obtain a reference point cloud. When the tunnel construction equipment moves from the current working position to the next working position, the two-dimensional laser sensor is used to scan the tunnel face to obtain a matching point cloud. This application uses the reference point cloud and the matching point cloud for point cloud registration to calculate the position change information of the tunnel construction equipment. Combining the position change information determined by the two-dimensional laser sensor and the initial position determined by the one-dimensional laser sensor, the current position of the tunnel construction equipment in the geodetic coordinate system can be obtained to complete the positioning of the tunnel construction equipment. The above process does not require repeated point positioning and can accurately and efficiently complete the positioning of the tunnel construction equipment. This application also provides a tunnel construction equipment positioning device, a storage medium, and an electronic device, which have the above-mentioned beneficial effects and are not further described here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] Figure 1 A flowchart of a method for positioning tunnel construction equipment provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a shovel milling trolley and its rapid positioning system provided in an embodiment of the present application;

[0042] Figure 3 A flowchart of rapid positioning of a shovel and milling trolley provided in an embodiment of the present application;

[0043] Figure 4 A schematic structural diagram of a tunnel construction equipment positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0045] See below Figure 1 , Figure 1 A flowchart of a method for positioning tunnel construction equipment provided in an embodiment of the present application.

[0046] Specific steps may include:

[0047] S101: Determine the initial position of the tunnel construction equipment in the geodetic coordinate system using the one-dimensional laser data collected by the one-dimensional laser sensor;

[0048] Among them, this embodiment can be applied to the industrial control computer of tunnel construction equipment. The above-mentioned tunnel construction equipment also includes a scanner connected to the industrial control computer. The scanner can include a one-dimensional laser sensor and a two-dimensional laser sensor.

[0049] The tunnel where the tunnel construction equipment is located can have a known point. By controlling a one-dimensional laser sensor to emit laser light toward this known point, the reflected one-dimensional laser data can be collected. The relative position of the tunnel construction equipment and the known point can be determined based on this one-dimensional laser data. A known point is a point with known azimuth coordinates in a geodetic coordinate system. Therefore, the initial position of the tunnel construction equipment in this geodetic coordinate system can be determined.

[0050] S102: Scanning the tunnel face using the two-dimensional laser sensor in the initial posture to obtain a reference point cloud;

[0051] After obtaining the initial position of the tunnel construction equipment in the geodetic coordinate system, the position of the tunnel construction equipment can be prohibited from changing. This allows the tunnel face to be scanned using the two-dimensional laser sensor while the tunnel construction equipment is in the initial position to obtain a reference point cloud. Specifically, this step can involve emitting laser light from the two-dimensional laser sensor toward the tunnel face, which then reflects the reference point cloud. After obtaining the reference point cloud, the tunnel construction equipment can then move according to operator input or a pre-set workflow.

[0052] S103: When the tunnel construction equipment moves to the next working position, the two-dimensional laser sensor is used to scan the tunnel face to obtain a matching point cloud;

[0053] Prior to this step, the tunnel construction equipment may be moved from a current working position to a next working position. When the tunnel construction equipment reaches the next working position, the two-dimensional laser sensor may be controlled to scan the tunnel face again to obtain a matching point cloud. The tunnel face described by the two-dimensional laser sensor in S102 and S103 is the same tunnel face.

[0054] S104: performing point cloud registration on the reference point cloud and the matching point cloud to obtain position change information of the tunnel construction equipment;

[0055] The tunnel construction equipment and the scanner move synchronously, so the movement of the tunnel construction equipment will cause changes in the data obtained by the 2D laser sensor scanning the tunnel face. Therefore, this step performs point cloud registration on the reference point cloud and the matching point cloud. Based on the point cloud registration results, the position change information of the tunnel construction equipment can be determined. This position change information describes the change in the current position of the tunnel construction equipment in the geodetic coordinate system relative to its initial position in the geodetic coordinate system.

[0056] S105: According to the posture change information of the tunnel construction equipment and the initial posture, the current posture of the tunnel construction equipment in the geodetic coordinate system is obtained to complete the positioning of the tunnel construction equipment.

[0057] After obtaining the position change information of the tunnel construction equipment, the current position of the tunnel construction equipment in the geodetic coordinate system can be calculated by combining the position change information with the initial position, thereby completing the positioning of the tunnel construction equipment. After obtaining the current positioning information of the tunnel construction equipment in the geodetic coordinate system, the current positioning information of the tunnel construction equipment can also be uploaded to the main control system of the tunnel construction equipment.

[0058] The scanner of the tunnel construction equipment provided in this embodiment includes a one-dimensional laser sensor and a two-dimensional laser sensor. The one-dimensional laser sensor is used to determine the initial position of the tunnel construction equipment in the geodetic coordinate system, and the two-dimensional laser sensor is used to scan the tunnel face when the tunnel construction equipment is in the initial position to obtain a reference point cloud. When the tunnel construction equipment moves from the current working position to the next working position, the two-dimensional laser sensor is used to scan the tunnel face to obtain a matching point cloud. This embodiment uses the reference point cloud and the matching point cloud for point cloud registration to calculate the position change information of the tunnel construction equipment. Combining the position change information determined by the two-dimensional laser sensor and the initial position determined by the one-dimensional laser sensor, the current position of the tunnel construction equipment in the geodetic coordinate system can be obtained to complete the positioning of the tunnel construction equipment. The above process does not require repeated point marking and positioning, and can accurately and efficiently complete the positioning of the tunnel construction equipment.

[0059] As for Figure 1 Further describing the corresponding embodiment, the initial position of the tunnel construction equipment in the geodetic coordinate system can be determined by: using the one-dimensional laser sensor to emit laser light to a forward known point and a rearward known point in the tunnel, respectively, collecting the one-dimensional laser data reflected by the forward known point and the rearward known point; and using the one-dimensional laser data to determine the initial position of the tunnel construction equipment in the geodetic coordinate system. The forward known point and the rearward known point are points whose azimuth coordinates are known in the geodetic coordinate system.

[0060] Furthermore, a checkpoint can be provided in the tunnel. The checkpoint is a point with known azimuth coordinates in the geodetic coordinate system. The accuracy of the initial posture obtained in the above embodiment can be judged based on the relative positional relationship between the previous known point, the next known point, and the checkpoint. The specific process is as follows: the initial posture of the tunnel construction equipment in the geodetic coordinate system is determined using the one-dimensional laser data, and verification laser data is obtained; wherein the verification laser data is obtained by the one-dimensional laser sensor emitting a laser at the checkpoint in the tunnel; the verification laser data is used to determine whether the initial posture is accurate; if so, the operation of scanning the tunnel face with the two-dimensional laser sensor in the initial posture to obtain a reference point cloud is started. If the initial posture is inaccurate, the one-dimensional laser data is re-collected.

[0061] As for Figure 1 Further introduction to the corresponding embodiment can be made by obtaining the pose change information of the tunnel construction equipment in the following manner: performing point cloud registration on the reference point cloud and the matching point cloud to obtain the pose change information of the scanner; and obtaining the pose change information of the tunnel construction equipment based on the relative pose relationship between the scanner coordinate system and the equipment base coordinate system of the tunnel construction equipment, as well as the pose change information of the scanner. The above-mentioned scanner coordinate system is the base coordinate system of the scanner.

[0062] Furthermore, the above-mentioned tunnel construction equipment also includes a vehicle body prism. Accordingly, before determining the posture change information of the tunnel construction equipment, the vehicle body prism can also be used to determine the relative posture relationship between the scanner and the tunnel construction equipment. The specific process includes: obtaining the first coordinate information of the vehicle body prism in the equipment base coordinate system of the tunnel construction equipment; obtaining the second coordinate information of the vehicle body prism in the scanner coordinate system; and obtaining the relative posture relationship between the scanner coordinate system and the equipment base coordinate system of the tunnel construction equipment based on the first coordinate information and the second coordinate information.

[0063] The process described in the above embodiment is explained below by taking a shovel milling trolley in actual application as an example.

[0064] The shovel milling trolley is a key tool in tunnel over- and underbreak shaping technology. During excavation, the blasting profile is controlled to a slightly underbreak state. The shovel milling trolley's milling device mills the blasting profile to the designed profile, achieving underbreak shaping of the blasting profile. During milling operations, the shovel milling trolley must move multiple times, which can lead to positioning difficulties, long repositioning times, and low work efficiency. There is an urgent need to provide this type of equipment with a solution that can quickly and accurately position the trolley during operation, providing dynamic guidance capabilities for precise construction.

[0065] At present, the shovel milling trolley is positioned by the laser of the total station or scanner during construction in the tunnel. This method has high positioning accuracy and meets the construction requirements, but each positioning requires the surveyor to re-set the station and set out, and at least two operators are required to cooperate to complete the trolley positioning. The operation is time-consuming, the work efficiency is low, and the applicability to the shovel milling trolley is poor. The methods to solve the problem of rapid positioning in tunnel construction mainly use: (1) positioning technology based on the photoelectric principle. The reference signal transmission medium includes laser (point laser, line laser and total station, etc.), infrared, visible light, machine vision, ultra-wideband, etc. This type of method has poor environmental adaptability due to the influence of dust, water mist and other factors in the on-site construction environment; (2) positioning technology based on inertial elements. Inertial navigation technology does not rely on the external environment and has strong environmental adaptability. However, the disadvantage of this method is that the long-term positioning accuracy is difficult to meet the centimeter positioning accuracy requirement; (3) multi-information fusion positioning technology. The navigation technology of multi-information and multi-sensor fusion can better solve the navigation and positioning problem of equipment, but the cost is high.

[0066] In response to the technical problems existing in the above-mentioned related technologies, this embodiment provides a shovel and milling trolley positioning solution, which can enable the shovel and milling trolley to achieve fast, reliable and relatively low-cost positioning, and can cope with working conditions that require multiple movements and positioning during the construction process.

[0067] In order to achieve rapid positioning of the shovel milling trolley, it is necessary to equip it with corresponding hardware modules. The shovel milling trolley may include an industrial computer, a scanner, and a scanner control handle. Among them, the scanner can be equipped with a one-dimensional laser sensor and a two-dimensional laser sensor on a rotating platform. The main control program in the industrial computer controls the movement of the shovel milling trolley arm, and the scanner-based dynamic positioning system is embedded in the trolley main control program in the form of a submodule. When the shovel milling trolley performs milling operations, the dynamic positioning system obtains the trolley's position in the geodetic coordinate system and feeds it back to the trolley main control system, thereby controlling the arm to drive the milling device to move to the target area, thereby achieving over-excavation and under-excavation shaping of the tunnel contour.

[0068] Calibration needs to be completed before the trolley leaves the factory, including scanner calibration and calibration of the relative relationship between the trolley and scanner, to improve the measurement accuracy of the scanner and obtain the relative position and posture between the trolley base coordinate system and the scanner coordinate system.

[0069] The positioning method process during the construction of the shovel and milling trolley includes: first, one-dimensional laser positioning is performed when the trolley enters the site, and the one-dimensional laser is controlled by the scanner control handle to point to the known point in the tunnel to obtain the trolley's position in the geodetic coordinate system; after the trolley completes the initial positioning, the tunnel face is scanned with a two-dimensional laser to obtain a reference point cloud; then, the trolley starts the milling operation, and the trolley position needs to be moved after completing the current mileage section. At this time, it needs to be positioned again, and the same tunnel face of the tunnel needs to be scanned again with a two-dimensional laser to obtain a matching point cloud; finally, based on the dynamic positioning system, the reference point cloud and the matching point cloud are aligned, that is, the relative position relationship of the scanner before and after the trolley moves is obtained, and then the position of the trolley in the geodetic coordinate system after the movement is obtained, thereby realizing rapid positioning during the shovel and milling trolley operation.

[0070] See Figure 2 , Figure 2 This is a schematic diagram of a shovel milling trolley and its rapid positioning system provided in an embodiment of the present application, including a face 1, a working surface 2, a milling device 3, a boom system 4, a scanner 5, a cab 6, an industrial computer 7, a scanner control handle 8, a prism 9, and a positioning point 10. Figure 2 As shown, the scanner 5 includes a one-dimensional laser emitter and a two-dimensional laser emitter. An industrial control computer 7 and a scanner control handle 8 are installed in the cab 6 of the shovel milling trolley. The operator in the cab controls the movement of the one-dimensional and two-dimensional laser emitters using the control handle. The coordinates and distance information of the one-dimensional laser target point are displayed in real time on the industrial control computer. The point cloud information generated by the two-dimensional laser scan is visually displayed on the industrial control computer 7 and stored locally.

[0071] See Figure 3 , Figure 3This is a flowchart for the rapid positioning of a shovel milling trolley provided in an embodiment of the present application. The process is as follows: the relative position of the trolley and scanner is calibrated, and initial positioning is performed using a one-dimensional laser; a reference point cloud is obtained using two-dimensional laser scanning. After the trolley completes its operation, it moves to the next position, where the point cloud is matched using two-dimensional laser scanning. The reference point cloud and the matched point cloud are aligned to obtain the relative position of the scanner before and after the movement. The result is then converted to the trolley's position in the geodetic coordinate system to complete the positioning of the tunnel construction equipment.

[0072] Step 1: Calibrate the scanner's own accuracy. Use tools such as a total station, an inclinometer, and a target to calibrate the scanner's model parameters to eliminate errors introduced by factors such as machining and assembly. This step only needs to be performed once before leaving the factory and will not affect subsequent construction operations.

[0073] Step 2: Assemble the scanner to the right front of the trolley, ensuring that the laser is positioned to point to a known point on the tunnel wall for one-dimensional positioning and scanning of the work surface. The dynamic positioning system is embedded in the main control system in the trolley cab and debugged to ensure proper communication between the computer, control handle, and scanner.

[0074] Step 3: Calibrate the relative position relationship between the shovel milling trolley and the scanner.

[0075] Specifically, in this step, the vehicle body prism can be used to establish a connection between the trolley-based coordinate system and the scanner coordinate system, thereby determining the relative position relationship between the trolley-based coordinate system and the scanner coordinate system.

[0076] Step 4: During the shovel milling trolley operation, one-dimensional laser positioning is first performed. The operator controls the one-dimensional laser through the control handle in the cab to point to the previous known point and the next known point in the tunnel. Based on the two-point calculation principle, the position of the scanner in the geodetic coordinate system is solved. Combined with the scanner-trolley conversion matrix in step 3, the position of the trolley to the geodetic coordinate system is obtained. The checkpoint is used to verify whether the positioning is accurate. The positioning subsystem will feed back the positioning results to the trolley main control system, and the trolley main control system will plan the current working area based on the positioning information;

[0077] Step 5: After the one-dimensional laser positioning is completed, use the two-dimensional laser to scan the front face to be worked to obtain the reference point cloud, which is stored in the local space of the industrial control computer. When the trolley completes the milling operation at this position, it moves forward to the next working position and uses the scanner's two-dimensional laser to scan the front working face again to obtain a matching point cloud. After that, the trolley aligns the two point clouds, that is, obtains the relative position of the scanner before and after the trolley moves, and then determines the positioning information of the trolley in the geodetic coordinate system after the movement, thereby realizing rapid positioning of the trolley during operation, and continues to feed back the positioning information to the trolley main control system to complete the positioning.

[0078] The above-mentioned embodiment is based on a dynamic positioning system composed of an industrial computer, a scanner, and a scanner control handle, which can achieve rapid positioning during the trolley operation. This embodiment is based on the scanner's one-dimensional laser initial positioning, and the point cloud registration rapid positioning method is highly efficient and accurate, and is highly applicable to equipment that needs to move position multiple times during operation. During the point cloud registration process, this embodiment first completes the point cloud registration process in the scanner coordinate system to obtain the relative position relationship of the scanner before and after the trolley moves, and then obtains the new positioning information of the trolley through the scanner-trolley conversion matrix. This method can effectively improve the positioning accuracy.

[0079] The ambient light in the tunnel is insufficient and there is a lot of dust interference. The positioning method based on laser scanning can effectively circumvent the limitations of environmental factors. After the trolley moves, the operator can complete the positioning through the dynamic positioning system in the industrial control computer in the cab, reducing labor costs and improving construction efficiency and safety. The positioning system and point cloud registration positioning method proposed in this embodiment rely on fewer external conditions, are simple and easy for operators, eliminate the influence of subjective factors, and effectively improve the accuracy of positioning. The over-break and under-break recognition of the shovel and milling trolley requires the use of a scanner with a two-dimensional laser scanning. The trolley over-break and under-break recognition module and the point cloud registration module share a set of hardware, which effectively reduces the hardware cost.

[0080] This embodiment realizes rapid positioning of the trolley during the trolley construction operation. The positioning system can also be applied to other equipment that requires multiple movements and repeated positioning, such as cantilevered tunnel boring machines, wet spraying trolleys, etc.

[0081] See Figure 4 , Figure 4 This is a schematic structural diagram of a tunnel construction equipment positioning device provided in an embodiment of the present application. The device can be applied to the tunnel construction equipment. The scanner of the tunnel construction equipment includes a one-dimensional laser sensor and a two-dimensional laser sensor. The tunnel construction equipment positioning device includes:

[0082] An initial position determination module 401 is configured to determine an initial position of the tunnel construction equipment in a geodetic coordinate system using the one-dimensional laser data collected by the one-dimensional laser sensor;

[0083] A reference point cloud determination module 402 is configured to scan the tunnel face using the two-dimensional laser sensor in the initial position to obtain a reference point cloud;

[0084] A matching point cloud determination module 403 is configured to scan the tunnel face using the two-dimensional laser sensor to obtain a matching point cloud when the tunnel construction equipment moves to a next working position;

[0085] A point cloud registration module 404 is configured to perform point cloud registration on the reference point cloud and the matching point cloud to obtain position change information of the tunnel construction equipment;

[0086] The posture determination module 405 is used to obtain the current posture of the tunnel construction equipment in the geodetic coordinate system according to the posture change information of the tunnel construction equipment and the initial posture, so as to complete the positioning of the tunnel construction equipment.

[0087] The scanner of the tunnel construction equipment provided in this embodiment includes a one-dimensional laser sensor and a two-dimensional laser sensor. The one-dimensional laser sensor is used to determine the initial position of the tunnel construction equipment in the geodetic coordinate system, and the two-dimensional laser sensor is used to scan the tunnel face when the tunnel construction equipment is in the initial position to obtain a reference point cloud. When the tunnel construction equipment moves from the current working position to the next working position, the two-dimensional laser sensor is used to scan the tunnel face to obtain a matching point cloud. This embodiment uses the reference point cloud and the matching point cloud for point cloud registration to calculate the position change information of the tunnel construction equipment. Combining the position change information determined by the two-dimensional laser sensor and the initial position determined by the one-dimensional laser sensor, the current position of the tunnel construction equipment in the geodetic coordinate system can be obtained to complete the positioning of the tunnel construction equipment. The above process does not require repeated point marking and positioning, and can accurately and efficiently complete the positioning of the tunnel construction equipment.

[0088] Furthermore, the initial position determination module 401 is used to use the one-dimensional laser sensor to emit lasers to the front known point and the rear known point in the tunnel respectively, and collect the one-dimensional laser data reflected by the front known point and the rear known point; and is also used to use the one-dimensional laser data to determine the initial position of the tunnel construction equipment in the geodetic coordinate system.

[0089] Furthermore, it also includes:

[0090] A verification module is used to obtain verification laser data after determining the initial posture of the tunnel construction equipment in the geodetic coordinate system using the one-dimensional laser data; wherein the verification laser data is obtained by the one-dimensional laser sensor emitting laser light to a verification point in the tunnel; and is also used to use the verification laser data to determine whether the initial posture is accurate; if so, enter the operation of scanning the tunnel face using the two-dimensional laser sensor in the initial posture to obtain a reference point cloud.

[0091] Furthermore, the point cloud registration module 404 is used to perform point cloud registration on the reference point cloud and the matching point cloud to obtain the posture change information of the scanner; it is also used to obtain the posture change information of the tunnel construction equipment based on the relative posture relationship between the scanner coordinate system and the equipment base coordinate system of the tunnel construction equipment, as well as the posture change information of the scanner.

[0092] Furthermore, the tunnel construction equipment further includes a vehicle body prism;

[0093] Correspondingly, it also includes:

[0094] A relative posture determination module is used to obtain the first coordinate information of the vehicle body prism in the equipment base coordinate system of the tunnel construction equipment; it is also used to obtain the second coordinate information of the vehicle body prism in the scanner coordinate system; it is also used to obtain the relative posture relationship between the scanner coordinate system and the equipment base coordinate system of the tunnel construction equipment based on the first coordinate information and the second coordinate information.

[0095] Furthermore, it also includes:

[0096] The uploading module is used to upload the current positioning information of the tunnel construction equipment to the main control system of the tunnel construction equipment after obtaining the current positioning information of the tunnel construction equipment in the geodetic coordinate system.

[0097] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, and they will not be repeated here.

[0098] The present application also provides a storage medium having a computer program stored thereon, which, when executed, can implement the steps provided in the above embodiments. The storage medium may include: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, among other media capable of storing program code.

[0099] The present application also provides an electronic device that may include a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps provided in the above embodiment can be implemented. Of course, the electronic device may also include various network interfaces, a power supply, and other components.

[0100] Furthermore, the above-mentioned tunnel construction equipment includes a shovel milling trolley, a cantilever tunnel boring machine or a wet spraying trolley.

[0101] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method section. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0102] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A method for positioning tunnel construction equipment, characterized in that: An industrial control computer is applied to the tunnel construction equipment, wherein the tunnel construction equipment further comprises a scanner, wherein the scanner comprises a one-dimensional laser sensor and a two-dimensional laser sensor, and the tunnel construction equipment positioning method comprises: Determining the initial position of the tunnel construction equipment in a geodetic coordinate system using the one-dimensional laser data collected by the one-dimensional laser sensor; Scanning the tunnel face using the two-dimensional laser sensor in the initial posture to obtain a reference point cloud; When the tunnel construction equipment moves to the next working position, the two-dimensional laser sensor is used to scan the tunnel face to obtain a matching point cloud; Performing point cloud registration on the reference point cloud and the matching point cloud to obtain position change information of the tunnel construction equipment; Obtaining a current posture of the tunnel construction equipment in the earth coordinate system according to the posture change information of the tunnel construction equipment and the initial posture, thereby completing positioning of the tunnel construction equipment; The method of determining the initial position of the tunnel construction equipment in the geodetic coordinate system using the one-dimensional laser data collected by the one-dimensional laser sensor includes: emitting laser light to a front known point and a rear known point in the tunnel respectively using the one-dimensional laser sensor, and collecting the one-dimensional laser data reflected by the front known point and the rear known point; Determining an initial position of the tunnel construction equipment in the earth coordinate system using the one-dimensional laser data; After using the one-dimensional laser data to determine the initial posture of the tunnel construction equipment in the geodetic coordinate system, it also includes: obtaining verification laser data; wherein, the verification laser data is obtained by the one-dimensional laser sensor emitting laser to the verification point in the tunnel; using the verification laser data to determine whether the initial posture is accurate; if so, entering the operation of using the two-dimensional laser sensor to scan the tunnel face under the initial posture to obtain a reference point cloud; if not, re-collecting the one-dimensional laser data.

2. The method for positioning tunnel construction equipment according to claim 1, characterized in that: Performing point cloud registration on the reference point cloud and the matching point cloud to obtain position change information of the tunnel construction equipment includes: Performing point cloud registration on the reference point cloud and the matching point cloud to obtain posture change information of the scanner; The posture change information of the tunnel construction equipment is obtained based on the relative posture relationship between the scanner coordinate system and the equipment base coordinate system of the tunnel construction equipment, and the posture change information of the scanner.

3. The method for positioning tunnel construction equipment according to claim 2, characterized in that: The tunnel construction equipment also includes a vehicle body prism; Correspondingly, it also includes: Acquire first coordinate information of the vehicle body prism in the equipment base coordinate system of the tunnel construction equipment; Acquiring second coordinate information of the vehicle body prism in the scanner coordinate system; A relative position relationship between the scanner coordinate system and the equipment base coordinate system of the tunnel construction equipment is obtained according to the first coordinate information and the second coordinate information.

4. The method for positioning tunnel construction equipment according to claim 1, characterized in that: After obtaining the current posture of the tunnel construction equipment in the earth coordinate system, the method further includes: The current positioning information of the tunnel construction equipment is uploaded to the main control system of the tunnel construction equipment.

5. A tunnel construction equipment positioning device, characterized in that: Applied to the tunnel construction equipment, the scanner of the tunnel construction equipment includes a one-dimensional laser sensor and a two-dimensional laser sensor, and the positioning device of the tunnel construction equipment includes: An initial position determination module, configured to determine an initial position of the tunnel construction equipment in a geodetic coordinate system using the one-dimensional laser data collected by the one-dimensional laser sensor; A reference point cloud determination module is used to obtain a reference point cloud by scanning the tunnel face using the two-dimensional laser sensor in the initial posture; a matching point cloud determination module, configured to obtain a matching point cloud by scanning the tunnel face using the two-dimensional laser sensor when the tunnel construction equipment moves to a next operating position; a point cloud registration module, configured to perform point cloud registration on the reference point cloud and the matching point cloud to obtain position change information of the tunnel construction equipment; A posture determination module is used to obtain the current posture of the tunnel construction equipment in the geodetic coordinate system based on the posture change information of the tunnel construction equipment and the initial posture, so as to complete the positioning of the tunnel construction equipment; The initial position determination module is used to use the one-dimensional laser sensor to respectively emit lasers to the front known point and the rear known point in the tunnel, and collect the one-dimensional laser data reflected by the front known point and the rear known point; and is also used to use the one-dimensional laser data to determine the initial position of the tunnel construction equipment in the geodetic coordinate system; A verification module is used to obtain verification laser data after determining the initial posture of the tunnel construction equipment in the geodetic coordinate system using the one-dimensional laser data; wherein the verification laser data is obtained by the one-dimensional laser sensor emitting laser light to a verification point in the tunnel; and is also used to use the verification laser data to determine whether the initial posture is accurate; if so, enter the operation of scanning the tunnel face using the two-dimensional laser sensor in the initial posture to obtain a reference point cloud; if not, re-collect the one-dimensional laser data.

6. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the tunnel construction equipment positioning method according to any one of claims 1 to 4 are implemented.

7. The electronic device according to claim 6, characterized in that: The tunnel construction equipment includes a shovel milling trolley, a cantilever type tunnel boring machine or a wet spraying trolley.

8. A storage medium, characterized in that: The storage medium stores computer-executable instructions, which, when loaded and executed by the processor, implement the steps of the tunnel construction equipment positioning method according to any one of claims 1 to 4.

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