Cantilevered tunneling machine roadway cutting machine moving system and method based on combined positioning

Abstract

The application discloses a machine moving system and method for a boom-type tunneling machine cutting a roadway based on combined positioning, and belongs to the technical field of positioning and automatic control. The system comprises the following: a visual positioning system outputs x and y axis coordinates of a machine body of the boom-type tunneling machine to an industrial computer; a fiber-optic inertial navigation system outputs three kinds of posture information of the machine body of the boom-type tunneling machine to the industrial computer, wherein the three kinds of posture information comprise a roll angle, a pitch angle and a heading angle; a laser positioning system outputs z axis coordinates of the machine body of the boom-type tunneling machine to the industrial computer; the industrial computer generates position and posture information of the machine body of the boom-type tunneling machine, and then transmits the position and posture information to a cutting control system; the cutting control system generates a machine body rotation, forward movement, cutting and backward movement control instruction of the boom-type tunneling machine when cutting a roadway section, and sends the control instruction to an execution system; and the execution system executes corresponding machine body rotation, forward movement, cutting and backward movement actions of the boom-type tunneling machine when cutting the roadway section, thereby completing machine moving of the boom-type tunneling machine cutting a large-section roadway.

Description

Technical Field

[0001] This invention relates to a system and method for moving a cantilever tunnel boring machine to cut roadways based on combined positioning, belonging to the field of positioning and automatic control technology. Background Technology

[0002] Currently, during the cutting process of roadways by cantilever roadheaders, the vast majority still use traditional laser pointers to indicate the roadway design centerline and control the roadway excavation operation by manual visual inspection. This method relies entirely on the roadheader operator and is closely related to the operator's work experience. Furthermore, due to the extremely harsh working environment at the roadway face and the influence of various factors, problems such as over-excavation or under-excavation of the roadway are prone to occur. Therefore, the position measurement of the roadheader is extremely important and is also one of the key links to achieve unmanned roadway excavation. It directly affects the quality of roadway excavation and determines coal safety and production efficiency.

[0003] To better monitor the three-axis position and posture of the tunnel boring machine (TBM) for precise machine movement and timely adjustment of the cutting method, a combined positioning and autonomous measurement method is adopted. This aims to enable the TBM to automatically measure its position and posture during tunnel excavation, thereby automating machine movement, effectively reducing the number of workers and accidents in the mine, greatly improving tunneling efficiency, and making unmanned tunneling possible in coal mines. Summary of the Invention

[0004] The purpose of this invention is to overcome the technical defects of the existing technology and solve the technical problem that the tunneling working face is extremely harsh and affected by various factors. Due to the inherent defects of the single positioning system, the tunnel is prone to over-excavation or under-excavation. The invention proposes a machine relocation system and method for cutting large-section tunnels using a cantilever tunneling machine based on combined positioning.

[0005] The present invention specifically adopts the following technical solution: a relocation system for a cantilever tunnel boring machine based on combined positioning for cutting roadways, comprising:

[0006] A visual positioning system outputs the x and y coordinates of the cantilever tunneling machine body to an industrial control computer.

[0007] Fiber optic inertial navigation system, which outputs three pose information of the cantilever tunneling machine body to the industrial control computer, including roll angle, pitch angle and yaw angle;

[0008] A laser positioning system, wherein the laser positioning system outputs the z-axis coordinates of the cantilever tunneling machine body to the industrial control computer;

[0009] The industrial control computer receives the x and y axis coordinates of the cantilever tunneling machine body output by the vision positioning system, the three pose information of the cantilever tunneling machine body output by the fiber optic inertial navigation system, and the z axis coordinate of the cantilever tunneling machine body output by the laser positioning system, generates the position and attitude information of the cantilever tunneling machine body, and then transmits it to the cutting control system.

[0010] The cutting control system generates control commands for the rotation, forward movement, cutting, and retraction of the cantilever tunneling machine when cutting the roadway cross-section based on the position and attitude information of the cantilever tunneling machine body, and sends them to the execution system; thus completing the rotation, forward movement, cutting, and retraction of the cantilever tunneling machine body when cutting the roadway cross-section.

[0011] The execution system receives control commands from the cutting control system for the rotation, forward movement, cutting, and retraction of the cantilever tunneling machine when cutting the roadway cross-section. The execution system executes the corresponding rotation, forward movement, cutting, and retraction actions of the cantilever tunneling machine when cutting the roadway cross-section, thus completing the relocation of the cantilever tunneling machine for cutting large-section roadways.

[0012] In a preferred embodiment, the visual positioning system uses a laser pointer as the image feature and constructs a machine vision pose measurement model. It then uses an explosion-proof camera fixed to the cantilever tunneling machine to collect image features, thereby achieving pose determination.

[0013] In a preferred embodiment, the fiber optic inertial measurement unit uses the obtained fuselage position information to correct the cumulative error by measuring the instantaneous acceleration and instantaneous angular rate of the fiber optic inertial navigation system, and outputs three types of pose information.

[0014] In a preferred embodiment, the laser positioning system uses a laser emitter fixed to the top plate at the rear of the cantilever tunneling machine to emit a fan-shaped laser. The laser signal is collected by a laser receiving target on the cantilever tunneling machine to calculate the offset and output the z-axis information of the cantilever tunneling machine.

[0015] This invention also proposes a method for relocating a cantilever tunnel boring machine for cutting roadways based on combined positioning, comprising the following steps:

[0016] Step SS1: The visual positioning system performs pose detection of the cantilever tunneling machine using machine vision methods, and outputs the position and attitude information of the cantilever tunneling machine to the industrial control computer; the output position information of the cantilever tunneling machine is transmitted to the fiber optic inertial navigation system to correct inertial navigation drift; the laser positioning system performs pose measurement of the cantilever tunneling machine using laser target positioning, and outputs the position information of the cantilever tunneling machine.

[0017] Step SS2: The visual positioning system outputs independent pose parameters A through machine vision. The visual positioning system and the fiber optic inertial navigation system are combined to output pose parameters B. The laser positioning system outputs pose parameters C through laser target positioning. The pose parameters A, B, and C are fused using a Kalman filter data fusion algorithm to generate fused pose parameters, which are then transmitted to the industrial control computer.

[0018] Step SS3: The industrial control computer uses pose calculation software to fuse the received fused pose parameter data of the cutting head and the machine body. The control unit calculates the real-time position of the cutting head in the tunnel space and accurately monitors the cutting position trajectory within the set error range. After obtaining the required cutting position trajectory information, it grasps the deviation between the reference pose and the actual pose. Then, the correction controller converts the required cutting position trajectory information into solenoid valve switching information and control pulse signals that the cantilever tunneling machine can recognize. The processed cantilever tunneling machine pose information is sent to the cutting control system.

[0019] Step SS4: The cutting control system controls the traction speed based on the position and posture information of the cantilever tunneling machine transmitted by the industrial control computer, and matches the actual output traction speed with the oil pump current during the machine relocation process.

[0020] As a preferred embodiment, the visual positioning system outputs independent pose parameters A through machine vision methods, specifically including: installing a laser pointer fixed at the top plate behind the cantilever tunneling machine, calibrating the camera intrinsic parameters of the laser pointer, collecting image information of the cantilever tunneling machine to extract spot features and line features, and generating pose parameters A by inputting a point-line positioning model.

[0021] As a preferred embodiment, the combination of the visual positioning system and the fiber optic inertial navigation system for positioning and outputting pose parameter B specifically includes: installing the fiber optic inertial navigation system inside the cantilever tunneling machine body; the fiber optic inertial navigation system acquiring acceleration information through a 3-axis accelerometer and angular rate information through a 3-axis gyroscope; performing matrix calculations on the acceleration information and the angular rate information; then fusing pose parameter A to perform position calculations to generate the cantilever tunneling machine position information; performing attitude calculations on the angular rate information to output attitude angles; and generating pose parameter B by combining the cantilever tunneling machine position information and the attitude angles.

[0022] As a preferred embodiment, the laser positioning system for measuring the pose of a cantilever tunneling machine via laser target positioning specifically includes: fixing a laser emitter to the top plate behind the cantilever tunneling machine, installing a laser receiver near the center of the tunneling machine, installing an inclinometer on the cantilever tunneling machine body, recording the initial position of the cantilever tunneling machine body, and outputting the pose parameter C using a two-point distance calculation formula.

[0023] In a preferred embodiment, the industrial control computer acquires the current rating of the oil pump motor via data acquisition. The actual value of the current fed back by the oil pump motor I Obtain current result value Then the current result value The voltage level value is obtained by analyzing and calculating the collected vibration acceleration α. Then through the voltage level value The actual voltage value fed back by the feedback function V Compare the output voltage results speed difference The voltage difference is generated after amplification by an amplifier and processing by a controller. The voltage difference The input solenoid valve generates a flow signal q, which controls the traction cylinder to output a cutting traction speed v.

[0024] e I = I 0,1,2,3,4 - I

[0025] In the formula: e I —Current result value; I 0,1,2,3,4 —Current setting (divided into 1 to 4 settings during tunneling machine cutting, each setting has a different current value). I —Actual current value.

[0026] e V = V 0,1,2,3,4 - V

[0027] In the formula: e V —Voltage result value; V 0,1,2,3,4 —Voltage level (divided into 1 to 4 levels during tunneling machine cutting, each level is set with a different voltage value); V —Actual voltage value.

[0028] The beneficial effects achieved by this invention are as follows: This invention addresses the problem of over-excavation or under-excavation of roadways in existing cantilever tunneling face environments that are extremely harsh and affected by various factors. Single positioning systems are prone to this problem due to inherent system defects. The invention proposes a combined positioning system for moving cantilever tunneling machines to cut roadways, comprising: a visual positioning system that outputs the x and y coordinates of the cantilever tunneling machine to an industrial control computer; a fiber optic inertial navigation system that outputs three pose information of the cantilever tunneling machine to the industrial control computer, including roll angle, pitch angle, and yaw angle; a laser positioning system that outputs the z-axis coordinate of the cantilever tunneling machine to the industrial control computer; and an industrial control computer that receives the x and y coordinates of the cantilever tunneling machine output by the visual positioning system and the x and y coordinates of the cantilever tunneling machine output by the fiber optic inertial navigation system. The system generates position and attitude information of the cantilever tunneling machine body using three posture information and the z-axis coordinate of the machine body output by the laser positioning system. This information is then transmitted to the cutting control system. The cutting control system generates control commands for the rotation, forward movement, cutting, and retraction of the cantilever tunneling machine body when cutting the roadway cross-section based on the position and attitude information of the cantilever tunneling machine body, and sends these commands to the execution system. This completes the rotation, forward movement, cutting, and retraction actions of the cantilever tunneling machine body when cutting the roadway cross-section. The execution system receives the control commands for the rotation, forward movement, cutting, and retraction actions of the cantilever tunneling machine body when cutting the roadway cross-section from the cutting control system, and completes the corresponding rotation, forward movement, cutting, and retraction actions of the cantilever tunneling machine body when cutting the roadway cross-section, thus completing the relocation of the cantilever tunneling machine for cutting large-section roadways. This invention combines three positioning methods to improve positioning progress and ensure positioning effect. First, machine vision is used to detect the pose of the tunneling equipment and output the position and attitude information of the tunneling machine. The output position information is transmitted to fiber optic inertial navigation to correct inertial navigation drift. Laser target positioning is used to measure the pose of the tunneling equipment and output position information. The information from each method is combined to achieve machine vision and fiber optic inertial navigation combined positioning and laser target and fiber optic inertial navigation combined positioning. Each method outputs positioning information independently. Kalman filtering data fusion processing is used to fuse the two sets of data to further improve measurement accuracy and stability. The cutting control system controls the traction speed based on the position information of the cantilever tunneling machine transmitted by the industrial control computer, so that the actual output traction speed during the machine movement is matched with the oil pump current, optimizing the power of the tunneling machine movement, while keeping the vibration of the whole machine within a reasonable range. Attached Figure Description

[0029] Figure 1 This is a topological schematic diagram of the relocation method for cutting large-section roadways using a cantilever tunneling machine with combined positioning according to the present invention.

[0030] Figure 2 This is a topological schematic diagram of the combined positioning of the cantilever tunneling machine of the present invention;

[0031] Figure 3 This is a control logic block diagram for the cutting traction speed regulation of the present invention. Detailed Implementation

[0032] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0033] Example 1: As Figure 1 As shown, this invention proposes a relocation system for cantilever tunnel boring machines (TBMs) based on combined positioning for cutting roadways, comprising:

[0034] A visual positioning system outputs the x and y coordinates of the cantilever tunneling machine body to an industrial control computer.

[0035] Fiber optic inertial navigation system, which outputs three pose information of the cantilever tunneling machine body to the industrial control computer, including roll angle, pitch angle and yaw angle;

[0036] A laser positioning system, wherein the laser positioning system outputs the z-axis coordinates of the cantilever tunneling machine body to the industrial control computer;

[0037] The industrial control computer receives the x and y axis coordinates of the cantilever tunneling machine body output by the vision positioning system, the three pose information of the cantilever tunneling machine body output by the fiber optic inertial navigation system, and the z axis coordinate of the cantilever tunneling machine body output by the laser positioning system, generates the position and attitude information of the cantilever tunneling machine body, and then transmits it to the cutting control system.

[0038] The cutting control system generates control commands for the rotation, forward movement, cutting, and retraction of the cantilever tunneling machine when cutting the roadway cross-section based on the position and attitude information of the cantilever tunneling machine body, and sends them to the execution system; thus completing the rotation, forward movement, cutting, and retraction of the cantilever tunneling machine body when cutting the roadway cross-section.

[0039] The execution system receives control commands from the cutting control system for the rotation, forward movement, cutting, and retraction of the cantilever tunneling machine when cutting the roadway cross-section. The execution system executes the corresponding rotation, forward movement, cutting, and retraction actions of the cantilever tunneling machine when cutting the roadway cross-section, thus completing the relocation of the cantilever tunneling machine for cutting large-section roadways.

[0040] In a preferred embodiment, the visual positioning system uses a laser pointer as the image feature and constructs a machine vision pose measurement model. It then uses an explosion-proof camera fixed to the cantilever tunneling machine to collect image features, thereby achieving pose determination.

[0041] In a preferred embodiment, the fiber optic inertial measurement unit uses the obtained fuselage position information to correct the cumulative error by measuring the instantaneous acceleration and instantaneous angular rate of the fiber optic inertial navigation system, and outputs three types of pose information.

[0042] In a preferred embodiment, the laser positioning system uses a laser emitter fixed to the top plate at the rear of the cantilever tunneling machine to emit a fan-shaped laser. The laser signal is collected by a laser receiving target on the cantilever tunneling machine to calculate the offset and output the z-axis information of the cantilever tunneling machine.

[0043] Example 2: As Figure 2 As shown, the present invention also proposes a method for relocating a cantilever tunnel boring machine for cutting roadways based on combined positioning, comprising the following steps:

[0044] Step SS1: The visual positioning system performs pose detection of the cantilever tunneling machine using machine vision methods, and outputs the position and attitude information of the cantilever tunneling machine to the industrial control computer; the output position information of the cantilever tunneling machine is transmitted to the fiber optic inertial navigation system to correct inertial navigation drift; the laser positioning system performs pose measurement of the cantilever tunneling machine using laser target positioning, and outputs the position information of the cantilever tunneling machine.

[0045] Step SS2: The visual positioning system outputs independent pose parameters A through machine vision. The visual positioning system and the fiber optic inertial navigation system are combined to output pose parameters B. The laser positioning system outputs pose parameters C through laser target positioning. The pose parameters A, B, and C are fused using a Kalman filter data fusion algorithm to generate fused pose parameters, which are then transmitted to the industrial control computer.

[0046] Step SS3: The industrial control computer uses pose calculation software to fuse the received fused pose parameter data of the cutting head and the machine body. The control unit calculates the real-time position of the cutting head in the tunnel space and accurately monitors the cutting position trajectory within the set error range. After obtaining the required cutting position trajectory information, it grasps the deviation between the reference pose and the actual pose. Then, the correction controller converts the required cutting position trajectory information into solenoid valve switching information and control pulse signals that the cantilever tunneling machine can recognize. The processed cantilever tunneling machine pose information is sent to the cutting control system.

[0047] Step SS4: The cutting control system controls the traction speed based on the position and posture information of the cantilever tunneling machine transmitted by the industrial control computer, and matches the actual output traction speed with the oil pump current during the machine relocation process.

[0048] As a preferred embodiment, the visual positioning system outputs independent pose parameters A through machine vision methods, specifically including: installing a laser pointer fixed at the top plate behind the cantilever tunneling machine, calibrating the camera intrinsic parameters of the laser pointer, collecting image information of the cantilever tunneling machine to extract spot features and line features, and generating pose parameters A by inputting a point-line positioning model.

[0049] As a preferred embodiment, the combination of the visual positioning system and the fiber optic inertial navigation system for positioning and outputting pose parameter B specifically includes: installing the fiber optic inertial navigation system inside the cantilever tunneling machine body; the fiber optic inertial navigation system acquiring acceleration information through a 3-axis accelerometer and angular rate information through a 3-axis gyroscope; performing matrix calculations on the acceleration information and the angular rate information; then fusing pose parameter A to perform position calculations to generate the cantilever tunneling machine position information; performing attitude calculations on the angular rate information to output attitude angles; and generating pose parameter B by combining the cantilever tunneling machine position information and the attitude angles.

[0050] As a preferred embodiment, the laser positioning system for measuring the pose of a cantilever tunneling machine via laser target positioning specifically includes: fixing a laser emitter to the top plate behind the cantilever tunneling machine, installing a laser receiver near the center of the tunneling machine, installing an inclinometer on the cantilever tunneling machine body, recording the initial position of the cantilever tunneling machine body, and outputting the pose parameter C using a two-point distance calculation formula.

[0051] like Figure 3 As shown in the preferred embodiment, the industrial control computer acquires the current range value of the oil pump motor via data acquisition. The actual value of the current fed back by the oil pump motor I Obtain current result value Then the current result value The voltage level value is obtained by analyzing and calculating the collected vibration acceleration α. Then through the voltage level value The actual voltage value fed back by the feedback function V Compare the output voltage results speed difference The voltage difference is generated after amplification by an amplifier and processing by a controller. The voltage difference The input solenoid valve generates a flow signal q, which controls the traction cylinder to output a cutting traction speed v.

[0052] e I = I 0,1,2,3,4 - I

[0053] In the formula: e I —Current result value; I 0,1,2,3,4 —Current setting (divided into 1 to 4 settings during tunneling machine cutting, each setting has a different current value). I —Actual current value.

[0054] e V = V 0,1,2,3,4 - V

[0055] In the formula: e V —Voltage result value; V 0,1,2,3,4 —Voltage level (divided into 1 to 4 levels during tunneling machine cutting, each level is set with a different voltage value); V —Actual voltage value.

[0056] During use, the cantilever tunneling machine can also detect the current of the oil pump motor in real time through sensors to determine the standard gear of the travel current. Through database analysis and calculation, the standard speed value corresponding to each standard current gear is obtained. The traction speed of the travel mechanism is measured and compared with the five standard speed values, thereby controlling the traction cylinder to output the corresponding cutting traction speed.

[0057] It should be noted that for machine vision positioning technology, the three laser pointing beams are fixed to the top plate behind the tunneling machine, and the laser emitter of the laser target combination positioning system is also fixed to the top plate behind the machine. The explosion-proof camera used for machine vision positioning is fixed on the side of the tunneling machine that is not in the electrical control box, and must not obstruct the laser receiver. Due to the size of the laser receiver, its installation position is close to the center of the tunneling machine. Explosion-proof installation of the underground inertial navigation system needs to be considered, as the inertial system does not provide geomagnetic information; therefore, it can be fixed inside the electrical control box of the tunneling machine. Due to limited space on the tunneling machine, the computing components can be placed in the remote control chamber behind the tunneling machine without affecting the computing speed.

[0058] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0059] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for relocating a cantilever tunnel boring machine for cutting roadways based on combined positioning, characterized in that, Includes the following steps: Step SS1: The visual positioning system performs pose detection of the cantilever tunneling machine using machine vision methods, and outputs the position and attitude information of the cantilever tunneling machine to the industrial control computer; the output position information of the cantilever tunneling machine is transmitted to the fiber optic inertial navigation system to correct inertial navigation drift; the laser positioning system performs pose measurement of the cantilever tunneling machine using laser target positioning, and outputs the position information of the cantilever tunneling machine. Step SS2: The visual positioning system outputs independent pose parameters A through machine vision. The visual positioning system and the fiber optic inertial navigation system are combined to output pose parameters B. The laser positioning system outputs pose parameters C through laser target positioning. The pose parameters A, B, and C are fused using a Kalman filter data fusion algorithm to generate fused pose parameters, which are then transmitted to the industrial control computer. Step SS3: The industrial control computer uses pose calculation software to fuse the received fused pose parameter data of the cutting head and the machine body. The control unit calculates the real-time position of the cutting head in the tunnel space and accurately monitors the cutting position trajectory within the set error range. After obtaining the required cutting position trajectory information, it grasps the deviation between the reference pose and the actual pose. Then, the correction controller converts the required cutting position trajectory information into solenoid valve switching information and control pulse signals that the cantilever tunneling machine can recognize. The processed cantilever tunneling machine pose information is sent to the cutting control system. Step SS4: The cutting control system controls the traction speed based on the position and posture information of the cantilever tunneling machine transmitted by the industrial control computer, and matches the actual output traction speed with the oil pump current during the machine relocation process.

2. The method for relocating a cantilever tunneling machine based on combined positioning for cutting roadways according to claim 1, characterized in that, The visual positioning system outputs independent pose parameters A using machine vision methods, specifically including: installing a laser pointer fixed at the top plate behind the cantilever tunneling machine; calibrating the camera intrinsic parameters of the laser pointer; acquiring image information of the cantilever tunneling machine to extract spot features and line features; and generating pose parameters A by inputting a point-line positioning model.

3. The method for relocating a cantilever tunnel boring machine for cutting roadways based on combined positioning according to claim 2, characterized in that, The combination of the visual positioning system and the fiber optic inertial navigation system for positioning and outputting pose parameter B specifically includes: installing the fiber optic inertial navigation system inside the cantilever tunneling machine body; the fiber optic inertial navigation system collecting acceleration information through a 3-axis accelerometer and angular rate information through a 3-axis gyroscope; performing matrix calculations on the acceleration information and the angular rate information; then fusing pose parameter A to perform position calculations to generate the cantilever tunneling machine position information; performing attitude calculations on the angular rate information to output attitude angles; and generating pose parameter B by combining the cantilever tunneling machine position information and the attitude angles.

4. The method for relocating a cantilever tunnel boring machine for cutting roadways based on combined positioning according to claim 3, characterized in that, The laser positioning system performs position measurement of the cantilever tunneling machine by positioning a laser target. Specifically, it includes fixing a laser transmitter to the top plate behind the cantilever tunneling machine, installing a laser receiver near the center of the tunneling machine, installing an inclinometer on the cantilever tunneling machine, recording the initial position of the cantilever tunneling machine, and outputting the position parameter C using a two-point distance calculation formula.

5. The method for relocating a cantilever tunneling machine for cutting roadways based on combined positioning according to claim 4, characterized in that, The industrial control computer collects the current rating of the oil pump motor via data acquisition. The actual value of the current fed back by the oil pump motor Obtain current result value Then the current result value The voltage level value is obtained by analyzing and calculating the collected vibration acceleration α. Then through the voltage level value The actual voltage value fed back by the feedback function V Compare the output voltage results speed difference The voltage difference is generated after amplification by an amplifier and processing by a controller. The voltage difference The input solenoid valve generates a flow signal q, which controls the traction cylinder to output a cutting traction speed v.

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