Roadheader guiding method, device and equipment, storage medium and guiding system thereof

Abstract

The application provides a tunneling machine guiding method, device, equipment and storage medium and a guiding system thereof, wherein the guiding method comprises the following steps: taking a tunnel as a first reference coordinate system, acquiring a position coordinate of a first target, a position coordinate of a second target and an initial height coordinate of the tunneling machine in the first reference coordinate system; taking the first target, the second target and the tunneling machine as a second reference coordinate system, acquiring a relative plane coordinate of the tunneling machine; determining a relative height coordinate of the tunneling machine in the first reference coordinate system according to an actual displacement curve of the tunneling machine; determining an actual displacement coordinate of the tunneling machine in the first reference coordinate system; and determining a guiding curve of the tunneling machine according to a planned displacement curve of the tunneling machine, the actual displacement coordinate and a space posture angle of the tunneling machine. The application further provides a tunneling machine guiding device, equipment and storage medium and a guiding system thereof. The above-mentioned device and method can realize real-time accurate navigation and avoid guiding errors in underground construction.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to a method, device, equipment, storage medium, and guidance system for a tunnel boring machine. Background Technology

[0002] The description in this section provides only background information related to the disclosure of this invention and does not constitute prior art.

[0003] In existing tunnel construction, tunnel boring machines (TBMs) or shield tunneling machines (TBMs) are typically used for excavation. However, in the underground environment, the guidance accuracy of these machines directly affects the tunnel construction quality, especially when encountering curves. It is crucial to ensure that the TBM's excavation path does not deviate significantly from the design axis. To ensure the correct construction direction, fixed-point measurement guidance is required. Traditional guidance methods rely primarily on manual measurement, resulting in a complex process that severely impacts the TBM's construction progress. With technological advancements, laser and computer science technologies are increasingly being used in guidance systems. Existing technologies include gyro-based north-finding instruments, but these are prone to positioning errors due to vibration during construction, necessitating frequent shutdowns for calibration. Laser total stations are also used, offering precise and quick positioning using lasers. However, the characteristics of total stations mean that single positioning operations are time-consuming, preventing real-time positioning. This remains a significant challenge in tunnel construction technology regarding guidance methods.

[0004] It should be noted that the above description of the technical background is only for the purpose of providing a clear and complete explanation of the technical solutions of the present invention and facilitating understanding by those skilled in the art. It should not be assumed that the above technical solutions are known to those skilled in the art simply because they have been described in the background section of this invention. Summary of the Invention

[0005] The purpose of this invention is to provide a method, device, equipment, storage medium, and guidance system for tunneling machines, which solves the need in the field of tunnel construction technology to position and guide tunneling machines or shield machines in real time and correct their own construction direction, and can significantly improve the guidance accuracy of tunneling machines or shield machines.

[0006] The above-mentioned objectives of this invention are mainly achieved by the following technical solutions:

[0007] A tunneling machine guidance method, the method comprising:

[0008] Using the tunnel as the first reference coordinate system, obtain the position coordinates of the first target, the position coordinates of the second target, and the initial height coordinates of the tunneling machine in the first reference coordinate system;

[0009] Using the first target, the second target, and the tunneling machine as a second reference coordinate system, the relative planar coordinates of the tunneling machine are obtained;

[0010] Based on the actual displacement curve of the tunneling machine, determine the relative elevation coordinates of the tunneling machine in the first reference coordinate system;

[0011] The actual displacement coordinates of the tunneling machine in the first reference coordinate system are determined based on the relative plane coordinates, the initial height coordinates, and the relative elevation coordinates.

[0012] Based on the proposed displacement curve of the tunneling machine, the actual displacement coordinates, and the spatial attitude angle of the tunneling machine, the guide curve of the tunneling machine is determined.

[0013] According to a specific embodiment, using the first target, the second target, and the tunneling machine as a second reference coordinate system, obtaining the relative planar coordinates of the tunneling machine includes:

[0014] Obtain the first distance between the first target and the tunneling machine, the second distance between the second target and the tunneling machine, and the first included angle between the line connecting the tunneling machine and the first target and the line connecting the tunneling machine and the second target;

[0015] The relative planar coordinates of the tunneling machine are calculated based on the position coordinates of the first target, the position coordinates of the second target, the first distance, the second distance, and the first included angle.

[0016] According to a specific embodiment, the relative planar coordinates of the tunneling machine are calculated based on the position coordinates of the first target, the position coordinates of the second target, the first distance, the second distance, and the first included angle, including:

[0017] Based on the position coordinates of the first target and the position coordinates of the second target, determine the second angle between the line connecting the first target and the second target and the X-axis in the second reference coordinate system;

[0018] Based on the first distance, the second distance, and the first included angle, determine the third included angle between the perpendicular line connecting the second target and the tunneling machine and the line connecting the second target and the first target in the second reference coordinate system;

[0019] Based on the second included angle and the third included angle, determine the fourth included angle between the line connecting the second target and the tunneling machine and the X-axis of the second reference coordinate system;

[0020] The relative planar coordinates of the tunneling machine are determined based on the fourth included angle, the position coordinates of the second target, and the second distance.

[0021] According to a specific embodiment, determining the relative elevation coordinates of the tunneling machine in the first reference coordinate system based on the actual displacement curve of the tunneling machine includes:

[0022] The attitude angles of the tunneling machine at multiple time points and the relative planar coordinates of the tunneling machine at the same time point in the second reference coordinate system are obtained.

[0023] The relative elevation coordinates of the tunneling machine are determined based on the attitude angle and the relative plane coordinates.

[0024] According to a specific embodiment, determining the relative elevation coordinates of the tunneling machine in the first reference coordinate system based on the actual displacement curve of the tunneling machine includes:

[0025] Obtain the actual position coordinates of the tunneling machine in the first reference coordinate system during two consecutive shutdown states;

[0026] Based on two adjacent actual position coordinates, determine the elevation angle of the actual displacement of the tunneling machine in the first reference coordinate system;

[0027] The relative elevation coordinates of the tunneling machine in the first reference coordinate system are determined based on the elevation inclination angle and the relative plane coordinates.

[0028] According to a specific embodiment, the guide curve of the tunneling machine is determined based on the intended positioning coordinates, the actual displacement coordinates, and the spatial attitude angles of the tunneling machine, including:

[0029] Based on the coordinate difference between the intended displacement coordinates and the actual displacement coordinates, the guide curve of the tunneling machine is determined, and the attitude angle of the tunneling machine is adjusted.

[0030] A tunneling machine guiding device, the device comprising:

[0031] The acquisition unit, using the tunnel as the first reference coordinate system, acquires the position coordinates of the first target, the position coordinates of the second target, and the initial height coordinates of the tunneling machine in the first reference coordinate system.

[0032] The calculation unit determines the actual displacement coordinates of the tunneling machine in the first reference coordinate system based on the position coordinates of the first target, the position coordinates of the second target, and the initial height coordinates.

[0033] The adjustment unit adjusts the guide curve of the tunneling machine based on the intended positioning displacement coordinates, the actual displacement coordinates, and the spatial attitude angle of the tunneling machine.

[0034] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned tunneling machine guidance method.

[0035] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described tunneling machine guidance method.

[0036] A tunneling machine guidance system for implementing the above-described tunneling machine guidance method, the tunneling machine guidance system comprising:

[0037] A lidar and a radar prism are mounted on the tunneling machine, wherein the spatial coordinates of the lidar are fixed relative to the radar prism, and an inertial navigation system is mounted on the tunneling machine, wherein the spatial coordinates of the inertial navigation system are fixed relative to the radar prism and the lidar.

[0038] A mobile positioning device, wherein a prism is provided on a plurality of the mobile positioning devices, the plurality of the mobile positioning devices are fixed in the tunnel and positioned behind the tunneling machine;

[0039] A laser calibration device, comprising a laser emitter, is fixed in the tunnel and positioned behind the tunneling machine.

[0040] Compared with the prior art, the technical solution of the present invention has the following characteristics and advantages:

[0041] 1. This invention can achieve real-time calculation of the spatial position and attitude of the tunneling machine during operation by using a combination of lidar and boom, along with inertial navigation; and it solves the problem of long calculation time per measurement when using a total station for real-time measurement, enabling real-time position calculation at a higher frequency.

[0042] 2. This invention can update and verify the coordinates and attitude of the tunnel boring machine in a timely manner by calibrating the total station when the machine is stopped, avoiding problems such as real-time measurement and positioning errors caused by pipe wall vibration or dust during tunnel construction, thus ensuring safer construction. At the same time, the double insurance measures comply with the engineering safety redundancy design, avoiding irreparable losses caused by equipment failure. Attached Figure Description

[0043] Figure 1 This is a flowchart of the tunneling machine guidance method in the embodiments of this article;

[0044] Figure 2 This is a flowchart of step S2 of the tunneling machine guidance method in this embodiment;

[0045] Figure 3 This is a flowchart of step S22 of the tunneling machine guidance method in this embodiment;

[0046] Figure 4 This is a flowchart of the first embodiment of step S3 of the tunneling machine guidance method described in this article;

[0047] Figure 5 This is a flowchart of a second embodiment of step S3 of the tunneling machine guidance method described in this article;

[0048] Figure 6 The diagram shown is a block diagram of a tunneling machine guide device according to an embodiment of this paper;

[0049] Figure 7 This is a schematic diagram of the tunnel boring machine guidance system in a tunnel, as described in this embodiment.

[0050] Figure 8 This is a schematic diagram showing the specific coordinates of step S2 in the tunneling machine guidance method of this embodiment;

[0051] Figure 9 This is a schematic diagram of the structure of a computer device according to an embodiment of this article.

[0052] Explanation of icon numbers:

[0053] 1. Tunneling machine; 11. LiDAR; 12. Laser prism; 13. Inertial navigation system;

[0054] 2. First lifting rod;

[0055] 3. Second boom;

[0056] 4. Total station;

[0057] 5. Computer equipment; 51. Processor; 52. Drive mechanism; 53. Input / output module; 531. Input device; 532. Output device; 5321. Presentation device; 5322. Graphical user interface; 54. Network interface; 541. Communication link; 542. Communication bus;

[0058] 6. Memory;

[0059] L1, first distance;

[0060] L2, the second distance;

[0061] ∝、First included angle;

[0062] B. The second included angle;

[0063] C. The third included angle;

[0064] A. The fourth included angle. Detailed Implementation

[0065] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0066] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings herein are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0067] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0068] like Figure 1 The diagram shown is a flowchart of a tunneling machine guidance method according to an embodiment of this paper, which may include:

[0069] Step S1: Using the tunnel as the first reference coordinate system, obtain the position coordinates of the first target, the position coordinates of the second target, and the initial height coordinates of the tunneling machine 1 in the first reference coordinate system;

[0070] Step S2: Using the first target, the second target, and the tunneling machine 1 as the second reference coordinate system, obtain the relative planar coordinates of the tunneling machine 1;

[0071] Step S3: Determine the relative elevation coordinates of the tunneling machine 1 in the first reference coordinate system based on the actual displacement curve of the tunneling machine 1;

[0072] Step S4: Determine the actual displacement coordinates of the tunneling machine 1 in the first reference coordinate system based on the relative plane coordinates, the initial height coordinates, and the relative elevation coordinates;

[0073] Step S5: Based on the proposed displacement curve of the tunneling machine 1, the actual displacement coordinates, and the spatial attitude angle of the tunneling machine 1, determine the guide curve of the tunneling machine 1.

[0074] The tunneling machine guidance method provided in this embodiment enables the tunneling machine 1 to determine its own position at any time during the tunneling process, and to compare its own position with the planned route at any time to verify whether the forward route has deviated due to the underground environment and construction vibration. When a deviation occurs, the tunneling machine guidance method can adjust the guidance curve of the tunneling machine 1 at any time, and at the same time adjust the attitude angle of the tunneling machine 1 to ensure that the tunneling machine 1 moves forward according to the design route.

[0075] In one feasible embodiment described herein, please refer to [the relevant documentation]. Figure 7 As shown, in step S1: a certain base point inside the tunnel is used as the origin of the first reference coordinate system, and the total station 4 is set on the origin of the coordinate system. In other embodiments, other position measuring tools can also be used, and there is no limitation here. A boom is set at both the first target and the second target, and a prism reflecting the laser is equipped on the boom. The boom at the first target is the first boom 2, and the boom at the second target is the second boom 3. A laser prism 12 is also set on the tunneling machine 1. Through the laser ranging and positioning function of the total station 4, the spatial position coordinates of the first boom 2, the second boom 3, and the laser prism 12 on the tunneling machine 1 in the first reference coordinate system can be determined, and these position coordinate data can be recorded. To make a distinction, the spatial position coordinates recorded at this time are defined as the initial position coordinates in the first reference system.

[0076] Furthermore, a lidar 11 is also provided on the tunneling machine 1. However, in other embodiments, other laser scanning devices may be used, and no limitation is made here. The spatial position vectors of the lidar 11 and the laser prism 12 on the tunneling machine 1 in the first reference coordinate system are known. For the sake of simplicity, the position description of the tunneling machine 1 below shall be based on the coordinates of the lidar 11 on the tunneling machine 1. The coordinates of the other measurement points on the tunneling machine 1 shall be converted from the spatial vectors of the lidar 11 in the first reference coordinate system.

[0077] like Figure 2 , Figure 7 , Figure 8 As shown, in step S2, using the first target, the second target, and the tunneling machine 1 as a second reference coordinate system, the relative planar coordinates of the tunneling machine 1 are obtained. In this embodiment, this mainly includes:

[0078] Step S21: Obtain the first distance L1 between the first target and the tunneling machine 1, the second distance L2 between the second target and the tunneling machine 1, and the first included angle α between the line connecting the tunneling machine 1 and the first target and the line connecting the tunneling machine 1 and the second target;

[0079] Step S22: Calculate the relative planar coordinates of the tunneling machine 1 based on the position coordinates of the first target, the position coordinates of the second target, the first distance L1, the second distance L2, and the first included angle α.

[0080] Specifically, the first target, the second target, and the tunneling machine 1 form a second reference coordinate system. This spatial coordinate system is primarily established using the plane formed by the prisms of the first boom 2 and the second boom 3, and the lidar 11 on the tunneling machine 1. The information to be acquired is mainly obtained through scanning by the lidar 11 on the tunneling machine 1. The distance between the lidar 11 and the prism on the first boom 2, obtained through scanning, is the first distance L1. The distance between the lidar 11 and the prism on the second boom 3, obtained through scanning, is the second distance L2. The lidar 11 can also obtain the angle between the line connecting the lidar 11 to the first boom 2 and the line connecting the lidar 11 to the second boom 3, which is the first angle α.

[0081] like Figure 3 As shown, in step S22, based on the position coordinates of the first target and the second target in the first reference coordinate system, the first distance L1, the second distance L2, and the first included angle α, the relative planar coordinates of the tunneling machine 1 in the second reference coordinate system can be calculated, including:

[0082] Step S221: Based on the position coordinates of the first target and the position coordinates of the second target, determine the second angle B between the line connecting the first target and the second target and the X-axis in the second reference coordinate system;

[0083] Step S222: Based on the first distance L1, the second distance L2, and the first included angle α, determine the third included angle C between the perpendicular line connecting the second target and the tunneling machine 1 and the line connecting the second target and the first target in the second reference coordinate system;

[0084] Step S223: Based on the second included angle B and the third included angle C, determine the fourth included angle A between the line connecting the second target and the tunneling machine 1 and the X-axis of the second reference coordinate system;

[0085] Step S224: Determine the relative planar coordinates of the tunneling machine 1 based on the fourth included angle A, the position coordinates of the second target, and the second distance L2.

[0086] Specifically, such as Figures 1 to 3 , Figure 8 As shown, to obtain the relative planar coordinates of the tunneling machine 1 in the second reference coordinate system, as described in step S221, it is necessary to first calculate the second angle B between the line connecting the first boom 2 and the second boom 3 and the X-axis in the second reference coordinate system, based on the position coordinates (x1, y1) of the first boom 2 and the coordinates (x2, y2) of the second boom 3 in the second reference coordinate system. The specific details are as follows:

[0087] E = x1 - x2

[0088] F = y1 - y2

[0089] When F≠0, then we have: When F > 0, D = 1; when F < 0, D = -1.

[0090] When F = 0 and E ≥ 0, B = 0; when F = 0 and E < 0, B = π.

[0091] Where F is the distance between the first rod 2 and the line parallel to the X-axis passing through the second rod 3 in the second reference coordinate system; E is the distance between the second rod 3 and the line parallel to the Y-axis passing through the first rod 2 in the second reference coordinate system; and D is a coefficient used in the calculation process.

[0092] Furthermore, as described in step S222, based on the first distance L1 from the first boom 2 to the lidar 11, the second distance L2 from the second boom 3 to the lidar 11, and the first included angle α, the third included angle C between the perpendicular line of the line connecting the second boom 3 and the lidar 11 and the line connecting the second boom 3 and the first boom 2 in the second reference coordinate system can be determined, as follows:

[0093] When α > 0;

[0094]

[0095]

[0096] When α < 0;

[0097]

[0098]

[0099] Where, when I≠0, the third included angle When I > 0, G = 1; when I < 0, G = -1;

[0100] Wherein, when I = 0 and E ≥ 0, C = 0; when I = 0 and E < 0, C = π;

[0101] Where H is the distance between the line connecting the second boom 3 and the lidar 11 and the line parallel to the first boom 2 in the second reference coordinate system; I is the distance from the point on the line connecting the second boom 3 and the lidar 11 perpendicular to the line parallel to the first boom 2 to the first boom 2 in the second reference coordinate system, minus the distance from the point on the line connecting the second boom 3 and the lidar 11 perpendicular to the line parallel to the first boom 2 to the first boom 2.

[0102] Where G is a coefficient in the calculation process.

[0103] Furthermore, as described in step S223, based on the second included angle B and the third included angle C, the fourth included angle A between the line connecting the second boom 3 and the tunneling machine 1 and the X-axis in the second reference coordinate system can be determined, as follows:

[0104]

[0105] Furthermore, as described in step S224, based on the fourth included angle A, the position coordinates of the second boom 3, and the second distance L2, the relative planar coordinates (x0, y0) of the lidar 11 can be determined, that is, the relative planar coordinates (x0, y0) of the tunneling machine 1 in the second reference coordinate system, as follows:

[0106] X0 = X2 + L2·cosA

[0107] Y0=Y2+L2·sinA

[0108] like Figure 1 , Figure 4 As shown, in step S3, based on the actual displacement curve of the tunneling machine 1, the relative elevation coordinates of the tunneling machine 1 in the first reference coordinate system can be determined. In one feasible embodiment of this document, this includes:

[0109] Step S311: Obtain the attitude angles of the tunneling machine 1 at multiple time points, and the relative planar coordinates of the tunneling machine 1 at the same time point in the second reference coordinate system;

[0110] Step S312: Determine the relative elevation coordinates of the tunneling machine 1 based on the attitude angle and the relative plane coordinates.

[0111] Specifically, the tunneling machine 1 is equipped with an inertial navigation system 13, and the position vectors of the inertial navigation system 13 and the lidar 11 in the first reference coordinate system are known. The inertial navigation system 13 can output the current attitude angles of the tunneling machine 1 in real time, including the pitch angle around the X-axis, the yaw angle around the Y-axis, and the roll angle around the Z-axis in the first reference coordinate system. At the same time, the relative planar coordinates of the tunneling machine 1 in the second reference coordinate system at this moment can be calculated through step S2.

[0112] As described in step S312, the relative planar coordinates of the tunneling machine 1 in the second reference coordinate system calculated by the lidar 11 for each scan can be input into the inertial navigation system 13. The inertial navigation system 13 obtains the relative elevation of the lidar 11 in the first reference coordinate system based on the displacement and attitude angle of the tunneling machine 1 during each lidar 11 scan. Obtaining the relative elevation through the inertial navigation system 13 is existing technology and will not be described in detail here.

[0113] like Figure 1 and Figure 5 As shown, in step S3, based on the actual displacement curve of the tunneling machine 1, the relative elevation coordinates of the tunneling machine 1 in the first reference coordinate system can be determined. In another feasible embodiment of this document, this includes:

[0114] Step S321: Obtain the actual position coordinates of the tunneling machine 1 in the first reference coordinate system during two consecutive shutdown states;

[0115] Step S322: Determine the elevation angle of the actual displacement of the tunneling machine 1 in the first reference coordinate system based on two adjacent actual position coordinates;

[0116] Step S323: Determine the relative elevation coordinates of the tunneling machine 1 in the first reference coordinate system based on the elevation inclination angle and the relative plane coordinates.

[0117] Specifically, during actual construction, the tunneling machine 1 will stop for inspection every 50-100 meters. Therefore, in this embodiment, as described in step S321, the total station 4 can measure the actual position coordinates of the laser prism 12 on the tunneling machine 1 in the first reference coordinate system during two adjacent stops. As described in step S322, the elevation angle of the actual displacement of the tunneling machine 1 in the first reference coordinate system can be determined based on the difference between the actual position coordinates of the two adjacent stops. As described in step S323, based on the elevation angle and the relative plane coordinates of the tunneling machine 1 in the second reference system obtained in step S2, the relative elevation coordinates of the tunneling machine 1 before the next stop can be calculated according to this elevation angle.

[0118] Specifically, such as Figure 1 As shown, in step S4, after obtaining the relative plane coordinates (x0, y0) of the tunneling machine 1 in the second reference coordinate system, the initial height coordinates Z0 of the tunneling machine 1 in the first reference coordinate system, and the relative elevation coordinates ΔZ of the tunneling machine 1 in the first reference coordinate system, the actual displacement coordinates of the tunneling machine 1 can be determined as [(x0, y0), (Z0+ΔZ)]. At the same time, these coordinates can also be converted into actual displacement coordinates in the first reference coordinate system through the inertial navigation system 13.

[0119] In step S5, before the tunneling operation is carried out, a simulated displacement curve is set for the tunneling machine 1. Combining the actual displacement coordinates obtained in step S4 with the coordinate difference between the simulated displacement coordinates and the current attitude angle of the tunneling machine 1, the guide curve of the tunneling machine 1 can be re-determined. The guide curve includes the new simulated displacement coordinates and the new attitude angle of the tunneling machine 1 under the new simulated displacement coordinates.

[0120] Based on the specific embodiment of the tunneling machine guidance method described above, steps S1 to S5 are repeated in each scan of the lidar 11. The scanning frequency of the lidar 11 determines the accuracy of the tunneling process and route of the tunneling machine 1. Therefore, in the above embodiment, the lidar 11 is configured to measure at least once per second, and its scanning frequency can be adjusted according to the accuracy and progress required for actual construction.

[0121] Based on the same inventive concept, such as Figure 6 As shown in the embodiments herein, a tunneling machine guiding device is also provided, as described in the above embodiments, specifically including:

[0122] The acquisition unit, using the tunnel as the first reference coordinate system, acquires the position coordinates of the first target, the position coordinates of the second target, and the initial height coordinates of the tunneling machine 1 in the first reference coordinate system;

[0123] The calculation unit determines the actual displacement coordinates of the tunneling machine 1 in the first reference coordinate system based on the position coordinates of the first target, the position coordinates of the second target, and the initial height coordinates.

[0124] The adjustment unit adjusts the guide curve of the tunneling machine 1 based on the intended positioning displacement coordinates, the actual displacement coordinates, and the spatial attitude angle of the tunneling machine 1.

[0125] The tunneling machine guiding device provided in this embodiment enables the tunneling machine 1 to determine its own position at any time during the tunneling process, and to compare its own position with the planned route at any time to verify whether the forward route has deviated due to the underground environment and construction vibration. When a deviation occurs, the tunneling machine guiding method can adjust the guiding curve of the tunneling machine 1 at any time, and at the same time adjust the attitude angle of the tunneling machine 1 to ensure that the tunneling machine 1 moves forward according to the designed route.

[0126] Since the principle by which this device solves the problem is similar to that of the tunnel boring machine guidance method, the implementation of this device can be found in the implementation of the tunnel boring machine guidance method, and the repeated parts will not be repeated.

[0127] like Figure 9 The diagram illustrates the structure of a computer device according to an embodiment of this document. The computer device described in this embodiment can be used to perform the aforementioned tunneling machine guidance method. The computer device 5 may include one or more processors 51, such as one or more central processing units (CPUs), each of which can implement one or more hardware threads. The computer device 5 may also include any memory 6 for storing information of any kind, such as code, settings, data, etc. Non-limitingly, for example, the memory 6 may include any type of RAM, any type of ROM, flash memory, hard disk, optical disk, etc. More generally, any memory can use any technology to store information. Furthermore, any memory can provide volatile or non-volatile retention of information. Furthermore, any memory can represent a fixed or removable component of the computer device 5. In one case, when the processor 51 executes associated instructions stored in any memory or combination of memories, the computer device 5 can perform any operation of the associated instructions. The computer device 5 also includes one or more drive mechanisms 52 for interacting with any memory, such as hard disk drive mechanisms, optical disk drive mechanisms, etc.

[0128] Computer device 5 may also include an input / output module 53 (I / O) for receiving various inputs (via input device 531) and providing various outputs (via output device 532). A specific output mechanism may include a presentation device 5321 and an associated graphical user interface 5322 (GUI). In other embodiments, the input / output module 53 (I / O), input device 531, and output device 532 may be omitted, and the device may function solely as a computer device within a network. Computer device 5 may also include one or more network interfaces 54 for exchanging data with other devices via one or more communication links 541. One or more communication buses 542 couple the components described above together.

[0129] Communication link 541 can be implemented in any way, such as via a local area network, a wide area network (e.g., the Internet), a point-to-point connection, or any combination thereof. Communication link 541 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.

[0130] correspond Figures 1 to 5 In addition to the method described above, this embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the tunneling machine guidance method described above.

[0131] correspond Figures 1 to 5 In addition to the method described above, this embodiment also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described tunneling machine guidance method.

[0132] Based on the same inventive concept, such as Figure 7 As shown in the embodiments herein, a tunneling machine guidance system is also provided, as described in the embodiments above, specifically including:

[0133] A lidar 11 and a laser prism 12 are installed on the tunneling machine 1, wherein the spatial coordinates of the lidar 11 relative to the laser prism 12 are fixed, and an inertial navigation system 13 is installed on the tunneling machine 1, wherein the spatial coordinates of the inertial navigation system 13 relative to the laser prism 12 and the lidar 11 are fixed.

[0134] A mobile positioning device, wherein a prism is provided on a plurality of the mobile positioning devices, and the plurality of the mobile positioning devices are fixed in the tunnel and positioned behind the tunneling machine 1;

[0135] A laser calibration device, which has a laser emitter, is fixed in the tunnel and positioned behind the tunneling machine 1.

[0136] The tunneling machine guidance system provided in this embodiment enables the tunneling machine 1 to determine its own position at any time during the tunneling process, and to compare its own position with the planned route at any time to verify whether the forward route has deviated due to the underground environment and construction vibration. When a deviation occurs, the tunneling machine guidance method can adjust the guidance curve of the tunneling machine 1 at any time, and at the same time adjust the attitude angle of the tunneling machine 1 to ensure that the tunneling machine 1 moves forward along the designed route.

[0137] Since the principle behind this system's problem-solving approach is similar to that of the tunnel boring machine (TBM) guidance method, the implementation of this system can be found in the implementation of the TBM guidance method; details that are repeated will not be repeated here.

[0138] It should be understood that in the various embodiments of this document, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0139] It should also be understood that, in the embodiments herein, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following associated objects have an "or" relationship.

[0140] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this document.

[0141] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0142] In the embodiments provided herein, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, or they may be electrical, mechanical, or other forms of connection.

[0143] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments described herein, depending on actual needs.

[0144] Furthermore, the functional units in the various embodiments of this document can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0145] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this paper, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this paper. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0146] This document uses specific embodiments to illustrate the principles and implementation methods of this document. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this document. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this document. Therefore, the content of this specification should not be construed as a limitation of this document.

Claims

1. A method for guiding a tunneling machine, characterized in that, The method includes: Using the tunnel as the first reference coordinate system, obtain the position coordinates of the first target, the position coordinates of the second target, and the initial height coordinates of the tunneling machine in the first reference coordinate system; Using the first target, the second target, and the tunneling machine as a second reference coordinate system, the relative planar coordinates of the tunneling machine are obtained; Obtain the first distance between the first target and the tunneling machine, the second distance between the second target and the tunneling machine, and the first included angle between the line connecting the tunneling machine and the first target and the line connecting the tunneling machine and the second target; The relative planar coordinates of the tunneling machine are calculated based on the position coordinates of the first target, the position coordinates of the second target, the first distance, the second distance, and the first included angle. Based on the position coordinates of the first target and the position coordinates of the second target, determine the second angle between the line connecting the first target and the second target and the X-axis in the second reference coordinate system; Based on the first distance, the second distance, and the first included angle, determine the third included angle between the perpendicular line connecting the second target and the tunneling machine and the line connecting the second target and the first target in the second reference coordinate system; Based on the second included angle and the third included angle, determine the fourth included angle between the line connecting the second target and the tunneling machine and the X-axis of the second reference coordinate system; The relative planar coordinates of the tunneling machine are determined based on the fourth included angle, the position coordinates of the second target, and the second distance. Based on the actual displacement curve of the tunneling machine, determine the relative elevation coordinates of the tunneling machine in the first reference coordinate system; The attitude angles of the tunneling machine at multiple time points and the relative planar coordinates of the tunneling machine at the same time point in the second reference coordinate system are obtained. The relative elevation coordinates of the tunneling machine are determined based on the attitude angle and the relative plane coordinates. Alternatively, obtain the actual position coordinates of the tunneling machine in the first reference coordinate system during two consecutive shutdown states; Based on two adjacent actual position coordinates, determine the elevation angle of the actual displacement of the tunneling machine in the first reference coordinate system; The relative elevation coordinates of the tunneling machine in the first reference coordinate system are determined based on the elevation inclination angle and the relative plane coordinates. The actual displacement coordinates of the tunneling machine in the first reference coordinate system are determined based on the relative plane coordinates, the initial height coordinates, and the relative elevation coordinates. Based on the proposed displacement curve of the tunneling machine, the actual displacement coordinates, and the spatial attitude angle of the tunneling machine, the guide curve of the tunneling machine is determined.

2. The tunneling machine guidance method according to claim 1, characterized in that, Based on the intended positioning coordinates of the tunneling machine, the actual displacement coordinates, and the spatial attitude angles of the tunneling machine, the guide curve of the tunneling machine is determined, including: Based on the coordinate difference between the intended displacement coordinates and the actual displacement coordinates, the guide curve of the tunneling machine is determined, and the attitude angle of the tunneling machine is adjusted.

3. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1 to 2.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 2.

5. A tunneling machine guidance system, characterized in that, For implementing the tunneling machine guidance method as described in any one of claims 1 to 2, the tunneling machine guidance system comprises: A lidar and a radar prism are mounted on the tunneling machine, wherein the spatial coordinates of the lidar are fixed relative to the radar prism, and an inertial navigation system is mounted on the tunneling machine, wherein the spatial coordinates of the inertial navigation system are fixed relative to the radar prism and the lidar. A mobile positioning device, wherein a prism is provided on a plurality of the mobile positioning devices, the plurality of the mobile positioning devices are fixed in the tunnel and positioned behind the tunneling machine; A laser calibration device, comprising a laser emitter, is fixed in the tunnel and positioned behind the tunneling machine.

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