A tunnel positioning method

Abstract

The application discloses a tunnel positioning method based on path planning navigation, wherein the positioning device comprises an automatic laser aiming module, an automatic leveling mechanism, a processing control module, an RFID reading and writing module, a power module, a fixed base and a position tag module; the power module is arranged between the processing control module and the fixed base; the automatic leveling mechanism is further arranged on the upper side of the processing control module, and the automatic laser aiming module is arranged on the automatic leveling mechanism; the RFID reading and writing module is arranged on the left and right sides of the processing control module; the position tag module is arranged on the inner side of the tunnel; the processing control module is connected with the automatic laser aiming module, the automatic leveling mechanism, the RFID reading and writing module and the power module; the automatic laser aiming module is arranged to detect the angle and distance of the position tag module in the tunnel, and the relative position is recorded and acquired according to the RFID reading and writing process of the position tag module.

Description

[0001] This patent application is a divisional application filed on January 12, 2022, with application number 202210031240.2 and titled "A Tunnel Positioning Method, Device and Drilling Method Based on Path Planning Navigation". Technical Field

[0002] This invention relates to the field of tunnel positioning, and in particular to a tunnel positioning method. Background Technology

[0003] With the advancement of urban transportation construction, the demand for convenient transportation is increasing. However, due to limitations such as road width, the potential for road transportation development is limited. Therefore, underground transportation and elevated roads, including subways and light rail, are becoming increasingly popular.

[0004] Subway trains typically operate on fully enclosed lines, especially those in city centers, which are mostly built within underground tunnels, presenting significant construction challenges. For road traffic, obtaining accurate road mileage data is crucial, as it facilitates the installation of markers such as streetlights and mileage signs. However, during the construction of underground tunnels, the enclosed environment and poor signal strength make it difficult to utilize external communication facilities, hindering positioning and distance measurement within the tunnels. This poses a significant obstacle to tunnel construction. Furthermore, frequent braking and starting can lead to inaccurate odometer readings, compromising the reliability of the collected mileage data. Therefore, a tunnel positioning device and method based on path planning and navigation are needed. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a tunnel positioning method.

[0006] To solve the above problems, the present invention adopts the following technical solution:

[0007] A tunnel positioning device based on path planning and navigation includes an automatic laser aiming module, an automatic leveling mechanism, a processing control module, an RFID reading and writing module, a power supply module, a fixed base, and a location tag module. The power supply module is located between the processing control module and the fixed base. An automatic leveling structure is also located on the upper side of the processing control module, and the automatic laser aiming module is mounted on the automatic leveling mechanism. The RFID reading and writing module is located on the left and right sides of the processing control module. The location tag module is located inside the tunnel. The processing module is connected to the automatic laser aiming module, the automatic leveling mechanism, the RFID reading and writing module, and the power supply module.

[0008] Furthermore, the fixed base is erected on the railway track or installed at a designated position on an external large flatbed railcar;

[0009] The location tag module is installed inside the tunnel and has a transparent cube structure. Reflective tags are provided on two opposite sides of the location tag module. RFID is also provided on the side of the location tag module facing the track.

[0010] The processing and control module includes a microcomputer and an FPGA module. The microcomputer is used to process the information collected by the automatic laser aiming module and to perform distance calculation. The FPGA module is connected to both the microcomputer and the automatic leveling mechanism and is used to control the automatic leveling mechanism to achieve leveling.

[0011] The automatic laser aiming module includes a left-right rotation motor, a right-down rotation motor, a telescopic vision standard module, and a mounting bracket. The telescopic vision standard module is mounted on the mounting bracket via the left-right and right-down rotation motors, which respectively enable left-right and up-down rotation. The left-right and right-down rotation motors can also acquire their respective rotation angles. The mounting bracket is mounted on an automatic leveling structure. The telescopic vision standard module includes a laser ranging module and a machine vision module, where the laser ranging module is used to detect distance, and the machine vision module is used to acquire images.

[0012] The automatic leveling mechanism includes a two-axis angle rotation platform, a tilt sensor, a two-axis rotation motor, and an FPGA control card; wherein the FPGA control card is connected to the two-axis angle rotation platform, the tilt sensor, and the two-axis rotation motor respectively, and the FPGA control card is also connected to the FPGA module in the processing control module.

[0013] The RFID reading and writing module includes an RFID reading and writing device and a telescopic arm, wherein the RFID reading and writing device is installed on the left and right sides of the processing control module via the telescopic arm.

[0014] A tunnel positioning method includes the following steps:

[0015] Step 1: The positioning device acquires the latitude and longitude coordinates of the first set of CP3 reference points C0 and C1, and establishes a positive coordinate system;

[0016] Step 2: The positioning device enters the tunnel and moves forward along the tunnel. The location tag module is set every time the device moves forward a set distance.

[0017] Step 3: Using the set position tag module as the test point, and combining the coordinates of the reference point with the automatic laser aiming module, the detection coordinates of the test point between the two sets of reference points are obtained through a coarse positioning process.

[0018] Step 4: The positioning device obtains the latitude and longitude coordinates of the second set of CP3 reference points C2 and C3, and inputs them into the positive coordinate system; the transformed coordinates of the actual latitude and longitude coordinates of reference points C2 and C3 are compared with their detected coordinates to obtain the first error; where the detected coordinates represent the measurement values ​​obtained by the positioning device through the coarse positioning process.

[0019] Step 5: The positioning device continues to move forward until it exits the tunnel, and collects the latitude and longitude coordinates of the reference point group at the tunnel exit; and according to Steps 1 to 4, obtains the positive coordinate system between any two reference point groups;

[0020] Step 6: The positioning device returns from the reference point group at the tunnel exit to the first reference point group. The automatic laser aiming module sequentially detects the points to be measured between the two reference points. The detection coordinates are obtained by combining the coarse positioning process. The detection coordinates are revised according to the first error between every two adjacent reference points to obtain the revised coordinates. The reverse coordinate system between any two reference point groups is also obtained.

[0021] Step 7: The positioning device obtains the latitude and longitude coordinates of the reference point and inputs them into the reverse coordinate system; the transformed coordinates of the actual latitude and longitude coordinates of the reference point in each reverse coordinate system are compared with its detected coordinates to obtain the second error of each segment of the reverse coordinate system;

[0022] Step 8: Obtain the ratio of the second error of each segment of the reverse coordinate system to the mileage of the corresponding reference point group, and compare the ratio with the set threshold; if the ratio exceeds the set threshold, it is considered that the error of the revised coordinate is large, and it needs to be revised again according to the second error to obtain the second revised coordinate, and proceed to step 9; otherwise, it is considered that the revised coordinate meets the error expectation, and the step ends.

[0023] Step 9: The positioning device returns from the first set of reference points at the tunnel entrance to the tunnel exit, writes the corrected secondary revised coordinates into the RFID of the point to be measured, and ends the step.

[0024] Furthermore, in step 1, C0 is set as the origin of the coordinate system, and the transformed coordinates of the reference point C0 in the positive coordinate system are set to (0, 0, 0); the latitude and longitude coordinates of the reference point C1 are substituted into coordinate system one to obtain the transformed coordinates (X1, Y1, Z1), as shown below:

[0025]

[0026]

[0027] Z1 = H0 - H1

[0028] The latitude and longitude coordinates of reference points C0 and C1 are (N0, E0, H0) and (N1, E1, H1), respectively; L is the Earth's circumference information, L = 6381372 * math.pi * 2. The ratio of the circumference L to 360 / 60 / 60 is converted into arcseconds, representing the length corresponding to each arcsecond, in meters.

[0029] Furthermore, the process of setting the location tag module in step 2 includes:

[0030] First, set the tunnel diameter to D1 meters and the projection distance of the automatic laser aiming module to L meters. Then, obtain the turning angle θ based on the projection distance and the tunnel diameter, expressed as:

[0031]

[0032] The positioning device controls the left and right rotation motors of the automatic laser aiming module to rotate left and right by an angle θ, respectively, to project laser points into the tunnel and set location tag modules at the laser point positions. After setting one location tag module, it will move forward a set distance L' and repeat the above process to complete the setting of all location tag modules.

[0033] Furthermore, the coarse positioning process in step 3 requires detecting the points to be measured between two adjacent sets of reference points. Each time a set of reference points is passed, the latitude and longitude coordinates of the reference point set, along with the transformed coordinates of the reference point set in the positive coordinate system, are used as the detection reference for the points to be measured in the next section of the tunnel. The coarse positioning process includes the following steps:

[0034] Step 31: The positioning device travels along the track from the tunnel entrance in the forward direction, reads the latitude and longitude coordinates of the reference point group it passes through, and establishes a forward coordinate system;

[0035] Step 32: Obtain mileage data through the encoder, and obtain the detection coordinates of adjacent unknown test points based on the reference point through the unknown point acquisition process;

[0036] Step 33: Based on the known detection coordinates of the point to be measured, continuously calculate the detection coordinates of adjacent unknown points to be measured until the tunnel exit is reached, then the step ends.

[0037] Furthermore, the process for obtaining the unknown point in step 32 includes:

[0038] Step 321: The positioning device activates the telescope system's automatic aiming process, coarsely locates the known point P1, and obtains... Where δ represents the rotation angle of the up and down motors in the automatic laser aiming module. The left and right motor rotation angles are represented by 'dist', and the distance value obtained by the telescopic vision standard module is represented by 'dist'. The known point P1 includes the reference point and the test point that has completed coordinate detection.

[0039] Step 322: Convert Δ-p1 into (ΔX, ΔY, ΔZ) according to the polar coordinate formula, and use the coordinates (X, Y, Z) of the known point P1 in the reverse coordinate system as the reference to obtain the coordinates of the positioning device - carP1(X+ΔX, Y+ΔY, Z+ΔZ).

[0040] Step 323: The positioning device roughly locates the known point P2, obtaining... Based on Δ-p2 and the coordinates of the known point P2 in the reverse coordinate system, the coordinates of the positioning device, carP2, are obtained.

[0041] Step 324: Obtain the weighted coordinate carP of the positioning device by weighted averaging carP1 and carP2;

[0042] Step 325: The positioning device aims at the unknown points p3 and p4, obtains the relative coordinates of the measurement, and obtains the detection coordinates of p3 and p4 according to the weighted coordinates carP of the positioning device.

[0043] Furthermore, in step 324, the weighted coordinate carP first requires establishing a spatial coordinate system with the positioning device coordinates as the origin, based on the obtained... and Obtain the positions of P1 and P2 in the spatial coordinate system, and connect points P1 and P2 in the spatial coordinate system to obtain line segment P1-P2; obtain the coordinates of the positioning device, i.e., the origin, the perpendicular line to line segment P1-P2, and the coordinates of the perpendicular point; according to the ratio of the distance from the perpendicular point coordinates to the coordinates of points P1 and P2 in the spatial coordinate system, assign weights w1 and w2, where the sum of weights w1 and w2 is 1.

[0044] Furthermore, after setting the location tag module and completing the coarse positioning in step 3, it is also necessary to write the coarse positioning coordinates into the RFID of the location tag module, which specifically includes the following process:

[0045] When the telescopic arm of the RFID reader / writer module extends, the minimum distance between the RFID reader / writer device and the tunnel's central axis is set to D2, where the tunnel's central axis coincides with the track's centerline; the reading and writing range of the RFID reader / writer module is set to L1 meters. Then, the sensing length Lrfid of the RFID reader / writer module during the positioning device's movement is expressed as:

[0046]

[0047] After obtaining the sensing length Lrfid, once the positioning device receives the RFID signal for the first time, it continues to travel half the mileage of the sensing length Lrfid before performing the RFID writing operation.

[0048] A drilling method, based on the above positioning method, includes the following steps: Step S1: Fix the positioning device on the base of the drilling robot and obtain the drilling coordinates of the drilling point;

[0049] Step S2: The base of the drilling robot enters the tunnel along the track and obtains the RFID recorded coordinates of the position tag module on the tunnel wall through the RFID read / write module of the positioning device;

[0050] Step S3: The base continues to move, and the positioning device obtains the vehicle coordinates (carx1, cary1, carz1) by measuring the angle and distance of the position tag module and combining the RFID recorded coordinates.

[0051] Step S4: Obtain the relative coordinates (Δx, Δy, Δz) between the positioning device and the rotating head of the punching robot; the relative coordinates (Δx, Δy, Δz) will change with the movement of the punching robot; use the relative coordinates as compensation coordinates, and transfer the compensation coordinates (Δx, Δy, Δz) to the punching positioning coordinates of the positioning device to obtain the punching positioning coordinates (carx1+Δx, cary1+Δy, carz1+Δz);

[0052] Step S5: Control the base to move so that the drilling positioning coordinates are equal to the set drilling coordinates, complete the drilling positioning, and complete the drilling work;

[0053] Step S6: Repeat this process until the entire tunnel is drilled.

[0054] The beneficial effects of this invention are as follows:

[0055] By setting up an automatic laser aiming module, the angle and distance of the location tag module in the tunnel are detected, and the relative position is recorded and obtained according to the RFID reading and writing process of the location tag module.

[0056] By setting the automatic laser aiming module in the automatic leveling mechanism, errors caused by uneven track are avoided, ensuring accurate position detection of the position tag module;

[0057] The coordinates of the location point are obtained by using the coordinates of the known point, and the process is iterated to associate the position of all the test points with the reference point. The test points are then corrected based on the error compared with the reference point to reduce the detection coordinate error of the test points.

[0058] By obtaining the sensing length of the RFID reader / writer module, when the RFID is sensed, the module travels half of the sensing length to ensure that it is as directly aligned as possible with the RFID tag on the location tag module. Attached Figure Description

[0059] Figure 1 This is an overall structural diagram of the positioning device according to Embodiment 1 of the present invention;

[0060] Figure 2 This is a connection diagram of the positioning device according to Embodiment 1 of the present invention;

[0061] Figure 3 This is a schematic diagram of the location tag module according to Embodiment 1 of the present invention;

[0062] Figure 4 This is a schematic diagram of the automatic laser aiming module and automatic leveling mechanism according to Embodiment 1 of the present invention;

[0063] Figure 5 This is a schematic diagram of the telescopic vision standard module in the automatic laser aiming module of Embodiment 1 of the present invention;

[0064] Figure 6 This is a schematic diagram of the operation of the positioning device according to Embodiment 1 of the present invention;

[0065] Figure 7 This is a schematic diagram of the RFID read / write module of the positioning device according to Embodiment 1 of the present invention;

[0066] Figure 8 This is a schematic diagram of setting a positioning tag according to Embodiment 1 of the present invention;

[0067] Figure 9 This is a flowchart of the coarse positioning process according to Embodiment 1 of the present invention;

[0068] Figure 10 This is a flowchart illustrating how to obtain the coordinates of an unknown point based on the coordinates of a known point in Embodiment 1 of the present invention.

[0069] Figure 11 This is a schematic diagram illustrating how to obtain known points from unknown points according to Embodiment 1 of the present invention;

[0070] Figure 12 This is a flowchart of the drilling method according to Embodiment 2 of the present invention;

[0071] Figure 13 This is a schematic diagram of the drilling process in Embodiment 2 of the present invention. Detailed Implementation

[0072] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0073] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0074] Example 1:

[0075] like Figure 1 , 2 As shown, a tunnel positioning device based on path planning and navigation includes an automatic laser aiming module, an automatic leveling mechanism, a processing control module, an RFID reading and writing module, a power supply module, a fixed base, and a location tag module. The power supply module is located between the processing control module and the fixed base. An automatic leveling structure is also located on the upper side of the processing control module, and the automatic laser aiming module is mounted on the automatic leveling mechanism. The RFID reading and writing module is located on the left and right sides of the processing control module. The location tag module is located inside the tunnel. The processing module is connected to the automatic laser aiming module, the automatic leveling mechanism, the RFID reading and writing module, and the power supply module.

[0076] like Figure 3 As shown, the fixed base can be erected on the railway track and move on the railway track; the fixed base can also be installed at a set position on an external large rail flatbed car, and the large rail flatbed car completes fixed-point drilling and other operations in the tunnel.

[0077] The location tag module is installed inside the tunnel and is a transparent cube structure. Reflective tags are placed on two opposite faces of the module to reflect laser light and create reflected light spots. The two planes with the reflective tags are approximately perpendicular to the tunnel direction to ensure that the laser emitted by the automatic laser aiming module can illuminate the reflective tags. An RFID tag is also installed on the side of the location tag module facing the track, allowing the RFID reader / writer to perform read / write operations as the fixed base moves past.

[0078] The processing and control module includes a microcomputer (RPi) and an FPGA module. The microcomputer processes the information acquired by the automatic laser aiming module and performs distance calculations. The FPGA module is connected to both the microcomputer and the automatic leveling mechanism, controlling the automatic leveling mechanism to achieve leveling. The processing and control module also includes an LCD module, which is connected to the microcomputer to display detection data, facilitating human-computer interaction.

[0079] like Figure 4-6 As shown, the automatic laser aiming module includes a left-right rotation motor, a right-down rotation motor, a telescopic vision standard module, and a mounting bracket. The telescopic vision standard module is mounted on the mounting bracket via the left-right and right-down rotation motors, which respectively enable left-right and up-down rotation. The left-right and right-down rotation motors can also acquire their respective rotation angles. The mounting bracket is mounted on an automatic leveling structure. The telescopic vision standard module includes a laser ranging module and a machine vision module, whereby the laser ranging module is used to detect distance, and the machine vision module is used to acquire images.

[0080] The automatic leveling mechanism includes a two-axis angle rotation platform, a tilt sensor, a two-axis rotary motor, and an FPGA control card. The FPGA control card is connected to the two-axis angle rotation platform, the tilt sensor, and the two-axis rotary motor, and is also connected to the FPGA module in the processing control module. The tilt sensor detects the tilt angle of the two-axis angle rotation platform and levels the platform via the two-axis rotary motor. In this example, the control method for the two-axis rotary motor via the FPGA module connected to the FPGA control card is incremental PID control. This involves calculating the PID increment based on the tilt sensor's detection value, converting the PID increment into the unit time of the output pulse, and controlling the platform's adjustment speed by setting a lower limit for the unit time, thereby reducing the wear rate of the platform's contact parts.

[0081] like Figure 7 As shown, the RFID reading and writing module includes an RFID reading and writing device and a telescopic arm. The RFID reading and writing device is installed on the left and right sides of the processing control module via the telescopic arm. The RFID reading and writing device is used to write or read coordinate positions in the RFID of the location tag module. The telescopic arm facilitates the RFID reading and writing device to approach the location tag module, ensuring that the RFID reading and writing device can read the RFID of the location tag module set on the inner wall of the tunnel, and ensuring the safety and stability of the driving process, reducing interference with the external environment.

[0082] like Figure 8 As shown, a tunnel positioning method includes the following steps:

[0083] Step 1: The positioning device acquires the latitude and longitude coordinates of the first set of CP3 reference points C0 and C1, establishes a positive coordinate system, and sets the origin. In this example, the first set of reference points encountered in the direction of travel, located to the right of the positioning device, is taken as the origin of the coordinate system, with due east as the X-axis and due north as the Y-axis. At this point, C0 serves as the origin of the positive coordinate system. The latitude and longitude coordinates of CP3 reference points C0 and C1 are acquired through external positioning devices, including GPS, BeiDou, etc. The first set of reference points C0 and C1 are the CP3 reference points set at the tunnel entrance.

[0084] Step 2: The positioning device enters the tunnel and moves forward along the tunnel. The location tag module is set every time the device moves forward a set distance.

[0085] Step 3: Using the set position tag module as the test point, and combining the coordinates of the reference point with the automatic laser aiming module, the detection coordinates of the test point between the two sets of reference points are obtained through a coarse positioning process.

[0086] Step 4: The positioning device obtains the latitude and longitude coordinates of the second set of CP3 reference points C2 and C3, and inputs them into the positive coordinate system; the transformed coordinates of the actual latitude and longitude coordinates of reference points C2 and C3 are compared with their detected coordinates to obtain the first error; where the detected coordinates represent the measurement values ​​obtained by the positioning device through the coarse positioning process.

[0087] Step 5: The positioning device continues to move forward until it exits the tunnel, and collects the latitude and longitude coordinates of the reference point group at the tunnel exit; and according to steps 1 to 4, obtains the positive coordinate system between any two reference point groups; in this example, the origin of the positive coordinate system between any two reference point groups is the same, which is C0 in this example; in some other embodiments, the origin of the positive coordinate system between different reference points can also be set separately.

[0088] Step 6: The positioning device returns from the reference point group at the tunnel exit to the first set of reference points. The automatic laser aiming module sequentially detects the point to be measured between the two sets of reference points, obtaining the detection coordinates based on the coarse positioning process. The detection coordinates are then revised according to the first error between every two adjacent reference points, resulting in revised coordinates. These revised coordinates are written into the RFID tag of the point to be measured. A reverse coordinate system is also obtained between any two sets of reference points. In this example, the origin of the reverse coordinate system between any two sets of reference points is the same.

[0089] Step 7: The positioning device obtains the latitude and longitude coordinates of the reference point and inputs them into the reverse coordinate system; the transformed coordinates of the actual latitude and longitude coordinates of the reference point in each reverse coordinate system are compared with its detected coordinates to obtain the second error of each segment of the reverse coordinate system;

[0090] Step 8: Obtain the ratio of the second error of each segment of the reverse coordinate system to the mileage of the corresponding reference point group, and compare the ratio with the set threshold; if the ratio exceeds the set threshold, it is considered that the error of the revised coordinate is large, and it needs to be revised again according to the second error to obtain the second revised coordinate, and proceed to step 9; otherwise, it is considered that the revised coordinate meets the error expectation, and the step ends.

[0091] Step 9: The positioning device returns from the first set of reference points at the tunnel entrance to the tunnel exit, writes the corrected secondary revised coordinates into the RFID of the point to be measured, and ends the step.

[0092] It should be noted that in some other implementations, multiple CP3 reference points are also set up inside the tunnel, and the location of the position tag module set between adjacent reference points can be completed according to the above steps.

[0093] In step 1, the latitude and longitude coordinates of reference points C0 and C1 are obtained as (N0, E0, H0) and (N1, E1, H1), respectively. In this example, the reference point that is forward in the direction of travel and located to the right of the positioning device is taken as the origin of the coordinate system. C0, one of the first set of reference points, is located to the right of the positioning device. Therefore, the transformed coordinates of reference point C0 in the positive coordinate system are set to (0, 0, 0). The latitude and longitude coordinates of reference point C1 are then substituted into coordinate system one to obtain the transformed coordinates (X1, Y1, Z1), as shown below:

[0094]

[0095]

[0096] Z1 = H0 - H1

[0097] Where C represents the Earth's circumference, C = 6381372 * math.pi * 2. The ratio of circumference C to 360 / 60 / 60 is converted to arcseconds, representing the length corresponding to each arcsecond in meters; math.pi represents π. Since CP3 reference points are typically set at opposite positions on the left and right sides of the tunnel at equal distances, two opposite CP3 reference points are considered as a set of reference points. It should be noted that in some other implementations, when setting the distance value, only one CP3 reference point is set on one side of the tunnel or at the top of the tunnel; in this case, a set of reference points contains only one reference point.

[0098] like Figure 8 As shown, the process of setting the location tag module in step 2 includes:

[0099] First, set the tunnel diameter to D1 meters and the projection distance of the automatic laser aiming module to L meters. Then, obtain the turning angle θ based on the projection distance and the tunnel diameter, expressed as:

[0100]

[0101] The positioning device controls the left and right rotation motors of the automatic laser aiming module to rotate left and right by an angle θ, respectively, projecting laser points into the tunnel and setting location tag modules at the laser point positions. After setting one location tag module, it moves forward a set distance L' and repeats the above process to set all location tag modules. In this example, the distance L' = projection distance L = 30m. The distance L' is approximately the spacing between the location tag modules, but due to the curvature of the tunnel, the actual spacing between the location tag modules differs from the distance L'. The distance L' needs to be less than half of the detection range of the automatic laser aiming module to ensure that at least two sets of location tag modules exist within the detection range of the automatic laser aiming module.

[0102] like Figure 9 As shown, the coarse positioning process in step 3 requires detecting the points to be measured between two adjacent sets of reference points. Each time a set of reference points is passed, its transformed coordinates in the coordinate system are obtained based on the latitude and longitude coordinates of the reference point set. These transformed coordinates are then used as the detection reference for the points to be measured in the next section of the tunnel. The tunnel is segmented based on adjacent sets of reference points to reduce the detection distance and avoid the accumulation of errors. The coarse positioning process includes the following steps:

[0103] Step 31: The positioning device travels along the track from the tunnel entrance in the forward direction, reads the latitude and longitude coordinates of the reference point group it passes through, and establishes a forward coordinate system;

[0104] Step 32: Obtain mileage data through the encoder, and obtain the detection coordinates of adjacent unknown test points based on the reference point through the unknown point acquisition process;

[0105] Step 33: Based on the known detection coordinates of the point to be measured, continuously calculate the detection coordinates of adjacent unknown points to be measured until the tunnel exit is reached, then the step ends.

[0106] The process for finding the unknown points in step 32 includes:

[0107] Step 321: The positioning device activates the telescope system's automatic aiming process, coarsely locates the known point P1, and obtains... Where δ represents the rotation angle of the up and down motors in the automatic laser aiming module. The left and right motor rotation angles are represented by 'dist', and the distance value obtained by the telescopic vision standard module is represented by 'dist'. The known point P1 includes the reference point and the test point that has completed coordinate detection.

[0108] Step 322: Convert Δ-p1 into (ΔX, ΔY, ΔZ) according to the polar coordinate formula, and use the coordinates (X, Y, Z) of the known point P1 in the reverse coordinate system as the reference to obtain the coordinates of the positioning device - carP1(X+ΔX, Y+ΔY, Z+ΔZ).

[0109] The polar coordinate formula expands to:

[0110]

[0111]

[0112]

[0113] Where δ represents the rotation angle of the up and down motors in the automatic laser aiming module. This indicates the rotation angle of the left and right motors, and r represents the distance value obtained by the telescopic vision standard module, i.e., dist;

[0114] Step 323: The positioning device roughly locates the known point P2, obtaining... Based on Δ-p2 and the coordinates of the known point P2 in the reverse coordinate system, the coordinates of the positioning device, carP2, are obtained.

[0115] Step 324: Obtain the weighted coordinate carP of the positioning device by weighted averaging carP1 and carP2;

[0116] Step 325: The positioning device aims at the unknown points p3 and p4, obtains the relative coordinates of the measurement, and obtains the detection coordinates of p3 and p4 according to the weighted coordinates carP of the positioning device.

[0117] Before starting the automatic aiming process of the telescope system in step 321, the automatic leveling mechanism of the positioning device will complete the leveling to ensure that the rotation angle of the detected telescope vision standard module is accurate.

[0118] The weighted coordinate carP in step 324 first requires establishing a spatial coordinate system with the positioning device coordinates as the origin, based on the obtained... and Obtain the positions of P1 and P2 in the spatial coordinate system, and connect points P1 and P2 in the spatial coordinate system to obtain line segment P1-P2; obtain the coordinates of the positioning device, i.e., the origin, the perpendicular line to line segment P1-P2, and the coordinates of the perpendicular point; assign weights w1 and w2 according to the ratio of the distance from the perpendicular point coordinates to the coordinates of points P1 and P2 in the spatial coordinate system, where the sum of weights w1 and w2 is 1; for example, if the ratio of the distance from the perpendicular point coordinates to the known coordinates of points P1 and P2 is 2, then the weight w1 is 2 / 3, and w2 is 1 / 3. It should be noted that the spatial coordinate system here is different from the positive coordinate system and the negative coordinate system.

[0119] After completing the installation and coarse positioning of the location tag module, it is necessary to write the coordinates obtained from the coarse positioning process into the RFID of the location tag module. To ensure accurate writing to the RFID, the positioning device should be positioned as directly as possible above the RFID on the location tag module during the writing process. Specifically, when the telescopic arm of the RFID reader / writer module extends, the minimum distance between the RFID reader / writer and the tunnel's central axis is set to D2, where the tunnel's central axis coincides with the track's centerline. The reading range of the RFID reader / writer module is set to L1 meters. Therefore, the sensing length Lrfid of the RFID reader / writer module during the positioning device's movement is expressed as:

[0120]

[0121] For example, if L1 is 5m, D1 is 5m, and D2 is 0.8m, then the obtained sensing length Lrfid is 9.4m. After obtaining the sensing length Lrfid, when the positioning device receives the RFID signal for the first time, it continues to travel half the sensing length Lrfid before performing the RFID writing operation. This ensures that the RFID reading and writing module of the positioning device is as directly aligned as possible with the location tag module, guaranteeing effective reading and writing. It should be noted that when reading RFID tags, the same method is used: after sensing the RFID signal, it continues to travel half the sensing length Lrfid to ensure effective reading.

[0122] Location tag modules are also set up near the reference point to record the RFID coordinates of the detection, which can be compared with the location information of the reference point.

[0123] In step 4, after the positioning device obtains the latitude and longitude coordinates of the second set of reference points C2 and C3, it will also install a coarse positioning process for the location tag module near the reference points, and obtain the detection coordinates according to the coarse positioning process. The detection coordinates are compared with the converted coordinates of latitude and longitude to obtain the first error.

[0124] like Figure 10 , 11 As shown, in step 6, a coarse positioning process is also performed on the test point between two adjacent sets of reference points to obtain the detection coordinates. In this example, each time the reference point set is passed, the detection error in the previous section of the tunnel is obtained based on the transformed coordinates of the latitude and longitude coordinates of the reference point set in the reverse coordinate system. The transformed coordinates of the reference point set in the reverse coordinate system are then used as the detection reference for the test point in the next section of the tunnel. The process of obtaining the revised coordinates and writing them into the RFID includes the following steps:

[0125] Step 61: The positioning device travels in reverse from the tunnel exit, reads the latitude and longitude coordinates of the reference point group it passes through, and establishes a reverse coordinate system; the reverse coordinate system takes the reference point that is ahead and located to the right of the positioning device when returning as the origin of the coordinate system, the due east direction as the X-axis, and the due north direction as the Y-axis.

[0126] Step 62: Obtain mileage data through the encoder, and obtain the detection coordinates of adjacent unknown test points based on the reference point through the unknown point acquisition process;

[0127] Step 63: Correct the detection coordinates according to the first error, and write the corrected detection coordinates into the RFID of the point to be measured; the first error will be allocated according to the ratio of the driving mileage data when the positioning device writes the location tag module into the RFID to the ratio of the distance between the corresponding two sets of adjacent reference points recorded during the forward driving process.

[0128] Step 64: Based on the known detection coordinates of the point to be measured, continuously calculate the detection coordinates of adjacent unknown points to be measured until returning to the tunnel entrance, and end the step.

[0129] The process for finding unknown points in step 62 is the same as that in step 32.

[0130] In step 63, the process of correcting the detection coordinates based on the first error and writing them into the RFID tag includes:

[0131] Step 631: After obtaining the absolute coordinates of the unknown point, the positioning device moves forward and continues to travel half of the sensing length Lrfid after sensing the RFID signal.

[0132] Step 632: Based on the encoder's mileage data, obtain the mileage C after the positioning device passes the previous reference point on the right; where mileage C represents the mileage from the unknown point to the previous reference point located on the right side of the positioning device.

[0133] Step 633: Compare the mileage C with the mileage between the corresponding reference point group recorded during the first forward drive to obtain the ratio Q; where the mileage of the reference point group represents the mileage between two adjacent reference points located on the right side of the positioning device;

[0134] Step 634: Allocate the first error E according to the ratio Q to obtain the correction error value e, and substitute the correction error value e into the corresponding detection coordinates of the point to be measured; in this example, the correction error value e = ratio Q * first error E, for example, if the ratio Q is 1 / 3, then the correction error value e is 1 / 3E;

[0135] Step 635: Write the detection coordinates, which are substituted with the correction error value e, into the RFID of the corresponding detection point, and end the step.

[0136] In step 634, the obtained correction error e is represented as (dx, dy, dz); by solving the partial derivatives with respect to distance and angle, the allocated first error is transformed into the polar coordinates of the corresponding point to be measured to obtain the polar coordinate correction value.

[0137] dx=sinδcosφdr+r cosδcosφdδ-r sinδsinφdφ

[0138] dy=sinδsinφdr+r cosδsinφdδ+r sinδcosφdφ

[0139] dz=cosδdr-r sin dδ

[0140] Where δ represents the rotation angle of the up and down motors in the automatic laser aiming module. dx represents the rotation angle of the left and right motors, r represents the distance value obtained by the telescopic vision standard module, dx represents the correction error in the X-axis direction in the reverse coordinate system, dy represents the correction error in the Y-axis direction in the reverse coordinate system, and dz represents the correction error in the Z-axis direction in the reverse coordinate system.

[0141] Subsequently, the obtained polar coordinate correction values Substitute the polar coordinates obtained by the positioning device Where dist is r, the corrected polar coordinates are obtained. The corrected polar coordinates are expanded into polar coordinates to obtain the corrected detection coordinates.

[0142] In step 8, the second error between any two sets of reference points needs to be judged separately. If all of them meet the threshold requirements, it is considered to meet the error expectation. Otherwise, the revised coordinates of the position tag module between the corresponding reference point groups will be revised again according to the second error, and the position of the corresponding position tag module will be returned in step 9, and the RFID value of the test point will be rewritten.

[0143] In step 9, the process of writing the secondary revision coordinates is the same as the process of revising using the first error in step 6.

[0144] Example 2:

[0145] like Figure 12 , 13 The drilling method shown, based on the tunnel positioning method in Embodiment 1, includes the following steps:

[0146] Step S1: Fix the positioning device on the base of the punching robot and obtain the punching coordinates of the punching point;

[0147] Step S2: The base of the drilling robot enters the tunnel along the track and obtains the RFID recorded coordinates of the position tag module on the tunnel wall through the RFID read / write module of the positioning device;

[0148] Step S3: The base continues to move, and the positioning device obtains the vehicle coordinates (carx1, cary1, carz1) by measuring the angle and distance of the position tag module and combining the RFID recorded coordinates.

[0149] Step S4: Obtain the relative coordinates (Δx, Δy, Δz) between the positioning device and the rotating head of the punching robot; it should be noted that the relative coordinates (Δx, Δy, Δz) will change with the movement of the punching robot; use the relative coordinates as compensation coordinates, and transfer the compensation coordinates (Δx, Δy, Δz) to the punching positioning coordinates of the positioning device to obtain the punching positioning coordinates (carx1+Δx, cary1+Δy, carz1+Δz);

[0150] Step S5: Control the base to move so that the drilling positioning coordinates are equal to the set drilling coordinates, complete the drilling positioning, and complete the drilling work;

[0151] Step S6: Repeat this process until the entire tunnel is drilled.

[0152] In step S1, the orientation of the positioning device is opposite to the direction of travel of the punching robot, ensuring that after the positioning device reads the RFID recorded coordinates in the position tag module, it can use the position tag module it passes as the vehicle positioning reference to complete the determination of the punching positioning coordinates.

[0153] It should be noted that in this example, the odometer data L3 will also be corrected based on the obtained vehicle coordinates and the horizontal distance L4 between them and the previous vehicle coordinates to ensure accurate mileage counting and compensate for the forward or backward movement of the robotic arm during construction.

[0154] The above description is merely a specific example of the present invention and does not constitute any limitation on the present invention. Obviously, those skilled in the art, after understanding the content and principles of the present invention, may make various modifications and changes in form and detail without departing from the principles and structure of the present invention; however, these modifications and changes based on the spirit of the present invention are still within the scope of protection of the claims of the present invention.

Claims

1. A tunnel positioning method, characterized in that, Route-based navigation includes the following steps: Step 1: The positioning device acquires the latitude and longitude coordinates of the first set of CP3 reference points C0 and C1, and establishes a positive coordinate system; Step 2: The positioning device enters the tunnel and moves forward along the tunnel. The location tag module is set every time the device moves forward a set distance. Step 3: Using the set position tag module as the test point, and combining the coordinates of the reference point with the automatic laser aiming module, the detection coordinates of the test point between the two sets of reference points are obtained through a coarse positioning process. Step 4: The positioning device obtains the latitude and longitude coordinates of the second set of CP3 reference points C2 and C3, and inputs them into the positive coordinate system; the transformed coordinates of the actual latitude and longitude coordinates of reference points C2 and C3 are compared with their detected coordinates to obtain the first error; where the detected coordinates represent the measurement values ​​obtained by the positioning device through the coarse positioning process. Step 5: The positioning device continues to move forward until it exits the tunnel, and collects the latitude and longitude coordinates of the reference point group at the tunnel exit; and according to Steps 1 to 4, obtains the positive coordinate system between any two reference point groups; Step 6: The positioning device returns from the reference point group at the tunnel exit to the first reference point group. The automatic laser aiming module sequentially detects the points to be measured between the two reference points. The detection coordinates are obtained by combining the coarse positioning process. The detection coordinates are revised according to the first error between every two adjacent reference points to obtain the revised coordinates. The reverse coordinate system between any two reference point groups is also obtained. Step 7: The positioning device obtains the latitude and longitude coordinates of the reference point and imports them into the reverse coordinate system; The transformed coordinates of the actual latitude and longitude coordinates of the reference point in each reverse coordinate system are compared with its detected coordinates to obtain the second error of each segment of the reverse coordinate system. Step 8: Obtain the ratio of the second error of each segment of the reverse coordinate system to the mileage of the corresponding reference point group, and compare the ratio with the set threshold. If the ratio exceeds the set threshold, the error of the revised coordinates is considered to be large, and it is necessary to revise again based on the second error to obtain the second revised coordinates, and then proceed to step 9; Otherwise, the revised coordinates are considered to meet the error expectations, and the step ends; Step 9: The positioning device returns from the first set of reference points at the tunnel entrance to the tunnel exit, writes the corrected secondary revised coordinates into the RFID of the point to be measured, and ends the step.

2. The tunnel positioning method according to claim 1, characterized in that, In step 1, C0 is set as the origin of the coordinate system, and the transformed coordinates of the reference point C0 in the positive coordinate system are set to (0, 0, 0); the latitude and longitude coordinates of the reference point C1 are substituted into the positive coordinate system to obtain the transformed coordinates (X1, Y1, Z1), as shown below: Z1 = H0 - H1 The latitude and longitude coordinates of reference points C0 and C1 are (N0, E0, H0) and (N1, E1, H1), respectively; C is the Earth's circumference information, C = 6381372 * math.pi * 2. The ratio of the circumference C to 360 / 60 / 60 is converted into arcseconds, representing the length corresponding to each arcsecond, in meters.

3. The tunnel positioning method according to claim 1, characterized in that, The process of setting the location tag module in step 2 includes: First, set the tunnel diameter to D1 meters and the projection distance of the automatic laser aiming module to L meters. Then, obtain the turning angle θ based on the projection distance and the tunnel diameter, expressed as: The positioning device controls the left and right rotation motors of the automatic laser aiming module to rotate left and right by an angle θ, respectively, to project laser points into the tunnel and set location tag modules at the laser point positions. After setting one location tag module, it will move forward a set distance L' and repeat the above process to complete the setting of all location tag modules.

4. The tunnel positioning method according to claim 1, characterized in that, The coarse positioning process in step 3 requires detecting the points to be measured between two adjacent sets of reference points. Each time a set of reference points is passed, the latitude and longitude coordinates of the reference point set, along with the transformed coordinates of the reference point set in the positive coordinate system, are used as the detection reference for the points to be measured in the next section of the tunnel. The coarse positioning process includes the following steps: Step 31: The positioning device travels along the track from the tunnel entrance in the forward direction, reads the latitude and longitude coordinates of the reference point group it passes through, and establishes a forward coordinate system; Step 32: Obtain mileage data through the encoder, and obtain the detection coordinates of adjacent unknown test points based on the reference point through the unknown point acquisition process; Step 33: Based on the known detection coordinates of the point to be measured, continuously calculate the detection coordinates of adjacent unknown points to be measured until the tunnel exit is reached, then the step ends.

5. A tunnel positioning method according to claim 4, characterized in that, The process for finding the unknown points in step 32 includes: Step 321: The positioning device activates the telescope system's automatic aiming process, coarsely locates the known point P1, and obtains Δ-p1. Where δ represents the rotation angle of the up and down motors in the automatic laser aiming module. The left and right motor rotation angles are represented by 'dist', and the distance value obtained by the telescopic vision standard module is represented by 'dist'. The known point P1 includes the reference point and the test point that has completed coordinate detection. Step 322: Convert Δ-p1 into (ΔX, ΔY, ΔZ) according to the polar coordinate formula, and use the coordinates (X, Y, Z) of the known point P1 in the reverse coordinate system as the reference to obtain the coordinates of the positioning device - carP1(X+ΔX, Y+ΔY, Z+ΔZ). Step 323: The positioning device roughly locates the known point P2, obtaining... Based on Δ-p2 and the coordinates of the known point P2 in the reverse coordinate system, the coordinates of the positioning device, carP2, are obtained. Step 324: Obtain the weighted coordinate carP of the positioning device by weighted averaging carP1 and carP2; Step 325: The positioning device aims at the unknown points p3 and p4, obtains the relative coordinates of the measurement, and obtains the detection coordinates of p3 and p4 according to the weighted coordinates carP of the positioning device.

6. A tunnel positioning method according to claim 5, characterized in that, The weighted coordinate carP in step 324 first requires establishing a spatial coordinate system with the positioning device coordinates as the origin, based on the obtained... and Obtain the positions of P1 and P2 in the spatial coordinate system, and connect points P1 and P2 in the spatial coordinate system to obtain line segment P1-P2; obtain the coordinates of the positioning device, i.e., the origin, the perpendicular line to line segment P1-P2, and the coordinates of the perpendicular point; according to the ratio of the distance from the perpendicular point coordinates to the coordinates of points P1 and P2 in the spatial coordinate system, assign weights w1 and w2, where the sum of weights w1 and w2 is 1.

7. The tunnel positioning method according to claim 1, characterized in that, After setting the location tag module and completing the coarse positioning in step 3, it is also necessary to write the coarse positioning coordinates into the RFID of the location tag module. The specific process includes the following: When the telescopic arm of the RFID reader / writer module extends, the minimum distance between the RFID reader / writer device and the tunnel's central axis is set to D2, and the tunnel diameter is D1, with the tunnel's central axis coinciding with the track's centerline. The reading / writing range of the RFID reader / writer module is set to L1 meters. Therefore, the sensing length L of the RFID reader / writer module during the positioning device's movement is obtained. rfid Represented as: Obtain the perceived length L rfid After the positioning device receives the RFID signal for the first time, it continues to travel half of the sensing length L. rfid The mileage is then recorded before RFID writing is performed.

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