Roadway deviation determination method, device, equipment and storage medium

Abstract

The present application provides a kind of roadway deviation determination method, device, equipment and storage medium, wherein, method includes: by obtaining the starting point heading and starting point position of target roadway, and the position of target measurement point, to determine the planned path of target roadway according to starting point heading and starting point position, wherein, planned path is used to characterize the trajectory of target roadway in the absence of roadway deviation, and then determine the deviation information of target measurement point according to starting point heading, the position of target measurement point and planned path. Therefore, for the case that left and right deviation exists when tunneling equipment is mined in underground, the deviation information of target measurement point can be quickly and real-time determined by obtaining the starting point heading and starting point position of target roadway, and the position of target measurement point, so as to be adjusted in time, avoid the shortcomings that optical equipment measurement method is easy to be disturbed and the complexity of double-point positioning orientation, have the test coherence while effectively improve the correction efficiency.

Description

Technical Field

[0001] This invention relates to the field of tunnel mining technology, and in particular to a method, apparatus, equipment and storage medium for determining tunnel deviation. Background Technology

[0002] When tunneling equipment is used for underground mining, it may deviate to the left or right. In order to make timely adjustments when deviation occurs, it is necessary to measure and correct the tunnel mining error.

[0003] In related technologies, maintaining the straightness of tunnel mining largely relies on optical information. However, the actual mining environment is dusty, making optical equipment measurement methods susceptible to interference. Alternatively, a two-point positioning and orientation method can be used for measurement and correction. This involves using a total station to provide the initial direction while simultaneously placing two measurement points on the machine body, and then correcting by shifting the target direction. However, this method requires station relocation, is complex, and frequent relocations can lead to cumulative errors and inconsistent testing. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the first objective of this invention is to propose a method for determining roadway deviation, which addresses the situation where tunneling equipment deviates left or right during underground mining. By acquiring the starting point heading and position of the target roadway, as well as the position of the target measurement point, the deviation information of the target measurement point can be quickly and in real time determined, facilitating timely adjustments. This avoids the disadvantages of optical equipment measurement methods being susceptible to interference and the complexity of dual-point positioning and orientation, and effectively improves correction efficiency while maintaining test continuity.

[0006] The second objective of this invention is to provide a roadway deviation determination device.

[0007] The third objective of this invention is to provide an electronic device.

[0008] The fourth objective of this invention is to provide a computer-readable storage medium.

[0009] The fifth objective of this invention is to provide a computer program product.

[0010] To achieve the above objectives, a first aspect of the present invention provides a method for determining roadway deviation, comprising:

[0011] Obtain the starting point heading and starting point position of the target tunnel, as well as the position of the target measurement point;

[0012] Based on the starting point heading and the starting point location, the planned path of the target tunnel is determined, wherein the planned path is used to characterize the trajectory of the target tunnel in the absence of tunnel deviation;

[0013] Based on the starting point heading, the location of the target measurement point, and the planned path, the deviation information of the target measurement point is determined.

[0014] To achieve the above objectives, a second aspect of the present invention provides a roadway deviation determination device, comprising:

[0015] The acquisition module is used to acquire the starting point heading and starting point position of the target roadway, as well as the position of the target measurement point;

[0016] The first determining module is used to determine the planned path of the target tunnel based on the starting point heading and the starting point position, wherein the planned path is used to characterize the trajectory of the target tunnel in the absence of tunnel deviation;

[0017] The second determining module is used to determine the deviation information of the target measurement point based on the starting point heading, the position of the target measurement point, and the planned path, wherein the deviation information includes the absolute value of the deviation and left and right deviation information.

[0018] To achieve the above objectives, a third aspect of the present invention provides an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the aforementioned tunnel deviation determination method of the first aspect.

[0019] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing the computer to execute the roadway deviation determination method of the first aspect.

[0020] To achieve the above objectives, a fifth aspect of the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the roadway deviation determination method of the first aspect.

[0021] The technical solutions provided by the embodiments of the present invention have the following beneficial effects:

[0022] By acquiring the starting point heading and position of the target roadway, as well as the position of the target measurement point, the planned path of the target roadway can be determined based on the starting point heading and position. The planned path represents the trajectory of the target roadway under conditions of no roadway deviation. Then, based on the starting point heading, the position of the target measurement point, and the planned path, the deviation information of the target measurement point is determined. Therefore, for situations where tunneling equipment deviates laterally during underground mining, the deviation information of the target measurement point can be quickly and in real-time determined by acquiring the starting point heading and position of the target roadway, as well as the position of the target measurement point. This allows for timely adjustments, avoiding the shortcomings of optical equipment measurement methods being susceptible to interference and the complexity of two-point positioning and orientation. It also provides testing continuity while effectively improving correction efficiency.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0025] Figure 1 This is a flowchart illustrating a method for determining roadway deviation provided in an embodiment of the present invention.

[0026] Figure 2 This is a flowchart illustrating another method for determining roadway deviation provided in an embodiment of the present invention.

[0027] Figure 3(1) is a schematic diagram of the target rectangular coordinate system corresponding to the first angle range provided in the embodiment of the present invention;

[0028] Figure 3(2) is a schematic diagram of the target rectangular coordinate system corresponding to the second angle range provided in the embodiment of the present invention;

[0029] Figure 3(3) is a schematic diagram of the target rectangular coordinate system corresponding to the third angle range provided in the embodiment of the present invention;

[0030] Figure 3(4) is a schematic diagram of the target rectangular coordinate system corresponding to the fourth angle range provided in the embodiment of the present invention;

[0031] Figure 4(1) is a schematic diagram of the target rectangular coordinate system with the starting point heading located in the first quadrant provided in the embodiment of the present invention;

[0032] Figure 4(2) is a schematic diagram of the target rectangular coordinate system with the starting point heading in the second quadrant provided in the embodiment of the present invention;

[0033] Figure 4(3) is a schematic diagram of the target rectangular coordinate system with the starting point heading in the third quadrant provided in the embodiment of the present invention;

[0034] Figure 4(4) is a schematic diagram of the target rectangular coordinate system with the starting point heading in the fourth quadrant provided in the embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of a roadway deviation determination device provided in an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0037] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0038] The method, apparatus, device, and storage medium for determining roadway deviation according to embodiments of the present invention are described below with reference to the accompanying drawings.

[0039] Figure 1 This is a flowchart illustrating a method for determining roadway deviation provided in an embodiment of the present invention.

[0040] like Figure 1 As shown, the method for determining roadway deviation includes the following steps:

[0041] Step 101: Obtain the starting point heading and starting point position of the target tunnel, as well as the position of the target measurement point.

[0042] The target roadway can be any roadway used for underground mining, and this embodiment does not impose any restrictions on it.

[0043] The starting point heading is the heading angle of the starting point, and the range of the starting point heading is [0°, 360°].

[0044] The target measurement point can be any measurement point during the underground mining process of the target roadway; this embodiment does not impose any restrictions. It should be noted that the target measurement point and the starting point are two different points.

[0045] Optionally, the starting heading and starting position of the target tunnel, as well as the position of the target measurement point, can be provided by an inertial navigation and odometer combination system, which includes an inertial navigation system and an odometer. That is, in some embodiments, the starting heading and starting position of the target tunnel, as well as the position of the target measurement point, can be obtained by using an inertial navigation system + odometer.

[0046] In addition, in some embodiments, the starting point heading and starting point position of the target roadway, as well as the position of the target measurement point, can also be obtained through various other public, legal, and compliant means. For example, the starting point heading and starting point position of the target roadway, as well as the position of the target measurement point, can be obtained from other devices that store the starting point heading and starting point position of the target roadway, as well as the position of the target measurement point, through network transmission or physical copying, etc. This embodiment does not impose any restrictions on this.

[0047] Step 102: Determine the planned path of the target tunnel based on the starting point's heading and location.

[0048] In some embodiments, after obtaining the starting heading and starting position of the target tunnel, the planned path of the target tunnel can be determined based on the starting heading and starting position. The planned path represents the trajectory of the target tunnel in the absence of tunnel deviation.

[0049] Optionally, the planned path of the target tunnel can be determined by straight-line fitting based on the starting point's heading and position. The planned path has a corresponding straight-line equation. In other words, the straight-line equation corresponding to the planned path of the target tunnel can be solved based on the starting point's heading and position, and the straight line indicated by this equation is the planned path of the target tunnel.

[0050] Step 103: Determine the deviation information of the target measurement point based on the starting point heading, the position of the target measurement point, and the planned path.

[0051] Optionally, the deviation information may include the absolute value of the deviation and left / right skew information. Since the range of the starting point heading can be [0°, 360°], and the applicable conditions for left / right skew analysis differ for different ranges of starting point headings, in some embodiments, when determining the deviation information of the target measurement point, it is necessary to simultaneously determine it based on the starting point heading, the position of the target measurement point, and the planned path.

[0052] Optionally, the distance from the target measurement point to the planned path can be determined as the absolute value of the deviation of the target measurement point, and the left or right deviation information of the target measurement point can be determined based on whether the target measurement point is located on the left or right side of the planned path.

[0053] Because the starting point heading and position of the target tunnel, as well as the position of the target measurement point, can be obtained using an inertial navigation system and odometer, and the planned path of the target tunnel can be determined by linear fitting based on the starting point heading and position, this method can quickly and in real time determine the deviation information when the tunneling equipment deviates left or right during underground mining. This allows for timely adjustments and avoids the disadvantages of optical equipment measurement methods being susceptible to interference and the complexity of two-point positioning and orientation. It also has test continuity and can effectively improve correction efficiency.

[0054] The roadway deviation determination method provided in this embodiment obtains the starting point heading and position of the target roadway, as well as the position of the target measurement point. Based on the starting point heading and position, it determines the planned path of the target roadway. The planned path represents the trajectory of the target roadway in the absence of roadway deviation. Then, based on the starting point heading, the position of the target measurement point, and the planned path, the deviation information of the target measurement point is determined. Therefore, for situations where tunneling equipment deviates laterally during underground mining, the deviation information of the target measurement point can be quickly and in real-time determined by obtaining the starting point heading and position of the target roadway, as well as the position of the target measurement point. This allows for timely adjustments, avoiding the susceptibility to interference inherent in optical measurement methods and the complexity of dual-point positioning and orientation. It provides test continuity while effectively improving correction efficiency.

[0055] To clearly illustrate the previous embodiment, this embodiment provides another method for determining roadway deviation. Figure 2 This is a flowchart illustrating another method for determining roadway deviation provided in an embodiment of the present invention.

[0056] like Figure 2 As shown, the method for determining roadway deviation may include the following steps:

[0057] Step 201: Obtain the starting point heading and starting point position of the target tunnel, as well as the position of the target measurement point.

[0058] It should be noted that the execution process of this step can be referred to step 101 in the previous embodiment, as the principle is the same, and will not be repeated here.

[0059] Step 202: Using the starting point position as the origin of the coordinate system, establish the relationship between the X-axis coordinate and the Y-axis coordinate in the target rectangular coordinate system based on the starting point heading, and obtain the target rectangular coordinate system.

[0060] In some embodiments, the origin of the coordinate system can be used as the starting point, and the relationship between the X-axis and Y-axis coordinates in the target rectangular coordinate system can be established using the heading from the starting point, thus obtaining the target rectangular coordinate system. Optionally, the X-axis can be set as due east and the Y-axis as due north, thereby dividing the heading interval into 0°–90°, 270°–360°, 180°–270°, and 90°–180° according to the coordinate quadrants. Among these, the cases where the heading coincides with the coordinate axes include four types: 0° or 360°, 90°, 180°, and 270°.

[0061] Step 203: Based on the starting point's heading and the first coordinate of the starting point's position in the target rectangular coordinate system, solve the equation of the straight line corresponding to the planned path to obtain the planned path of the target tunnel.

[0062] In some embodiments, the linear equation corresponding to the planned path can be solved based on the starting point heading and the first coordinate of the starting point position in the target rectangular coordinate system (i.e., the origin, or (0,0)). The straight line indicated by the linear equation is the planned path of the target tunnel, thereby obtaining the planned path of the target tunnel.

[0063] Step 204: Based on the second coordinate of the target measurement point in the target rectangular coordinate system and the equation of the straight line corresponding to the planned path, determine the distance from the target measurement point to the planned path, so as to obtain the absolute value of the deviation of the target measurement point.

[0064] In this embodiment, the deviation information of the target measurement point includes the absolute value of the deviation of the target measurement point and the left and right deviation information of the target measurement point.

[0065] In some embodiments, after solving for the equation of the straight line corresponding to the planned path, the distance from the target measurement point to the planned path can be determined based on the second coordinate of the target measurement point in the target rectangular coordinate system and the equation of the straight line corresponding to the planned path. This distance is the absolute value of the deviation of the target measurement point.

[0066] Optionally, if the equation of the straight line corresponding to the planned path is y = kx, the distance from the target measurement point to the planned path can be determined using the formula for the distance from a point to a line. For example, assuming the second coordinate of the target measurement point in the target rectangular coordinate system is (x0, y0), the distance from the target measurement point to the planned path can be determined. This distance This is the absolute value of the deviation from the target measurement point;

[0067] If the equation of the straight line corresponding to the planned path is x = 0, then the distance d = |x0| from the target measurement point to the planned path can be directly determined. This distance d = |x0| is the absolute value of the deviation of the target measurement point.

[0068] If the equation of the straight line corresponding to the planned path is y = 0, then the distance d = |y0| from the target measurement point to the planned path can be directly determined. This distance d = |y0| is the absolute value of the deviation of the target measurement point.

[0069] Step 205: Determine the left and right deviation information of the target measurement point based on the heading of the starting point and the sign of the second coordinate, or based on the relationship between the heading of the starting point, the sign of the second coordinate, and the target ratio and the target slope.

[0070] The target ratio is the ratio of the Y-axis coordinate to the X-axis coordinate in the second coordinate system, and the target slope is the slope of the linear equation corresponding to the planned path.

[0071] One possible approach is to first determine whether the starting point's heading coincides with the coordinate axes of the target's Cartesian coordinate system. If the starting point's heading does not coincide with the coordinate axes of the target's Cartesian coordinate system, the left or right deviation information of the target measurement point can be determined based on the sign of the starting point's heading and the second coordinate, or based on the sign of the starting point's heading, the second coordinate, and the relationship between the target ratio and the target slope. Alternatively, if the starting point's heading coincides with the coordinate axes of the target's Cartesian coordinate system, the left or right deviation information of the target measurement point can be determined based on the sign of the starting point's heading and the second coordinate.

[0072] Optionally, when the starting point's heading does not coincide with the coordinate axes of the target's rectangular coordinate system, the left and right deviation information of the target measurement point is determined based on the starting point's heading and the sign of the second coordinate, or based on the relationship between the starting point's heading, the sign of the second coordinate, and the target ratio and slope. This includes:

[0073] When the heading at the starting point is within the first angle range, the target measurement point is determined to be left-leaning if the X-axis coordinate in the second coordinate system is negative and the Y-axis coordinate is positive, or if both the X-axis coordinate and the Y-axis coordinate in the second coordinate system are positive and the target ratio is greater than the target slope. The left-leaning and right-leaning information of the target measurement point is determined to be left-leaning, where the first angle range is (0°, 90°).

[0074] When the heading at the starting point is within the first angle range, the X-axis coordinate in the second coordinate system is positive and the Y-axis coordinate is negative, or the X-axis coordinate and Y-axis coordinate in the second coordinate system are both positive and the target ratio is less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation;

[0075] When the heading at the starting point is within the second angle range, the X-axis and Y-axis coordinates in the second coordinate system are both negative, or the X-axis coordinate is negative, the Y-axis coordinate is positive, and the target ratio is greater than the target slope. The left and right deviation information of the target measurement point is determined to be left deviation, where the second angle range is (270°, 360°).

[0076] When the heading at the starting point is within the second angle range, the X-axis and Y-axis coordinates in the second coordinate system are both positive, or the X-axis coordinate is negative, the Y-axis coordinate is positive, and the target ratio is less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation;

[0077] When the starting point heading is within the third angle range, the X-axis coordinate in the second coordinate system is positive and the Y-axis coordinate is negative, or the X-axis coordinate and Y-axis coordinate in the second coordinate system are both negative and the target ratio is greater than the target slope, the left and right deviation information of the target measurement point is determined to be left deviation, where the third angle range is (180°, 270°).

[0078] When the heading at the starting point is within the third angle range, the X-axis coordinate in the second coordinate system is negative and the Y-axis coordinate is positive, or the X-axis coordinate and Y-axis coordinate in the second coordinate system are both negative and the target ratio is less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation;

[0079] When the starting point heading is within the fourth angle range, the X-axis and Y-axis coordinates in the second coordinate system are both positive, or the X-axis coordinate is positive, the Y-axis coordinate is negative, and the target ratio is greater than the target slope, the left and right deviation information of the target measurement point is determined to be left deviation, where the fourth angle range is (90°, 180°).

[0080] When the starting point heading is within the fourth angle range, the response is that both the X-axis and Y-axis coordinates in the second coordinate system are negative, or the response is that the X-axis coordinate is positive, the Y-axis coordinate is negative, and the target ratio is less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation.

[0081] As an example, the second coordinate (x0, y0) may be deflected to the left or to the right. When the starting point's heading does not coincide with the coordinate axes of the target's Cartesian coordinate system, the following are some cases when performing left and right deflection analysis:

[0082] 1. The starting point heading is located at (0°, 90°), as shown in Figure 3(1). The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the dashed line in Figure 3(1)). Assume that the left side is represented by A1(x a1 ,y a1 ) represents A2(x) on the right. a2 ,y a2 )express,

[0083] Left deviation (point A1) analysis:

[0084] (1) The X-axis and Y-axis coordinates of point A1 are both positive, and

[0085] (2) The X-axis coordinate of point A1 is negative and the Y-axis coordinate is positive.

[0086] Analysis of right deviation (point A2):

[0087] (1) The X-axis and Y-axis coordinates of point A2 are both positive, and

[0088] (2) The X-axis coordinate of point A2 is positive and the Y-axis coordinate is negative.

[0089] 2. The starting point heading is located at (270°, 360°), as shown in Figure 3(2). The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the dashed line in Figure 3(2)). Assume that the left side is represented by A1(x a1 ,y a1 ) represents A2(x) on the right. a2 ,y a2 )express,

[0090] Left deviation (point A1) analysis:

[0091] (1) Point A1 has a negative X-axis coordinate and a positive Y-axis coordinate, and

[0092] (2) The X-axis coordinate of point A1 is negative and the Y-axis coordinate is negative.

[0093] Analysis of right deviation (point A2):

[0094] (1) Point A2 has a negative X-axis coordinate and a positive Y-axis coordinate, and

[0095] (2) The X-axis coordinate of point A2 is positive and the Y-axis coordinate is positive.

[0096] 3. The starting point heading is located at (180°, 270°), as shown in Figure 3(3). The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the dashed line in Figure 3(3)). Assume that the left side is represented by A1(x a1 ,y a1 ) represents A2(x) on the right. a2 ,y a2 )express,

[0097] Left deviation (point A1) analysis:

[0098] (1) Point A1 has a negative X-axis coordinate and a negative Y-axis coordinate, and

[0099] (2) The X-axis coordinate of point A1 is positive and the Y-axis coordinate is negative.

[0100] Analysis of right deviation (point A2):

[0101] (1) Point A2 has a negative X-axis coordinate and a negative Y-axis coordinate, and

[0102] (2) The X-axis coordinate of point A2 is negative and the Y-axis coordinate is positive.

[0103] 4. The starting point heading is located at (90°, 180°), as shown in Figure 3(4). The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the dashed line in Figure 3(4)). Assume that the left side is represented by A1(x a1 ,y a1 ) represents A1(x) on the right. a1 ,y a1 )express,

[0104] Left deviation (point A1) analysis:

[0105] (1) Point A1 has a positive X-axis coordinate and a negative Y-axis coordinate, and

[0106] (2) The X-axis coordinate of point A1 is positive and the Y-axis coordinate is positive.

[0107] Analysis of right deviation (point A2):

[0108] (1) Point A2 has a positive X-axis coordinate and a negative Y-axis coordinate, and

[0109] (2) The X-axis coordinate of point A2 is negative and the Y-axis coordinate is negative.

[0110] Optionally, when the starting point's heading coincides with the coordinate axes of the target's rectangular coordinate system, the left and right deviation information of the target measurement point is determined based on the starting point's heading and the sign of the second coordinate, including:

[0111] When the heading at the starting point is at the first angle, the left and right deviation information of the target measurement point is determined to be left deviation when the X-axis coordinate in the second coordinate system is negative and the Y-axis coordinate is positive. Alternatively, the left and right deviation information of the target measurement point is determined to be right deviation when both the X-axis coordinate and the Y-axis coordinate in the second coordinate system are positive. The first angle is 0° or 360°.

[0112] When the starting point heading is the second angle, if both the X-axis and Y-axis coordinates in the second coordinate system are positive, the left and right deviation information of the target measurement point is determined to be left deviation; or, if the X-axis coordinate is positive and the Y-axis coordinate is negative in the second coordinate system, the left and right deviation information of the target measurement point is determined to be right deviation. The second angle is 90°.

[0113] When the heading at the starting point is at the third angle, the left and right deviation information of the target measurement point is determined to be left deviation, in response to the positive X-axis coordinate and the negative Y-axis coordinate in the second coordinate system. Alternatively, the left and right deviation information of the target measurement point is determined to be right deviation, in response to the negative X-axis coordinate and the negative Y-axis coordinate in the second coordinate system. The third angle is 180°.

[0114] When the starting point heading is at the fourth angle, if both the X-axis and Y-axis coordinates in the second coordinate system are negative, the left and right deviation information of the target measurement point is determined to be left deviation; or, if the X-axis coordinate is negative and the Y-axis coordinate is positive in the second coordinate system, the left and right deviation information of the target measurement point is determined to be right deviation. The fourth angle is 270°.

[0115] As an example, the second coordinate (x0, y0) may be deflected to the left or to the right. When the starting point's heading coincides with the coordinate axes of the target's Cartesian coordinate system, the following are some cases when performing left and right deflection analysis:

[0116] 1. The starting heading is 0° or 360°. The target measurement points may be distributed on both sides of the straight line (positive Y-axis, i.e., y≥0) indicated by the linear equation corresponding to the planned path. The left side is represented by A1(x a1 ,y a1 ) represents A2(x) on the right. a2 ,y a2 )express:

[0117] Left deviation (point A1) analysis:

[0118] Point A1 has a negative X-axis coordinate and a positive Y-axis coordinate;

[0119] Analysis of right deviation (point A2):

[0120] Point A2 has a positive X-axis coordinate and a positive Y-axis coordinate.

[0121] 2. The starting heading is 90°. The target measurement points may be distributed on both sides of the straight line (positive X-axis, i.e., x≥0) indicated by the linear equation corresponding to the planned path. The left side is represented by A1(x a1 ,y a1 ) represents A2(x) on the right. a2 ,y a2 )express:

[0122] Left deviation (point A1) analysis:

[0123] Point A1 has a positive X-axis coordinate and a positive Y-axis coordinate;

[0124] Analysis of right deviation (point A2):

[0125] Point A2 has a positive X-axis coordinate and a negative Y-axis coordinate.

[0126] 3. The starting heading is 180°. The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the negative part of the Y-axis, i.e., y≤0). The left side is represented by A1(x a1 ,y a1 ) represents A2(x) on the right. a2 ,y a2 )express:

[0127] Left deviation (point A1) analysis:

[0128] Point A1 has a positive X-axis coordinate and a negative Y-axis coordinate;

[0129] Analysis of right deviation (point A2):

[0130] Point A2 has a negative X-axis coordinate and a negative Y-axis coordinate.

[0131] 4. The starting heading is 270°. The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the negative part of the X-axis, i.e., x≤0). The left side is represented by A1(x a1 ,y a1 ) represents A2(x) on the right. a2 ,y a2 )express:

[0132] Left deviation (point A1) analysis:

[0133] Point A1 has a negative X-axis coordinate and a negative Y-axis coordinate;

[0134] Analysis of right deviation (point A2):

[0135] Point A2 has a negative X-axis coordinate and a positive Y-axis coordinate.

[0136] It should be noted that in cases where the starting point's heading coincides with the coordinate axes, the same method for left and right skew analysis as described above when the starting point's heading does not coincide with the coordinate axes can be used. For example, when the starting point's heading is 90° (coinciding with the positive X-axis direction), since the equation of the straight line corresponding to the planned path is y = 0, the target slope k1 (the slope of the straight line equation corresponding to the planned path) can be considered 0. In this case, the left skew (point A1) analysis is as follows: the X-axis coordinate of point A1 is positive, and the Y-axis coordinate is positive. Right now Similar to the analysis (1) of the starting point heading being left within the first angle range and the analysis (2) of the starting point heading being left within the fourth angle range, the analysis of right deviation (A2) is as follows: the X-axis coordinate of point A2 is positive and the Y-axis coordinate is negative. Right now Since the above analysis (2) of right velocities (A2 point) when the starting point heading is in the first angle range and the above analysis (1) of right velocities (A2 point) when the starting point heading is in the fourth angle range can be used to perform left and right velocities analysis when the starting point heading is in the first angle range or the fourth angle range, the same method can be used to perform left and right velocities analysis.

[0137] For example, when the starting heading is 270° (the starting heading coincides with the negative X-axis direction), since the equation of the straight line corresponding to the planned path is y = 0, the target slope k1 (the slope of the straight line equation corresponding to the planned path) can be considered to be 0. In this case, analyzing the left velocity (point A1): the X-axis coordinate of point A1 is negative, and the Y-axis coordinate is negative. Right now Similar to the analysis (2) of the starting point heading being left within the second angle range and the analysis (1) of the starting point heading being left within the third angle range, the analysis of right deviation (A2) is as follows: the X-axis coordinate of point A2 is negative and the Y-axis coordinate is positive. Right now Since the above analysis (1) shows the right velocities when the starting point heading is in the second angle range and the analysis (2) shows the right velocities when the starting point heading is in the third angle range, the method of left and right velocities analysis can be used when the starting point heading is in the second or third angle range.

[0138] However, when the starting heading is 0° or 360° (the starting heading coincides with the positive direction of the Y-axis) or 180° (the starting heading coincides with the negative direction of the Y-axis), since the equation of the straight line corresponding to the planned path is x = 0, the slope of the equation of the straight line corresponding to the planned path does not exist. Therefore, it is not possible to perform left and right skew analysis using the method described above when the starting heading does not coincide with the coordinate axis.

[0139] The tunnel deviation determination method provided in this embodiment establishes a target rectangular coordinate system with the starting point as the origin, east as the X-axis, and north as the Y-axis. Based on the starting point's heading and its first coordinate in the target rectangular coordinate system, the equation of the straight line corresponding to the planned path is solved to obtain the planned path of the target tunnel. Then, based on the second coordinate of the target measurement point's position in the target rectangular coordinate system and the equation of the straight line corresponding to the planned path, the distance from the target measurement point to the planned path is determined using the point-to-line distance formula, thus obtaining the absolute value of the deviation of the target measurement point. Furthermore, the left and right deviation information of the target measurement point is determined based on the sign of the starting point's heading and the second coordinate, or based on the relationship between the starting point's heading, the sign of the second coordinate, and the target ratio and slope. Therefore, based on the starting point's heading, the target measurement point's position, and the planned path, the absolute value of the deviation and the left and right deviation information of the target measurement point can be quickly and in real-time determined, facilitating timely adjustments and demonstrating strong autonomy.

[0140] To clearly illustrate the above embodiments, examples are given below.

[0141] This invention provides a rapid calculation method for tunnel deviation based on linear fitting, which can achieve rapid deviation calculation using an inertial navigation odometry (INS) system. In this invention, the starting point heading and position, as well as the target measurement point heading and position, are all provided by the INS system. The trajectory of the planned path in the geographic coordinate system can be obtained by linear fitting based on the starting point heading. Optionally, the process of rapid deviation calculation based on the INS system is as follows:

[0142] S1: Solve the equation of the straight line corresponding to the planned path;

[0143] First, using the starting point as the origin of the coordinate system, and using the heading from the starting point as the reference point, establish the relationship between the X-axis coordinates and the Y-axis coordinates in the target Cartesian coordinate system to obtain the target Cartesian coordinate system.

[0144] Optionally, a rectangular coordinate system can be established with due east as the X-axis and due north as the Y-axis. The heading intervals can then be divided into four quadrants: 0°–90°, 270°–360°, 180°–270°, and 90°–180°. The cases where the heading coincides with the coordinate axes include 0°, 360°, 90°, 180°, and 270°.

[0145] Assuming the starting point heading is If the starting point's first coordinate in the target rectangular coordinate system is (0, 0), then if Located in the first quadrant (XOY1 plane, where both the X and Y axes are positive), as shown in Figure 4(1), based on the heading and the first coordinate of the starting point in the target rectangular coordinate system, the equation of the straight line corresponding to the planned path is solved to obtain the following: at this time, It is also positive.

[0146] like Located in the second quadrant (XOY2 plane, X-axis is negative, Y-axis is positive), as shown in Figure 4(2), based on the starting point heading and the first coordinate of the starting point position in the target rectangular coordinate system, the equation of the straight line corresponding to the planned path is solved to obtain the following result. at this time, It is negative.

[0147] like Located in the third quadrant (XOY3 plane, where both the X and Y axes are negative), as shown in Figure 4(3), based on the starting point's heading and the first coordinate of the starting point's position in the target rectangular coordinate system, the equation of the straight line corresponding to the planned path is solved to obtain... at this time, It is positive.

[0148] like Located in the fourth quadrant (XOY4 plane, X-axis is positive, Y-axis is negative), as shown in Figure 4(4), based on the starting point heading and the first coordinate of the starting point position in the target rectangular coordinate system, the equation of the straight line corresponding to the planned path is solved to obtain the following results. at this time, It is negative.

[0149] When the starting point is heading When the angle is 180° or 360°, the equation of the straight line corresponding to the planned path is x = 0;

[0150] When the starting point is heading When the angle is 270°, the equation of the straight line corresponding to the planned path is y = 0.

[0151] In summary, the equation of the straight line corresponding to the planned path is: or or or in, Indicates the heading from the starting point. This represents the slope of the linear equation corresponding to the planned path.

[0152] Alternatively, the equation of the straight line corresponding to the planned path is x = 0. Or 180° or 360°;

[0153] Alternatively, the equation of the straight line corresponding to the planned path is y = 0. Or 270°.

[0154] S2: Calculation of absolute value of deviation;

[0155] Assuming the target measurement point's second coordinate in the target rectangular coordinate system is (x0, y0), the equation of the straight line corresponding to the planned path is: or or or in, Indicates the heading from the starting point. The slope of the equation of the line corresponding to the planned path can be used to determine the distance from the target measurement point to the planned path using the formula for the distance from a point to a line. This distance This is the absolute value of the deviation of the target measurement point.

[0156] When the starting point is heading When the angle is 180° or 360°, the equation of the straight line corresponding to the planned path is x = 0. At this time, the distance from the target measurement point to the planned path is d = |x0|, and this distance d = |x0| is the absolute value of the deviation of the target measurement point.

[0157] When the starting point is heading When the angle is 270°, the equation of the straight line corresponding to the planned path is y = 0. At this time, the distance from the target measurement point to the planned path is d = |y0|, which is the absolute value of the deviation of the target measurement point.

[0158] S3: Left-right bias analysis.

[0159] The second coordinate (x0, y0) may be deflected to the left or to the right, and the starting point's heading may or may not coincide with the coordinate axes.

[0160] When the starting point's heading does not coincide with the coordinate axes, the left and right yaw analysis is performed as follows:

[0161] 1. The starting point heading is (0°, 90°), as shown in Figure 3(1). The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the dashed line in Figure 3(1)). Assume that the left side is represented by A1(x a1 y a1 ) represents A2(x) on the right. a2 y a2 )express,

[0162] Left deviation (point A1) analysis:

[0163] (1) The X-axis and Y-axis coordinates of point A1 are both positive, and

[0164] (2) The X-axis coordinate of point A1 is negative and the Y-axis coordinate is positive.

[0165] Analysis of right deviation (point A2):

[0166] (1) The X-axis and Y-axis coordinates of point A2 are both positive, and

[0167] (2) The X-axis coordinate of point A2 is positive and the Y-axis coordinate is negative.

[0168] 2. The starting point heading is (270°, 360°), as shown in Figure 3(2). The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the dashed line in Figure 3(2)). Assume that the left side is represented by A1(x a1 y a1 ) represents A2(x) on the right. a2 y a2 )express,

[0169] Left deviation (point A1) analysis:

[0170] (1) Point A1 has a negative X-axis coordinate and a positive Y-axis coordinate, and

[0171] (2) The X-axis coordinate of point A1 is negative and the Y-axis coordinate is negative.

[0172] Analysis of right deviation (point A2):

[0173] (1) Point A2 has a negative X-axis coordinate and a positive Y-axis coordinate, and

[0174] (2) The X-axis coordinate of point A2 is positive and the Y-axis coordinate is positive.

[0175] 3. The starting point heading is (180°, 270°), as shown in Figure 3(3). The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the dashed line in Figure 3(3)). Assume that the left side is represented by A1(x a1 y a1 ) represents A2(x) on the right. a2 y a2 )express,

[0176] Left deviation (point A1) analysis:

[0177] (1) Point A1 has a negative X-axis coordinate and a negative Y-axis coordinate, and

[0178] (2) The X-axis coordinate of point A1 is positive and the Y-axis coordinate is negative.

[0179] Analysis of right deviation (point A2):

[0180] (1) Point A2 has a negative X-axis coordinate and a negative Y-axis coordinate, and

[0181] (2) The X-axis coordinate of point A2 is negative and the Y-axis coordinate is positive.

[0182] 4. The starting point heading is (90°, 180°), as shown in Figure 3(4). The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the dashed line in Figure 3(4)). Assume that the left side is represented by A1(x a1 y a1 ) represents A2(x) on the right. a2 y a2 )express,

[0183] Left deviation (point A1) analysis:

[0184] (1) Point A1 has a positive X-axis coordinate and a negative Y-axis coordinate, and

[0185] (2) The X-axis coordinate of point A1 is positive and the Y-axis coordinate is positive.

[0186] Analysis of right deviation (point A2):

[0187] (1) Point A2 has a positive X-axis coordinate and a negative Y-axis coordinate, and

[0188] (2) The X-axis coordinate of point A2 is negative and the Y-axis coordinate is negative.

[0189] When the starting point's heading coincides with the coordinate axes, the left and right yaw analysis is performed as follows:

[0190] 1. The starting heading is 0° or 360°. The target measurement points may be distributed on both sides of the straight line (positive Y-axis, i.e., y≥0) indicated by the linear equation corresponding to the planned path. The left side is represented by A1(x a1 y a1 ) represents A2(x) on the right. a2 y a2 )express:

[0191] Left deviation (point A1) analysis:

[0192] Point A1 has a negative X-axis coordinate and a positive Y-axis coordinate;

[0193] Analysis of right deviation (point A2):

[0194] Point A2 has a positive X-axis coordinate and a positive Y-axis coordinate.

[0195] 2. The starting heading is 90°. The target measurement points may be distributed on both sides of the straight line (positive X-axis, i.e., x≥0) indicated by the linear equation corresponding to the planned path. The left side is represented by A1(x a1 y a1 ) represents A2(x) on the right. a2 y a2 )express:

[0196] Left deviation (point A1) analysis:

[0197] Point A1 has a positive X-axis coordinate and a positive Y-axis coordinate;

[0198] Analysis of right deviation (point A2):

[0199] Point A2 has a positive X-axis coordinate and a negative Y-axis coordinate.

[0200] 3. The starting heading is 180°. The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the negative part of the Y-axis, i.e., y≤0). The left side is represented by A1(x a1 y a1 ) represents A2(x) on the right. a2 y a2 )express:

[0201] Left deviation (point A1) analysis:

[0202] Point A1 has a positive X-axis coordinate and a negative Y-axis coordinate;

[0203] Analysis of right deviation (point A2):

[0204] Point A2 has a negative X-axis coordinate and a negative Y-axis coordinate.

[0205] 4. The starting heading is 270°. The target measurement points may be distributed on both sides of the straight line indicated by the linear equation corresponding to the planned path (the negative part of the X-axis, i.e., x≤0). The left side is represented by A1(x a1 y a1 ) represents A2(x) on the right. a2 y a2 )express:

[0206] Left deviation (point A1) analysis:

[0207] Point A1 has a negative X-axis coordinate and a negative Y-axis coordinate;

[0208] Analysis of right deviation (point A2):

[0209] Point A2 has a negative X-axis coordinate and a positive Y-axis coordinate.

[0210] In summary, to address the issue of lateral deviation in tunneling equipment during underground mining, this invention utilizes an inertial navigation system combined with an odometer and a linear fitting method to quickly provide deviation information in real time, facilitating timely adjustments.

[0211] Compared to existing methods that rely heavily on optical information to maintain collimation during tunnel mining, which are often subject to dust and severe interference with visibility in actual mining environments, this invention avoids the drawbacks of optical measurement methods being susceptible to interference. It offers greater autonomy and has a higher data correction frequency than optical measurement systems.

[0212] At the same time, it avoids the complexity of two-point positioning and orientation, which can effectively improve the calibration efficiency. In addition, the present invention also has test continuity.

[0213] To achieve the above embodiments, the present invention also proposes a roadway deviation determination device.

[0214] Figure 5 This is a schematic diagram of a roadway deviation determination device provided in an embodiment of the present invention.

[0215] like Figure 5 As shown, the roadway deviation determination device includes: an acquisition module 51, a first determination module 52, and a second determination module 53.

[0216] The acquisition module 51 is used to acquire the starting point heading and starting point position of the target roadway, as well as the position of the target measurement point;

[0217] The first determining module 52 is used to determine the planned path of the target tunnel based on the starting point heading and the starting point position, wherein the planned path is used to characterize the trajectory of the target tunnel in the absence of tunnel deviation;

[0218] The second determining module 53 is used to determine the deviation information of the target measurement point based on the starting point heading, the position of the target measurement point and the planned path, wherein the deviation information includes the absolute value of the deviation and left and right deviation information.

[0219] Furthermore, in one possible implementation of this invention, the first determining module 52 is configured to:

[0220] Based on the starting point heading and the starting point position, the planned path of the target tunnel is determined by straight line fitting, wherein the planned path has a corresponding straight line equation.

[0221] Furthermore, in one possible implementation of this embodiment of the invention, the first determining module 52 is specifically used for:

[0222] Using the starting point as the origin of the coordinate system, and establishing the relationship between the X-axis coordinate and the Y-axis coordinate in the target Cartesian coordinate system with the heading from the starting point, the target Cartesian coordinate system is obtained.

[0223] Based on the starting point heading and the first coordinate of the starting point position in the target rectangular coordinate system, solve the straight line equation corresponding to the planned path to obtain the planned path of the target tunnel.

[0224] Further, in one possible implementation of this invention, the deviation information includes the absolute value of the deviation and left / right deviation information; the second determining module 53 is used for:

[0225] Based on the second coordinate of the target measurement point in the target rectangular coordinate system and the equation of the straight line corresponding to the planned path, the distance from the target measurement point to the planned path is determined to obtain the absolute value of the deviation of the target measurement point.

[0226] Based on the heading of the starting point and the sign of the second coordinate, or based on the heading of the starting point, the sign of the second coordinate, and the relationship between the target ratio and the target slope, the left and right deviation information of the target measurement point is determined, wherein the target ratio is the ratio of the Y-axis coordinate to the X-axis coordinate in the second coordinate, and the target slope is the slope of the straight line equation corresponding to the planned path.

[0227] Furthermore, in one possible implementation of this embodiment, the second determining module 53 is specifically used for:

[0228] Determine whether the heading of the starting point coincides with the coordinate axes of the target Cartesian coordinate system;

[0229] When the heading at the starting point does not coincide with the coordinate axes of the target rectangular coordinate system, the left and right deviation information of the target measurement point is determined based on the sign of the heading at the starting point and the second coordinate, or based on the relationship between the heading at the starting point, the sign of the second coordinate, and the target ratio and the target slope.

[0230] When the heading at the starting point coincides with the coordinate axis of the target rectangular coordinate system, the left and right deviation information of the target measurement point is determined based on the heading at the starting point and the sign of the second coordinate.

[0231] Furthermore, in one possible implementation of this embodiment, the second determining module 53 is specifically used for:

[0232] When the heading at the starting point is within the first angle range, in response to the X-axis coordinate being negative and the Y-axis coordinate being positive in the second coordinate system, or in response to both the X-axis coordinate and the Y-axis coordinate being positive and the target ratio being greater than the target slope, the left and right deviation information of the target measurement point is determined to be left deviation, wherein the first angle range is (0°, 90°);

[0233] When the heading at the starting point is within the first angle range, in response to the X-axis coordinate being positive and the Y-axis coordinate being negative in the second coordinate system, or in response to both the X-axis coordinate and the Y-axis coordinate being positive and the target ratio being less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation;

[0234] When the heading at the starting point is within the second angle range, in response to both the X-axis and Y-axis coordinates in the second coordinate system being negative, or in response to the X-axis coordinate being negative, the Y-axis coordinate being positive, and the target ratio being greater than the target slope, the left and right deviation information of the target measurement point is determined to be left deviation, wherein the second angle range is (270°, 360°);

[0235] When the heading at the starting point is within the second angle range, in response to both the X-axis and Y-axis coordinates in the second coordinate system being positive, or in response to the X-axis coordinate being negative, the Y-axis coordinate being positive, and the target ratio being less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation;

[0236] When the heading at the starting point is within the third angle range, in response to the X-axis coordinate being positive and the Y-axis coordinate being negative in the second coordinate system, or in response to both the X-axis coordinate and the Y-axis coordinate being negative and the target ratio being greater than the target slope, the left and right deviation information of the target measurement point is determined to be left deviation, wherein the third angle range is (180°, 270°).

[0237] When the heading at the starting point is within the range of the third angle, in response to the X-axis coordinate being negative and the Y-axis coordinate being positive in the second coordinate system, or in response to both the X-axis coordinate and the Y-axis coordinate being negative and the target ratio being less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation;

[0238] When the heading at the starting point is within the fourth angle range, in response to both the X-axis and Y-axis coordinates in the second coordinate system being positive, or in response to the X-axis coordinate being positive, the Y-axis coordinate being negative, and the target ratio being greater than the target slope, the left and right deviation information of the target measurement point is determined to be left deviation, wherein the fourth angle range is (90°, 180°).

[0239] When the heading at the starting point is within the fourth angle range, in response to both the X-axis and Y-axis coordinates in the second coordinate system being negative, or in response to the X-axis coordinate being positive, the Y-axis coordinate being negative, and the target ratio being less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation.

[0240] Furthermore, in one possible implementation of this embodiment, the second determining module 53 is specifically used for:

[0241] When the heading at the starting point is at a first angle, in response to the X-axis coordinate being negative and the Y-axis coordinate being positive in the second coordinate system, the left and right deviation information of the target measurement point is determined to be left deviation; or, in response to the X-axis coordinate and the Y-axis coordinate being both positive in the second coordinate system, the left and right deviation information of the target measurement point is determined to be right deviation, wherein the first angle is 0° or 360°.

[0242] When the heading at the starting point is at the second angle, in response to both the X-axis and Y-axis coordinates in the second coordinate system being positive, the left and right deviation information of the target measurement point is determined to be left deviation; or, in response to the X-axis coordinate being positive and the Y-axis coordinate being negative in the second coordinate system, the left and right deviation information of the target measurement point is determined to be right deviation, wherein the second angle is 90°.

[0243] When the heading at the starting point is at the third angle, in response to the positive X-axis coordinate and the negative Y-axis coordinate in the second coordinate system, the left and right deviation information of the target measurement point is determined to be left deviation; or, in response to the negative X-axis coordinate and the negative Y-axis coordinate in the second coordinate system, the left and right deviation information of the target measurement point is determined to be right deviation, wherein the third angle is 180°.

[0244] When the heading at the starting point is at the fourth angle, in response to both the X-axis and Y-axis coordinates in the second coordinate system being negative, the left and right deviation information of the target measurement point is determined to be left deviation; or, in response to the X-axis coordinate being negative and the Y-axis coordinate being positive in the second coordinate system, the left and right deviation information of the target measurement point is determined to be right deviation, wherein the fourth angle is 270°.

[0245] Furthermore, in one possible implementation of this invention, the starting point heading and starting point position of the target tunnel, as well as the position of the target measurement point, are provided by an inertial navigation odometry system, wherein the inertial navigation odometry system includes an inertial navigation system and an odometry.

[0246] It should be noted that the foregoing explanation of the embodiment of the roadway deviation determination method also applies to the roadway deviation determination device of this embodiment, and will not be repeated here.

[0247] The roadway deviation determination device provided in this embodiment acquires the starting point heading and position of the target roadway, as well as the position of the target measurement point. Based on the starting point heading and position, it determines the planned path of the target roadway. The planned path represents the trajectory of the target roadway in the absence of roadway deviation. Then, based on the starting point heading, the position of the target measurement point, and the planned path, the deviation information of the target measurement point is determined. Therefore, for situations where tunneling equipment deviates laterally during underground mining, the deviation information of the target measurement point can be quickly and in real-time determined by acquiring the starting point heading and position of the target roadway, as well as the position of the target measurement point. This allows for timely adjustments, avoiding the susceptibility to interference inherent in optical measurement methods and the complexity of dual-point positioning and orientation. It provides testing continuity while effectively improving correction efficiency.

[0248] To implement the above embodiments, the present invention also proposes an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to execute the roadway deviation determination method proposed in any of the above embodiments of the present invention.

[0249] To implement the above embodiments, the present invention also proposes a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the roadway deviation determination method proposed in any of the above embodiments of the present invention.

[0250] To implement the above embodiments, the present invention also proposes a computer program product, including a computer program that, when executed by a processor, implements the roadway deviation determination method proposed in any of the above embodiments of the present invention.

[0251] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0252] It should be noted that, Figure 6 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0253] like Figure 6 As shown, the electronic device includes:

[0254] The memory 61, the processor 62, and the computer program stored on the memory 61 and capable of running on the processor 62.

[0255] When processor 62 executes the program, it implements the tunnel deviation determination method provided in any of the above embodiments.

[0256] Furthermore, electronic devices also include:

[0257] Communication interface 63 is used for communication between memory 61 and processor 62.

[0258] The memory 61 is used to store computer programs that can run on the processor 62.

[0259] The memory 61 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0260] The processor 62 is used to implement the roadway deviation determination method described in any of the above embodiments when executing the program.

[0261] If the memory 61, processor 62, and communication interface 63 are implemented independently, then the communication interface 63, memory 61, and processor 62 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0262] Optionally, in a specific implementation, if the memory 61, processor 62, and communication interface 63 are integrated on a single chip, then the memory 61, processor 62, and communication interface 63 can communicate with each other through an internal interface.

[0263] Processor 62 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0264] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0265] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0266] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0267] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0268] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0269] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0270] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0271] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for determining roadway deviation, characterized in that, include: Obtain the starting point heading and starting point position of the target tunnel, as well as the position of the target measurement point; Based on the starting point heading and the starting point location, the planned path of the target tunnel is determined, wherein the planned path is used to characterize the trajectory of the target tunnel in the absence of tunnel deviation; Based on the starting point heading, the position of the target measurement point, and the planned path, determine the deviation information of the target measurement point; The step of determining the planned path of the target tunnel based on the starting point heading and the starting point location includes: Based on the starting point heading and the starting point position, the planned path of the target tunnel is determined by straight line fitting, wherein the planned path has a corresponding straight line equation; The step of determining the planned path of the target tunnel using a straight-line fitting method based on the starting point heading and the starting point position includes: Using the starting point as the origin of the coordinate system, and establishing the relationship between the X-axis coordinate and the Y-axis coordinate in the target Cartesian coordinate system with the heading from the starting point, the target Cartesian coordinate system is obtained. Based on the starting point heading and the first coordinate of the starting point position in the target rectangular coordinate system, solve the straight line equation corresponding to the planned path to obtain the planned path of the target tunnel; The deviation information includes the absolute value of the deviation and left / right yaw information; determining the deviation information of the target measurement point based on the starting point heading, the position of the target measurement point, and the planned path includes: Based on the second coordinate of the target measurement point in the target rectangular coordinate system and the equation of the straight line corresponding to the planned path, the distance from the target measurement point to the planned path is determined to obtain the absolute value of the deviation of the target measurement point. Based on the heading of the starting point and the sign of the second coordinate, or based on the heading of the starting point, the sign of the second coordinate, and the relationship between the target ratio and the target slope, the left and right deviation information of the target measurement point is determined, wherein the target ratio is the ratio of the Y-axis coordinate to the X-axis coordinate in the second coordinate, and the target slope is the slope of the straight line equation corresponding to the planned path; The step of determining the left and right deviation information of the target measurement point based on the sign of the starting point heading and the second coordinate, or based on the relationship between the starting point heading, the sign of the second coordinate, and the target ratio and the target slope, includes: Determine whether the heading of the starting point coincides with the coordinate axes of the target Cartesian coordinate system; When the heading at the starting point does not coincide with the coordinate axes of the target rectangular coordinate system, the left and right deviation information of the target measurement point is determined based on the sign of the heading at the starting point and the second coordinate, or based on the relationship between the heading at the starting point, the sign of the second coordinate, and the target ratio and the target slope. When the heading at the starting point coincides with the coordinate axis of the target rectangular coordinate system, the left and right deviation information of the target measurement point is determined based on the heading at the starting point and the sign of the second coordinate.

2. The method of claim 1, wherein, When the heading at the starting point does not coincide with the coordinate axes of the target rectangular coordinate system, the left and right deviation information of the target measurement point is determined based on the sign of the heading at the starting point and the second coordinate, or based on the relationship between the heading at the starting point, the sign of the second coordinate, and the target ratio and the target slope. This includes: When the starting point heading is within a first angle range, in response to a negative X-axis coordinate and a positive Y-axis coordinate in the second coordinate system, or in response to both positive X-axis and Y-axis coordinates in the second coordinate system and the target ratio being greater than the target slope, the left / right velocity information of the target measurement point is determined to be left velocity, wherein the first angle range is... ; When the heading at the starting point is within the first angle range, in response to the X-axis coordinate being positive and the Y-axis coordinate being negative in the second coordinate system, or in response to both the X-axis coordinate and the Y-axis coordinate being positive and the target ratio being less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation; When the starting point heading is within the second angle range, in response to both the X-axis and Y-axis coordinates in the second coordinate system being negative, or in response to the X-axis coordinate being negative, the Y-axis coordinate being positive, and the target ratio being greater than the target slope, the left / right velocity information of the target measurement point is determined to be left velocity, wherein the second angle range is... ; When the heading at the starting point is within the second angle range, in response to both the X-axis and Y-axis coordinates in the second coordinate system being positive, or in response to the X-axis coordinate being negative, the Y-axis coordinate being positive, and the target ratio being less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation; When the starting point heading is within the third angle range, in response to the X-axis coordinate being positive and the Y-axis coordinate being negative in the second coordinate system, or in response to both the X-axis coordinate and the Y-axis coordinate being negative and the target ratio being greater than the target slope, the left / right velocity information of the target measurement point is determined to be left velocity, wherein the third angle range is... ; When the heading at the starting point is within the range of the third angle, in response to the X-axis coordinate being negative and the Y-axis coordinate being positive in the second coordinate system, or in response to both the X-axis coordinate and the Y-axis coordinate being negative and the target ratio being less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation; When the starting point heading is within the fourth angle range, in response to both the X-axis and Y-axis coordinates in the second coordinate system being positive, or in response to the X-axis coordinate being positive, the Y-axis coordinate being negative, and the target ratio being greater than the target slope, the left / right velocity information of the target measurement point is determined to be left velocity, wherein the fourth angle range is... ; When the heading at the starting point is within the fourth angle range, in response to both the X-axis and Y-axis coordinates in the second coordinate system being negative, or in response to the X-axis coordinate being positive, the Y-axis coordinate being negative, and the target ratio being less than the target slope, the left and right deviation information of the target measurement point is determined to be right deviation.

3. The method of claim 1, wherein, When the heading at the starting point coincides with the coordinate axes of the target rectangular coordinate system, determining the left and right deviation information of the target measurement point based on the heading at the starting point and the sign of the second coordinate includes: When the heading at the starting point is at a first angle, in response to a negative X-axis coordinate and a positive Y-axis coordinate in the second coordinate system, the left / right velocity information of the target measurement point is determined to be left velocity; or, in response to both positive X-axis and Y-axis coordinates in the second coordinate system, the left / right velocity information of the target measurement point is determined to be right velocity, wherein the first angle is... or ; When the heading at the starting point is at the second angle, in response to both the X-axis and Y-axis coordinates in the second coordinate system being positive, the left / right velocity information of the target measurement point is determined to be left velocity; or, in response to the X-axis coordinate being positive and the Y-axis coordinate being negative, the left / right velocity information of the target measurement point is determined to be right velocity, wherein the second angle is... ; When the heading at the starting point is at the third angle, in response to a positive X-axis coordinate and a negative Y-axis coordinate in the second coordinate system, the left / right velocity information of the target measurement point is determined to be left velocity; or, in response to both negative X-axis and Y-axis coordinates in the second coordinate system, the left / right velocity information of the target measurement point is determined to be right velocity. The third angle is... ; When the heading at the starting point is at the fourth angle, in response to both the X-axis and Y-axis coordinates in the second coordinate system being negative, the left / right velocity information of the target measurement point is determined to be left velocity; or, in response to the X-axis coordinate being negative and the Y-axis coordinate being positive in the second coordinate system, the left / right velocity information of the target measurement point is determined to be right velocity. The fourth angle is... .

4. The method according to any one of claims 1-3, characterized in that, The starting point heading and starting point position of the target tunnel, as well as the position of the target measurement point, are provided by an inertial navigation odometry system, which includes an inertial navigation system and an odometry.

5. A roadway deviation determination apparatus for performing the method of any one of claims 1-4, characterized by The device includes: The acquisition module is used to acquire the starting point heading and starting point position of the target roadway, as well as the position of the target measurement point; The first determining module is used to determine the planned path of the target tunnel based on the starting point heading and the starting point position, wherein the planned path is used to characterize the trajectory of the target tunnel in the absence of tunnel deviation; The second determining module is used to determine the deviation information of the target measurement point based on the starting point heading, the position of the target measurement point, and the planned path, wherein the deviation information includes the absolute value of the deviation and left and right deviation information.

6. An electronic device, comprising: include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.

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