A shield tunneling based horizontal transport vehicle automatic driving system and method

Abstract

The application discloses a horizontal transport locomotive automatic driving system and method based on a shield method, relates to the technical field of tunnel construction, and is characterized in that a first positioning tag, a first laser radar and a first depth camera are arranged at the anti-collision beam in the system; a second positioning tag, a second laser radar and a second depth camera are arranged at the slag outlet area; a third positioning tag and a gantry crane camera are arranged at the gantry crane; a fourth positioning tag and a third depth camera are arranged at the coupler connection; and a vehicle-mounted industrial personal computer processes data measured by the above components, controls the horizontal transport locomotive to decelerate or stop by a train automatic operation module, and completes the transportation of pipe segments and mortar and the loading and unloading of spoil. The above scheme can realize the intelligent work of the horizontal transport locomotive, can reduce the risk of accidents caused by human factors, can replace manpower to perform repetitive labor and high-risk work, can reduce the dependence on human resources, can reduce the labor cost, and can improve the work efficiency.

Description

Technical Field

[0001] This application relates to the field of tunnel construction technology, and in particular to an automatic driving system and method for horizontal transport locomotives based on the shield tunneling method. Background Technology

[0002] With social development, tunnel engineering plays a vital role in urban construction and transportation development, effectively alleviating traffic congestion, improving urban traffic conditions, and enhancing infrastructure construction. Specifically, tunnel engineering refers to the excavation and construction of underground or underwater passages for purposes such as transportation, water supply, drainage, and communication. It typically involves complex geological conditions, engineering technology, and safety management. Tunnel engineering encompasses design, construction, monitoring, and maintenance, requiring the operation of specialized engineers and construction personnel. Construction methods primarily include shield tunneling, drill-and-blast methods, and excavation methods. The design and construction of tunnel projects must comply with relevant national standards and specifications. Selecting appropriate construction methods requires consideration of geological conditions, tunnel length, and the surrounding environment to ensure project quality and safety. Simultaneously, tunnel engineering also faces challenges such as geological hazards, construction risks, and environmental protection, necessitating comprehensive consideration of multiple factors to ensure the smooth progress of the project.

[0003] During the intelligent transformation of subway tunnel construction, horizontal transport locomotives need to stop precisely at designated stopping points. Current technology commonly employs manual control, requiring workers to observe the distance between the locomotive and the precise stopping point and then communicate the stopping position to the locomotive driver via walkie-talkie. However, this control method is inaccurate due to the inaccuracy of manual position reporting and places high demands on the driver's skills. Therefore, realizing intelligent horizontal transport locomotives to reduce the risk of accidents caused by human factors and improve construction safety is essential in the field of tunnel construction technology. Summary of the Invention

[0004] The purpose of this application is to provide an automatic driving system and method for horizontal transport locomotives based on the shield tunneling method, which can replace human labor in performing repetitive and high-risk tasks, reduce dependence on human resources, lower labor costs, and improve work efficiency.

[0005] To achieve the above objectives, this application provides the following solution:

[0006] Firstly, this application provides an automatic driving system for a horizontal transport locomotive based on the shield tunneling method, including a shield tunneling machine, a horizontal transport locomotive, and a gantry crane; the shield tunneling machine includes a drilling bit, a crash beam, a segment transfer area, a mortar transfer area, and a muck discharge area; the horizontal transport locomotive includes a power car, a muck loading car, a mortar transport car, and a segment transport car. It also includes wireless communication equipment, with the shield tunneling machine, the horizontal transport locomotive, and the gantry crane each connected to the wireless communication equipment.

[0007] The shield tunneling machine's anti-collision beam is equipped with a first positioning tag, a first lidar, and a first depth camera; the horizontal transport locomotive is equipped with a positioning base station; the first positioning tag and the positioning base station work together to achieve coarse positioning of the horizontal transport locomotive on the anti-collision beam; the first lidar and the first depth camera are used to measure the distance between the horizontal transport locomotive and the anti-collision beam.

[0008] A second positioning tag, a second lidar, and a second depth camera are installed at the muck discharge area of ​​the tunnel boring machine. The second positioning tag and the positioning base station work together to achieve coarse positioning of the muck discharge area by the horizontal transport locomotive. The second depth camera is used to measure the distance between the horizontal transport locomotive and the muck discharge area. The second lidar is used to measure the amount of muck loaded in the muck loading car.

[0009] The gantry crane is equipped with a third positioning tag and a gantry crane camera; the third positioning tag and the positioning base station work together to achieve coarse positioning of the gantry crane by the horizontal transport locomotive; the gantry crane camera is used to photograph the interior of the dump truck.

[0010] The tunnel boring machine is equipped with a fourth positioning tag and a third depth camera at the coupler connection point. The fourth positioning tag and the positioning base station work together to achieve coarse positioning of the horizontal transport locomotive at the coupler connection point. The third depth camera is used to measure the distance between the horizontal transport locomotive and the coupler connection point.

[0011] The horizontal transport locomotive is equipped with an onboard industrial control computer and a train automatic operation module. The onboard industrial control computer is used to process video and location data collected during the journey. The train automatic operation module is used to: control the horizontal transport locomotive to decelerate when it enters the preset range of the anti-collision beam; control the horizontal transport locomotive to stop based on the distance between the horizontal transport locomotive and the anti-collision beam and a first preset stopping distance, so that the segment transport car and the mortar transport car stop in the segment transfer area and the mortar transfer area respectively; and control the horizontal transport locomotive to stop based on the distance between the horizontal transport locomotive and the slag discharge area and a second preset stopping distance. Control the movement of the horizontal transport locomotive to stop the slag loading car in the slag outlet area; after the slag loading car is full of slag and the segment transport car and mortar transport car are empty, control the horizontal transport locomotive to stop based on the distance between the horizontal transport locomotive and the coupler connection and the third preset stopping distance, reconnect the segment transport car and mortar transport car, and move towards the gantry crane; when the horizontal transport locomotive enters the preset range of the gantry crane, control the horizontal transport locomotive to stop; dump the slag from the slag loading car and load segments and mortar into the segment transport car and mortar transport car.

[0012] The tunnel boring machine is equipped with a tunnel boring machine industrial control computer, which is used to: start or stop the discharge of excavated soil from the excavation outlet area to the excavated soil loading car according to the amount of excavated soil loaded in the excavated soil loading car; and obtain mortar and tunnel segments from the mortar transport car and the tunnel segment transport car respectively after the tunnel segment transport car and the mortar transport car are separated and parked.

[0013] Optionally, the horizontal transport locomotive is equipped with a front camera at the front and a rear camera at the rear. The horizontal transport locomotive is also equipped with an automatic train protection module, which determines whether there is a safety risk during operation based on the images from the front and rear cameras. If there is no safety risk, it notifies the automatic train operation module to control the horizontal transport locomotive's movement; if there is a safety risk, it notifies the automatic train operation module to stop the horizontal transport locomotive.

[0014] Optionally, the horizontal transport locomotive is also equipped with an onboard human-machine interface; the onboard human-machine interface is used to display video or image data collected by various imaging devices; the imaging devices include a first depth camera, a second depth camera, a third depth camera, a gantry crane camera, a front camera, and a rear camera.

[0015] Optionally, there are at least two muck loading trucks, which are used to load the muck generated by the tunnel boring machine during the tunneling process; at least two segment transport trucks, which carry segments for reinforcing the tunnel; and at least one mortar transport truck, which carries mortar for filling the gaps between the segments.

[0016] Optionally, the automatic train operation module is specifically used to: detach the segment transport car from the horizontal transport locomotive and park it in the segment transfer area when the segment transport car and the mortar transport car are not empty, and detach the mortar transport car from the horizontal transport locomotive and park it in the mortar transfer area.

[0017] After the segment transport car and the mortar transport car are parked, the movement of the horizontal transport locomotive is controlled according to the distance between the horizontal transport locomotive and the slag discharge area and the second preset parking distance, so that several slag loading cars are loaded into the slag discharge area in sequence.

[0018] Upon arrival at the gantry crane, while the interior of the dump truck is not empty, control the dump truck to unload the waste.

[0019] Optionally, the horizontal transport locomotive is also equipped with a laser speed sensor and axle speed sensors, which are used to measure the travel speed of the horizontal transport locomotive.

[0020] Secondly, this application provides an automatic driving method for a horizontal transport locomotive based on the shield tunneling method, applying the automatic driving system for a horizontal transport locomotive based on the shield tunneling method described above. The automatic driving method for a horizontal transport locomotive based on the shield tunneling method includes the following steps:

[0021] When the horizontal transport locomotive enters the preset range of the anti-collision beam, the horizontal transport locomotive is controlled to decelerate.

[0022] Based on the distance between the horizontal transport locomotive and the anti-collision beam and the first preset stopping distance, the horizontal transport locomotive is controlled to stop, so that the segment transport car and the mortar transport car stop in the segment transfer area and the mortar transfer area respectively.

[0023] Based on the distance between the horizontal transport locomotive and the slag discharge area and the second preset stopping distance, the movement of the horizontal transport locomotive is controlled so that the slag loading car stops at the slag discharge area.

[0024] After the slag loading truck is full of slag and the segment transport truck and mortar transport truck are empty, the horizontal transport locomotive is stopped according to the distance between the horizontal transport locomotive and the coupler connection and the third preset stopping distance. The segment transport truck and mortar transport truck are then reconnected and the locomotive moves toward the gantry crane.

[0025] When the horizontal transport locomotive enters the preset range of the gantry crane, control the horizontal transport locomotive to stop.

[0026] The excavated soil from the slag trucks is dumped and the segments and mortar are loaded into the segment transport trucks and mortar transport trucks.

[0027] Optionally, the following steps are also included:

[0028] Based on the images from the front and rear cameras, determine whether there are any safety risks during the driving process.

[0029] When there is no safety risk, the train automatic operation module is notified to control the movement of the horizontal transport locomotive.

[0030] When there is a safety risk, the automatic train operation module is notified to control the horizontal transport locomotive to stop moving.

[0031] Optionally, there are at least two muck loading trucks, which are used to load the muck generated by the tunnel boring machine during the tunneling process; at least two segment transport trucks, which carry segments for reinforcing the tunnel; and at least one mortar transport truck, which carries mortar for filling the gaps between the segments.

[0032] Optionally, based on the distance between the horizontal transport locomotive and the slag discharge area and a second preset stopping distance, the movement of the horizontal transport locomotive is controlled so that the slag loading car stops at the slag discharge area. This specifically includes the following steps:

[0033] Based on the distance between the horizontal transport locomotive and the slag discharge area and the second preset stopping distance, the movement of the horizontal transport locomotive is controlled so that several slag loading cars sequentially move to the slag discharge area to load slag.

[0034] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0035] This application provides an automatic driving system and method for a horizontal transport locomotive based on the shield tunneling method. The system includes: wireless communication equipment, with the shield machine, horizontal transport locomotive, and gantry crane connected to the wireless communication equipment. A first positioning tag, a first lidar, and a first depth camera are installed at the shield machine's anti-collision beam; a second positioning tag, a second lidar, and a second depth camera are installed at the shield machine's muck discharge area; a third positioning tag and a gantry crane camera are installed at the gantry crane; and a fourth positioning tag and a third depth camera are installed at the coupler connection. The onboard industrial control computer on the horizontal transport locomotive processes the data measured by the above components and then controls the horizontal transport locomotive to decelerate or stop through the train automatic operation module, completing the transportation of tunnel segments and mortar, as well as the loading and unloading of excavated soil. The above solution of this application realizes the intelligent operation of the horizontal transport locomotive, which can reduce the risk of accidents caused by human factors, improve construction safety, replace manual labor in performing repetitive and high-risk tasks, reduce dependence on human resources, lower labor costs, improve work efficiency, and achieve higher stopping accuracy compared to traditional manual driving. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of an automatic driving system for a horizontal transport locomotive based on the shield tunneling method in one embodiment of this application.

[0038] Figure 2 This is a diagram illustrating the internal signal transmission of an automatic driving system for a horizontal transport locomotive based on the shield tunneling method, provided as another embodiment of this application.

[0039] Figure 3 A flowchart of an automatic driving method for a horizontal transport locomotive based on the shield tunneling method is provided in one embodiment of this application.

[0040] Figure 4 A flowchart of an automatic driving method for a horizontal transport locomotive based on the shield tunneling method is provided for another embodiment of this application. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] In one exemplary embodiment, such as Figure 1 As shown, an automatic driving system for a horizontal transport locomotive based on the tunnel boring machine (TBM) method is provided, comprising: a TBM, a horizontal transport locomotive, and a gantry crane; the TBM includes a drilling bit, a crash beam, a segment transfer area, a mortar transfer area, and a muck discharge area; the horizontal transport locomotive includes a power car, a muck loading car, a mortar transport car, and a segment transport car. It also includes: wireless communication equipment, with the TBM, horizontal transport locomotive, and gantry crane each connected to the wireless communication equipment.

[0044] The shield tunneling machine's anti-collision beam is equipped with a first positioning tag, a first lidar, and a first depth camera; the horizontal transport locomotive is equipped with a positioning base station; the first positioning tag and the positioning base station work together to achieve coarse positioning of the horizontal transport locomotive on the anti-collision beam; the first lidar and the first depth camera are used to measure the distance between the horizontal transport locomotive and the anti-collision beam.

[0045] A second positioning tag, a second lidar, and a second depth camera are installed at the muck discharge area of ​​the tunnel boring machine. The second positioning tag and the positioning base station work together to achieve coarse positioning of the muck discharge area by the horizontal transport locomotive. The second depth camera is used to measure the distance between the horizontal transport locomotive and the muck discharge area. The second lidar is used to measure the amount of muck loaded in the muck loading car.

[0046] The gantry crane is equipped with a third positioning tag and a gantry crane camera; the third positioning tag and the positioning base station work together to achieve coarse positioning of the gantry crane by the horizontal transport locomotive; the gantry crane camera is used to photograph the interior of the dump truck.

[0047] The tunnel boring machine is equipped with a fourth positioning tag and a third depth camera at the coupler connection point. The fourth positioning tag and the positioning base station work together to achieve coarse positioning of the horizontal transport locomotive at the coupler connection point. The third depth camera is used to measure the distance between the horizontal transport locomotive and the coupler connection point.

[0048] The horizontal transport locomotive is equipped with an onboard industrial control computer and a train automatic operation module. The onboard industrial control computer is used to process video and location data collected during the journey. The train automatic operation module is used to: control the horizontal transport locomotive to decelerate when it enters the preset range of the anti-collision beam; control the horizontal transport locomotive to stop based on the distance between the horizontal transport locomotive and the anti-collision beam and a first preset stopping distance, so that the segment transport car and the mortar transport car stop in the segment transfer area and the mortar transfer area respectively; and control the horizontal transport locomotive to stop based on the distance between the horizontal transport locomotive and the slag discharge area and a second preset stopping distance. Control the movement of the horizontal transport locomotive to stop the slag loading car in the slag outlet area; after the slag loading car is full of slag and the segment transport car and mortar transport car are empty, control the horizontal transport locomotive to stop based on the distance between the horizontal transport locomotive and the coupler connection and the third preset stopping distance, reconnect the segment transport car and mortar transport car, and move towards the gantry crane; when the horizontal transport locomotive enters the preset range of the gantry crane, control the horizontal transport locomotive to stop; dump the slag from the slag loading car and load segments and mortar into the segment transport car and mortar transport car.

[0049] The tunnel boring machine is equipped with a tunnel boring machine industrial control computer, which is used to: start or stop the discharge of excavated soil from the excavation outlet area to the excavated soil loading car according to the amount of excavated soil loaded in the excavated soil loading car; and obtain mortar and tunnel segments from the mortar transport car and the tunnel segment transport car respectively after the tunnel segment transport car and the mortar transport car are separated and parked.

[0050] To ensure safety during operation, in an improved embodiment, the horizontal transport locomotive is equipped with a front camera at the front and a rear camera at the rear. The horizontal transport locomotive is also equipped with an automatic train protection module. Based on the images from the front and rear cameras, the automatic train protection module determines whether there is a safety risk during operation. If there is no safety risk, it notifies the automatic train operation module to control the horizontal transport locomotive's movement; if there is a safety risk, it notifies the automatic train operation module to stop the horizontal transport locomotive.

[0051] To facilitate the driver's intuitive understanding of the vehicle's alignment with other components and to determine when to stop, the horizontal transport locomotive is also equipped with an onboard human-machine interface (HMI). The HMI displays video or image data collected by various imaging devices, including a first depth camera, a second depth camera, a third depth camera, a gantry crane camera, a front camera, and a rear camera.

[0052] Specifically, in this embodiment, there are at least two muck loading trucks, which are used to load the muck generated by the tunnel boring machine during the tunneling process; there are at least two segment transport trucks, which are used to load segments for reinforcing the tunnel; and there is at least one mortar transport truck, which is used to load mortar for filling the gaps between the segments.

[0053] In another specific embodiment, the automatic train operation module is specifically used to: detach the segment transport car from the horizontal transport locomotive and park it in the segment transfer area when the segment transport car and the mortar transport car are not empty, and detach the mortar transport car from the horizontal transport locomotive and park it in the mortar transfer area.

[0054] After the segment transport car and the mortar transport car are parked, the movement of the horizontal transport locomotive is controlled according to the distance between the horizontal transport locomotive and the slag discharge area and the second preset parking distance, so that several slag loading cars are loaded into the slag discharge area in sequence.

[0055] Upon arrival at the gantry crane, while the interior of the dump truck is not empty, control the dump truck to unload the waste.

[0056] To better monitor the speed of the horizontal transport locomotive, it is equipped with laser speed sensors and wheel axle speed sensors, which are used to measure the speed of the horizontal transport locomotive.

[0057] In another specific implementation, the following are installed on the horizontal transport locomotive: a laser speed sensor, axle test sensor, two algorithm boxes, a UWB (Ultra Wide Band) base station, two cameras, an onboard ATO (Automatic Train Operation) module, an onboard ATP (Automatic Train Protection) module, an onboard DMI (Driver-Machine Interface), two industrial control computers, and an AP wireless access point. On the tunnel boring machine (TBM): two lidar sensors are installed at the TBM's anti-collision beam and the muck outlet, respectively. Three sets of UWB (Ultra Wide Band) tags are installed at the anti-collision beam, the coupler connection, and the muck outlet, respectively. One algorithm box is installed inside the TBM. Three depth cameras are installed at the anti-collision beam, the coupler connection, and the muck outlet, respectively. A switch button is installed at the coupler connection. The installation distribution on the TBM side and the trolley side is as follows: Figure 2 As shown.

[0058] In addition, a Wi-Fi communication system is installed at the tunnel boring machine (TBM). Several access points (APs) are also installed. At the gantry crane, there is one camera, one set of UWB tags, and one switch button.

[0059] In this embodiment, the main task of the horizontal transport locomotive is to first reverse into the tunnel boring machine (TBM) area, complete the tasks there, and then advance to the gantry crane area to complete the remaining tasks. The horizontal transport locomotive consists of, in sequence, a driver's cab, three muck loading cars, one mortar transport car, and two segment transport cars. The muck loading cars are used to load the muck generated during the TBM's excavation process, the segment transport cars carry the segments used to reinforce the tunnel, and the mortar cars carry the mortar used to fill the gaps between the segments.

[0060] Laser speed sensors and wheel axle testing sensors are wired to the algorithm box to measure locomotive speed. The speed information is transmitted to the algorithm box, and then the processed information is transmitted to the ATP (Automatic Train Protection) system. A UWB base station on the horizontal transport locomotive is wired to the algorithm box. Distance information between the horizontal transport locomotive and the UWB tags at the tunnel boring machine and gantry crane is read from the UWB base station and transmitted to the algorithm box. After processing, the information is transmitted to the onboard ATP. The front camera of the horizontal transport locomotive is wired to the onboard industrial control computer, while the rear camera transmits video signals via Wi-Fi to the onboard industrial control computer. After processing, the onboard industrial control computer transmits the signals to the ATP via a wired connection.

[0061] The vehicle's ATP (Automatic Train Protection), ATO (Automatic Train Control), and DMI (Dynamic Media Controller) are connected via wires. After the ATP processes the information, it transmits the signal to the ATO to control the vehicle's gears, brakes, and accelerator. The DMI displays the images from the front and rear cameras, as well as speed and gear information.

[0062] Three depth cameras and a lidar unit at the tunnel boring machine (TBM) are connected to the algorithm box via wired connections. After processing by the algorithm box, operational information is transmitted wirelessly to the onboard ATP (Automatic Train Protection) system. Distance information from UWB tags at the TBM is read from a UWB base station on the horizontal transport locomotive and then transmitted via wired connection to the algorithm box on the same locomotive. Similarly, distance information from UWB tags at the gantry crane is read from a UWB base station on the horizontal transport locomotive and then transmitted via wired connection to the algorithm box on the same locomotive.

[0063] This application introduces a proposed automatic driving system for horizontal transport locomotives based on the shield tunneling method through the above embodiments. This system achieves intelligent automatic driving of the horizontal transport locomotive, achieving more accurate parking compared to existing manual driving and manual position reporting methods. Through the coordinated operation of various sensors, parking accuracy can reach the centimeter level. Compared to existing manual driving, it solves the problem that parking accuracy heavily relies on the driver's experience, while reducing labor costs as it does not require highly skilled drivers, and significantly improving safety during transportation. Furthermore, the use of wireless communication equipment enables centimeter-level positioning accuracy at both the control room and the locomotive itself, providing more precise location information compared to existing manual position reporting methods.

[0064] Based on the same inventive concept, this application also provides an automatic driving method for horizontal transport locomotives based on the shield tunneling method, which can apply the above-described automatic driving system for horizontal transport locomotives based on the shield tunneling method. The solution provided by this method is similar to the solution described in the above system embodiments. Therefore, the specific limitations in one or more embodiments of the automatic driving method for horizontal transport locomotives based on the shield tunneling method provided below can be found in the above-described limitations of the automatic driving system for horizontal transport locomotives based on the shield tunneling method, and will not be repeated here.

[0065] In one exemplary embodiment, such as Figure 3 As shown, an automatic driving method for a horizontal transport locomotive based on the shield tunneling method is provided, including the following steps S1 to S8:

[0066] S1. When the horizontal transport locomotive enters the preset range of the anti-collision beam, control the horizontal transport locomotive to decelerate.

[0067] S2. Based on the distance between the horizontal transport locomotive and the anti-collision beam and the first preset stopping distance, control the horizontal transport locomotive to stop so that the segment transport car and the mortar transport car stop in the segment transfer area and the mortar transfer area respectively.

[0068] S3. Based on the distance between the horizontal transport locomotive and the slag discharge area and the second preset stopping distance, control the movement of the horizontal transport locomotive so that the slag loading car stops at the slag discharge area.

[0069] S4. After the slag loading car is full of slag and the segment transport car and mortar transport car are empty, control the horizontal transport locomotive to stop according to the distance between the horizontal transport locomotive and the coupler connection and the third preset stopping distance, reconnect the segment transport car and mortar transport car, and move towards the gantry crane.

[0070] S5. When the horizontal transport locomotive enters the preset range of the gantry crane, control the horizontal transport locomotive to stop.

[0071] S6. Discharge the slag from the slag loading truck and load the tunnel segments and mortar into the segment transport truck and mortar transport truck.

[0072] To ensure safety during operation, corresponding to the improved embodiment described above which includes a front-facing camera, a rear-facing camera, a train automatic protection module, and a train automatic operation module, the method based on this improved embodiment further includes the following steps:

[0073] Based on the images from the front and rear cameras, determine whether there are any safety risks during the driving process.

[0074] When there is no safety risk, the train automatic operation module is notified to control the movement of the horizontal transport locomotive.

[0075] When there is a safety risk, the automatic train operation module is notified to control the horizontal transport locomotive to stop moving.

[0076] Specifically, in this embodiment, there are at least two muck loading trucks, which are used to load the muck generated by the tunnel boring machine during excavation; there are at least two segment transport trucks, which carry segments for reinforcing the tunnel; and there is at least one mortar transport truck, which carries mortar for filling the gaps between the segments. Step S3 specifically includes the following steps:

[0077] Based on the distance between the horizontal transport locomotive and the slag discharge area and the second preset stopping distance, the movement of the horizontal transport locomotive is controlled so that several slag loading cars sequentially move to the slag discharge area to load slag.

[0078] In another specific implementation, such as Figure 4 As shown, the above-mentioned automatic driving system for horizontal transport locomotives based on the shield tunneling method includes the following steps during use:

[0079] A1. System power-on, all devices initialize.

[0080] The driver of the horizontal transport locomotive inserts the key and starts the locomotive, and all equipment begins operation. First, the rear camera transmits the monitored image to the video processing host. The host processes the received video and confirms whether it is safe on the rails behind the locomotive. If safe, it issues a travel permit to the ATO (Automatic Train Operation). If unsafe, the locomotive will not depart until a safety permit is obtained. During operation, the rear camera continuously monitors the safety condition of the locomotive's rear. If safe, it continues operating normally. If an emergency occurs, i.e., the rear of the locomotive is unsafe, a signal is sent to cause the locomotive to brake urgently. It resumes operation only when it is safe to do so, until all work is completed. (During the entire operation, when the locomotive is reversing (or moving forward), the rear (front) camera functions; if someone is detected, the locomotive stops and continues operation only after the worker has cleared the danger.)

[0081] A2. Coarse positioning using UWB and precise positioning using laser rangefinders at the anti-collision beam of the tunnel boring machine.

[0082] When the UWB base station at the trolley detects a distance of approximately 20 meters from the UWB tag on the crash beam, the horizontal transport locomotive begins to downshift and decelerate. The laser rangefinder and depth camera on the crash beam work together to brake and stop the locomotive when it detects that the trolley is about to reach the designated stopping position. The image from the crash beam is then transmitted in real-time to the onboard DMI via the depth camera. At this point, workers need to manually separate the segment transport car, mortar transport car, and waste loading car. After the hooks are separated, the worker presses a button, and the trolley prepares to move to the next work area.

[0083] A3. UWB coarse positioning at the slag outlet, precise parking with a depth camera, and laser ranging to detect the amount of slag loaded.

[0084] The horizontal transport locomotive moves to the muck discharge port in first gear, and then UWB and depth cameras simultaneously detect and ensure stopping accuracy. When the muck loading car is below the discharge port, muck discharge begins. Then, the depth camera and laser rangefinder sensor work simultaneously to detect if the car is full; once full, discharge stops. The second car then moves to load muck, and this process is repeated until all three cars are full. After full, the horizontal transport locomotive reverses and moves to the next work area.

[0085] A4. Coarse positioning using UWB and precise positioning using a depth camera at the coupler connection.

[0086] The horizontal transport locomotive is precisely stopped at the coupler connection point using UWB and a depth camera. Then, the workers connect the segment transport car, mortar transport car, and muck loading car. When the connection is complete, the workers press a button to confirm the connection is complete, and then the horizontal transport locomotive begins to move forward to the next work area.

[0087] A5. Gantry crane UWB positioning, and camera at the construction waste dumping site.

[0088] The horizontal transport locomotive advances until it stops near the gantry crane (positioning is achieved via the gantry crane's UWB and the locomotive's UWB; there's ample clearance at the gantry crane, so precise stopping isn't necessary). Workers then connect the truck bed to the crane and use a camera at the dumping site to check if the excavated material has been completely dumped. After completing the first truck bed, the worker presses a button to confirm that the first truck bed has been unloaded and returned to the horizontal transport locomotive. The trolley then moves forward, completing the unloading of the second and third truck beds in sequence. The work is then finished.

[0089] It should be noted that in the above method embodiments, the tunnel segments and mortar are loaded in the working area before the horizontal transport locomotive begins operation. The horizontal transport locomotive first reverses into the working area, transporting the tunnel segment transport car and the mortar transport car to the shield machine's anti-collision beam. After disconnection, the cab pulls the muck loading car forward to the muck outlet.

[0090] During the tunnel boring machine's forward excavation, the excavated soil is transported through the muck outlet to the muck loading cars. Simultaneously, the tunnel is reinforced using segments transported in the segment transport cars, and mortar is used in the mortar transport cars to fill the gaps between the segments. Throughout the entire operation, whether moving forward or backward, the horizontal transport locomotive's corresponding directional camera functions. When a hazard is detected on the rails, the ATO (Automatic Train Control) system controls the horizontal transport locomotive to brake and stop.

[0091] After the trolley stops, the coupling is disconnected, and the gantry crane completes the unloading of slag and resets the carriage. Once the worker confirms that the work is finished, he presses the button, and the horizontal transport locomotive begins the next step of the work.

[0092] In summary, this application achieves more accurate parking by installing sensor devices at the horizontal transport vehicle, the tunnel boring machine, and near the gantry crane, and by using high-precision positioning of key points for location determination. Compared with existing methods of manual driving and manual location reporting, this method can achieve parking accuracy at the centimeter level through the coordinated operation of various sensors. Compared with existing manual driving, it does not require drivers to have highly skilled driving techniques, and it also greatly improves the safety of the transportation process.

[0093] In one exemplary embodiment, this application also provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0094] In one exemplary embodiment, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0095] In one exemplary embodiment, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0096] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0097] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0098] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0099] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A shield-based horizontal transport vehicle automatic driving system, comprising a shield machine, a horizontal transport vehicle and a gantry crane; the shield machine comprises a tunneling drill bit, a collision prevention beam, a segment transfer area, a mortar transfer area and a slag outlet area; the horizontal transport vehicle comprises a power car, a slag loading car, a mortar transport car and a segment transport car; characterized in that, Also comprising: a wireless communication device, the shield tunneling machine, the horizontal transport locomotive and the gantry crane are connected with the wireless communication device respectively; a first positioning tag, a first laser radar and a first depth camera are arranged at the anti-collision beam of the shield tunneling machine; a positioning base station is arranged on the horizontal transport locomotive; the first positioning tag and the positioning base station cooperate with each other to realize coarse positioning of the horizontal transport locomotive to the anti-collision beam; the first laser radar and the first depth camera are used to measure the distance between the horizontal transport locomotive and the anti-collision beam; a second positioning tag, a second laser radar and a second depth camera are arranged at the slag outlet area of the shield tunneling machine; the second positioning tag and the positioning base station cooperate with each other to realize coarse positioning of the horizontal transport locomotive to the slag outlet area; the second depth camera is used to measure the distance between the horizontal transport locomotive and the slag outlet area; the second laser radar is used to measure the loading amount of the slag loading compartment of the slag loading vehicle; a third positioning tag and a gantry crane camera are arranged at the gantry crane; the third positioning tag and the positioning base station cooperate with each other to realize coarse positioning of the horizontal transport locomotive to the gantry crane; the gantry crane camera is used to shoot the inside of the slag loading compartment; a fourth positioning tag and a third depth camera are arranged at the coupling position of the shield tunneling machine; the fourth positioning tag and the positioning base station cooperate with each other to realize coarse positioning of the horizontal transport locomotive to the coupling position; the third depth camera is used to measure the distance between the horizontal transport locomotive and the coupling position; a shield tunneling machine industrial computer is arranged on the shield tunneling machine, and the shield tunneling machine industrial computer is used to: start or stop discharging slag from the slag outlet area to the slag loading compartment according to the loading amount of the slag loading compartment of the slag loading vehicle; after the segment transport compartment and the mortar transport compartment are separated and parked, mortar and segments are respectively obtained from the mortar transport compartment and the segment transport compartment; The horizontal transport locomotive is provided with an on-board industrial computer and a train automatic operation module, the on-board industrial computer is used for processing video data and position data collected in the running process; the train automatic operation module is used for: when the horizontal transport locomotive enters a preset range of the anti-collision beam, controlling the horizontal transport locomotive to slow down; according to the distance between the horizontal transport locomotive and the anti-collision beam and a first preset parking distance, controlling the horizontal transport locomotive to stop, so that the pipe piece transport compartment and the mortar transport compartment are parked in the pipe piece transfer area and the mortar transfer area respectively; according to the distance between the horizontal transport locomotive and the residue outlet area and a second preset parking distance, controlling the action of the horizontal transport locomotive, so that the residue loading compartment is parked in the residue outlet area; after the residue loading compartment is filled with residue and the pipe piece transport compartment and the mortar transport compartment are empty, according to the distance between the horizontal transport locomotive and the coupler connection and a third preset parking distance, controlling the horizontal transport locomotive to stop, reconnecting the pipe piece transport compartment and the mortar transport compartment, and advancing towards the direction of the gantry crane; when the horizontal transport locomotive enters a preset range of the gantry crane, controlling the horizontal transport locomotive to stop; the residue in the residue loading compartment is poured and pipe pieces and mortar are loaded into the pipe piece transport compartment and the mortar transport compartment; The front of the horizontal transport locomotive is provided with a front camera, and the tail of the horizontal transport locomotive is provided with a tail camera; the horizontal transport locomotive is also provided with a train automatic protection module, which judges whether there is a safety risk in the running process according to the pictures of the front camera and the tail camera; when there is no safety risk, the train automatic operation module is informed to control the horizontal transport locomotive to advance; when there is a safety risk, the train automatic operation module is informed to control the horizontal transport locomotive to stop advancing; The horizontal transport locomotive is also provided with a laser speed sensor, an axle speed sensor and an algorithm box; The laser speed sensor and the axle speed sensor are used for measuring the advancing speed of the horizontal transport locomotive, and the speed information is transmitted into the algorithm box and then into the train automatic protection module after being processed by the algorithm box; The distance information of the horizontal transport locomotive from the positioning tags at the shield machine and the gantry crane is read out by the positioning base station and transmitted into the algorithm box and then into the train automatic protection module after being processed by the algorithm box; After the train automatic protection module judges the distance information and the speed information, a speed protection signal is transmitted to the train automatic operation module to control the gear, brake and throttle of the horizontal transport locomotive; The train automatic operation module is specifically used for: when the pipe piece transport compartment and the mortar transport compartment are not empty, disconnecting the pipe piece transport compartment from the horizontal transport locomotive and parking it in the pipe piece transfer area, and disconnecting the mortar transport compartment from the horizontal transport locomotive and parking it in the mortar transfer area. After the pipe segment transport carriage and the mortar transport carriage are parked, according to the distance between the horizontal transport vehicle and the area of the slag outlet and the second preset parking distance, the action of the horizontal transport vehicle is controlled to make several slag loading carriages load slag to the area of the slag outlet in turn. After the horizontal transport vehicle reaches the gantry crane, when the interior of the slag loading carriage is not empty, the slag loading carriage is controlled to dump slag.

2. The automatic driving system for a shield-based horizontal transport vehicle according to claim 1, wherein The horizontal transport vehicle is also provided with a vehicle-mounted human-machine interface; the vehicle-mounted human-machine interface is used to display video or image data collected by each imaging device; the imaging device includes a first depth camera, a second depth camera, a third depth camera, a gantry crane camera, a front camera and a rear camera.

3. The automatic driving system for a shield-based horizontal transport vehicle according to claim 2, wherein The number of the slag loading carriages is at least two, and the slag loading carriages are used to load the slag generated in the tunneling process of the shield machine; the number of the pipe segment transport carriages is at least two, and the pipe segments loaded by the pipe segment transport carriages are used to reinforce the tunnel; the number of the mortar transport carriages is at least one, and the mortar loaded by the mortar transport carriage is used to fill the gaps between the pipe segments.

4. A method for automatic driving of a shield tunneling horizontal transport vehicle, characterized by, The application of the automatic driving system of the horizontal transport vehicle based on the shield method according to any one of claims 1-3, the automatic driving method of the horizontal transport vehicle based on the shield method comprises: When the horizontal transport vehicle enters a preset range of the anti-collision beam, the horizontal transport vehicle is controlled to slow down; According to the distance between the horizontal transport vehicle and the anti-collision beam and the first preset parking distance, the horizontal transport vehicle is controlled to stop, so that the pipe segment transport carriage and the mortar transport carriage are parked in the pipe segment transfer area and the mortar transfer area respectively; According to the distance between the horizontal transport vehicle and the area of the slag outlet and the second preset parking distance, the action of the horizontal transport vehicle is controlled to make the slag loading carriage parked in the area of the slag outlet; After the slag loading carriage is filled with slag and the pipe segment transport carriage and the mortar transport carriage are empty, according to the distance between the horizontal transport vehicle and the connection between the car coupler and the third preset parking distance, the horizontal transport vehicle is controlled to stop, the pipe segment transport carriage and the mortar transport carriage are reconnected, and the horizontal transport vehicle moves towards the gantry crane; When the horizontal transport vehicle enters a preset range of the gantry crane, the horizontal transport vehicle is controlled to stop; The slag in the slag loading carriage is dumped, and the pipe segment and the mortar are loaded into the pipe segment transport carriage and the mortar transport carriage; Further comprising: According to the pictures of the front camera and the rear camera, it is judged whether there is a safety risk in the driving process; When there is no safety risk, the train automatic operation module is informed to control the horizontal transport vehicle to move; When there is a safety risk, the train automatic operation module is informed to control the horizontal transport vehicle to stop moving.

5. The automatic driving method of a shield-based horizontal transport vehicle according to claim 4, wherein The number of the slag loading carriages is at least two, and the slag loading carriages are used to load the slag generated in the tunneling process of the shield machine; the number of the pipe segment transport carriages is at least two, and the pipe segments loaded by the pipe segment transport carriages are used to reinforce the tunnel; the number of the mortar transport carriages is at least one, and the mortar loaded by the mortar transport carriage is used to fill the gaps between the pipe segments.

6. The automatic driving method of a shield-based horizontal transport vehicle according to claim 4, wherein According to the distance between the horizontal transport locomotive and the slagging-off port area and the second preset stopping distance, the action of the horizontal transport locomotive is controlled to make the slag loading carriage stop at the slagging-off port area, and specifically includes: According to the distance between the horizontal transport locomotive and the slagging-off port area and the second preset stopping distance, the action of the horizontal transport locomotive is controlled to make the slag loading carriage stop at the slagging-off port area, and specifically includes:

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