Machine body positioning system and method for multi-sensor fusion of heading machine

Abstract

The invention discloses a heading machine multi-sensor fusion machine body positioning system and method. A heading machine is provided with a relative position positioning module, an absolute position positioning module and a data processing module; the relative position positioning module can measure the distance from two sides of a machine body of the heading machine in a roadway to two side walls of the roadway and the distance from two end areas of an advancing end to a head-on coal wall, and meanwhile, the absolute position positioning module can obtain the moving distance of two sides of the heading machine and the moving distance, direction, speed and position of the central axis of the machine body; the data processing module is used for acquiring the relative positions of a plurality of positions and a roadway in the heading machine body and the body moving states of the plurality of positions, so that a plurality of measurement data are provided for positioning of the heading machine, the positioning precision is improved, and further, the data processing module processes the plurality of measurement data to improve the positioning accuracy. And performing correction fusion according to the relative position and the absolute position of the heading machine to generate accurate position information and development footage information of the heading machine.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel boring machines, and in particular to a positioning system and method for a tunnel boring machine. Background Art

[0002] Roadheaders usually move and work in tunnels underground in coal mines. In order to grasp the position of the roadheader underground, a positioning system is usually set on the roadheader.

[0003] A Chinese patent application with publication number CN 115755075 A discloses a cantilevered roadheader with a multi-positioning system, comprising: a roadheader body; a controller; an inertial navigation system, wherein the inertial navigation system is arranged inside the roadheader body and is electrically connected to the controller; and a laser positioning system, wherein the laser positioning system is arranged on the top of the roadheader body and is electrically connected to the controller to realize the positioning of the roadheader in an underground tunnel of a coal mine.

[0004] However, the positioning system provided by the above scheme locates the tunnel boring machine through the laser positioning system and inertial navigation system respectively arranged on the top and inside of the tunnel boring machine, and can only locate the approximate position of the tunnel boring machine and the local area environment. The positioning accuracy is low and cannot meet the precise positioning requirements of the position information and development footage information of the tunnel boring machine.

[0005] Therefore, how to effectively improve the positioning accuracy of the tunnel boring machine and provide accurate location information and development footage information has become an urgent problem to be solved in this field. Summary of the invention

[0006] In view of the defects of the prior art, the purpose of the present invention is to provide a multi-sensor fusion body positioning system and method for a roadheader, so as to achieve precise positioning of the roadheader and provide accurate position information and development footage information.

[0007] In order to achieve the above-mentioned purpose, the multi-sensor fusion body positioning system of the tunnel boring machine provided by the present invention is used to cooperate with the tunnel boring machine, and includes a relative position positioning module, an absolute position positioning module and a data processing module arranged on the tunnel boring machine.

[0008] The relative position positioning module is configured to obtain relative position data information of the roadheader in the tunnel, wherein the relative position data information includes the distance from the roadheader to the two side walls of the tunnel and the distance from the roadheader to the front coal wall.

[0009] The absolute position positioning module is configured to obtain the absolute position data information of the tunnel boring machine body, wherein the absolute position data information includes the movement state and position of the tunnel boring machine.

[0010] The data processing module is connected to the relative position positioning module and the absolute position positioning module, and is configured to perform fusion processing on the relative position data information and the absolute position data information to obtain the position information and development footage information of the tunnel boring machine.

[0011] Furthermore, the relative position positioning module is composed of a laser rangefinder and a radar rangefinder, the laser rangefinder is arranged at the traveling end of the tunnel boring machine, and the radar rangefinder is arranged on both sides of the fuselage of the tunnel boring machine.

[0012] Furthermore, the laser rangefinders are respectively arranged in the two end regions of the traveling end, and the radar rangefinders are respectively arranged in the two end regions on both sides of the fuselage.

[0013] Furthermore, the absolute position positioning module is composed of an odometer and an inertial navigation device, the odometer is arranged in the travel motors on both sides of the tunnel boring machine, and the inertial navigation device is arranged at the central axis of the tunnel boring machine.

[0014] Furthermore, the data processing module is arranged in the inertial navigation device.

[0015] In order to achieve the above-mentioned object, the present invention provides a method for positioning a machine body by multi-sensor fusion, which adopts the multi-sensor fusion positioning system for a machine body, and the positioning method comprises:

[0016] The radar rangefinder in the relative position positioning module measures the distance from both sides of the machine body to the two side walls of the tunnel respectively, and the laser rangefinder in the relative position positioning module measures the distance from the two end areas of the traveling end of the machine to the head coal wall respectively. The relative position positioning module transmits the relative position data of the machine obtained by the radar rangefinder and the laser rangefinder to the data processing module.

[0017] The odometer in the absolute position positioning module obtains the moving distances of the two sides of the tunnel boring machine respectively, and the inertial navigation device in the absolute position positioning module obtains the moving heading, attitude, speed and position of the tunnel boring machine at the central axis of the fuselage through a gyroscope and an accelerometer. The absolute position positioning module transmits the absolute position data of the tunnel boring machine obtained by the odometer and the inertial navigation device to the data processing module.

[0018] The data processing module receives and processes the relative position data to obtain the relative position and heading of the tunnel boring machine in the tunnel. At the same time, the data processing module receives the absolute position data, and corrects, fuses and processes the absolute position data and the relative position data to obtain the position information and development footage information of the tunnel boring machine.

[0019] The invention provides a multi-sensor fusion body positioning system and method for a roadheader, wherein a relative position positioning module, an absolute position positioning module and a data processing module are arranged on the roadheader. The relative position positioning module can measure the distance from the two sides of the body of the roadheader in the tunnel to the two side walls of the tunnel and the distance from the two end areas of the traveling end to the head coal wall. At the same time, the absolute position positioning module can obtain the moving distance on both sides of the roadheader, as well as the moving distance, direction, speed and position at the center axis of the body, so as to obtain the relative positions of multiple positions in the body of the roadheader and the tunnel and the main body movement states of multiple positions, thereby providing multiple measurement data for the positioning of the roadheader and improving the positioning accuracy. Furthermore, the data processing module processes the multiple measurement data to perform correction and fusion according to the relative position and absolute position of the roadheader, and generate accurate position information and development footage information of the roadheader. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0021] Figure 1 The overall structural diagram of the multi-sensor fusion body positioning system for a tunnel boring machine provided by the present invention;

[0022] Figure 2 A schematic diagram of the application of the multi-sensor fusion body positioning system for a tunnel boring machine provided by the present invention;

[0023] Figure 3 A flow chart of the method for positioning the body of a tunnel boring machine by multi-sensor fusion provided by the present invention;

[0024] Reference numerals:

[0025] 1. Relative position positioning module; 11. Laser rangefinder; 111. First laser rangefinder; 112. Second laser rangefinder; 12. Radar rangefinder; 121. First group of radar rangefinders; 1211. First radar rangefinder; 1212. Second radar rangefinder; 122. Second group of radar rangefinders; 1221. Third radar rangefinder; 1222. Fourth radar rangefinder;

[0026] 2. Absolute position positioning module; 21. Odometer; 211. First odometer; 212. Second odometer; 22. Inertial navigation device; 221. Gyroscope; 222. Accelerometer;

[0027] 3. Data processing module;

[0028] 4. TBM; 41. Traveling end; 42. First side; 43. Second side; 44. Central axis; 441. Center position;

[0029] 5. Tunnel; 51. Side wall; 511. First side wall; 512. Second side wall; 52. Head coal wall. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0031] See also Figure 1 , which shows an example of a multi-sensor fusion body positioning system for a tunnel boring machine provided by the present invention.

[0032] As can be seen from the figure, in this example, the multi-sensor fusion body positioning system of the tunnel boring machine is used to cooperate with the tunnel boring machine 4, and mainly includes a relative position positioning module 1, an absolute position positioning module 2 and a data processing module 3 arranged on the tunnel boring machine 4.

[0033] Combination Figure 2 The relative position positioning module 1 is configured to obtain the relative position data information of the tunnel boring machine 4 in the tunnel 5, and the relative position data information includes the distance from the tunnel boring machine 4 to the two side walls 51 of the tunnel and the distance from the tunnel boring machine 4 to the head coal wall 52. The absolute position positioning module 2 is configured to obtain the absolute position data information of the tunnel boring machine 4 body, and the absolute position data information includes the moving state and position of the tunnel boring machine 4, so as to obtain the relative positions of multiple positions of the tunnel boring machine 4 and the tunnel 4 and the moving state of the body, and provide multiple measurement data for the data processing module 3; the data processing module 3 is connected to the relative position positioning module 1 and the absolute position positioning module 2, and is configured to fuse the relative position data information and the absolute position data information, obtain the position information and development footage information of the tunnel boring machine 4, thereby improving the positioning accuracy.

[0034] Among them, the relative position positioning module 1 is mainly composed of a laser rangefinder 11 and a radar rangefinder 12. The laser rangefinder 11 can measure the distance from the tunneling machine 4 to the head coal wall 52, and the radar rangefinder 12 can measure the distance from the tunneling machine 4 to the side wall 51 of the tunnel 5.

[0035] Specifically, the laser rangefinder 11 preferably includes a first laser rangefinder 111 and a second laser rangefinder 112 respectively arranged at the two end areas of the traveling end 41 of the roadheader 4, so that the first laser rangefinder 111 and the second laser rangefinder 112 can respectively use the first laser rangefinder 111 and the second laser rangefinder 112 themselves as relative coordinate systems to respectively measure the distances between the two end areas of the traveling end 41 and the front coal wall 52, thereby obtaining the development progress information of the roadheader 4. At the same time, by comparing the distances between the two end areas of the traveling end 41 and the front coal wall 52 obtained by the first laser rangefinder 111 and the second laser rangefinder 112 respectively, the moving direction of the roadheader 4 relative to the tunnel 5 can be known.

[0036] As an example, when the distance from the traveling end 41 to the facing coal wall 52 measured by the first laser rangefinder 111 is equal to the distance from the traveling end 41 to the facing coal wall 52 measured by the second laser rangefinder 112, it can be known that the roadheader 4 maintains a course parallel to the facing coal wall 52 in the tunnel 4; when the distance from the traveling end 41 to the facing coal wall 52 measured by the first laser rangefinder 111 is less than or greater than the distance from the traveling end 41 to the facing coal wall 52 measured by the second laser rangefinder 112, it can be known that the roadheader 4 is traveling in the tunnel 4 with a posture of turning toward the first side wall 511 or turning toward the second side wall 512, thereby obtaining the precise relative position of the roadheader 4 relative to the tunnel 4.

[0037] Here, there is no limitation on the number of laser rangefinders provided on the traveling end 41 of the tunnel boring machine 4 . The more laser rangefinders there are, the more accurate the relative position of the tunnel boring machine 4 can be obtained.

[0038] Furthermore, the radar rangefinder 12 preferably includes a first group of radar rangefinders 121 and a second group of radar rangefinders 122 respectively arranged on the first side 42 and the second side 43 of the tunnel boring machine 4, so that the first group of radar rangefinders 121 and the second group of radar rangefinders 122 can respectively measure the distances from the first side 42 and the second side 43 of the tunnel boring machine 4 to the first side wall 511 and the second side wall 512 respectively with the first group of radar rangefinders 121 and the second group of radar rangefinders 122 themselves as relative coordinate systems, thereby obtaining the relative position of the tunnel boring machine 4 and the tunnel 5.

[0039] In order to further obtain the accurate relative position of the tunnel boring machine 4, the first group of radar rangefinders 121 preferably includes a first radar rangefinder 1211 and a second radar rangefinder 1212 respectively arranged at the two end areas on the first side 42 of the tunnel boring machine 4, so that the first radar rangefinder 1211 and the second radar rangefinder 1212 can respectively measure the distance from the two end areas on the first side 42 of the tunnel boring machine 4 to the first side wall 511 of the tunnel 5. Correspondingly, the second group of radar rangefinders 122 preferably includes a first radar rangefinder 1211 and a second radar rangefinder 1212 respectively arranged at the second side 43 of the tunnel boring machine 4. The third radar rangefinder 1221 and the fourth radar rangefinder 1222 at the upper two end areas can respectively measure the distances from the two end areas on the second side 43 of the tunnel boring machine 4 to the second side wall 512 of the tunnel 5, so that the radar rangefinder 12 can measure the relative positions of the four positions on both sides of the tunnel boring machine 4 in the tunnel 4, and know the moving heading and posture of the tunnel boring machine 4 relative to the tunnel 4, so as to provide multiple measurement data for the positioning of the tunnel boring machine 4 to improve the positioning accuracy.

[0040] As an example, when the first group of radar rangefinders 121 and the second group of radar rangefinders 122 respectively measure that the distances from the first side 42 and the second side 43 of the tunnel boring machine 4 to the first side wall 511 and the second side wall 512 are equal, it can be known that the tunnel boring machine 4 maintains the same traveling direction in the tunnel 5. When the first group of radar rangefinders 121 and the second group of radar rangefinders 122 respectively measure that the distances from the first side 42 and the second side 43 of the tunnel boring machine 4 to the first side wall 511 and the second side wall 512 change, it can be determined that the traveling posture of the tunnel boring machine 4 has changed, and the specific traveling direction and posture of the tunnel boring machine 4 relative to the tunnel 5 can be obtained by combining the measurement data of the first radar rangefinder 1211, the second radar rangefinder 1212, the third radar rangefinder 1221 and the fourth radar rangefinder 1222.

[0041] Here, there is no limitation on the number of radar rangefinders disposed on the first side 42 and the second side 43 of the tunnel boring machine 4 . The greater the number of radar rangefinders, the more accurate the relative position of the tunnel boring machine 4 can be obtained.

[0042] Therefore, the relative position positioning module 1 can obtain the relative position data of the tunnel boring machine 4 in the tunnel 4 by using the radar rangefinder 12 and the laser rangefinder 11 as the relative coordinate system respectively, and transmit the relative position data to the data processing module 3, so that the data processing module 3 can process the distance from the tunnel boring machine 4 to the side wall 51 and the distance from the tunnel boring machine 4 to the head coal wall 51, thereby obtaining the relative position and heading of the tunnel boring machine 4 in the tunnel 5.

[0043] In order to correct the relative position of the tunnel boring machine 4 and accurately locate the tunnel boring machine 4, the positioning system also includes an absolute position positioning module 2, which is mainly composed of an odometer 21 and an inertial navigation device 22. The odometer 21 can obtain the travel distance of the tunnel boring machine 4 body, and the inertial navigation device 22 can obtain the moving state of the tunnel boring machine 4 body.

[0044] Specifically, the odometer 21 includes a first odometer 211 and a second odometer 212 respectively arranged in the travel motors on the first side 42 and the second side 43 of the tunnel boring machine 4, so that the first odometer 211 and the second odometer 212 can respectively convert the rotational motion of the travel motors on the first side 42 and the second side 43 into electrical signals, i.e., pulse signals, each pulse signal corresponds to a certain angle or distance rotated by the travel motor, and by calculating the number of pulses, the number of revolutions of the travel motor can be accurately measured, thereby calculating the moving distance.

[0045] Therefore, the first odometer 211 and the second odometer 212 can respectively obtain the moving distances of the first side 42 and the second side 43 of the tunnel boring machine 4, thereby obtaining the travel distance of the tunnel boring machine 4 body. At the same time, by comparing the moving distances of the first side 42 and the second side 43 respectively obtained by the first odometer 211 and the second odometer 212, the moving direction of the tunnel boring machine 4 body can be known.

[0046] For example, when the moving distance of the first side 42 obtained by the first odometer 211 is equal to the moving distance of the second side 43 obtained by the second odometer 212, it can be known that the tunnel boring machine 4 maintains the same heading; when the moving distance of the first side 42 obtained by the first odometer 211 is greater than or less than the moving distance of the second side 43 obtained by the second odometer 212, it can be known that the tunnel boring machine 4 has changed its moving heading and posture, thereby obtaining the precise absolute position of the tunnel boring machine 4.

[0047] Furthermore, the inertial navigation device 22 is disposed at the central axis 44 of the tunnel boring machine 4 , and preferably at the center position 441 of the tunnel boring machine 44 , so that the inertial navigation device 22 can obtain the overall movement state and position of the tunnel boring machine 4 .

[0048] The inertial navigation device 22 includes a gyroscope 221 and an accelerometer 222. The accelerometer 222 can measure the acceleration of the tunnel boring machine 4 on three coordinate axes respectively, and calculate the acceleration of the tunnel boring machine 4 as a whole by measuring the inertial force generated by the tunnel boring machine 4 under the action of acceleration, thereby obtaining the speed and position change of the tunnel boring machine 4. The gyroscope 221 can measure the angular velocity of the tunnel boring machine 4 rotating around the three coordinate axes, as well as the pitch angle and roll angle of the tunnel boring machine 4, and calculate the angular velocity of the tunnel boring machine 4 by measuring the angular momentum generated by the tunnel boring machine 4 during rotation, thereby obtaining the attitude and heading change of the tunnel boring machine 4.

[0049] Therefore, the absolute position positioning module 2 can obtain the absolute position data such as the moving heading, posture, speed and position of the tunnel boring machine 4 through the odometer 21 and the inertial navigation device 22, and transmit the absolute position information to the data processing module 3, so that the data processing module 3 can correct, fuse and process the absolute position data and relative position data of the tunnel boring machine 4, thereby obtaining the precise position information and development progress information of the tunnel boring machine 4.

[0050] Specifically, the data processing module 3 defines an absolute coordinate system with the center position 441 of the tunnel boring machine 4 as the base point, and performs coordinate conversion processing on the distances from the two end areas of the traveling end 41 to the facing coal wall 52 obtained by the first laser rangefinder 111 and the second laser rangefinder 112 using themselves as relative coordinate systems, so as to obtain the distance from the center position 441 of the tunnel boring machine 4 to the facing coal wall 52 in the absolute coordinate system.

[0051] Correspondingly, the data processing module 3 performs coordinate conversion processing on the distances from the first side 42 and the second side 43 of the tunnel boring machine 4 to the first side wall 511 and the second side wall 512 respectively obtained by the first group of radar rangefinders 121 and the second group of radar rangefinders 122 using themselves as relative coordinate systems, and obtains the distances from the center position 441 of the tunnel boring machine 4 to the first side wall 511 and the second side wall 512 respectively in the absolute coordinate system.

[0052] Furthermore, the data processing module 3 performs integrated calculation based on the distance from the center position 441 to the head coal wall 52, the distance from the center position 441 to the first side wall 511 and the second side wall 512, combined with the center position 441 of the tunnel boring machine 4 and the body size of the tunnel boring machine 4, so as to obtain the precise position of the tunnel boring machine 4 in the tunnel 5.

[0053] Next, the data processing module 3 combines the mechanical dimensions of the tunnel boring machine 4, such as the shape and size, rotation speed, cutting width, cutting height, etc. of the cutting head on the tunnel boring machine 4, and defines the working face head coordinate system of the cutting head of the tunnel boring machine 4 with the cutting head of the tunnel boring machine 4 as the base point, and performs coordinate conversion processing on the pitch angle and roll angle of the fuselage obtained by the gyroscope 221 of the inertial navigation device 22 with itself as the coordinate, so as to obtain the data of the cutting head in the working face head coordinate system, thereby determining the moving trajectory of the cutting head of the tunnel boring machine 4.

[0054] Therefore, the data processing module 3 processes the data acquired by the laser rangefinder 11 , the radar rangefinder 12 and the gyroscope 221 , and can determine the position and posture of the tunnel boring machine 4 in the tunnel 5 .

[0055] Furthermore, the data processing module 3 combines the travel distance of the tunnel boring machine 4 obtained by the odometer 21 and the speed and position changes of the tunnel boring machine 4 obtained by the accelerometer 222 of the inertial navigation device 22 to integrate and calculate with the moving trajectory of the cutting head to obtain the development progress information of the tunnel boring machine 4, and at the same time corrects and converts the position of the tunnel boring machine 4 in the tunnel 5 to obtain the absolute position of the tunnel boring machine 4 in the tunnel 5.

[0056] Therefore, this positioning system obtains the relative position and absolute position of multiple positions of the tunnel boring machine 4 through the relative position positioning module 1 and the absolute position positioning module 2, provides multiple positioning data, and obtains the position information and development footage information of the tunnel boring machine 4 through the relative position and absolute position processing through the data processing module 3, thereby improving the positioning accuracy.

[0057] The present invention also provides a method for positioning a machine body by multi-sensor fusion, which adopts a machine body positioning system by multi-sensor fusion composed of the above scheme, combined with Figure 3 , positioning methods include:

[0058] The relative position data of the roadheader 4 relative to the tunnel 4 is obtained, and the distances from the first side 42 and the second side 43 of the roadheader 4 to the first side wall 511 and the second side wall 512 of the tunnel 4 are respectively measured by the radar rangefinder 12 in the relative position positioning module 1, and the distances from the two end areas of the traveling end 41 of the roadheader 4 to the head coal wall 51 are respectively measured by the laser rangefinder 11 in the relative position positioning module 1.

[0059] Next, the relative position positioning module 1 transmits the relative position data of the tunnel boring machine 4 acquired by the radar rangefinder 12 and the laser rangefinder 11 to the data processing module 3 in real time.

[0060] At the same time, the absolute position data of the tunnel boring machine 4 body is obtained, and the moving distances of the first side 42 and the second side 43 of the tunnel boring machine 4 are respectively obtained through the odometer 21 in the absolute position positioning module 2, and the moving heading, attitude, speed and position of the tunnel boring machine 4 at the center axis 44 of the fuselage are obtained through the inertial navigation device 22 in the absolute position positioning module 2 using a gyroscope 221 and an accelerometer 222.

[0061] Next, the absolute position positioning module 2 transmits the absolute position data of the tunnel boring machine 4 acquired by the odometer 21 and the inertial navigation device 22 to the data processing module in real time.

[0062] The data processing module 3 receives and processes the relative position data to obtain the relative position and heading of the tunnel boring machine 4 in the tunnel. At the same time, the data processing module 3 receives the absolute position data, corrects, fuses and processes the absolute position data and the relative position data to obtain the position information and development footage information of the tunnel boring machine 4.

[0063] The multi-sensor fusion body positioning system and method for a tunnel boring machine provided by the present invention adopts a relative position positioning module 1, an absolute position positioning module 2 and a data processing module 3 to cooperate with each other to obtain relative position data and absolute position data of multiple positions of a tunnel boring machine 4, and can process and generate position information and development footage information of the tunnel boring machine 4 based on multiple positioning data, thereby improving positioning accuracy.

[0064] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A multi-sensor fusion body positioning system for a tunnel boring machine, used to cooperate with the tunnel boring machine, characterized in that: It includes a relative position positioning module, an absolute position positioning module and a data processing module arranged on the tunnel boring machine, The relative position positioning module is configured to obtain relative position data information of the roadheader in the tunnel, wherein the relative position data information includes the distance from the roadheader to the two side walls of the tunnel and the distance from the roadheader to the front coal wall. The absolute position positioning module is configured to obtain the absolute position data information of the tunnel boring machine body, wherein the absolute position data information includes the movement state and position of the tunnel boring machine. The data processing module is connected to the relative position positioning module and the absolute position positioning module, and is configured to perform fusion processing on the relative position data information and the absolute position data information to obtain the position information and development footage information of the tunnel boring machine.

2. The multi-sensor fusion body positioning system of the tunnel boring machine according to claim 1 is characterized in that: The relative position positioning module is composed of a laser rangefinder and a radar rangefinder. The laser rangefinder is arranged at the traveling end of the tunnel boring machine, and the radar rangefinder is arranged on both sides of the fuselage of the tunnel boring machine.

3. The multi-sensor fusion body positioning system of the tunnel boring machine according to claim 2 is characterized in that: The laser rangefinders are respectively arranged at the two end regions of the traveling end, and the radar rangefinders are respectively arranged at the two end regions on both sides of the fuselage.

4. The multi-sensor fusion body positioning system of the tunnel boring machine according to claim 1, characterized in that: The absolute position positioning module is composed of an odometer and an inertial navigation device. The odometer is arranged in the travel motors on both sides of the tunnel boring machine, and the inertial navigation device is arranged at the central axis of the tunnel boring machine.

5. The multi-sensor fusion body positioning system of the tunnel boring machine according to claim 4, characterized in that: The data processing module is arranged in the inertial navigation device.

6. A method for positioning a tunnel boring machine body by multi-sensor fusion, characterized in that: A multi-sensor fusion body positioning system for a tunnel boring machine according to any one of claims 1 to 5 is adopted, wherein the positioning method comprises: The radar rangefinder in the relative position positioning module measures the distance from both sides of the machine body to the two side walls of the tunnel respectively, and the laser rangefinder in the relative position positioning module measures the distance from the two end areas of the traveling end of the machine to the head coal wall respectively. The relative position positioning module transmits the relative position data of the machine obtained by the radar rangefinder and the laser rangefinder to the data processing module. The odometer in the absolute position positioning module obtains the moving distances of the two sides of the tunnel boring machine respectively, and the inertial navigation device in the absolute position positioning module obtains the moving heading, attitude, speed and position of the tunnel boring machine at the central axis of the fuselage through a gyroscope and an accelerometer. The absolute position positioning module transmits the absolute position data of the tunnel boring machine obtained by the odometer and the inertial navigation device to the data processing module. The data processing module receives and processes the relative position data to obtain the relative position and heading of the roadheader in the tunnel. At the same time, the data processing module receives the absolute position data, corrects, fuses and processes the absolute position data and the relative position data to obtain the position information and development footage information of the roadheader.

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