Positioning method, device and equipment for working machinery in tunnel, medium and product

Abstract

The invention relates to the technical field of positioning of working machines in tunnels, and provides a positioning method, device, equipment, medium and product of working machines in tunnels, the working machines comprise a road roller and a paver, the paver is provided with a wheel speed meter, and the road roller is provided with first carrier communication equipment. Determining the transverse coordinate of the paver according to the width in the tunnel; according to the wheel speed meter, obtaining a current driving mileage longitudinal value of the paver, and according to the first carrier communication equipment, obtaining longitudinal relative positioning information of the road roller; determining a driving longitudinal value of the road roller according to a difference value between the current driving mileage longitudinal value and the longitudinal relative positioning information; and determining an operation mechanical positioning result of the road roller in the construction tunnel according to the driving longitudinal value and the transverse coordinate. According to the technical scheme, the operation machine positioning result is determined based on the current mileage longitudinal value and the longitudinal relative positioning information, and the accuracy of the result is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning machinery for working in tunnels, and in particular to a positioning method, device, equipment, medium and product for positioning machinery for working in tunnels. Background Art

[0002] With the progress and development of society, the application of unmanned driving technology in road construction is becoming more and more extensive, especially for specific scenarios such as mining areas, tunnels, etc. For personal safety, it is more necessary to carry out unmanned operation of transportation equipment.

[0003] At present, in the existing technology, the positioning results of vehicles in tunnels are mainly achieved through navigation positioning, that is, the Global Navigation Satellite System (GNSS). However, the navigation positioning method has the problem of scene limitation. When in working environments such as tunnels and mining areas, the navigation positioning method has large errors and cannot accurately locate the vehicle. Summary of the invention

[0004] The present invention provides a positioning method, device, equipment, medium and product for a working machine in a tunnel, so as to solve the problem that the positioning method of navigation positioning in the prior art is limited in scenarios. When in working environments such as tunnels and mining areas, the positioning method of navigation positioning has a large error and cannot accurately position the vehicle. The method determines the current longitudinal value of the paver in the tunnel and the longitudinal relative positioning information of the roller in the tunnel based on a wheel speed meter provided on the paver and a first carrier communication device provided on the roller, and determines the working machine positioning result of the roller in the construction tunnel based on the difference between the current longitudinal value of the mileage and the longitudinal relative positioning information and the lateral coordinates of the paver in the tunnel, thereby improving the accuracy of the working machine positioning result of the roller in the construction tunnel.

[0005] The present invention provides a positioning method for an operating machine in a tunnel, which is applied to the operating machine. The operating machine includes a roller and a paver. The paver is provided with a wheel speed meter, and the roller is provided with a first carrier communication device. The method includes the following steps.

[0006] The tunnel width of the construction tunnel where the operating machine is located is obtained, and the lateral coordinate of the paver is determined according to the tunnel width; wherein the lateral coordinate is a value of a preset proportion of the tunnel width.

[0007] The current longitudinal value of the mileage of the paver is obtained according to the wheel speed meter, and the longitudinal relative positioning information of the roller is obtained according to the first carrier communication device; wherein the current longitudinal value of the mileage is the current mileage value of the paver.

[0008] The longitudinal value of the roller is determined according to the difference between the current longitudinal value of the mileage and the longitudinal relative positioning information.

[0009] The mechanical positioning result of the roller in the construction tunnel is determined based on the longitudinal driving value and the transverse coordinate.

[0010] According to a positioning method for an operating machinery in a tunnel provided by the present invention, the longitudinal relative positioning information of the roller is obtained according to the first carrier communication device, including: obtaining the relative setting distance of the first carrier communication device on the roller; obtaining the target distance by dividing the sum of all relative setting distances by a preset coefficient; and determining the longitudinal relative positioning information of the roller according to the target distance and the relative setting distance.

[0011] According to a positioning method for an operating machine in a tunnel provided by the present invention, when a first carrier communication device is set on a road roller, and a second carrier communication device and a third carrier communication device are respectively set on both sides of a paver, the longitudinal relative positioning information of the road roller is obtained according to the first carrier communication device, including: obtaining a first relative setting distance between the first carrier communication device and the second carrier communication device, obtaining a second relative setting distance between the second carrier communication device and the third carrier communication device, and obtaining a third relative setting distance between the first carrier communication device and the third carrier communication device; dividing the sum of the first relative setting distance, the second relative setting distance and the third relative setting distance by a preset coefficient to obtain a target distance; wherein the target distance , Indicates the first relative setting distance, Indicates the second relative setting distance, Indicates the third relative setting distance, represents a preset coefficient; determining the longitudinal relative positioning information of the roller according to the target distance, the first relative setting distance, the second relative setting distance, the third relative setting distance and the preset coefficient; wherein the longitudinal relative positioning information .

[0012] According to a positioning method for an operating machinery in a tunnel provided by the present invention, a laser radar is also provided on the roller, and the longitudinal relative positioning information of the roller is obtained according to the first carrier communication device, including: obtaining the lateral distance of the vehicle when the roller is in a working state according to the laser radar; wherein the lateral distance of the vehicle is the vertical distance under the projection of the curb plane of the construction tunnel; obtaining the relative setting distance of the first carrier communication device on the roller; wherein the relative setting distance is the relative distance of the first carrier communication device to the center position of the roller; and determining the longitudinal relative positioning information according to the relative setting distance, the lateral coordinates and the lateral distance of the vehicle.

[0013] According to a positioning method for an operating machine in a tunnel provided by the present invention, the longitudinal relative positioning information ,in, Indicates the relative setting distance. represents the horizontal coordinate, Indicates the lateral distance of the vehicle.

[0014] According to a positioning method for an operating machine in a tunnel provided by the present invention, the lateral coordinate ,in, Indicates the width of the tunnel. Indicates a preset ratio.

[0015] The present invention also provides a positioning device for an operating machine in a tunnel, which is applied to the operating machine. The operating machine includes a roller and a paver. The paver is provided with a wheel speed meter, and the roller is provided with a first carrier communication device, which includes the following modules.

[0016] The first acquisition module is used to obtain the tunnel width of the construction tunnel where the operating machine is located, and determine the lateral coordinates of the paver according to the tunnel width; wherein the lateral coordinates are values ​​of a preset proportion of the tunnel width.

[0017] The second acquisition module is used to obtain the current longitudinal value of the mileage of the paver according to the wheel speed meter, and to obtain the longitudinal relative positioning information of the roller according to the first carrier communication device; wherein the current longitudinal value of the mileage is the current mileage value of the paver.

[0018] The first determination module is used to determine the longitudinal travel value of the roller according to the difference between the current longitudinal travel mileage value and the longitudinal relative positioning information.

[0019] The second determination module is used to determine the operating mechanical positioning result of the roller in the construction tunnel according to the longitudinal value and the transverse coordinate.

[0020] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-mentioned methods for positioning machinery in a tunnel.

[0021] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the positioning method of any of the above-mentioned machines for operating in a tunnel is implemented.

[0022] The present invention also provides a computer program product, including a computer program, which implements any of the above-mentioned positioning methods for operating machinery in a tunnel when the computer program is executed by a processor.

[0023] The present invention provides a positioning method, device, equipment, medium and product for working machinery in a tunnel, which are applied to working machinery. The working machinery includes a roller and a paver. The paver is provided with a wheel speed meter, and the roller is provided with a first carrier communication device. The width of the construction tunnel where the working machinery is located is obtained, and the lateral coordinates of the paver are determined according to the width of the tunnel; wherein the lateral coordinates are values ​​of a preset proportion of the width of the tunnel; the current longitudinal value of the paver is obtained according to the wheel speed meter, and the longitudinal relative positioning information of the roller is obtained according to the first carrier communication device; wherein the current longitudinal value of the mileage is the current mileage value of the paver; the longitudinal value of the roller is determined according to the difference between the current longitudinal value of the mileage and the longitudinal relative positioning information; and the working machinery positioning result of the roller in the construction tunnel is determined according to the longitudinal value of the travel and the lateral coordinates. The technical solution of the present invention is used to solve the problem that the navigation positioning method in the prior art is limited in scenarios. When in working environments such as tunnels and mining areas, the navigation positioning method has large errors and cannot accurately position the vehicle. The technical solution of the present invention is used to solve the problem that the navigation positioning method in the prior art is limited in scenarios. The navigation positioning method has the defect that it is difficult to accurately position the vehicle in working environments such as tunnels and mining areas. The current longitudinal value of the mileage of the paver is obtained according to the wheel speed meter, and the longitudinal relative positioning information of the roller is obtained according to the first carrier communication device. The positioning result of the operating machinery of the roller in the construction tunnel is determined based on the difference between the current longitudinal value of the mileage and the longitudinal relative positioning information and the lateral coordinates of the paver in the tunnel, thereby improving the accuracy of the positioning result of the operating machinery in the construction tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic flow chart of the positioning method of the operating machinery in the tunnel provided by the present invention.

[0026] Figure 2 It is a structural schematic diagram of a positioning device for an operating machine in a tunnel provided by the present invention.

[0027] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Combine the following Figure 1 The present invention will now describe a method for positioning a working machine in a tunnel. The method for positioning a working machine in a tunnel provided by the present invention can be applicable to the positioning of a working machine in a tunnel. The executor of the method may be an electronic device, and the electronic device may be a working machine. The working machine includes a roller and a paver. The paver is provided with a wheel speed meter, and the roller is provided with a first carrier communication device. It may also be a positioning device for the working machine in a tunnel arranged in the working machine. The positioning device for the working machine in a tunnel may be implemented by software, hardware, or a combination of both. Figure 1 It is a schematic diagram of the flow chart of the positioning method of the working machinery in the tunnel provided by the present invention, such as Figure 1 As shown, the method includes the following steps.

[0030] Step 101: Obtain the tunnel width of the construction tunnel where the operating machine is located, and determine the lateral coordinates of the paver according to the tunnel width.

[0031] In this step, the operating machinery includes a roller and a paver, the paver is provided with a wheel speed meter, and the roller is provided with a first carrier communication device. The driving path of the paver during normal operation is the center line of the construction tunnel where it is located, and there is no need to use a laser radar for lateral coordinate positioning; the roller is equipped with a laser radar during normal operation, and the laser radar collects point cloud contour data in the tunnel to obtain the tunnel width of the construction tunnel where the operating machinery is located.

[0032] The transverse coordinate of the paver is a value of a preset ratio of the width of the tunnel. The preset ratio is a pre-set ratio. For example, the transverse coordinate of the paver may be half of the width of the tunnel. This embodiment does not limit this.

[0033] Specifically, the laser radar installed on the operating machine collects point cloud contour data in the tunnel to obtain the tunnel width of the construction tunnel where the operating machine is located, and then determines the lateral coordinate of the paver based on the preset ratio of the tunnel width to the lateral coordinate of the paver.

[0034] In one embodiment, the horizontal coordinate ,in, Indicates the width of the tunnel. Indicates a preset ratio.

[0035] In this step, n can be, for example, 2, 3, 4, etc., which is not limited in this embodiment.

[0036] Exemplarily, the transverse coordinate d1=D / 2, wherein D represents the tunnel width of the construction tunnel where the operating machinery is located, and 2 represents a preset ratio.

[0037] Step 102: Acquire the current longitudinal mileage value of the paver according to the wheel speed meter, and acquire the longitudinal relative positioning information of the roller according to the first carrier communication device.

[0038] In this step, a wheel speed meter is provided on the paver, and a first carrier communication device is provided on the roller. The wheel speed meter is a high-precision wheel speed meter, which is used to obtain the current longitudinal value of the mileage of the paver in real time, and can be manually calibrated after obtaining the current longitudinal value of the mileage; the first carrier communication device is used to obtain the longitudinal relative positioning information of the roller. The current longitudinal value of the mileage is the current mileage value of the paver; the longitudinal relative positioning information is information used to longitudinally position the roller.

[0039] In a specific embodiment, the specific implementation of obtaining the longitudinal relative positioning information of the roller according to the first carrier communication device includes: obtaining the relative setting distance of the first carrier communication device on the roller; obtaining the target distance by dividing the sum of all relative setting distances by a preset coefficient; and determining the longitudinal relative positioning information of the roller according to the target distance and the relative setting distance.

[0040] In this step, the number of first carrier communication devices installed on the roller is not fixed, and the relative installation distance is the relative distance between the first carrier communication devices installed on the roller and the paver. The preset coefficient is a preset constant coefficient, which is not limited in this embodiment.

[0041] Specifically, the relative setting distance of the first carrier communication device on the roller and the paver is obtained; the target distance is obtained by dividing the sum of all relative setting distances by a preset coefficient; and the longitudinal relative positioning information of the roller is determined according to the target distance and the relative setting distance.

[0042] In a specific embodiment, when a first carrier communication device is set on a road roller, and a second carrier communication device and a third carrier communication device are respectively set on both sides of a paver, the longitudinal relative positioning information of the road roller is obtained according to the first carrier communication device, including: obtaining a first relative setting distance between the first carrier communication device and the second carrier communication device, obtaining a second relative setting distance between the second carrier communication device and the third carrier communication device, and obtaining a third relative setting distance between the first carrier communication device and the third carrier communication device; dividing the sum of the first relative setting distance, the second relative setting distance and the third relative setting distance by a preset coefficient to obtain a target distance; wherein the target distance , Indicates the first relative setting distance, Indicates the second relative setting distance, Indicates the third relative setting distance, represents a preset coefficient; determining the longitudinal relative positioning information of the roller according to the target distance, the first relative setting distance, the second relative setting distance, the third relative setting distance and the preset coefficient; wherein the longitudinal relative positioning information .

[0043] In this step, when three carrier communication devices are set on the operating machinery, specifically, when the first carrier communication device M1 is set on the roller, and the second carrier communication device M2 and the third carrier communication device M3 are respectively set on both sides of the paver, then the relative setting distance between M1 and M2 is determined to be the first relative setting distance, the relative setting distance between M1 and M3 is determined to be the second relative setting distance, and the relative setting distance between M2 and M3 is determined to be the third relative setting distance, which is not limited in this embodiment.

[0044] Specifically, the target distance , Indicates the first relative setting distance, Indicates the second relative setting distance, Indicates the third relative setting distance, Then, the longitudinal relative positioning information is determined according to the target distance, the first relative setting distance, the second relative setting distance, the third relative setting distance and the preset coefficient. .

[0045] For example, if the preset coefficient is 2, the target distance , vertical relative positioning information .

[0046] In a specific embodiment, a laser radar is also provided on the roller, and the longitudinal relative positioning information of the roller is obtained according to the first carrier communication device, including: obtaining the lateral distance of the vehicle when the roller is in a working state according to the laser radar; wherein the lateral distance of the vehicle is the vertical distance under the plane projection of the curb of the construction tunnel; obtaining the relative setting distance of the first carrier communication device on the roller; wherein the relative setting distance is the relative distance of the first carrier communication device to the center position of the roller; and determining the longitudinal relative positioning information according to the relative setting distance, the lateral coordinates and the lateral distance of the vehicle.

[0047] In this step, the working machine includes a paver and a roller, and a first carrier communication device is installed at the center of the paver. The relative setting distance is the relative distance between the center of the first carrier communication device installed on the paver and the roller.

[0048] Specifically, vertical relative positioning information ,in, Indicates the relative setting distance. represents the horizontal coordinate, Indicates the lateral distance of the vehicle.

[0049] Step 103: Determine the longitudinal driving value of the roller according to the difference between the current longitudinal driving mileage value and the longitudinal relative positioning information.

[0050] Specifically, after the current longitudinal value of the mileage and the longitudinal relative positioning information are determined, the longitudinal value of the roller is determined according to the difference between the current longitudinal value of the mileage and the longitudinal relative positioning information.

[0051] Step 104: Determine the mechanical positioning result of the roller in the construction tunnel according to the longitudinal value and the transverse coordinate.

[0052] Specifically, after the longitudinal travel value of the roller is determined, the operating mechanical positioning result of the roller in the construction tunnel is determined according to the longitudinal travel value and the transverse coordinate, so that the roller can realize automatic driving based on the operating mechanical positioning result.

[0053] In a specific implementation, the operating mechanical positioning results of the roller can also be displayed. The display device can be a vehicle-mounted display tablet connected to the roller, a client management system program, a mobile display interface and a corresponding mobile Android device, etc. This embodiment does not limit this.

[0054] A positioning method for an operating machine in a tunnel provided by the present invention is applied to the operating machine, wherein the operating machine includes a roller and a paver, the paver is provided with a wheel speed meter, and the roller is provided with a first carrier communication device. The width of a construction tunnel where the operating machine is located is obtained, and the transverse coordinate of the paver is determined according to the width of the tunnel; wherein the transverse coordinate is a value of a preset proportion of the width of the tunnel; the current longitudinal value of the paver is obtained according to the wheel speed meter, and the longitudinal relative positioning information of the roller is obtained according to the first carrier communication device; wherein the current longitudinal value of the mileage is the current mileage value of the paver; the longitudinal value of the roller is determined according to the difference between the current longitudinal value of the mileage and the longitudinal relative positioning information; and the operating machine positioning result of the roller in the construction tunnel is determined according to the longitudinal value of the mileage and the transverse coordinate. On the basis of the above embodiments, the technical solution of the present invention is used to solve the problem that the navigation positioning method in the prior art is limited in scenarios. When in working environments such as tunnels and mining areas, the navigation positioning method has large errors and cannot accurately position the vehicle. The present invention determines the current longitudinal value of the paver in the tunnel and the longitudinal relative positioning information of the roller in the tunnel based on the wheel speed meter provided on the paver and the first carrier communication device provided on the roller. The positioning result of the operating machinery of the roller in the construction tunnel is determined based on the difference between the current longitudinal value of the mileage and the longitudinal relative positioning information and the lateral coordinates of the paver in the tunnel, thereby improving the accuracy of the positioning result of the operating machinery of the roller in the construction tunnel.

[0055] The positioning device for the tunnel working machine provided by the present invention is described below. The positioning device for the tunnel working machine described below and the positioning method for the tunnel working machine described above can be referred to each other.

[0056] Figure 2 is a schematic diagram of the structure of the positioning device for tunnel working machinery provided by the present invention, referring to Figure 2 As shown, it is applied to working machinery, the working machinery includes a road roller and a paver, the paver is provided with a wheel speed meter, and the road roller is provided with a first carrier communication device. The positioning device 200 of the working machinery in the tunnel includes: a first acquisition module 201, a second acquisition module 202, a first determination module 203 and a second determination module 204.

[0057] The first acquisition module 201 is used to acquire the tunnel width of the construction tunnel where the operating machine is located, and determine the lateral coordinate of the paver according to the tunnel width; wherein the lateral coordinate is a value of a preset proportion of the tunnel width.

[0058] The second acquisition module 202 is used to obtain the current longitudinal value of the mileage of the paver according to the wheel speed meter, and obtain the longitudinal relative positioning information of the roller according to the first carrier communication device; wherein the current longitudinal value of the mileage is the current mileage value of the paver.

[0059] The first determination module 203 is used to determine the longitudinal value of the roller according to the difference between the current longitudinal value of the mileage and the longitudinal relative positioning information.

[0060] The second determination module 204 is used to determine the working machine positioning result of the roller in the construction tunnel according to the longitudinal value and the transverse coordinate.

[0061] In an exemplary embodiment, the second acquisition module 202 acquires the longitudinal relative positioning information of the roller according to the first carrier communication device, and is specifically used to: acquire the relative setting distance of the first carrier communication device on the roller; obtain the target distance by dividing the sum of all relative setting distances by a preset coefficient; and determine the longitudinal relative positioning information of the roller according to the target distance and the relative setting distance.

[0062] In an exemplary embodiment, the second acquisition module 202, when a first carrier communication device is set on the roller, and a second carrier communication device and a third carrier communication device are respectively set on both sides of the paver, obtains the longitudinal relative positioning information of the roller according to the carrier communication device, and is specifically used to: obtain a first relative setting distance between the first carrier communication device and the second carrier communication device, obtain a second relative setting distance between the second carrier communication device and the third carrier communication device, and obtain a third relative setting distance between the first carrier communication device and the third carrier communication device; divide the sum of the first relative setting distance, the second relative setting distance and the third relative setting distance by a preset coefficient to obtain a target distance; wherein the target distance , Indicates the first relative setting distance, Indicates the second relative setting distance, Indicates the third relative setting distance, represents a preset coefficient; determining the longitudinal relative positioning information of the roller according to the target distance, the first relative setting distance, the second relative setting distance, the third relative setting distance and the preset coefficient; wherein the longitudinal relative positioning information .

[0063] In an exemplary embodiment, the second acquisition module 202 is specifically used for, when a laser radar is also provided on the roller, obtaining the lateral distance of the vehicle when the roller is in a working state according to the laser radar; wherein the lateral distance of the vehicle is the vertical distance under the projection of the roadside plane of the construction tunnel; obtaining the relative setting distance of the first carrier communication device on the roller; wherein the relative setting distance is the relative distance of the first carrier communication device to the center position of the roller; and determining the longitudinal relative positioning information according to the relative setting distance, the lateral coordinates and the lateral distance of the vehicle.

[0064] In an exemplary embodiment, the longitudinal relative positioning information ,in, Indicates the relative setting distance. represents the horizontal coordinate, Indicates the lateral distance of the vehicle.

[0065] In an exemplary embodiment, the lateral coordinate ,in, Indicates the width of the tunnel. Indicates a preset ratio.

[0066] The device of this embodiment can be used to execute the method of any embodiment in the embodiment of the positioning method side of the machinery working in the tunnel. Its specific implementation process and technical effects are similar to those in the embodiment of the positioning method side of the machinery working in the tunnel. For details, please refer to the detailed description in the embodiment of the positioning method side of the machinery working in the tunnel, which will not be repeated here.

[0067] FIG. 1 is a schematic diagram of the structure of an electronic device provided by the present invention, Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 820, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute a positioning method for an operating machine in a tunnel, the method comprising: obtaining the tunnel width of the construction tunnel where the operating machine is located, and determining the transverse coordinate of the paver according to the tunnel width; wherein the transverse coordinate is a value of a preset ratio of the tunnel width; obtaining the current longitudinal value of the paver according to the wheel speed meter, and obtaining the longitudinal relative positioning information of the roller according to the first carrier communication device; wherein the current longitudinal value of the mileage is the current mileage value of the paver; determining the longitudinal value of the roller according to the difference between the current longitudinal value of the mileage and the longitudinal relative positioning information; and determining the positioning result of the operating machine of the roller in the construction tunnel according to the longitudinal value of the mileage and the transverse coordinate.

[0068] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0069] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the positioning method of the working machinery in the tunnel provided by the above methods, the method including: obtaining the tunnel width of the construction tunnel where the working machinery is located, and determining the lateral coordinates of the paver according to the tunnel width; wherein the lateral coordinate is a value of a preset proportion of the tunnel width; obtaining the current mileage longitudinal value of the paver according to the wheel speed meter, and obtaining the longitudinal relative positioning information of the roller according to the first carrier communication device; wherein the current mileage longitudinal value is the current mileage value of the paver; determining the longitudinal driving value of the roller according to the difference between the current mileage longitudinal value and the longitudinal relative positioning information; and determining the working machinery positioning result of the roller in the construction tunnel according to the longitudinal driving value and the lateral coordinate.

[0070] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the positioning method of a working machine in a tunnel provided by the above-mentioned methods, the method comprising: obtaining the tunnel width of the construction tunnel where the working machine is located, and determining the lateral coordinates of the paver according to the tunnel width; wherein the lateral coordinate is a value of a preset proportion of the tunnel width; obtaining the current longitudinal value of the paver's mileage according to the wheel speed meter, and obtaining the longitudinal relative positioning information of the roller according to the first carrier communication device; wherein the current longitudinal value of the mileage is the current mileage value of the paver; determining the longitudinal value of the roller's travel according to the difference between the current longitudinal value of the mileage and the longitudinal relative positioning information; and determining the working machine positioning result of the roller in the construction tunnel according to the longitudinal value of the travel and the lateral coordinate.

[0071] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0072] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for positioning a working machine in a tunnel, characterized in that: Applied to an operating machine, the operating machine includes a road roller and a paver, the paver is provided with a wheel speed meter, and the road roller is provided with a first carrier communication device, including: Obtaining the tunnel width of the construction tunnel where the operating machine is located, and determining the transverse coordinate of the paver according to the tunnel width; wherein the transverse coordinate is a value of a preset ratio of the tunnel width; Acquire the current longitudinal value of the mileage of the paver according to the wheel speed meter, and acquire the longitudinal relative positioning information of the roller according to the first carrier communication device; wherein the current longitudinal value of the mileage is the current mileage value of the paver; Determining a longitudinal travel value of the roller according to a difference between the current longitudinal travel mileage value and the longitudinal relative positioning information; The operating mechanical positioning result of the roller in the construction tunnel is determined according to the longitudinal driving value and the transverse coordinate.

2. The method for positioning a working machine in a tunnel according to claim 1, characterized in that: The acquiring the longitudinal relative positioning information of the road roller according to the first carrier communication device includes: Acquire the relative setting distance of the first carrier communication device on the road roller; The target distance is obtained by dividing the sum of all the relative setting distances by a preset coefficient; The longitudinal relative positioning information of the roller is determined according to the target distance and the relative setting distance.

3. The method for positioning a working machine in a tunnel according to claim 2, characterized in that: When the first carrier communication device is arranged on the roller, and the second carrier communication device and the third carrier communication device are arranged on both sides of the paver, respectively, the longitudinal relative positioning information of the roller is obtained according to the first carrier communication device, including: Acquire a first relative setting distance between the first carrier communication device and the second carrier communication device, acquire a second relative setting distance between the second carrier communication device and the third carrier communication device, and acquire a third relative setting distance between the first carrier communication device and the third carrier communication device; The target distance is obtained by dividing the sum of the first relative setting distance, the second relative setting distance and the third relative setting distance by a preset coefficient; wherein the target distance , represents the first relative setting distance, represents the second relative setting distance, represents the third relative setting distance, represents the preset coefficient; The longitudinal relative positioning information of the roller is determined according to the target distance, the first relative setting distance, the second relative setting distance, the third relative setting distance and the preset coefficient; wherein the longitudinal relative positioning information .

4. The method for positioning a working machine in a tunnel according to claim 1, characterized in that: The roller is also provided with a laser radar, and the obtaining of longitudinal relative positioning information of the roller according to the first carrier communication device includes: Acquire the vehicle lateral distance of the roller in the working state according to the laser radar; wherein the vehicle lateral distance is the vertical distance under the plane projection of the roadside of the construction tunnel; Acquire a relative setting distance of the first carrier communication device on the roller; wherein the relative setting distance is a relative distance of the first carrier communication device from a center position of the roller; The longitudinal relative positioning information is determined according to the relative setting distance, the lateral coordinate and the vehicle lateral distance.

5. The method for positioning a working machine in a tunnel according to claim 4, characterized in that: The longitudinal relative positioning information ,in, represents the relative setting distance, represents the horizontal coordinate, Represents the lateral distance of the vehicle.

6. The method for positioning a working machine in a tunnel according to claim 1, characterized in that: The horizontal coordinate ,in, represents the width of the tunnel, Indicates the preset ratio.

7. A positioning device for a machine operating in a tunnel, characterized in that: Applied to an operating machine, the operating machine includes a road roller and a paver, the paver is provided with a wheel speed meter, and the road roller is provided with a first carrier communication device, including: A first acquisition module is used to acquire the tunnel width of the construction tunnel where the operating machine is located, and determine the transverse coordinate of the paver according to the tunnel width; wherein the transverse coordinate is a value of a preset ratio of the tunnel width; A second acquisition module is used to acquire the current longitudinal value of the mileage of the paver according to the wheel speed meter, and acquire the longitudinal relative positioning information of the roller according to the first carrier communication device; wherein the current longitudinal value of the mileage is the current mileage value of the paver; A first determination module, configured to determine a longitudinal travel value of the roller according to a difference between the current longitudinal travel mileage value and the longitudinal relative positioning information; The second determination module is used to determine the operating mechanical positioning result of the roller in the construction tunnel according to the longitudinal driving value and the transverse coordinate.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the positioning method of the tunnel working machinery as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the positioning method of the tunnel working machinery as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the positioning method of the tunnel working machinery as described in any one of claims 1 to 6 is implemented.

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