Positioning method, device, equipment, medium and product of tunnel operation machine

Abstract

The application belongs to the technical field of tunnel operation machine positioning, and provides a tunnel operation machine positioning method, device, equipment, medium and product. The operation 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 wave communication device. The method comprises the following steps: acquiring the tunnel width of the construction tunnel where the operation machine is located, and determining the lateral coordinate of the paver according to the tunnel width; acquiring the current driving mileage longitudinal value of the paver according to the wheel speed meter, and acquiring the longitudinal relative positioning information of the road roller according to the first carrier wave communication device; determining the driving longitudinal value of the road roller according to the difference between the current driving mileage longitudinal value and the longitudinal relative positioning information; and determining the operation machine positioning result of the road roller in the construction tunnel according to the driving longitudinal value and the lateral coordinate. The technical scheme of the application determines the operation machine positioning result based on the current driving mileage longitudinal value and the longitudinal relative positioning information, thereby improving the accuracy of the result.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning of working machines in tunnels, and in particular to a positioning method, device, equipment, medium and product for working machines in tunnels. BACKGROUND

[0002] With the progress and development of society, the application of unmanned technology in road construction is becoming more and more widespread, especially for specific scenarios such as mining areas and tunnels. In order to ensure personal safety, it is necessary to carry out unmanned work of transportation equipment.

[0003] At present, in the prior art, the positioning result of the vehicle in the tunnel is mainly obtained by navigation positioning, i.e. Global Navigation Satellite System (GNSS) positioning. However, the navigation positioning method has the problem of limited scene, and when working in tunnels, mining areas and other environments, the navigation positioning method has large errors and cannot accurately position the vehicle. SUMMARY

[0004] The present application provides a positioning method, device, equipment, medium and product for working machines in tunnels, which solves the problem of limited scene in the prior art navigation positioning method, and the positioning method has large errors and cannot accurately position the vehicle when working in tunnels, mining areas and other environments. The present application determines the current driving mileage longitudinal value of the paver in the tunnel and the longitudinal relative positioning information of the road roller in the tunnel based on the wheel speed meter arranged on the paver and the first carrier communication device arranged on the road roller, and determines the working machine positioning result of the road roller in the construction tunnel based on the difference between the current driving mileage longitudinal value and the longitudinal relative positioning information and the lateral coordinate of the paver in the tunnel, thereby improving the accuracy of the working machine positioning result of the road roller in the construction tunnel.

[0005] The present application provides a positioning method for working machines in tunnels, which is applied to working machines, and the working machines include a road roller and a paver. A wheel speed meter is arranged on the paver, and a first carrier communication device is arranged on the road roller. The method includes the following steps.

[0006] The tunnel width of the construction tunnel where the working 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 driving mileage longitudinal value of the paver is obtained according to the wheel speed meter, and the longitudinal relative positioning information of the road roller is obtained according to the first carrier communication device; wherein the current driving mileage longitudinal value is the current driving mileage value of the paver.

[0008] Determine the driving longitudinal value of the road roller according to the difference between the current driving mileage longitudinal value and the longitudinal relative positioning information.

[0009] Determine the working mechanical positioning result of the road roller in the construction tunnel according to the driving longitudinal value and the transverse coordinate.

[0010] According to the tunnel working mechanical positioning method provided by the application, the longitudinal relative positioning information of the road roller is obtained according to the first carrier communication device, and the method comprises the following steps: obtaining the relative setting distance of the first carrier communication device on the road roller; obtaining the target distance by dividing the sum of all the relative setting distances by a preset coefficient; and determining the longitudinal relative positioning information of the road roller according to the target distance and the relative setting distance.

[0011] According to the tunnel working mechanical positioning method provided by the application, when the first carrier communication device is arranged on the road roller, and the second carrier communication device and the third carrier communication device are arranged on both sides of the road roller, the longitudinal relative positioning information of the road roller is obtained according to the first carrier communication device, and the method comprises the following steps: obtaining the first relative setting distance between the first carrier communication device and the second carrier communication device, obtaining the second relative setting distance between the second carrier communication device and the third carrier communication device, and obtaining the third relative setting distance between the first carrier communication device and the third carrier communication device; obtaining the target distance 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; and the longitudinal relative positioning information of the road 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 .

[0012] According to the tunnel working mechanical positioning method provided by the application, the road roller is further provided with a laser radar, and the longitudinal relative positioning information of the road roller is obtained according to the first carrier communication device, and the method comprises the following steps: obtaining the vehicle transverse distance of the road roller in the working state according to the laser radar; wherein the vehicle transverse distance is the vertical distance of the road along plane projection of the construction tunnel; obtaining the relative setting distance of the first carrier communication device on the road roller; wherein the relative setting distance is the relative distance of the first carrier communication device at the central position of the road roller; and determining the longitudinal relative positioning information according to the relative setting distance, the transverse coordinate and the vehicle transverse distance.

[0013] According to the tunnel working mechanical positioning method provided by the application, the longitudinal relative positioning information wherein, represents a relative setting distance, represents a lateral coordinate, represents a vehicle lateral distance.

[0014] According to the positioning method of the tunnel construction machine provided by the present application, the lateral coordinate wherein, represents a tunnel width, represents a preset proportion.

[0015] The present application also provides a positioning device of a tunnel construction machine, which is applied to a construction machine, and the construction machine includes a road roller and a paver, the paver is provided with a wheel speed meter, the road roller is provided with a first carrier wave communication device, and the positioning device includes the following modules.

[0016] The first acquisition module is used for acquiring a tunnel width of a construction tunnel where the construction machine is located, and determining a 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.

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

[0018] The first determination module is used for determining a driving longitudinal value of the road roller according to a difference between the current driving mileage longitudinal value and the longitudinal relative positioning information.

[0019] The second determination module is used for determining a construction machine positioning result of the road roller in the construction tunnel according to the driving longitudinal value and the lateral coordinate.

[0020] The present application also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements any of the positioning methods of the tunnel construction machine as described above when executing the computer program.

[0021] The present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement any of the positioning methods of the tunnel construction machine as described above.

[0022] The present application also provides a computer program product, which includes a computer program, and the computer program is executable on a processor to implement any of the positioning methods of the tunnel construction machine as described above.

[0023] The application provides a positioning method, device, equipment, medium and product of a tunnel operation machine, which is applied to an operation machine, the operation machine comprising a road roller and a paver, the paver being provided with a wheel speed meter, and the road roller being provided with a first carrier wave communication device, the tunnel operation machine positioning result of the road roller in a construction tunnel is determined by acquiring the tunnel width in the construction tunnel and determining the transverse coordinate of the paver according to the tunnel width; wherein the transverse coordinate is a preset proportion of the tunnel width; the current driving mileage longitudinal value of the paver is acquired according to the wheel speed meter, and the longitudinal relative positioning information of the road roller is acquired according to the first carrier wave communication device; wherein the current driving mileage longitudinal value is the current driving mileage value of the paver; the driving longitudinal value of the road roller is determined according to the difference between the current driving mileage longitudinal value and the longitudinal relative positioning information; and the tunnel operation machine positioning result of the road roller in the construction tunnel is determined according to the driving longitudinal value and the transverse coordinate. The technical scheme of the application is used to solve the problem that the positioning mode of the navigation positioning in the prior art is limited in the scene, when in the working environment such as a tunnel and a mine area, the positioning mode of the navigation positioning has a large error and cannot accurately position the vehicle, the current driving mileage longitudinal value of the paver is acquired according to the wheel speed meter, the longitudinal relative positioning information of the road roller is acquired according to the first carrier wave communication device, the tunnel operation machine positioning result of the road roller in the construction tunnel is determined based on the difference between the current driving mileage longitudinal value and the longitudinal relative positioning information and the transverse coordinate of the paver in the tunnel, and the accuracy of the tunnel operation machine positioning result of the operation machine in the construction tunnel is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a flowchart of the tunnel operation machine positioning method provided by the present application.

[0026] Figure 2 is a structural schematic diagram of the tunnel operation machine positioning device provided by the present application.

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

[0028] In order to make the objects, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the present application with reference to the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0029] The following will be described with reference to the drawings in the present application. Figure 1 The positioning method of the tunnel working machine provided by the present application is described. The positioning method of the tunnel working machine provided by the present application can be applied to the positioning of the tunnel working machine. The execution subject of the method can be an electronic device, which can be a working machine, including 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 of the tunnel working machine provided in the working machine can be realized by software, hardware or a combination of both. Figure 1 FIG. 1 is a flowchart of the positioning method of the tunnel working machine provided by the present application. As shown in FIG. 1, the method comprises the following steps. Figure 1

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

[0031] In this step, the working 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. The driving path of the paver during normal operation is the center line in the construction tunnel where it is located, and the laser radar does not need to be used for positioning the lateral coordinate. The road roller is provided with a laser radar during normal operation. The laser radar collects point cloud profile data in the tunnel to obtain the tunnel width of the construction tunnel where the working machine is located.

[0032] The lateral coordinate of the paver is a preset proportion of the tunnel width. The preset proportion is a preset proportion, for example, the lateral coordinate of the paver can be half of the tunnel width. The present embodiment does not limit this.

[0033] Specifically, the laser radar provided on the working machine collects point cloud profile data in the tunnel to obtain the tunnel width of the construction tunnel where the working machine is located. Then, based on the preset proportion of the tunnel width and the lateral coordinate of the paver, the lateral coordinate of the paver is determined.

[0034] In a specific embodiment, the lateral coordinate wherein, represents the tunnel width, represents the preset proportion.​

[0035] In this step, n may be 2, 3, 4, etc., and the embodiment is not limited in this regard.

[0036] For example, the transverse coordinate d1=D / 2, where D represents the tunnel width of the construction tunnel where the working machine is located, and 2 represents a preset ratio.

[0037] Step 102, obtaining the current longitudinal value of the paving machine according to the wheel speed meter, and obtaining the longitudinal relative positioning information of the road roller according to the first carrier communication device.

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

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

[0040] In this step, the number of first carrier communication devices provided on the road roller is not fixed, and the relative setting distance is the relative distance of the first carrier communication device provided on the road roller and the paving machine. The preset coefficient is a constant coefficient set in advance, and the embodiment is not limited in this regard.

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

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

[0043] In this step, when three carrier communication devices are arranged on the working machine, specifically, when the first carrier communication device M1 is arranged on the road roller, and the second carrier communication device M2 and the third carrier communication device M3 are arranged on the two sides of the paver, then the relative arrangement distance between M1 and M2 is determined as the first relative arrangement distance, the relative arrangement distance between M1 and M3 is determined as the second relative arrangement distance, and the relative arrangement distance between M2 and M3 is determined as the third relative arrangement distance, which is not limited in the embodiment.

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

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

[0046] In an embodiment, the road roller is further provided with a laser radar, and the longitudinal relative positioning information of the road roller is obtained according to the first carrier communication device, including: obtaining a vehicle transverse distance of the road roller in a working state according to the laser radar; wherein the vehicle transverse distance is a vertical distance of a projection of a road edge plane of the tunnel under construction; obtaining a relative arrangement distance of the first carrier communication device on the road roller; wherein the relative arrangement distance is a relative distance of the first carrier communication device from a center position of the road roller; and determining the longitudinal relative positioning information according to the relative arrangement distance, the transverse coordinate and the vehicle transverse distance.

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

[0048] Specifically, the longitudinal relative positioning information wherein, represents the relative arrangement distance, represents the transverse coordinate, represents the vehicle transverse distance.

[0049] Step 103, determining a driving longitudinal value of the road roller according to a difference between the current driving longitudinal value and the longitudinal relative positioning information.

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

[0051] Step 104, determining a working machine positioning result of the road roller in the tunnel under construction according to the driving longitudinal value and the transverse coordinate.

[0052] Specifically, after the driving longitudinal value of the road roller is determined, the working machine positioning result of the road roller in the tunnel under construction is determined according to the driving longitudinal value and the transverse coordinate, so that the road roller realizes automatic driving based on the working machine positioning result.

[0053] In an embodiment, the working machine positioning result of the road roller can also be displayed, and the display device can be a vehicle-mounted display tablet connected with the road roller, a client management system program, a mobile terminal display interface and a corresponding mobile Android device, etc., which are not limited in the present embodiment.

[0054] This invention provides a positioning method for tunnel-operated machinery, applicable to machinery including a road roller and a paver. The paver is equipped with a wheel speed meter, and the road roller is equipped with a first carrier communication device. The method involves acquiring the tunnel width of the tunnel where the machinery is located, and determining the paver's lateral coordinates based on the tunnel width; wherein the lateral coordinates are a preset proportion of the tunnel width. The method also involves acquiring the paver's current mileage longitudinal value based on the wheel speed meter, and acquiring the road roller's longitudinal relative positioning information based on the first carrier communication device; wherein the current mileage longitudinal value is the paver's current mileage value. The method further involves determining the road roller's longitudinal travel value based on the difference between the current mileage longitudinal value and the longitudinal relative positioning information. Finally, the method determines the positioning result of the road roller within the tunnel based on the longitudinal travel value and the lateral coordinates. Based on the above embodiments, the technical solution of the present invention addresses the problem that existing navigation and positioning methods are limited by specific scenarios. In working environments such as tunnels and mining areas, navigation and positioning methods have large errors and cannot accurately locate vehicles. The present invention determines the longitudinal value of the paver's current travel distance in the tunnel and the longitudinal relative positioning information of the roller in the tunnel based on the wheel speed meter installed on the paver and the first carrier communication device installed on the roller. Based on the difference between the longitudinal value of the current travel distance and the longitudinal relative positioning information, as well as the lateral coordinates of the paver in the tunnel, the positioning result of the roller in the construction tunnel is determined, thereby improving the accuracy of the positioning result of the roller in the construction tunnel.

[0055] The positioning device for tunnel working machinery provided by the present invention will be described below. The positioning device for tunnel working machinery described below and the positioning method for tunnel working machinery described above can be referred to in correspondence with each other.

[0056] Figure 2 This is a schematic diagram of the positioning device for tunnel working machinery provided by the present invention, with reference to... Figure 2 As shown, the positioning device 200 for the working machinery includes a road roller and a paver. The paver is equipped with a wheel speed meter, and the road roller is equipped with a first carrier communication device. The positioning device 200 for 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 working machinery is located, and to determine the lateral coordinate of the paver based on the tunnel width; wherein the lateral coordinate is a preset ratio of the tunnel width.

[0058] The second acquisition module 202 is configured to acquire a current driving mileage longitudinal value of the paving machine according to a wheel speed meter and acquire longitudinal relative positioning information of the road roller according to the first carrier communication device; the current driving mileage longitudinal value is a current driving mileage value of the paving machine.

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

[0060] The second determination module 204 is configured to determine a working mechanical positioning result of the road roller in the construction tunnel according to the driving longitudinal value and the transverse coordinate.

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

[0062] In an example embodiment, the second acquisition module 202 acquires the longitudinal relative positioning information of the road roller according to the carrier communication device when the first carrier communication device is arranged on the road roller and the second carrier communication device and the third carrier communication device are arranged on both sides of the paving machine, and specifically is configured to: acquire a first relative setting distance between the first carrier communication device and the second carrier communication device, a second relative setting distance between the second carrier communication device and the third carrier communication device, and a third relative setting distance between the first carrier communication device and the third carrier communication device; obtain a target distance by dividing a sum of the first relative setting distance, the second relative setting distance and the third relative setting distance by a preset coefficient; and determine the longitudinal relative positioning information of the road 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. , The first relative setting distance is denoted as d1, The second relative setting distance is denoted as d2, The third relative setting distance is denoted as d3, The preset coefficient is denoted as k; and the longitudinal relative positioning information of the road 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. .

[0063] In one example embodiment, the second acquisition module 202 is specifically used to: acquire the lateral distance of the road roller in its working state by using a lidar mounted on the road roller; wherein the lateral distance of the vehicle is the vertical distance projected onto the roadside plane of the construction tunnel; acquire the relative setting distance of the first carrier communication device on the road roller; wherein the relative setting distance is the relative distance of the first carrier communication device to the center position of the road roller; and determine the longitudinal relative positioning information based on the relative setting distance, the lateral coordinate, and the lateral distance of the vehicle.

[0064] In one example embodiment, longitudinal relative positioning information ,in, Indicates the relative distance setting. Represents the horizontal coordinate. This indicates the lateral distance of the vehicle.

[0065] In one example embodiment, the horizontal coordinate ,in, Indicates the width inside the tunnel. This indicates the preset ratio.

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

[0067] Figure 1 shows a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 3 As shown, the electronic device may include a processor 310, a communications interface 820, a memory 330, and a communication bus 340. The processor 310, communications interface 820, and memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute a positioning method for machinery operating in a tunnel. This method includes: obtaining the tunnel width of the tunnel where the machinery is located, and determining the lateral coordinates of the paver based on the tunnel width; wherein the lateral coordinates are a preset proportion of the tunnel width; obtaining the current longitudinal mileage of the paver based on a wheel speed meter, and obtaining the longitudinal relative positioning information of the roller based on a first carrier communication device; wherein the current longitudinal mileage is the current mileage value of the paver; determining the longitudinal travel value of the roller based on the difference between the current longitudinal mileage value and the longitudinal relative positioning information; and determining the positioning result of the roller within the tunnel based on the longitudinal travel value and the lateral coordinates.

[0068] In addition, the logic instructions in the memory 330 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0069] In another aspect, the present application also provides a computer program product, the computer program product comprising a computer program, the computer program being stored in a non-transitory computer readable storage medium, and the computer program being executable by a processor to cause a computer to perform the positioning method of the working machine in a tunnel provided by the above-mentioned methods. The method comprises: obtaining a tunnel width of a construction tunnel where the working machine is located, and determining a transverse coordinate of the paver according to the tunnel width; wherein the transverse coordinate is a value of a preset proportion of the tunnel width; obtaining a current driving distance longitudinal value of the paver according to a wheel speed meter, and obtaining longitudinal relative positioning information of the roller according to a first carrier communication device; wherein the current driving distance longitudinal value is a current driving distance value of the paver; determining a driving longitudinal value of the roller according to a difference between the current driving distance longitudinal value and the longitudinal relative positioning information; and determining a working machine positioning result of the roller in the construction tunnel according to the driving longitudinal value and the transverse coordinate.

[0070] In another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, the computer program being executable by a processor to implement the positioning method of the working machine in a tunnel provided by the above-mentioned methods. The method comprises: obtaining a tunnel width of a construction tunnel where the working machine is located, and determining a transverse coordinate of the paver according to the tunnel width; wherein the transverse coordinate is a value of a preset proportion of the tunnel width; obtaining a current driving distance longitudinal value of the paver according to a wheel speed meter, and obtaining longitudinal relative positioning information of the roller according to a first carrier communication device; wherein the current driving distance longitudinal value is a current driving distance value of the paver; determining a driving longitudinal value of the roller according to a difference between the current driving distance longitudinal value and the longitudinal relative positioning information; and determining a working machine positioning result of the roller in the construction tunnel according to the driving longitudinal value and the transverse coordinate.

[0071] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0072] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) 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 application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for positioning machinery operating inside a tunnel, characterized in that, This is applied to construction machinery, which includes a road roller and a paver. The paver is equipped with a wheel speed meter, and the road roller is equipped with a first carrier communication device, including: The width inside the construction tunnel where the operating machinery is located is obtained, and the lateral coordinates of the paver are determined based on the width inside the tunnel; wherein the lateral coordinates are a preset proportion of the width inside the tunnel; The paver's current mileage longitudinal value is obtained based on the wheel speed meter, and the road roller's longitudinal relative positioning information is obtained based on the first carrier communication device; wherein, the current mileage longitudinal value is the paver's current mileage value; The longitudinal travel value of the road roller is determined based on the difference between the current travel mileage longitudinal value and the longitudinal relative positioning information; The positioning result of the road roller in the construction tunnel is determined based on the longitudinal travel value and the lateral coordinate. The step of obtaining the longitudinal relative positioning information of the road roller based on the first carrier communication device includes: Obtain the relative installation distance of the first carrier communication device on the road roller; The target distance is obtained by dividing the sum of all the relative distances by a preset coefficient. The longitudinal relative positioning information of the road roller is determined based on the target distance and the relative setting distance; Alternatively, the road roller may also be equipped with a lidar, and the step of obtaining the longitudinal relative positioning information of the road roller based on the first carrier communication device includes: The lateral distance of the road roller in its working state is obtained based on the lidar; wherein, the lateral distance of the vehicle is the vertical distance projected onto the roadside plane of the construction tunnel; Obtain the relative setting distance of the first carrier communication device on the road roller; wherein, the relative setting distance is the relative distance of the first carrier communication device to the center position of the road roller; The longitudinal relative positioning information is determined based on the relative setting distance, the lateral coordinate, and the vehicle lateral distance.

2. The positioning method for tunnel-operating machinery according to claim 1, characterized in that, When the first carrier communication device is installed on the road roller, and the second and third carrier communication devices are respectively installed on both sides of the paver, the step of obtaining the longitudinal relative positioning information of the road roller according to the first carrier communication device includes: 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; 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 , This indicates the first relative setting distance. This indicates the second relative setting distance. This indicates the third relative setting distance. This represents the preset coefficient; The longitudinal relative positioning information of the road roller is determined based on 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 .

3. The positioning method for tunnel-operating machinery according to claim 1, characterized in that, The longitudinal relative positioning information is determined based on the relative setting distance, the lateral coordinate, and the vehicle lateral distance, wherein the longitudinal relative positioning information... ,in, This indicates the relative setting distance. Indicates the horizontal coordinate. This indicates the lateral distance of the vehicle.

4. The positioning method for tunnel-operating machinery according to claim 1, characterized in that, The horizontal coordinate ,in, Indicates the width inside the tunnel. This indicates the preset ratio.

5. A positioning device for machinery operating inside a tunnel, characterized in that, This system is applied to construction machinery, including a road roller and a paver. The paver is equipped with a wheel speed meter, and the road roller is equipped with a first carrier communication device and a lidar. The first acquisition module is used to acquire the tunnel width of the construction tunnel where the operating machinery is located, and to determine the lateral coordinate of the paver based on the tunnel width; wherein the lateral coordinate is a preset proportion of the tunnel width; The second acquisition module is used to acquire the longitudinal value of the current travel distance of the paver based on the wheel speed meter, and to acquire the longitudinal relative positioning information of the road roller based on the first carrier communication device; wherein, the longitudinal value of the current travel distance is the current travel distance value of the paver. The first determining module is used to determine the longitudinal travel value of the road roller based on the difference between the current travel mileage longitudinal value and the longitudinal relative positioning information; The second determining module is used to determine the mechanical positioning result of the road roller in the construction tunnel based on the longitudinal travel value and the lateral coordinate. The second acquisition module is specifically used to acquire the relative setting distance of the first carrier communication device on the road roller; to obtain the target distance by dividing the sum of all the relative setting distances by a preset coefficient; and to determine the longitudinal relative positioning information of the road roller based on the target distance and the relative setting distance. Alternatively, the second acquisition module is specifically used to acquire the lateral distance of the road roller in its working state based on the lidar; wherein the lateral distance of the vehicle is the vertical distance projected onto the roadside plane of the construction tunnel; acquire the relative setting distance of the first carrier communication device on the road roller; wherein the relative setting distance is the relative distance of the first carrier communication device to the center position of the road roller; and determine the longitudinal relative positioning information based on the relative setting distance, the lateral coordinate, and the lateral distance of the vehicle.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the positioning method for tunnel working machinery as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the positioning method for tunnel working machinery as described in any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the positioning method for tunnel working machinery as described in any one of claims 1 to 4.

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