Construction equipment track control method, device, equipment, medium and program product

Abstract

The embodiment of the invention provides a construction equipment track control method and device, equipment, a medium and a program product, and the method comprises the steps: setting a radar device in a long tunnel construction system, transmitting electromagnetic waves to drilling equipment through the radar device, obtaining a plurality of groups of reflection times, and carrying out the screening of a target point corresponding to the minimum reflection time, obtaining emission time and reflection time between the electromagnetic wave signal and the target point, calculating and generating a distance between the radar device and the target point, determining angle information according to a reflection distance between the radar device and the target point, establishing a coordinate model according to the angle information and the distance between the radar device and the target point, and calculating coordinate information of the target point; the coordinate information of the target point is set as the coordinates of the starting point, the coordinate information of the running track of the drilling equipment is calculated, the exploration path of the drilling equipment is controlled, the exploration path of the tunnel boring machine and the exploration path of the drilling equipment are guided, and the exploration accuracy is improved.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel construction, and in particular to a construction equipment trajectory control method, device, equipment, medium and program product. Background Art

[0002] Deep buried long tunnels face construction problems such as mud and water inrush, hard rock rock bursts and soft rock deformation when using tunnel boring machines (TBM) equipment, which increases the risk of damage to TBM equipment and the safety of construction workers. Geological surveys are required before tunnel construction. Existing survey methods mainly include geophysical prospecting and drilling methods. However, geophysical prospecting methods have the risk of misjudgment, while drilling methods require TBM equipment to be shut down for operation, affecting the construction progress.

[0003] In the prior art, a survey method is proposed to survey geology by parallel advance drilling.

[0004] However, the survey method proposed in the prior art does not control the advance drilling trajectory. As the drilling depth increases during the drilling process, there may be a deviation between the theoretical running trajectory and the actual running trajectory, resulting in reduced survey accuracy. Summary of the invention

[0005] The embodiments of the present application provide a construction equipment trajectory control method, device, equipment, medium and program product to solve the problem of low accuracy of survey during tunnel construction in the prior art.

[0006] In a first aspect, an embodiment of the present application provides a construction equipment trajectory control method, which is applied to a long tunnel construction system, wherein the long tunnel construction system includes a tunnel boring machine, a drilling device, and a radar device; the tunnel boring machine and the drilling device are constructed in parallel; the method includes:

[0007] Acquire reflection time of multiple groups of electromagnetic wave signals, wherein the reflection time is generated by the electromagnetic waves emitted by the radar device reflected from multiple locations of the drill rod in the drilling equipment;

[0008] Screening the reflection times of the multiple groups of electromagnetic wave signals to obtain a minimum reflection time;

[0009] Locate the position information of the drill pipe according to the minimum reflection time to obtain a target point;

[0010] Acquire the time when the radar device transmits the electromagnetic wave signal to the target point;

[0011] Acquire the reflection time of the electromagnetic wave signal reflected by the target point;

[0012] Calculate and generate the distance between the radar device and the target point according to the emission time and the reflection time;

[0013] Acquire a reflection distance between the target point and the radar device, and calculate and generate angle information between the radar device and the target point according to the reflection distance;

[0014] Establishing a coordinate model according to the distance between the radar device and the target point and the angle information, and calculating and generating the coordinate information of the target point;

[0015] The coordinate information of the target point is set as the starting point coordinates of the coordinate model, and the coordinate information of the running track of the drilling equipment is calculated and generated according to the starting point coordinates;

[0016] The survey path of the drilling equipment is controlled according to the coordinate information of the running track of the drilling equipment.

[0017] In a possible implementation, the calculating and generating the distance between the radar device and the target point according to the transmission time and the reflection time includes: generating a time-frequency relationship of a transmission signal according to the transmission time; generating a time-frequency relationship of a received signal according to the reflection time; performing mixing and filtering on the time-frequency relationship of the transmission signal and the time-frequency relationship of the received signal to obtain the frequency of an intermediate frequency signal; calculating and generating a signal delay according to the frequency of the intermediate frequency signal; and inputting the signal delay into a distance calculation formula to calculate and generate the distance between the radar device and the target point.

[0018] In a possible implementation, the distance calculation formula is:

[0019]

[0020] Where R is the distance between the radar device and the target point; c is the speed of light; τ is the signal delay; T is the signal scanning period; B is the bandwidth; f b Indicates the frequency of the intermediate frequency signal.

[0021] In a possible implementation, obtaining the reflection distance between the target point and the radar device, and calculating and generating the angle information between the radar device and the target point according to the reflection distance includes: obtaining the reflection distance between the target point and a first antenna in the radar device; obtaining the reflection distance between the target point and a second antenna in the radar device; calculating and generating a phase difference according to the reflection distance of the first antenna and the reflection distance of the second antenna; and calculating and generating the angle information between the radar device and the target point according to the phase difference.

[0022] In a possible implementation manner, the calculation formula for generating the angle information between the radar device and the target point according to the phase difference calculation is:

[0023]

[0024] In the formula, θ represents the angle information between the radar device and the target point; λ represents the signal wavelength; represents the phase difference; l represents the distance between the first antenna and the second antenna.

[0025] In a possible implementation manner, the calculation formula for calculating and generating the coordinate information of the target point is:

[0026]

[0027] Where, X A Indicates the three-dimensional horizontal coordinate of the target point; Y A Indicates the three-dimensional vertical coordinate of the target point; Z A Indicates the three-dimensional vertical coordinate of the target point; L A Represents the distance from the origin to the target point; θ O Indicates the well inclination angle of the origin; θ A Indicates the well inclination angle of the target point; α O Indicates the azimuth of the origin; α A represents the azimuth of the target point; λ represents the magnetic declination; X O Represents the three-dimensional horizontal coordinate of the origin; Y O Represents the three-dimensional vertical coordinate of the origin; Z O The three-dimensional vertical coordinate representing the origin.

[0028] In a second aspect, an embodiment of the present application provides a construction equipment trajectory control device, which is applied to a long tunnel construction system, wherein the long tunnel construction system includes a tunnel boring machine, a drilling device, and a radar device; the tunnel boring machine and the drilling device are constructed in parallel; the device includes:

[0029] A first acquisition module is used to acquire reflection time of multiple groups of electromagnetic wave signals, wherein the reflection time is generated by the electromagnetic waves emitted by the radar device reflected at multiple positions of the drill rod in the drilling equipment;

[0030] A screening module, used for screening the reflection time of the plurality of groups of electromagnetic wave signals to obtain a minimum reflection time;

[0031] A positioning module, used to locate the position information of the drill rod according to the minimum reflection time to obtain a target point;

[0032] A second acquisition module is used to acquire the transmission time of the electromagnetic wave signal transmitted by the radar device to the target point;

[0033] A third acquisition module is used to acquire the reflection time of the electromagnetic wave signal reflected by the target point;

[0034] A calculation module, used for calculating and generating the distance between the radar device and the target point according to the emission time and the reflection time;

[0035] a fourth acquisition module, configured to acquire a reflection distance between the target point and the radar device, and calculate and generate angle information between the radar device and the target point according to the reflection distance;

[0036] An establishing module, used to establish a coordinate model according to the distance between the radar device and the target point and the angle information, and calculate and generate the coordinate information of the target point;

[0037] A setting module, used to set the coordinate information of the target point as the starting point coordinates of the coordinate model, and calculate and generate the coordinate information of the running track of the drilling equipment according to the starting point coordinates;

[0038] A control module is used to control the survey path of the drilling equipment according to the coordinate information of the running trajectory of the drilling equipment.

[0039] In a third aspect, an embodiment of the present application provides a construction equipment trajectory control device, including:

[0040] at least one processor and memory;

[0041] The memory stores computer-executable instructions;

[0042] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the above first aspect and / or various possible implementations of the first aspect.

[0043] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0044] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0045] The construction equipment trajectory control method, device, equipment, medium and program product provided in the embodiments of the present application are achieved by setting a radar device in a long tunnel construction system, transmitting electromagnetic waves to the drilling equipment through the radar device, obtaining multiple groups of reflection times, screening out the target point corresponding to the minimum reflection time, and obtaining the emission time and reflection time between the electromagnetic wave signal and the target point, calculating and generating the distance between the radar device and the target point, determining the angle information according to the reflection distance between the radar device and the target point, establishing a coordinate model according to the angle information and the distance between the radar device and the target point, calculating the coordinate information of the target point, setting the coordinate information of the target point as the starting point coordinates, calculating the coordinate information of the drilling equipment operation trajectory, controlling the survey path of the drilling equipment, guiding the survey path of the tunnel boring machine and the drilling equipment, and improving the survey accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0047] Figure 1 A schematic diagram of an application scenario of the construction equipment trajectory control method provided in an embodiment of the present application;

[0048] Figure 2 A flow chart of the construction equipment trajectory control method provided in this application;

[0049] Figure 3 A schematic diagram of the simultaneous construction of a deep buried long tunnel and a long distance drilling provided in an embodiment of the present application;

[0050] Figure 4 A radar signal waveform diagram provided in an embodiment of the present application;

[0051] Figure 5 A schematic diagram of a drilling trajectory coordinate model provided in an embodiment of the present application;

[0052] Figure 6 A schematic diagram of a survey of multiple starting points provided in an embodiment of the present application;

[0053] Figure 7 A schematic diagram of transmitting and receiving electromagnetic wave signals by a radar device provided in an embodiment of the present application;

[0054] Figure 8 A schematic diagram of the structure of the construction equipment trajectory control device provided in this application;

[0055] Fig. 9 A schematic diagram of the structure of the construction equipment trajectory control device provided in this application.

[0056] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0057] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0058] Deep buried long tunnels will face construction problems such as mud and water gushing, hard rock rock burst and soft rock deformation during the construction of tunnel boring machines (TBMs), which will increase the risk of damage to TBM equipment and the safety of construction personnel. Geological surveys are required before tunnel construction. The existing survey methods are mainly geophysical and drilling methods. However, geophysical methods have the risk of misjudgment, and drilling methods require TBM equipment to be shut down, affecting the construction progress. In the prior art, a survey method is proposed to survey the geology through parallel advance drilling. However, the survey method proposed in the prior art does not control the advance drilling trajectory. As the drilling depth increases during the advancement of the drilling, there will be a deviation between the theoretical running trajectory and the actual running trajectory, resulting in a decrease in the accuracy of the survey.

[0059] In order to solve the above technical problems, the embodiments of the present application propose the following technical concepts: the inventor considers setting a radar device between the tunnel boring machine and the drilling equipment, emitting electromagnetic waves to the drilling equipment through the radar device, obtaining multiple groups of reflection times, obtaining the minimum reflection time and the corresponding target point after screening, considering obtaining the emission time and reflection time between the radar device and the target point, calculating and generating the distance between the radar device and the target point according to the emission time and reflection time, determining the angle information according to the reflection distance between the radar device and the target point, establishing a coordinate model according to the distance and angle information between the radar device and the target point, calculating the coordinate information of the target point through the coordinate model, considering setting the target point as the starting point, calculating the coordinate information of the running trajectory of the drilling equipment, and controlling the survey path of the drilling equipment. The following is a detailed description using a detailed embodiment.

[0060] Figure 1 Schematic diagram of the application scenario of the construction equipment trajectory control method provided in the embodiment of the present application. Figure 1 As shown, the scene includes: a tunnel boring machine 101 , a drilling device 102 and a radar device 103 .

[0061] like Figure 1 As shown, the radar device 103 is deployed behind the tunnel boring machine 101, between the tunnel boring machine 101 and the drilling device 102, and the reflection time of multiple groups of electromagnetic wave signals reflected by the drilling device 102 is obtained, and the minimum reflection time is screened to determine the position information of the drill rod of the drilling device 102 according to the minimum reflection time to obtain the target point. The emission time and reflection time between the radar device 103 and the target point are obtained, and the distance between the radar device 103 and the target point is calculated and generated. The angle information is calculated according to the reflection distance between the target point and the radar device 103. A coordinate model is established according to the angle information and the distance between the radar device 103 and the target point, and the coordinate information of the target point is calculated and generated. The coordinate information of the target point is set as the starting point coordinate of the coordinate model, and the coordinate information of the running track of the drilling device 102 is calculated according to the starting point coordinate, and the survey path of the drilling device 102 is controlled.

[0062] Figure 2 This is a flow chart of the construction equipment trajectory control method provided in this application. The execution subject of this embodiment can be a long tunnel construction system, which includes a tunnel boring machine, a drilling device and a radar device; this embodiment is not particularly limited here. Figure 2 As shown, the method includes:

[0063] S201: Acquire reflection time of multiple groups of electromagnetic wave signals, wherein the reflection time is generated by electromagnetic waves emitted by a radar device reflected at multiple locations of a drill rod in a drilling device.

[0064] In this embodiment, a bypass hole is excavated behind a tunnel boring machine in a deep and long tunnel, a drilling device is deployed in the bypass hole, the tunnel boring machine and the drilling device are constructed synchronously, and the drilling speed of the drilling device is set to be greater than the drilling speed of the tunnel boring machine.

[0065] In this embodiment, the drilling equipment includes but is not limited to long-distance directional drilling, drilling rigs and rotary drilling rigs.

[0066] In this embodiment, the radar device is deployed behind the tunnel boring machine, between the tunnel boring machine and the drilling equipment.

[0067] S202: Screening the reflection times of multiple groups of electromagnetic wave signals to obtain the minimum reflection time.

[0068] In this embodiment, the radar device transmits an electromagnetic wave signal. The drilling equipment includes equipment such as a drill bit and a drill rod. The electromagnetic wave is reflected back by the drill rod. Based on the time difference between the transmission and the reflection, the distance between each part of the drill rod and the emission source of the radar device can be calculated. By comparison, the shortest distance between the drill rod and the emission source can be found, and then the minimum reflection time can be obtained.

[0069] S203: Positioning the position information of the drill pipe according to the minimum reflection time to obtain the target point.

[0070] Figure 3 A schematic diagram of the simultaneous construction of a deep buried long tunnel and long distance drilling provided in an embodiment of the present application.

[0071] like Figure 3 As shown, in the figure, position M represents the radar device, point A represents the target point, and point O represents the drilling equipment.

[0072] S204: Acquire the time when the radar device transmits the electromagnetic wave signal to the target point.

[0073] In this embodiment, the types of radar devices include but are not limited to laser radar, microwave radar and frequency modulated continuous wave radar.

[0074] Figure 4 A radar signal waveform diagram provided in an embodiment of the present application.

[0075] In this embodiment, according to the transmission time of the electromagnetic wave signal transmitted by the radar device to the target point, the time-frequency relationship f of the transmitted signal is established. T (t).

[0076] In this embodiment, the frequency f of the transmitted signal T The relationship with time t is expressed as:

[0077]

[0078] Where f0 represents the initial frequency of the signal; B represents the signal bandwidth; T represents the signal scanning period.

[0079] S205: Obtain the reflection time of the electromagnetic wave signal reflected by the target point.

[0080] In this embodiment, the time-frequency relationship f of the received signal is established according to the time of reflection of the electromagnetic wave signal by the drilling equipment. R (t).

[0081] In this embodiment, the frequency f of the received signal R The relationship with time t is expressed as:

[0082]

[0083] Where f0 represents the initial frequency of the signal; B represents the signal bandwidth; T represents the signal scanning period; τ represents the signal delay.

[0084] S206: Calculate and generate the distance between the radar device and the target point according to the transmission time and the reflection time.

[0085] Specifically, a time-frequency relationship of the transmitted signal and a time-frequency relationship of the received signal are established, and the time-frequency relationship of the transmitted signal and the time-frequency relationship of the received signal are mixed and filtered to obtain the frequency of the intermediate frequency signal, and a signal delay is generated according to the frequency calculation of the intermediate frequency signal, and the signal delay is input into a distance calculation formula to calculate the distance between the radar device and the target point.

[0086] S207: Acquire the reflection distance between the target point and the radar device, and calculate and generate angle information between the radar device and the target point according to the reflection distance.

[0087] Specifically, the reflection distance between the target point and the first antenna and the second antenna in the radar device is obtained, a phase difference is calculated based on the reflection distance of the two antennas, and angle information between the radar device and the target point is calculated based on the phase difference.

[0088] S208: Establish a coordinate model according to the distance and angle information between the radar device and the target point, and calculate and generate the coordinate information of the target point.

[0089] In this embodiment, the calculation formula for calculating the coordinate information of the generated target point is:

[0090]

[0091] Where, X A Indicates the three-dimensional horizontal coordinate of the target point; Y A Indicates the three-dimensional vertical coordinate of the target point; Z A Indicates the three-dimensional vertical coordinate of the target point; L A Represents the distance from the origin to the target point; θ O Indicates the well inclination angle of the origin; θ A Indicates the well inclination angle of the target point; α O Indicates the azimuth of the origin; α A represents the azimuth of the target point; λ represents the magnetic declination; X O Represents the three-dimensional horizontal coordinate of the origin; Y O Represents the three-dimensional vertical coordinate of the origin; Z O The three-dimensional vertical coordinate representing the origin.

[0092] Figure 5 A schematic diagram of a drilling trajectory coordinate model provided in an embodiment of the present application.

[0093] In this embodiment, the coordinates of point O are set to (0,0,0).

[0094] S209: setting the coordinate information of the target point as the starting point coordinates of the coordinate model, and calculating and generating the coordinate information of the running track of the drilling equipment according to the starting point coordinates.

[0095] In this embodiment, Figure 3Point A in the figure is used as the starting point coordinate to eliminate the influence of the accumulated error of the OA segment L1 on the calculation of the drilling trajectory L2 after point A.

[0096] S210: Controlling the survey path of the drilling equipment according to the coordinate information of the running trajectory of the drilling equipment.

[0097] Figure 6 A schematic diagram of a survey of multiple starting points provided in an embodiment of the present application.

[0098] like Figure 6 As shown in Figure 2, there can be multiple starting point coordinates on a long-distance drilling trajectory, such as Figure 6 Point A and point B in.

[0099] It can be seen from the above embodiments that by setting a radar device in a long tunnel construction system, electromagnetic waves are emitted to the drilling equipment through the radar device, multiple groups of reflection times are obtained, the target point corresponding to the minimum reflection time is screened, and the emission time and reflection time between the electromagnetic wave signal and the target point are obtained, the distance between the radar device and the target point is calculated and generated, the angle information is determined according to the reflection distance between the radar device and the target point, a coordinate model is established according to the angle information and the distance between the radar device and the target point, the coordinate information of the target point is calculated, the coordinate information of the target point is set as the starting point coordinates, the coordinate information of the drilling equipment operation trajectory is calculated, the survey path of the drilling equipment is controlled, the survey path of the tunnel boring machine and the drilling equipment is guided, and the accuracy of the survey is improved.

[0100] In one embodiment of the present application, step S206 includes:

[0101] S2061: Generate a time-frequency relationship of the transmission signal according to the transmission time.

[0102] In this embodiment, according to the transmission time of the electromagnetic wave signal transmitted by the radar device to the target point, the time-frequency relationship f of the transmitted signal is established. T (t).

[0103] In this embodiment, the frequency f of the transmitted signal T The relationship with time t is expressed as:

[0104]

[0105] Where f0 represents the initial frequency of the signal; B represents the signal bandwidth; T represents the signal scanning period.

[0106] S2062: Generate a time-frequency relationship of the received signal according to the reflection time.

[0107] In this embodiment, the time-frequency relationship f of the received signal is established according to the time of reflection of the electromagnetic wave signal by the drilling equipment. R (t).

[0108] In this embodiment, the frequency f of the received signal R The relationship with time t is expressed as:

[0109]

[0110] Where f0 represents the initial frequency of the signal; B represents the signal bandwidth; T represents the signal scanning period; τ represents the signal delay.

[0111] S2063: Perform mixing filtering on the time-frequency relationship of the transmitted signal and the time-frequency relationship of the received signal to obtain the frequency of the intermediate frequency signal.

[0112] Specifically, the transmitting signal and the receiving signal are mixed to obtain an intermediate frequency signal, the clutter signal is filtered through a low-pass filter, and then the filtered signal is Fourier transformed to obtain a spectrum, and the peak in the spectrum is obtained to obtain the frequency f of the intermediate frequency signal. b .

[0113] S2064: Generate a signal delay according to the frequency calculation of the intermediate frequency signal.

[0114] In this embodiment, the calculation formula of the signal delay is as follows:

[0115]

[0116] In the formula, τ represents the signal delay; T represents the signal scanning period; B represents the bandwidth; f b Indicates the frequency of the intermediate frequency signal.

[0117] S2065: Input the signal delay into the distance calculation formula to calculate the distance between the radar device and the target point.

[0118] In this embodiment, the distance calculation formula is:

[0119]

[0120] Where R is the distance between the radar device and the target point; c is the speed of light; τ is the signal delay; T is the signal scanning period; B is the bandwidth; f b Indicates the frequency of the intermediate frequency signal.

[0121] It can be seen from the above embodiments that a time-frequency relationship is established by the emission time of the electromagnetic wave emitted between the radar device and the target point and the reflection time of the reflected electromagnetic wave. The clutter signal is filtered after mixing filtering to obtain the frequency of the intermediate frequency signal. The signal delay is calculated based on the frequency of the intermediate frequency signal to calculate the distance between the radar device and the target point. The mixing signal is filtered to improve the accuracy of the distance between the radar device and the target point.

[0122] In one embodiment of the present application, step S207 includes:

[0123] S2071: Obtain the reflection distance between the target point and the first antenna in the radar device.

[0124] Figure 7 A schematic diagram of a radar device transmitting and receiving electromagnetic wave signals according to an embodiment of the present application.

[0125] like Figure 7 As shown, after the transmitting antenna TX transmits a signal, the electromagnetic wave signal reflected by the target point is reflected to the receiving antenna RX1 and the receiving antenna RX2.

[0126] S2072: Obtain the reflection distance between the target point and the second antenna in the radar device.

[0127] In this embodiment, the first antenna and the second antenna are two adjacent receiving antennas.

[0128] S2073: Generate a phase difference based on the reflection distance of the first antenna and the reflection distance of the second antenna.

[0129] In this embodiment, the formula for calculating the generated phase difference is:

[0130]

[0131] In the formula, Δd represents the difference in propagation distances of the reflected signal of the same target to two adjacent receiving antennas, where Δd=lsinθ; λ represents the signal wavelength; l represents the distance between the first antenna and the second antenna.

[0132] S2074: Generate angle information between the radar device and the target point based on the phase difference calculation.

[0133] In this embodiment, the calculation formula for generating the angle information between the radar device and the target point according to the phase difference calculation is:

[0134]

[0135] In the formula, θ represents the angle information between the radar device and the target point; λ represents the signal wavelength; represents the phase difference; l represents the distance between the first antenna and the second antenna.

[0136] It can be seen from the above embodiments that by respectively calculating the distance between each antenna and the target point in the radar device, the phase difference is calculated and generated, and the angle information between the radar device and the target point is calculated based on the phase difference, the accuracy of the calculation is improved.

[0137] Figure 8 The structural diagram of the construction equipment trajectory control device provided in this application is as follows: Figure 8As shown, the construction equipment trajectory control device 80 provided in this embodiment includes: a first acquisition module 801, a screening module 802, a positioning module 803, a second acquisition module 804, a third acquisition module 805, a calculation module 806, a fourth acquisition module 807, an establishment module 808, a setting module 809 and a control module 810.

[0138] The first acquisition module 801 is used to acquire reflection time of multiple groups of electromagnetic wave signals, wherein the reflection time is generated by electromagnetic waves emitted by a radar device reflected from multiple positions of a drill rod in a drilling device.

[0139] The screening module 802 is used to screen the reflection time of multiple groups of electromagnetic wave signals to obtain the minimum reflection time.

[0140] The positioning module 803 is used to locate the position information of the drill pipe according to the minimum reflection time to obtain the target point.

[0141] The second acquisition module 804 is used to acquire the transmission time of the radar device transmitting the electromagnetic wave signal to the target point.

[0142] The third acquisition module 805 is used to acquire the reflection time of the electromagnetic wave signal reflected by the target point.

[0143] The calculation module 806 is used to calculate and generate the distance between the radar device and the target point according to the transmission time and the reflection time.

[0144] The fourth acquisition module 807 is used to acquire the reflection distance between the target point and the radar device, and calculate and generate the angle information between the radar device and the target point according to the reflection distance.

[0145] The establishment module 808 is used to establish a coordinate model according to the distance and angle information between the radar device and the target point, and calculate and generate the coordinate information of the target point.

[0146] The setting module 809 is used to set the coordinate information of the target point as the starting point coordinates of the coordinate model, and calculate and generate the coordinate information of the drilling equipment running track according to the starting point coordinates.

[0147] The control module 810 is used to control the survey path of the drilling equipment according to the coordinate information of the running trajectory of the drilling equipment.

[0148] In a possible implementation, the calculation module 806 includes:

[0149] The first generating unit 8061 is configured to generate a time-frequency relationship of a transmission signal according to the transmission time.

[0150] The second generating unit 8062 is configured to generate a time-frequency relationship of the received signal according to the reflection time.

[0151] The mixing and filtering unit 8063 is used to perform mixing and filtering on the time-frequency relationship of the transmitted signal and the time-frequency relationship of the received signal to obtain the frequency of the intermediate frequency signal.

[0152] The first calculation unit 8064 is used to calculate and generate a signal delay according to the frequency of the intermediate frequency signal.

[0153] The second calculation unit 8065 is used to input the signal delay into the distance calculation formula to calculate and generate the distance between the radar device and the target point.

[0154] In a possible implementation manner, the distance calculation formula in the second calculation unit 8065 is:

[0155]

[0156] Where R is the distance between the radar device and the target point; c is the speed of light; τ is the signal delay; T is the signal scanning period; B is the bandwidth; f b Indicates the frequency of the intermediate frequency signal.

[0157] In a possible implementation manner, the fourth acquisition module 807 includes:

[0158] The first acquisition unit 8071 is used to acquire the reflection distance between the target point and the first antenna in the radar device.

[0159] The second acquisition unit 8072 is used to acquire the reflection distance between the target point and the second antenna in the radar device.

[0160] The third calculation unit 8073 is configured to calculate and generate a phase difference according to the reflection distance of the first antenna and the reflection distance of the second antenna.

[0161] The fourth calculation unit 8074 is used to generate angle information between the radar device and the target point according to the phase difference calculation.

[0162] In a possible implementation manner, the calculation formula for generating the angle information between the radar device and the target point according to the phase difference calculation in the fourth calculation unit 8074 is:

[0163]

[0164] In the formula, θ represents the angle information between the radar device and the target point; λ represents the signal wavelength; represents the phase difference; l represents the distance between the first antenna and the second antenna.

[0165] In a possible implementation, the calculation formula for calculating the coordinate information of the target point in the establishment module 808 is:

[0166]

[0167] Where, X A Indicates the three-dimensional horizontal coordinate of the target point; Y A Indicates the three-dimensional vertical coordinate of the target point; Z A Indicates the three-dimensional vertical coordinate of the target point; L A Represents the distance from the origin to the target point; θ O Indicates the well inclination angle of the origin; θ A Indicates the well inclination angle of the target point; α O Indicates the azimuth of the origin; α A represents the azimuth of the target point; λ represents the magnetic declination; X O Represents the three-dimensional horizontal coordinate of the origin; Y O Represents the three-dimensional vertical coordinate of the origin; Z O The three-dimensional vertical coordinate representing the origin.

[0168] The construction equipment trajectory control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0169] Fig. 9 This is a schematic diagram of the structure of the construction equipment trajectory control device provided in this application. Fig. 9 As shown, the construction equipment trajectory control device 90 provided in this embodiment includes: at least one processor 901 and a memory 902. Optionally, the device 90 also includes a communication component 903. The processor 901, the memory 902 and the communication component 903 are connected via a bus 904.

[0170] In the specific implementation process, at least one processor 901 executes the computer execution instructions stored in the memory 902, so that at least one processor 901 executes the above-mentioned construction equipment trajectory control method.

[0171] The specific implementation process of the processor 901 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0172] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0173] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0174] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0175] The present application also provides a computer program product, including a computer program, which implements the above-mentioned construction equipment trajectory control method when executed by a processor.

[0176] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above-mentioned construction equipment trajectory control method is implemented.

[0177] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0178] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0179] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0180] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0181] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0182] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment 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.

[0183] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0184] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A construction equipment trajectory control method, characterized in that: Applicable to a long tunnel construction system, the long tunnel construction system includes a tunnel boring machine, a drilling device and a radar device; the tunnel boring machine and the drilling device are constructed in parallel; the method includes: Acquire reflection time of multiple groups of electromagnetic wave signals, wherein the reflection time is generated by the electromagnetic waves emitted by the radar device reflected from multiple locations of the drill rod in the drilling equipment; Screening the reflection times of the multiple groups of electromagnetic wave signals to obtain a minimum reflection time; Locate the position information of the drill pipe according to the minimum reflection time to obtain a target point; Acquire the time when the radar device transmits the electromagnetic wave signal to the target point; Acquire the reflection time of the electromagnetic wave signal reflected by the target point; Calculate and generate the distance between the radar device and the target point according to the emission time and the reflection time; Acquire a reflection distance between the target point and the radar device, and calculate and generate angle information between the radar device and the target point according to the reflection distance; Establishing a coordinate model according to the distance between the radar device and the target point and the angle information, and calculating and generating the coordinate information of the target point; The coordinate information of the target point is set as the starting point coordinates of the coordinate model, and the coordinate information of the running track of the drilling equipment is calculated and generated according to the starting point coordinates; The survey path of the drilling equipment is controlled according to the coordinate information of the running track of the drilling equipment.

2. The method according to claim 1, characterized in that The calculating and generating the distance between the radar device and the target point according to the emission time and the reflection time comprises: Generating a time-frequency relationship of a transmission signal according to the transmission time; Generating a time-frequency relationship of a received signal according to the reflection time; Performing mixing and filtering on the time-frequency relationship of the transmitted signal and the time-frequency relationship of the received signal to obtain the frequency of the intermediate frequency signal; Calculate and generate a signal delay according to the frequency of the intermediate frequency signal; The signal delay is input into a distance calculation formula to calculate and generate the distance between the radar device and the target point.

3. The method according to claim 2, characterized in that The distance calculation formula is: Where R is the distance between the radar device and the target point; c is the speed of light; τ is the signal delay; T is the signal scanning period; B is the bandwidth; f b Indicates the frequency of the intermediate frequency signal.

4. The method according to claim 1, characterized in that: The obtaining of the reflection distance between the target point and the radar device, and calculating and generating angle information between the radar device and the target point according to the reflection distance, includes: Obtaining a reflection distance between the target point and the first antenna in the radar device; Obtaining a reflection distance between the target point and a second antenna in the radar device; Calculating and generating a phase difference according to the reflection distance of the first antenna and the reflection distance of the second antenna; The angle information between the radar device and the target point is generated according to the phase difference calculation.

5. The method according to claim 4, characterized in that The calculation formula for generating the angle information between the radar device and the target point according to the phase difference is: In the formula, θ represents the angle information between the radar device and the target point; λ represents the signal wavelength; represents the phase difference; l represents the distance between the first antenna and the second antenna.

6. The method according to any one of claims 1 to 4, characterized in that: The calculation formula for calculating the coordinate information of the target point is: Where, X A Indicates the three-dimensional horizontal coordinate of the target point; Y A Indicates the three-dimensional vertical coordinate of the target point; Z A Indicates the three-dimensional vertical coordinate of the target point; L A Represents the distance from the origin to the target point; θ O Indicates the well inclination angle of the origin; θ A Indicates the well inclination angle of the target point; α O Indicates the azimuth of the origin; α A represents the azimuth of the target point; λ represents the magnetic declination; X O Represents the three-dimensional horizontal coordinate of the origin; Y O Represents the three-dimensional vertical coordinate of the origin; Z O The three-dimensional vertical coordinate representing the origin.

7. A construction equipment trajectory control device, characterized in that: Applicable to a long tunnel construction system, the long tunnel construction system includes a tunnel boring machine, a drilling device and a radar device; the tunnel boring machine and the drilling device are constructed in parallel; the device includes: A first acquisition module is used to acquire reflection time of multiple groups of electromagnetic wave signals, wherein the reflection time is generated by the electromagnetic waves emitted by the radar device reflected at multiple positions of the drill rod in the drilling equipment; A screening module, used for screening the reflection time of the plurality of groups of electromagnetic wave signals to obtain a minimum reflection time; A positioning module, used to locate the position information of the drill rod according to the minimum reflection time to obtain a target point; A second acquisition module is used to acquire the transmission time of the electromagnetic wave signal transmitted by the radar device to the target point; A third acquisition module is used to acquire the reflection time of the electromagnetic wave signal reflected by the target point; A calculation module, used for calculating and generating the distance between the radar device and the target point according to the emission time and the reflection time; a fourth acquisition module, configured to acquire a reflection distance between the target point and the radar device, and calculate and generate angle information between the radar device and the target point according to the reflection distance; An establishing module, used to establish a coordinate model according to the distance between the radar device and the target point and the angle information, and calculate and generate the coordinate information of the target point; A setting module, used to set the coordinate information of the target point as the starting point coordinates of the coordinate model, and calculate and generate the coordinate information of the running track of the drilling equipment according to the starting point coordinates; A control module is used to control the survey path of the drilling equipment according to the coordinate information of the running trajectory of the drilling equipment.

8. A construction equipment trajectory control device, characterized in that: include: at least one processor and memory; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the construction equipment trajectory control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the construction equipment trajectory control method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that It includes a computer program, which, when executed by a processor, implements the construction equipment trajectory control method described in any one of claims 1 to 6.

Images