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

Abstract

This application provides a method, device, equipment, medium, and program product for controlling the trajectory of construction equipment. By setting up a radar device in a long tunnel construction system, the radar device emits electromagnetic waves towards the drilling equipment, acquires multiple sets of reflection times, filters to obtain the target point corresponding to the minimum reflection time, and acquires the transmission and reflection times between the electromagnetic wave signal and the target point. The distance between the radar device and the target point is calculated, angle information is determined based on the reflection distance between the radar device and the target point, a coordinate model is established based on the angle information and the distance between the radar device and the target point, the coordinate information of the target point is calculated, and the coordinate information of the target point is set as the starting point coordinates. The coordinate information of the drilling equipment's running trajectory is calculated, controlling the exploration path of the drilling equipment and guiding the exploration path of the tunnel boring machine and the drilling equipment, thus improving the accuracy of the exploration.

Description

Technical Field

[0001] This application relates to the field of tunnel construction technology, and in particular to a method, device, equipment, medium, and program product for controlling the trajectory of construction equipment. Background Technology

[0002] Deeply buried long tunnels face challenges such as mudslides, water inrushes, rock bursts in hard rock, and deformation in soft rock during tunnel boring machine (TBM) construction. These challenges increase the risk of TBM damage and worker safety, necessitating geological surveys before tunnel construction. Current survey methods primarily involve geophysical exploration and drilling. However, geophysical methods carry the risk of misjudgment, while drilling requires the TBM to be shut down, impacting construction progress.

[0003] In the prior art, an exploration method has been proposed that uses parallel advanced drilling to explore the geology.

[0004] However, existing exploration methods do not control the pre-drilling trajectory. As the drilling depth increases during the drilling process, there will be deviations between the theoretical and actual operating trajectories, leading to a decrease in the accuracy of the exploration. Summary of the Invention

[0005] This application provides a method, device, equipment, medium, and program product for controlling the trajectory of construction equipment, in order to solve the problem of low accuracy of surveying during tunnel construction in the prior art.

[0006] In a first aspect, embodiments of this application provide a method for controlling the trajectory of construction equipment, applied to a long tunnel construction system, the long tunnel construction system including a tunnel boring machine, drilling equipment, and a radar device; the tunnel boring machine and the drilling equipment operate in parallel; the method includes:

[0007] The reflection time of multiple sets of electromagnetic wave signals is obtained, wherein the reflection time is generated by the reflection of electromagnetic waves emitted by the radar device at multiple locations of the drill rod in the drilling equipment;

[0008] By filtering the reflection times of the multiple sets of electromagnetic wave signals, the minimum reflection time is obtained;

[0009] The position information of the drill rod is located based on the minimum reflection time to obtain the target point;

[0010] The transmission time of the electromagnetic wave signal emitted by the radar device to the target point is obtained;

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

[0012] The distance between the radar device and the target point is calculated based on the emission time and the reflection time.

[0013] The reflection distance between the target point and the radar device is obtained, and the angle information between the radar device and the target point is calculated and generated based on the reflection distance.

[0014] A coordinate model is established based on the distance and angle information between the radar device and the target point, and the coordinate information of the target point is calculated and generated.

[0015] The coordinate information of the target point is set as the starting point coordinate of the coordinate model, and the coordinate information of the drilling equipment's running trajectory is calculated and generated based on the starting point coordinate.

[0016] The exploration path of the drilling equipment is controlled based on the coordinate information of the drilling equipment's operating trajectory.

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

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

[0019]

[0020] In the formula, R represents the distance between the radar device and the target point; c represents the speed of light; τ represents the signal delay; T represents the signal scanning period; B represents the bandwidth; f b This indicates the frequency of the intermediate frequency signal.

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

[0022] In one possible implementation, the calculation formula for generating the angle information between the radar device and the target point based on the phase difference is:

[0023]

[0024] In the formula, θ represents the angle between the radar device and the target point; λ represents the signal wavelength. 1 represents the phase difference; l represents the distance between the first antenna and the second antenna.

[0025] In one possible implementation, the formula for calculating the coordinate information of the target point is:

[0026]

[0027] In the formula, X A The x-coordinate of the target point; Y A Z represents the three-dimensional ordinate of the target point. A L represents the three-dimensional vertical coordinates of the target point. A θ represents the distance from the origin to the target point. O The inclination angle of the wellhead is represented by θ. A The well inclination angle representing the target point; α O The azimuth angle representing the origin; α A The azimuth of the target point is represented by λ; the magnetic declination is represented by X. O The x-coordinate of the origin; Y O Z represents the three-dimensional ordinate of the origin; O The three-dimensional vertical coordinates of the origin.

[0028] Secondly, embodiments of this application provide a construction equipment trajectory control device applied to a long tunnel construction system, the long tunnel construction system including a tunnel boring machine, drilling equipment, and a radar device; the tunnel boring machine and the drilling equipment operate in parallel; the device includes:

[0029] The first acquisition module is used to acquire the reflection time of multiple sets of electromagnetic wave signals, wherein the reflection time is generated by the reflection of electromagnetic waves emitted by the radar device at multiple locations of the drill rod in the drilling equipment.

[0030] The filtering module is used to filter the reflection times of the multiple sets of electromagnetic wave signals to obtain the minimum reflection time;

[0031] The positioning module is used to locate the position information of the drill rod based on the minimum reflection time to obtain the target point;

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

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

[0034] The calculation module is used to calculate and generate the distance between the radar device and the target point based on the transmission time and the reflection time;

[0035] The fourth acquisition module is used to acquire the reflection distance between the target point and the radar device, and to calculate and generate the angle information between the radar device and the target point based on the reflection distance;

[0036] A module is established to build a coordinate model based on the distance and angle information between the radar device and the target point, and to calculate and generate the coordinate information of the target point.

[0037] The setting module is used to set the coordinate information of the target point as the starting point coordinates of the coordinate model, and to calculate and generate the coordinate information of the drilling equipment's running trajectory based on the starting point coordinates;

[0038] The control module is used to control the exploration path of the drilling equipment based on the coordinate information of the drilling equipment's running trajectory.

[0039] Thirdly, embodiments of this application provide a construction equipment trajectory control device, comprising:

[0040] At least one processor and memory;

[0041] The memory stores computer-executed instructions;

[0042] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0043] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0044] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0045] The construction equipment trajectory control method, device, equipment, medium, and program products provided in this application embodiment, by setting up a radar device in the long tunnel construction system, transmitting electromagnetic waves to the drilling equipment through the radar device, acquiring multiple sets of reflection times, filtering to obtain the target point corresponding to the minimum reflection time, acquiring the transmission 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 angle information based on the reflection distance between the radar device and the target point, establishing a coordinate model based on 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's running trajectory, controlling the exploration path of the drilling equipment, guiding the exploration path of the tunnel boring machine and the drilling equipment, and improving the accuracy of exploration. Attached Figure Description

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

[0047] Figure 1 This is a schematic diagram illustrating an application scenario of the construction equipment trajectory control method provided in the embodiments of this application;

[0048] Figure 2 A flowchart illustrating the construction equipment trajectory control method provided in this application;

[0049] Figure 3 A schematic diagram illustrating the simultaneous construction of a deep-buried long tunnel and a long-distance borehole, as provided in an embodiment of this application;

[0050] Figure 4 Radar signal waveform diagram provided for embodiments of this application;

[0051] Figure 5 A schematic diagram of the calculation model for borehole trajectory coordinates provided in an embodiment of this application;

[0052] Figure 6 This is a schematic diagram of a multi-starting-point survey provided in an embodiment of this application;

[0053] Figure 7 A schematic diagram illustrating the transmission and reception of electromagnetic wave signals by a radar device provided in an embodiment of this application;

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

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

[0056] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0057] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0058] Deep-buried long tunnels face challenges such as mudslides, water inrushes, rock bursts in hard rock, and deformation in soft rock during tunnel boring machine (TBM) construction. These challenges increase the risk of TBM damage and worker safety, necessitating geological surveys before construction. Existing survey methods primarily involve geophysical exploration and drilling. However, geophysical methods carry the risk of misjudgment, while drilling requires TBM shutdown, impacting construction progress. A current technology proposes a survey method using parallel advance drilling. However, this method lacks control over the advance drilling trajectory. As the borehole depth increases, deviations occur between the theoretical and actual drilling trajectories, reducing survey accuracy.

[0059] To address the aforementioned technical problems, this application proposes the following technical concept: The inventors considered installing a radar device between the tunnel boring machine and the drilling equipment. The radar device emits electromagnetic waves towards the drilling equipment, acquiring multiple sets of reflection times. After filtering, the minimum reflection time and the corresponding target point are obtained. Considering the acquisition of the transmission and reflection times between the radar device and the target point, the distance between the radar device and the target point is calculated based on these times. Angle information is determined based on the reflection distance between the radar device and the target point. A coordinate model is established based on the distance and angle information between the radar device and the target point. The coordinate information of the target point is calculated using the coordinate model. Considering setting the target point as the starting point, the coordinate information of the drilling equipment's trajectory is calculated to control the exploration path of the drilling equipment. Detailed embodiments are described below.

[0060] Figure 1 This is a schematic diagram illustrating an application scenario of the construction equipment trajectory control method provided in the embodiments of this application. For example... Figure 1 As shown, the scene includes: a tunnel boring machine 101, a drilling equipment 102, and a radar device 103.

[0061] like Figure 1 As shown, radar device 103 is deployed behind tunnel boring machine 101, located between tunnel boring machine 101 and drilling equipment 102. It acquires the reflection times of multiple sets of electromagnetic wave signals reflected by drilling equipment 102, filters to obtain the minimum reflection time, and determines the position information of the drill rod of drilling equipment 102 based on the minimum reflection time, thus obtaining the target point. It acquires the transmission and reflection times between radar device 103 and the target point, calculates the distance between radar device 103 and the target point, calculates the angle information based on the reflection distance between the target point and radar device 103, establishes a coordinate model based on the angle information and the distance between radar device 103 and the target point, calculates the coordinate information of the target point, sets the target point coordinates as the starting point coordinates of the coordinate model, calculates the coordinate information of the drilling equipment 102's trajectory based on the starting point coordinates, and controls the exploration path of drilling equipment 102.

[0062] Figure 2 This is a flowchart illustrating the construction equipment trajectory control method provided in this application. The executing entity in this embodiment can be a long tunnel construction system, which includes a tunnel boring machine, drilling equipment, and a radar device; however, this embodiment does not impose any particular limitations. Figure 2 As shown, the method includes:

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

[0064] In this embodiment, a bypass tunnel is excavated behind the tunnel boring machine in the deep-buried long tunnel, and a drilling equipment is deployed in the bypass tunnel. The tunnel boring machine and the drilling equipment work synchronously, and the drilling speed of the drilling equipment 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: Filter the reflection times of multiple electromagnetic wave signals to obtain the minimum reflection time.

[0068] In this embodiment, the radar device emits electromagnetic wave signals. The drilling equipment includes a drill bit and a drill rod. The electromagnetic waves are reflected back by the drill rod. Based on the time difference between the emission and the reflection, the distance between each point on the drill rod and the radar device's emission source can be calculated. By comparison, the shortest distance between the drill rod and the emission source can be found, and thus the minimum reflection time can be obtained.

[0069] S203: Based on the position information of the drill pipe with the minimum reflection time, the target point is obtained.

[0070] Figure 3 This is a schematic diagram illustrating the simultaneous construction of a deep-buried long tunnel and a long-distance borehole, as provided in an embodiment of this application.

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

[0072] S204: Obtain the transmission time of the electromagnetic wave signal emitted by the radar device to the target point.

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

[0074] Figure 4 The radar signal waveform diagram provided in the embodiments of this application.

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

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

[0077]

[0078] In the formula, f0 represents the initial frequency of the signal; B represents the signal bandwidth; and T represents the signal scanning period.

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

[0080] In this embodiment, the time-frequency relationship f of the received signal is established based on the time of electromagnetic wave signal reflection 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] In the formula, f0 represents the initial frequency of the signal; B represents the signal bandwidth; T represents the signal scanning period; and τ represents the signal delay.

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

[0085] Specifically, the time-frequency relationship between the transmitted signal and the received signal is established. The time-frequency relationship between the transmitted signal and the received signal is mixed and filtered to obtain the frequency of the intermediate frequency signal. The signal delay is calculated based on the frequency of the intermediate frequency signal. The signal delay is then input into the distance calculation formula to calculate the distance between the radar device and the target point.

[0086] S207: Obtain 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 based on the reflection distance.

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

[0088] S208: Establish a coordinate model based on 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 formula for calculating the coordinate information of the generated target point is:

[0090]

[0091] In the formula, X A The x-coordinate of the target point; Y A Z represents the three-dimensional ordinate of the target point. A L represents the three-dimensional vertical coordinates of the target point. A θ represents the distance from the origin to the target point. O The inclination angle of the wellhead is represented by θ. A The well inclination angle representing the target point; α O The azimuth angle representing the origin; α A The azimuth of the target point is represented by λ; the magnetic declination is represented by X. O The x-coordinate of the origin; Y O Z represents the three-dimensional ordinate of the origin; O The three-dimensional vertical coordinates of the origin.

[0092] Figure 5 This is a schematic diagram of the calculation model for borehole trajectory coordinates provided in an embodiment of this application.

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

[0094] S209: 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's running trajectory based on the starting point coordinates.

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

[0096] S210: Control the exploration path of the drilling equipment based on the coordinate information of the drilling equipment's running trajectory.

[0097] Figure 6 A schematic diagram of a multi-starting-point survey provided for an embodiment of this application.

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

[0099] As can be seen from the above embodiments, by setting up a radar device in the long tunnel construction system, the radar device emits electromagnetic waves to the drilling equipment, obtains multiple sets of reflection times, filters out the target point corresponding to the minimum reflection time, and obtains the transmission time and reflection time between the electromagnetic wave signal and the target point. The distance between the radar device and the target point is calculated, the angle information is determined based on the reflection distance between the radar device and the target point, a coordinate model is established based on 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's running trajectory is calculated, the exploration path of the drilling equipment is controlled, and the exploration path of the tunnel boring machine and the drilling equipment is guided, thereby improving the accuracy of the exploration.

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

[0101] S2061: Generate the time-frequency relationship of the transmitted signal based on the transmission time.

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

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

[0104]

[0105] In the formula, f0 represents the initial frequency of the signal; B represents the signal bandwidth; and T represents the signal scanning period.

[0106] S2062: Generate the time-frequency relationship of the received signal based on the reflection time.

[0107] In this embodiment, the time-frequency relationship f of the received signal is established based on the time of electromagnetic wave signal reflection 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] In the formula, f0 represents the initial frequency of the signal; B represents the signal bandwidth; T represents the signal scanning period; and τ represents the signal delay.

[0111] S2063: 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.

[0112] Specifically, the transmitted and received signals are mixed to obtain an intermediate frequency (IF) signal. A low-pass filter is then used to filter out noise signals. Finally, a Fourier transform is performed on the filtered signal to obtain its spectrum. The peaks in the spectrum are then used to determine the frequency f of the IF signal. b .

[0113] S2064: Calculate the signal delay based on the frequency of the intermediate frequency signal.

[0114] In this embodiment, the formula for calculating 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 This indicates the frequency of the intermediate frequency signal.

[0117] S2065: Calculate the distance between the radar device and the target point using the signal delay input distance calculation formula.

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

[0119]

[0120] In the formula, R represents the distance between the radar device and the target point; c represents the speed of light; τ represents the signal delay; T represents the signal scanning period; B represents the bandwidth; f b This indicates the frequency of the intermediate frequency signal.

[0121] As can be seen from the above embodiments, a time-frequency relationship is established by the transmission time of the electromagnetic wave emitted between the radar device and the target point and the reflection time of the reflected electromagnetic wave. After mixing and filtering to filter out clutter signals, the frequency of the intermediate frequency signal is obtained. The signal delay is calculated based on the frequency of the intermediate frequency signal, and then the distance between the radar device and the target point is calculated. The mixing signal is filtered and processed, which improves the accuracy of the distance between the radar device and the target point.

[0122] In one embodiment of this 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 This is a schematic diagram illustrating the transmission and reception of electromagnetic wave signals by a radar device provided in an embodiment of this 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 antennas RX1 and 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: Calculate and generate the 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 distance between the reflected signal from the same target and the two adjacent receiving antennas, where Δd = lsinθ; λ represents the signal wavelength; and l represents the distance between the first antenna and the second antenna.

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

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

[0134]

[0135] In the formula, θ represents the angle between the radar device and the target point; λ represents the signal wavelength. 1 represents the phase difference; l represents the distance between the first antenna and the second antenna.

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

[0137] Figure 8 A schematic diagram of the construction equipment trajectory control device provided in this application is shown below. Figure 8As shown, the construction equipment trajectory control device 80 provided in this embodiment includes: a first acquisition module 801, a filtering 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 the reflection time of multiple sets of electromagnetic wave signals, wherein the reflection time is generated by the electromagnetic waves emitted by the radar device at multiple locations on the drill rod in the drilling equipment.

[0139] The filtering module 802 is used to filter the reflection times of multiple sets 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 rod based on the minimum reflection time and obtain the target point.

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

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

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

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

[0145] Module 808 is used to establish a coordinate model based on the distance and angle information between the radar device and the target point, and to 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 to calculate and generate the coordinate information of the drilling equipment's running trajectory based on the starting point coordinates.

[0147] The control module 810 is used to control the exploration path of the drilling equipment based on the coordinate information of the drilling equipment's running trajectory.

[0148] In one possible implementation, the computing module 806 includes:

[0149] The first generation unit 8061 is used to generate the time-frequency relationship of the transmitted signal based on the transmission time.

[0150] The second generation unit 8062 is used to generate the time-frequency relationship of the received signal based on the reflection time.

[0151] The mixing and filtering unit 8063 is used to mix and filter 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 the signal delay based on the frequency of the intermediate frequency signal.

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

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

[0155]

[0156] In the formula, R represents the distance between the radar device and the target point; c represents the speed of light; τ represents the signal delay; T represents the signal scanning period; B represents the bandwidth; f b This indicates the frequency of the intermediate frequency signal.

[0157] In one possible implementation, 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 used to calculate and generate the phase difference based on the reflection distance of the first antenna and the reflection distance of the second antenna.

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

[0162] In one possible implementation, the calculation formula for generating the angle information between the radar device and the target point based on the phase difference in the fourth calculation unit 8074 is as follows:

[0163]

[0164] In the formula, θ represents the angle between the radar device and the target point; λ represents the signal wavelength. 1 represents the phase difference; l represents the distance between the first antenna and the second antenna.

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

[0166]

[0167] In the formula, X A The x-coordinate of the target point; Y A Z represents the three-dimensional ordinate of the target point. A L represents the three-dimensional vertical coordinates of the target point. A θ represents the distance from the origin to the target point. O The inclination angle of the wellhead is represented by θ. A The well inclination angle representing the target point; α O The azimuth angle representing the origin; α A The azimuth of the target point is represented by λ; the magnetic declination is represented by X. O The x-coordinate of the origin; Y O Z represents the three-dimensional ordinate of the origin; O The three-dimensional vertical coordinates of 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 will not be described in detail here.

[0169] Figure 9 This is a structural schematic diagram of the construction equipment trajectory control device provided in this application. Figure 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 further includes a communication component 903. The processor 901, memory 902, and communication component 903 are connected via a bus 904.

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

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

[0172] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0173] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0174] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0175] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described construction equipment trajectory control method.

[0176] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described construction equipment trajectory control method.

[0177] The aforementioned 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0178] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from 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 reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0179] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

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

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

[0182] If a function is implemented as 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 this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0183] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0184] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A construction equipment trajectory control method characterized by, The application is applied to a long tunnel construction system, the long tunnel construction system comprises 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 comprises: acquiring reflection times of multiple groups of electromagnetic wave signals, wherein the reflection times are generated by multiple positions of a drill rod in the drilling device reflecting electromagnetic waves emitted by the radar device; screening the reflection times of the multiple groups of electromagnetic wave signals to obtain a minimum reflection time; positioning position information of the drill rod according to the minimum reflection time to obtain a target point; acquiring a transmission time of the radar device transmitting an electromagnetic wave signal to the target point; acquiring a reflection time of the target point reflecting the electromagnetic wave signal; calculating a distance between the radar device and the target point according to the transmission time and the reflection time; acquiring a reflection distance between the target point and the radar device, and calculating 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 coordinate information of the target point; setting the coordinate information of the target point as a starting point coordinate of the coordinate model, and calculating coordinate information of a running track of the drilling device according to the starting point coordinate; controlling a survey path of the drilling device according to the coordinate information of the running track of the drilling device; the calculating the distance between the radar device and the target point according to the transmission 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; mixing and filtering the time-frequency relationship of the transmission signal and the time-frequency relationship of the received signal to obtain a frequency of an intermediate frequency signal; calculating a signal time delay according to the frequency of the intermediate frequency signal; inputting the signal time delay into a distance calculation formula to calculate the distance between the radar device and the target point; the acquiring the reflection distance between the target point and the radar device, and the calculating the angle information between the radar device and the target point according to the reflection distance comprises: acquiring a reflection distance between the target point and a first antenna in the radar device; acquiring a reflection distance between the target point and a second antenna in the radar device; calculating a phase difference according to the reflection distance of the first antenna and the reflection distance of the second antenna; calculating the angle information between the radar device and the target point according to the phase difference.

2. The method of claim 1, wherein, the distance calculation formula is: In the formula, denotes the distance of the radar device from the target point; denotes the speed of light; denotes the signal time delay; denotes the signal scanning period; denotes the bandwidth; denotes the frequency of the intermediate frequency signal.

3. The method of claim 1, wherein, the calculation formula for calculating the angle information between the radar device and the target point according to the phase difference is: In the formula, represents the angle information of the radar device and the target point; represents the signal wavelength; represents the phase difference; represents the distance between the first antenna and the second antenna.

4. The method according to claim 1 or 2, characterized in that, the calculation formula for calculating the coordinate information of the target point is: wherein represents a three-dimensional horizontal coordinate of the target point; represents a three-dimensional vertical coordinate of the target point; represents a three-dimensional vertical coordinate of the target point; represents a distance from the origin to the target point; represents a deviation angle of the origin; represents a deviation angle of the target point; represents a azimuth angle of the origin; represents a azimuth angle of the target point; represents a magnetic declination angle; represents a three-dimensional horizontal coordinate of the origin; represents a three-dimensional vertical coordinate of the origin; represents a three-dimensional vertical coordinate of the origin.

5. A construction equipment trajectory control device characterized by comprising: The application is applied to a long tunnel construction system, the long tunnel construction system comprises 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 comprises: a first acquisition module, configured to acquire reflection times of multiple groups of electromagnetic wave signals, wherein the reflection times are generated by multiple positions of a drill rod in the drilling device reflecting electromagnetic waves emitted by the radar device; The screening module is configured to screen reflection time of the multiple groups of electromagnetic wave signals to obtain minimum reflection time. The positioning module is configured to position position information of the drill rod according to the minimum reflection time to obtain a target point. The second acquisition module is configured to acquire transmission time of the radar device transmitting electromagnetic wave signals to the target point. The third acquisition module is configured to acquire reflection time of the target point reflecting the electromagnetic wave signals. The calculation module is configured to calculate a distance between the radar device and the target point according to the transmission time and the reflection time. The fourth acquisition module is configured to acquire reflection distance between the target point and the radar device, and calculate angle information between the radar device and the target point according to the reflection distance. The establishment module is configured to establish a coordinate model according to the distance between the radar device and the target point and the angle information, and calculate coordinate information of the target point. The setting module is configured to set the coordinate information of the target point as starting point coordinates of the coordinate model, and calculate coordinate information of a drilling device running track according to the starting point coordinates. The control module is configured to control a survey path of the drilling device according to the coordinate information of the drilling device running track. The calculation module is specifically configured to generate a time-frequency relationship of a transmission signal according to the transmission time, generate a time-frequency relationship of a received signal according to the reflection time, perform frequency mixing filtering on the time-frequency relationship of the transmission signal and the time-frequency relationship of the received signal to obtain a frequency of an intermediate frequency signal, calculate a signal time delay according to the frequency of the intermediate frequency signal, and input the signal time delay into a distance calculation formula to calculate the distance between the radar device and the target point. The fourth acquisition module is specifically configured to acquire reflection distance between the target point and a first antenna in the radar device, acquire reflection distance between the target point and a second antenna in the radar device, calculate a phase difference according to the reflection distance of the first antenna and the reflection distance of the second antenna, and calculate the angle information between the radar device and the target point according to the phase difference.

6. A construction equipment track control apparatus characterized by comprising: Comprise: At least one processor and a memory; The memory stores computer execution instructions; The at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the construction equipment track control method in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the construction equipment track control method in any one of claims 1 to 4.

8. A computer program product, characterised in that, The computer program is executed by the processor to implement the construction equipment track control method in any one of claims 1 to 4.

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