Heading machine multi-source data fusion positioning method and device

Abstract

The invention provides a heading machine multi-source data fusion positioning method and equipment, and relates to the technical field of heading machine positioning. The method comprises the following steps: acquiring first coordinate data, second coordinate data and third coordinate data of a shield body of the heading machine; filtering the first coordinate data, the second coordinate data and the third coordinate data through a preset recursion model and a filtering algorithm to obtain state prediction data corresponding to the first coordinate data, the second coordinate data and the third coordinate data and the weight of each state prediction data; fusing the plurality of pieces of state prediction data and the weight of each piece of state prediction data to obtain target state prediction data; wherein the target state prediction data is used for indicating coordinate data of the shield body at the second moment. The method provided by the invention solves the problem of improving the accuracy and continuity of shield body positioning data on the premise of not being influenced by the type of the heading machine and the environment.

Description

Technical Field

[0001] The present application relates to the technical field of roadheader positioning, and particularly relates to a multi-source data fusion positioning method and device for a roadheader. Background Art

[0002] A roadheader is a special mechanical equipment for excavating tunnels in underground projects. It cuts rock and soil through a rotating cutterhead at the front end, and a conveying system transports the cut materials out of the working face to achieve continuous operation. Since the underground environment is complex, the precise positioning of the shield body of the roadheader is particularly important.

[0003] Currently, the positioning of roadheaders mainly relies on laser target guidance. However, only using laser target guidance has a single measurement method, is easily affected by the roadheader and the environment, and the data is prone to mutation, which affects the accuracy of the positioning data and cannot output continuous positioning data in real time.

[0004] Therefore, on the premise of being unaffected by the type of roadheader and the environment, improving the accuracy and continuity of the shield body positioning data is an urgent problem to be solved in the present application. Summary of the Invention

[0005] The present application provides a multi-source data fusion positioning method and device for a roadheader, which are used to improve the accuracy and continuity of the shield body positioning data on the premise of being unaffected by the type of roadheader and the environment.

[0006] In a first aspect, the present application provides a multi-source data fusion positioning method for a roadheader. The method is applied to a roadheader in a tunnel, and the method includes:

[0007] Obtain the first coordinate data, second coordinate data, and third coordinate data of the shield body of the roadheader; wherein, the first coordinate data is obtained through laser target navigation positioning, the second coordinate data is obtained through parallel cylinder resolution, and the third coordinate data is obtained through dead reckoning; the first coordinate data, second coordinate data, and third coordinate data all include the coordinates and attitude data at the first moment and the second moment respectively; the second moment is later than the first moment;

[0008] Through a preset recursive model and filtering algorithm, perform filtering processing on the first coordinate data, second coordinate data, and third coordinate data respectively to obtain the state prediction data corresponding to the first coordinate data, second coordinate data, and third coordinate data respectively, and the weight of each state prediction data;

[0009] Fuse and process multiple state prediction data and the weight of each state prediction data to obtain target state prediction data; wherein, the target state prediction data is used to indicate the coordinate data of the shield body at the second moment.

[0010] In a possible design, obtaining the first coordinate data, second coordinate data, and third coordinate data of the shield of a tunneling machine includes:

[0011] Obtaining the first coordinate data based on the first measurement data of a laser measuring instrument and the second measurement data of a laser target; wherein, the laser measuring instrument is installed on the tunnel wall, and the laser target is installed on the shield;

[0012] Obtaining the second coordinate data based on the fourth coordinate data of a pipe section and the stroke data of multiple hydraulic cylinders respectively; wherein, the multiple hydraulic cylinders are used to connect the shield and the pipe section;

[0013] Obtaining the third coordinate data based on the attitude data of an inertial navigation system and the stroke data of multiple hydraulic cylinders respectively; wherein, the inertial navigation system is installed on the shield.

[0014] In a possible design, the laser target includes an inclination sensor, a camera, and a prism;

[0015] The first measurement data is the coordinate of the prism measured by the laser measuring instrument;

[0016] The second measurement data includes: the azimuth data obtained by the camera measuring the laser refraction angle of the prism, the pitch angle data and roll angle data obtained by the inclination sensor, and the pre-calibrated position relationship data between the prism and the shield.

[0017] In a possible design, the fourth coordinate data includes the first end face coordinate and second end face coordinate of the shield at a first moment, and the third end face coordinate of the pipe section at the first moment; wherein, the second end face refers to the end face of the shield where multiple hydraulic cylinders are installed, and the third end face refers to the end face of the pipe section where multiple hydraulic cylinders are installed;

[0018] Obtaining the second coordinate data based on the fourth coordinate data of the pipe section and the stroke data of multiple hydraulic cylinders respectively includes:

[0019] Calculating the azimuth angle of the shield at the first moment based on the first end face coordinate and the second end face coordinate;

[0020] Calculating the first cylinder coordinates of multiple hydraulic cylinders respectively and the first unit normal vector based on the azimuth angle of the shield at the first moment and the second end face coordinate; wherein, the first cylinder coordinates are the coordinates of the corresponding hydraulic cylinders at the second end face at the first moment; the first unit normal vector is the unit normal vector of the second end face at the first moment;

[0021] Calculate the second cylinder coordinates of each of the multiple hydraulic cylinders and the coordinates of the third end face at the first moment based on the first cylinder coordinates of each of the multiple hydraulic cylinders and the first unit normal vector; wherein, the second cylinder coordinates are the coordinates of the multiple hydraulic cylinders on the third end face at the first moment; the coordinates of the third end face at the first moment are the center coordinates of the third end face.

[0022] Calculate the second coordinate data based on the stroke data of each of the multiple hydraulic cylinders, the second cylinder coordinates of each of the multiple hydraulic cylinders at the first moment, and the coordinates of the third end face at the first moment.

[0023] In a possible design, calculating the second coordinate data based on the stroke data of each of the multiple hydraulic cylinders, the second cylinder coordinates of each of the multiple hydraulic cylinders at the first moment, and the coordinates of the third end face at the first moment includes:

[0024] Calculate the third unit normal vector of the propulsion direction of each hydraulic cylinder according to the geometric relationship between the second end face and the propulsion directions of each of the multiple hydraulic cylinders; wherein, the third unit normal vector is the unit vector between the hydraulic cylinder and the second end face.

[0025] Calculate the third cylinder coordinates of each of the multiple hydraulic cylinders at the second moment based on the third unit normal vector and the second cylinder coordinates of each of the multiple hydraulic cylinders at the first moment; wherein, the third cylinder coordinates are the coordinates of the multiple hydraulic cylinders on the second end face at the second moment.

[0026] Calculate the second unit normal vector according to the coplanar relationship between the multiple hydraulic cylinders and the geometric relationship between the second end face and the propulsion directions of each of the multiple hydraulic cylinders; wherein, the second unit normal vector is the unit normal vector of the second end face at the second moment.

[0027] Calculate the stroke average value according to the stroke data of each of the multiple hydraulic cylinders; and calculate the coordinates of the second end face at the second moment based on the second unit normal vector, the coordinates of the third end face at the first moment, and the stroke average value.

[0028] Calculate the coordinates of the first end face at the second moment and the attitude data of the shield body at the second moment according to the geometric relationship between the first end face and the second end face, the second unit normal vector, and the coordinates of the second end face at the second moment.

[0029] In a possible design, obtaining the third coordinate data based on the attitude data of the inertial navigation system and the stroke data of each of the multiple hydraulic cylinders includes:

[0030] Obtain the stroke increment of the hydraulic cylinder from the first moment to the second moment according to the stroke average value.

[0031] Obtain the real-time attitude matrix of the shield body through the attitude data of the preset inertial navigation system;

[0032] Calculate the coordinate increment at the second moment through the real-time attitude matrix and the stroke increment of the hydraulic cylinder from the first moment to the second moment;

[0033] Obtain the respective coordinates of the third coordinate data of the inertial navigation system at the first moment, and calculate the respective coordinates and attitude data of the third coordinate data of the shield body at the second moment through the integral operation method.

[0034] In a possible design, after fusing multiple state prediction data and the weights of each state prediction data to obtain the target state prediction data, the method further includes:

[0035] Calculate the target weight prediction data of the shield body at the second moment according to the recursive model and the Kalman filtering algorithm;

[0036] Calculate the Mahalanobis distance between the target state prediction data and each state prediction data respectively to obtain the allocation coefficient;

[0037] Calculate multiple weight prediction data of the shield body at the third moment respectively according to the allocation coefficient, the recursive model and the Kalman filtering algorithm, so as to iteratively calculate the target state prediction data and the target weight prediction data at the third moment according to the target state prediction data and the target weight prediction data of the shield body at the second moment; wherein, the weight prediction data is the weight of each state prediction data; the third moment is later than the second moment.

[0038] In a second aspect, the present application provides a multi-source data fusion positioning device for a tunneling machine. The device is applied to a tunneling machine in a tunnel and includes a device body, a shield body and a pipe section;

[0039] The pipe section is installed with a data fusion processing device, and the data fusion processing device is used to implement a multi-source data fusion positioning method for a tunneling machine in the first aspect of the invention content.

[0040] In a possible design, the device further includes: a plurality of oil cylinders;

[0041] The plurality of oil cylinders are connected to the shield body and the pipe section; a stroke sensor is installed on each oil cylinder;

[0042] A laser target and an inertial navigation system are installed on the shield body, and a laser measuring instrument is installed on the pipe section;

[0043] The laser target and the inertial navigation system are communicatively connected through a secondary communication box.

[0044] In a possible design, the laser target includes an inclination sensor, a camera and a prism;

[0045] The pipe section is also equipped with a main communication box;

[0046] The main communication box is respectively communicatively connected to the secondary communication box and the data fusion processing device.

[0047] In a third aspect, the present application provides a multi-source data fusion positioning device for a roadheader, including:

[0048] An acquisition module, configured to acquire first coordinate data, second coordinate data, and third coordinate data of the shield of the roadheader; wherein, the first coordinate data is obtained through laser target navigation positioning, the second coordinate data is obtained through parallel cylinder calculation, and the third coordinate data is obtained through dead reckoning; the first coordinate data, the second coordinate data, and the third coordinate data all include the coordinates and attitude data at the first moment and the second moment respectively; the second moment is later than the first moment;

[0049] A processing module, configured to respectively perform filtering processing on the first coordinate data, the second coordinate data, and the third coordinate data through a preset recursive model and filtering algorithm to obtain state prediction data corresponding to the first coordinate data, the second coordinate data, and the third coordinate data respectively, and the weight of each state prediction data;

[0050] A result module, configured to perform fusion processing on multiple state prediction data and the weight of each state prediction data to obtain target state prediction data; wherein, the target state prediction data is used to indicate the coordinate data of the shield at the second moment.

[0051] In a fourth aspect, the present application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0052] The memory stores computer-executable instructions;

[0053] The processor executes the computer-executable instructions stored in the memory, and is used to implement a multi-source data fusion positioning method for a roadheader according to the invention content of the first aspect.

[0054] In a fifth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement a multi-source data fusion positioning method for a roadheader according to the invention content of the first aspect.

[0055] In a sixth aspect, the present application provides a computer program product, including: a computer program, and when the computer program is executed by a processor, it is used to implement a multi-source data fusion positioning method for a roadheader according to the invention content of the first aspect.

[0056] A method and device for multi-source data fusion positioning of a roadheader, which obtain the first coordinate data, second coordinate data, and third coordinate data of the shield body of the roadheader; respectively perform filtering processing on the first coordinate data, second coordinate data, and third coordinate data through a preset recursive model and filtering algorithm to obtain the state prediction data corresponding to the first coordinate data, second coordinate data, and third coordinate data respectively, and the weight of each state prediction data; perform fusion processing on multiple state prediction data and the weight of each state prediction data to obtain target state prediction data; wherein the target state prediction data is used to indicate the coordinate data of the shield body at the second moment. The following technical effects are achieved: The data obtained by three devices respectively are processed, overcoming the limitations of a single measurement method, enabling the data measurement method to be diversified and improving the reliability of the data; using the continuous navigation data of the inertial navigation system, the attitude and coordinate data can be output in real time; through the filtering algorithm and the recursive model, the three types of data are respectively fused and processed, so that the measurement data is not affected by the environment and the roadheader, has strong versatility, and improves the accuracy of the positioning data. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0058] Figure 1 It is a schematic diagram of the application scenario of the multi-source data fusion positioning method of the roadheader provided by the embodiment of the present application;

[0059] Figure 2 It is a schematic diagram of the structural layout of the multi-source data fusion positioning method of the roadheader provided by the embodiment of the present application;

[0060] Figure 3 It is a schematic diagram of the process of the multi-source data fusion positioning method of the roadheader provided by the embodiment of the present application Figure 1 ;

[0061] Figure 4 It is a schematic diagram of the process of the multi-source data fusion positioning method of the roadheader provided by the embodiment of the present application Figure 2 ;

[0062] Figure 5 It is a fusion schematic diagram of the multi-source data fusion positioning method of the roadheader provided by the embodiment of the present application;

[0063] Figure 6 It is a schematic diagram of the process of the multi-source data fusion positioning method of the roadheader provided by the embodiment of the present application Figure 3;

[0064] Figure 7 It is a working schematic diagram of the multi-source data fusion positioning method for the roadheader provided by the embodiment of the present application;

[0065] Figure 8 It is a flow schematic diagram of the multi-source data fusion positioning method for the roadheader provided by the embodiment of the present application Figure 4 ;

[0066] Figure 9 It is a structural schematic diagram of the multi-source data fusion positioning device for the roadheader provided by the embodiment of the present application;

[0067] Figure 10 It is a structural schematic diagram of the hardware of the electronic device provided by the embodiment of the present application.

[0068] Reference numerals:

[0069] 100 - Multi-source data fusion positioning device; 200 - Shield; 300 - Tunnel wall;

[0070] 110 - Laser target; 120 - Total station; 130 - Inertial navigation system; 140 - Hydraulic cylinder; 150 - Sub communication box; 160 - Main communication box; 170 - Data fusion processing device;

[0071] 910 - Acquisition module; 920 - Processing module; 930 - Result module;

[0072] 1000 - Electronic device; 1010 - Processor; 1020 - Memory; 1030 - Communication component; 1040 - Bus. Detailed implementation manners

[0073] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0074] In the embodiments of the present application, terms such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and effects. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and "first", "second", etc. do not necessarily mean different. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner. In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more.

[0075] It should be noted that "when... " in the embodiments of the present application can be the instant when a certain situation occurs, or it can be a period of time after a certain situation occurs. The embodiments of the present application do not make specific limitations on this. In addition, the multi-source data fusion positioning method for roadheaders provided in the embodiments of the present application is only an example, and the multi-source data fusion positioning method for roadheaders can also include more or less content.

[0076] To facilitate a clear description of the technical solutions of the embodiments of the present application, the following briefly introduces some terms and technologies involved in the embodiments of the present application:

[0077] Roadheader: A roadheader is a heavy machine used for underground excavation work and is widely used in fields such as mine exploitation and tunnel construction. It can cut tunnels or mine roadways in hard rock or soil layers. The working principle of a roadheader is to break rocks or soil through different types of cutting heads installed at its front end, and then remove the broken materials.

[0078] Roadheader shield: The roadheader shield refers to the shield used in a shield machine and is one of the key components of the entire machine. It mainly consists of a front shield, a middle shield, and a tail shield, and each part has its specific function.

[0079] Laser target: A laser target is a device used for precise measurement and guidance and is widely used in fields such as construction, tunnel boring, mine exploitation, and various engineering fields that require high-precision positioning. During the construction of a roadheader, especially when large underground construction machinery such as a shield machine is operating, the laser target is used in conjunction with a laser total station or a laser guidance system to ensure the accuracy of the tunneling direction.

[0080] Laser measuring instrument: A laser measuring instrument is a device that uses laser technology to accurately measure parameters such as distance, position, and angle. It is widely used in fields such as construction, industrial manufacturing, topographic surveying, interior design, and quality control, and can provide fast and highly accurate measurement results. In this application, a total station is used.

[0081] Kalman filter algorithm: The Kalman filter is an efficient recursive algorithm used to estimate the state of a dynamic system from a series of incomplete and noisy measurements. A prediction-update loop is used to estimate the state of the system.

[0082] Recursive model: A recursive model is a mathematical modeling method that predicts or estimates the future state of a system through a series of iterative calculations. The core idea of the recursive model is to decompose a complex problem into multiple simple steps, and the output of each step serves as the input for the next step. This method is widely used in various fields, including but not limited to control systems, time series analysis, signal processing, financial forecasting, etc.

[0083] A roadheader is a special mechanical equipment used for underground engineering to excavate tunnels. It cuts rock and soil through a rotating cutterhead at the front end, and a conveying system transports the cut materials out of the working face to achieve continuous operation. It is applied in various fields, such as the mining field and the tunnel construction field.

[0084] Because they all work underground and the underground working conditions are complex, the precise positioning of the roadheader shield is particularly important.

[0085] Currently, the main method for guiding and positioning existing roadheaders is laser target-based guidance, which only collects positioning data through a laser target and a laser measuring instrument.

[0086] However, only using the laser target-based guidance and positioning method is easily restricted by conditions such as the type and size of the roadheader and measurement sensors. The measurement data is prone to sudden changes, affecting the stability of the guidance pose data. The output data update period is long, and it is impossible to output positioning data in real time. Moreover, it is easily affected by the measurement environment, which may cause the laser target guidance system to be unable to update the pose data of the roadheader normally; the laser target-based guidance and positioning method has a single measurement method and low reliability.

[0087] Currently, the laser target-based guidance and positioning method is mostly used to achieve positioning, lacking an alternative measurement method for roadheader guidance.

[0088] Therefore, on the premise of being unaffected by the type of roadheader and the environment, improving the accuracy and continuity of the shield positioning data is an urgent problem to be solved in this application.

[0089] Based on this, the embodiments of this application provide a multi-source data fusion positioning method and device for roadheaders, which can be used in the field of roadheader positioning technology, aiming to solve the above technical problems in the prior art.

[0090] Figure 1 This is a schematic diagram of the application scenario of the multi-source data fusion positioning method for the roadheader provided by the embodiment of the present application. The application scenario architecture diagram can be used in the following various application scenarios, and can also be used in other application scenarios not specified.

[0091] As Figure 1 shown, a part of the multi-source data fusion positioning device 100 is installed on the shield body 200 of the roadheader, and a part of the device is in the control room, used to receive the data measured by the laser target, the parallel connection of the oil cylinders, and the inertial navigation system, perform fusion processing, and output positioning data.

[0092] The multi-source data fusion positioning device 100 works in the tunnel, and the tunnel wall 300 is the tunnel wall that the roadheader has worked on and formed.

[0093] Figure 2 This is a schematic diagram of the structural layout of the multi-source data fusion positioning method for the roadheader provided by the embodiment of the present application.

[0094] As Figure 2 shown, the hydraulic cylinder 140 connects the shield body 200 of the roadheader and the subsequent equipment of the shield body of the roadheader, and can realize the propulsion of the roadheader, and is used to provide strong thrust and control the tunneling direction. The hydraulic cylinder 140 is equipped with a stroke sensor.

[0095] A total station 120 is installed on the tunnel wall 300, which cooperates with the laser target 110 to obtain the positioning data measured by the laser target type guiding and positioning system, and transmits the positioning data to the data fusion processing device 170 through the secondary communication box 150 and the primary communication box 160. The total station 120 is arranged in the already formed tunnel and is used to measure the position and attitude information of the laser target 110.

[0096] The inertial navigation system 130 is used to measure the navigation data such as the position, speed, and attitude of the shield body 200 of the roadheader in real time. The inertial navigation system 130 can output positioning data in real time, and transmit the positioning data to the data fusion processing device 170 through the secondary communication box 150 and the primary communication box 160.

[0097] The laser target 110, the inertial navigation system 130, and the secondary communication box 150 are all installed on the shield body 200 of the roadheader.

[0098] The primary communication box 160 is arranged on the trolley in the tunnel to receive the data of the secondary communication box 150 and the stroke data of the propulsion cylinder. The data fusion processing device 170 is arranged in the control room, receives the data measured by the laser target measurement, the parallel connection of the oil cylinders measurement, and the inertial navigation system measurement, performs fusion processing, and outputs the accurate navigation and positioning result of the roadheader.

[0099] Figure 3 Flow schematic of the multi-source data fusion positioning method for a roadheader provided by an embodiment of the present application Figure 1 . As Figure 3 shown, the method includes:

[0100] S301. Obtain the first coordinate data, second coordinate data, and third coordinate data of the shield body of the roadheader.

[0101] Among them, the first coordinate data is obtained through laser target navigation positioning, the second coordinate data is obtained through parallel cylinder resolution, and the third coordinate data is obtained through dead reckoning; the first coordinate data, second coordinate data, and third coordinate data all include the coordinates and attitude data at the first moment and the second moment respectively; the second moment is later than the first moment.

[0102] Specifically, the first coordinate data, second coordinate data, and third coordinate data all include the center coordinates and attitude data of the shield head and shield tail at the first moment, and the center coordinates and attitude data of the shield head and shield tail at the second moment; among them, the first coordinate data, second coordinate data, and third coordinate data do not affect each other, and are respectively obtained by the laser target guiding positioning method, the parallel cylinder resolution navigation positioning method, and the inertial navigation system measurement.

[0103] The dip sensor, camera, and built-in prism are arranged inside the laser target. The laser target is installed inside the shield body of the roadheader, and the relative position relationship between the laser target and the front and rear centers of the shield body and the initial attitude angle are calibrated; the total station emits laser to obtain the prism coordinates, the camera detects the laser and obtains the azimuth data, and the built-in dip sensor obtains the pitch angle and roll angle data. Then, according to the initial calibrated relative relationship between the laser target and the front and rear centers of the shield body, as well as the real-time coordinates and attitude data of the laser target, the front and rear center coordinates and attitude of the shield body of the roadheader are calculated, that is, the first coordinate data.

[0104] The shield head plane is the front position end face of the shield body, the shield tail plane is the tail position end face of the shield body, and the static plane is the end face where the subsequent pipe section is connected to the hydraulic cylinder.

[0105] According to the known shield head center coordinates and shield tail center coordinates at the first moment, solve the shield body azimuth angle, the coordinates of the hydraulic cylinder in the shield tail plane, and the first unit normal vector of the shield tail plane. According to the foregoing known parameters, solve the cylinder coordinates of the hydraulic cylinder in the static plane and the center coordinates of the static plane at the first moment. According to the foregoing known parameters and the geometric relationship between the shield tail plane and the hydraulic cylinder, solve the coordinates of the hydraulic cylinder in the shield tail plane at the second moment of the shield tail plane and the second unit normal vector; and according to the second unit normal vector, the center coordinates of the static plane at the first moment, and the stroke data detected by the stroke sensor, calculate the second coordinate data at the second moment, that is, at the second moment, the coordinates of the shield tail plane, the attitude data, and the coordinates of the shield head plane.

[0106] The travel data detected by the travel sensor is used to solve the travel increment; through the inertial navigation system, the attitude matrix of the shield body of the tunneling machine is solved; the attitude matrix is used to convert the travel increment to obtain the coordinate increment; according to the coordinate increment and the third coordinate data at the first moment, through the integral operation method, the third coordinate data at the second moment is calculated, that is, the coordinates of the shield tail plane, the attitude data, and the coordinates of the shield head plane at the second moment.

[0107] S302. The first coordinate data, the second coordinate data, and the third coordinate data are respectively filtered through a preset recursive model and a filtering algorithm to obtain the state prediction data corresponding to the first coordinate data, the second coordinate data, and the third coordinate data respectively, and the weight of each state prediction data.

[0108] Specifically, the first coordinate data, the second coordinate data, and the third coordinate data at the second moment are respectively filtered and denoised through a preset recursive model and the Kalman filtering algorithm to obtain the state prediction data and the corresponding weight corresponding to the first coordinate data, the state prediction data and the corresponding weight corresponding to the second coordinate data, and the state prediction data and the corresponding weight corresponding to the third coordinate data.

[0109] S303. The multiple state prediction data and the weight of each state prediction data are fused to obtain the target state prediction data.

[0110] Among them, the target state prediction data is used to indicate the coordinate data of the shield body at the second moment.

[0111] Specifically, the state prediction data and the corresponding weight corresponding to the first coordinate data, the state prediction data and the corresponding weight corresponding to the second coordinate data, and the state prediction data and the corresponding weight corresponding to the third coordinate data are subjected to data fusion processing to obtain a target state prediction data and the target weight prediction data corresponding to the target state data, and the target state prediction data is determined as the positioning result at the second moment.

[0112] Among them, there are multiple target state prediction data, which are respectively the center coordinates of the shield head plane, the center coordinates of the shield tail plane, and the attitude data, and the corresponding target weight prediction data also includes multiple.

[0113] A multi-source data fusion positioning method for a roadheader provided by this application obtains the first coordinate data, second coordinate data, and third coordinate data of the shield of the roadheader; respectively performs filtering processing on the first coordinate data, second coordinate data, and third coordinate data through a preset recursive model and filtering algorithm to obtain the state prediction data corresponding to each of the first coordinate data, second coordinate data, and third coordinate data, and the weight of each state prediction data; performs fusion processing on multiple state prediction data and the weight of each state prediction data to obtain target state prediction data; wherein, the target state prediction data is used to indicate the coordinate data of the shield at the second moment. The following technical effects are achieved: The data obtained by three devices respectively are processed, overcoming the limitations of a single measurement method, enabling diverse data measurement methods and improving the reliability of the data; using the continuous navigation data of the inertial navigation system, the attitude and coordinate data can be output in real time; through the filtering algorithm and the recursive model, respectively performing fusion processing on the three types of data can make the measurement data unaffected by the environment and the roadheader, with strong versatility and improved accuracy of the positioning data.

[0114] Figure 4 It is a schematic flow chart of the multi-source data fusion positioning method for a roadheader provided by an embodiment of this application Figure 2 。This embodiment is based on Figure 3 On the basis of the embodiment, the specific steps of the multi-source data fusion positioning method for a roadheader are described in detail. As Figure 4 shown, a multi-source data fusion positioning method for a roadheader provided by this embodiment includes:

[0115] S401, S402, and S403 are measured simultaneously and independently of each other.

[0116] S401. Obtain the first coordinate data according to the first measurement data of the laser measuring instrument and the second measurement data of the laser target.

[0117] Among them, the laser measuring instrument is installed on the tunnel wall, and the laser target is installed on the shield.

[0118] Specifically, obtain the first coordinate data, second coordinate data, and third coordinate data of the shield of the roadheader; among them, the first coordinate data is obtained through laser target navigation positioning, the second coordinate data is obtained through parallel cylinder calculation, and the third coordinate data is obtained through dead reckoning; the first coordinate data, second coordinate data, and third coordinate data all include the coordinate and attitude data of the first moment and the second moment respectively; the second moment is later than the first moment.

[0119] The tilt sensor, camera, and built-in prism installed inside the laser target. The laser target is installed inside the shield body of the tunneling machine, and the relative position relationship between the laser target and the front and rear centers of the shield body and the initial attitude angles are calibrated; the total station emits laser to obtain the prism coordinates, that is, the first measurement data.

[0120] The camera detects the laser and obtains the azimuth angle data, and the built-in tilt sensor obtains the pitch angle and roll angle data, that is, the second measurement data. Then, according to the relative relationship between the laser target and the front and rear centers of the shield body obtained by the initial calibration, as well as the real-time coordinates and attitude data of the laser target, the coordinates and attitude of the front and rear centers of the shield body of the tunneling machine are calculated, that is, the first coordinate data.

[0121] In a possible design, the laser target includes a tilt sensor, a camera, and a prism;

[0122] Then the first measurement data is obtained by the laser measuring instrument measuring the coordinates of the prism;

[0123] The second measurement data includes: the azimuth angle data obtained by the camera measuring the laser refraction angle of the prism, the pitch angle data and roll angle data obtained by the tilt sensor, and the position relationship data between the prism and the shield body calibrated in advance.

[0124] Specifically, the laser target includes a tilt sensor, a camera, and a prism.

[0125] The total station emits laser to obtain the prism coordinates, that is, the total station obtains the prism coordinates;

[0126] The camera detects the laser and obtains the azimuth angle data, and the built-in tilt sensor obtains the pitch angle and roll angle data. That is, the laser target measures the azimuth angle data obtained by the camera measuring the laser refraction angle of the prism, the pitch angle data and roll angle data obtained by the tilt sensor, and the position relationship data between the prism and the shield body calibrated in advance.

[0127] S402. Obtain the second coordinate data according to the fourth coordinate data of the pipe section and the stroke data of each of the multiple hydraulic cylinders.

[0128] Among them, the multiple hydraulic cylinders are used to connect the shield body and the pipe section.

[0129] Specifically, the fourth coordinate data includes the first end face coordinates of the shield body at the first moment, the second end face coordinates, and the third end face coordinates of the pipe section at the first moment. The second end face of the shield body refers to the end face of the shield body where multiple hydraulic cylinders are installed, and the third end face refers to the end face of the pipe section where multiple hydraulic cylinders are installed.

[0130] Based on the first end face coordinates and the second end face coordinates known at the first moment, solve the azimuth angle of the shield body, the coordinates of the hydraulic cylinder on the second end face, and the first unit normal vector of the second end face. According to the aforementioned known parameters, solve the cylinder coordinates of the hydraulic cylinder in the static plane and the center coordinates of the static plane at the first moment. According to the aforementioned known parameters and the geometric relationship between the second end face and the hydraulic cylinder, solve the coordinates of the hydraulic cylinder on the second end face at the second moment and the second unit normal vector of the second end face; and according to the second unit normal vector, the center coordinates of the static plane at the first moment, and the stroke data detected by the stroke sensor, calculate the second coordinate data at the second moment, that is, at the second moment, the coordinates of the second end face, the attitude data, and the coordinates of the first end face.

[0131] S403. Obtain the third coordinate data based on the attitude data of the inertial navigation system and the respective stroke data of multiple hydraulic cylinders.

[0132] Among them, the inertial navigation system is installed on the shield body.

[0133] Obtain the respective stroke data of multiple hydraulic cylinders according to the stroke sensors installed on the hydraulic cylinders, and obtain the stroke increment.

[0134] Then, according to the real-time attitude matrix of the roadheader shield body output by the inertial navigation system installed on the shield body and the stroke increment, calculate the coordinate increment formula at the second moment.

[0135] According to the dead reckoning method, measure the coordinate data of the roadheader shield body measured by the inertial navigation system at the first moment; and through the integral operation method of the coordinate increment, obtain the shield head plane and shield tail plane coordinates and the attitude data of the roadheader shield body at the second moment, that is, the third coordinate data at the second moment.

[0136] S404. Respectively perform filtering processing on the first coordinate data, the second coordinate data, and the third coordinate data through a preset recursive model and filtering algorithm to obtain the state prediction data corresponding to the first coordinate data, the second coordinate data, and the third coordinate data respectively, and the weight of each state prediction data.

[0137] S405. Perform fusion processing on multiple state prediction data and the weight of each state prediction data to obtain the target state prediction data; among them, the target state prediction data is used to indicate the coordinate data of the shield body at the second moment.

[0138] The principles of S404 and S405 are the same as those of S302 and S303, and will not be elaborated here.

[0139] Technical effects provided by this embodiment: Through three measurement methods, the shield body is measured respectively, and positioning data is obtained, avoiding the inconvenience of using only laser target navigation positioning in the prior art. Even if the instrument is damaged, positioning data can still be output in real time.

[0140] To facilitate the explanation of this embodiment, a specific embodiment is introduced here:

[0141] Figure 5 It is a fusion schematic diagram of the multi-source data fusion positioning method for the roadheader provided by the embodiment of this application. As Figure 5 shown, X is the measurement value of each measurement method, X · is the estimated value of each filter, and P · is the weight of each sub-filter.

[0142] When performing data fusion, the coordinates and angles calculated by the recursive model are used as the reference system. The reference system is respectively combined with the laser target, the parallel of the oil cylinder, and the inertial navigation system to form three sub-filters based on the Kalman filter. The input of the sub-filter is the measurement value of each measurement method, and the output is the estimated value of each parameter and the weight of the data fusion. The main filter fuses the estimated values output by the three sub-filters according to the weight to obtain the optimal fusion value of the parameters.

[0143] The model of the roadheader pose Kalman filter is

[0144]

[0145] Among them, X k represents the state quantity at time k (X, Y, Z axes, azimuth angle, pitch angle, roll angle), F k|k-1 is the system matrix of the filter, W represents the system noise matrix, and follows the normal distribution of W~N(0,Q), Z k represents the observed value at time k, Q is the system covariance matrix. H represents the measurement matrix of the filter, V represents the measurement noise matrix of the filter, and follows the normal distribution of V~N(0,R), and R is the measurement covariance matrix.

[0146] In the formula,

[0147]

[0148] Based on the measurement data, filtering processing is performed:

[0149] The measurement data obtained by the above three methods are respectively subjected to Kalman filtering processing, and the filtering process is as follows:

[0150] State prediction:

[0151] X k|k-1 = F k|k-1 × Xk-1

[0152] Predicted mean squared error:

[0153]

[0154] Filter gain:

[0155] K k = P k|k-1 × H T (H × P k|k-1 × H T + R) -1

[0156] State estimation:

[0157]

[0158] Estimated mean squared error:

[0159] P K = (I - K k × H)P k|k-1

[0160] Based on the above process, execute the sub-filter data processing steps:

[0161] The first coordinate data at the second moment measured by the laser target navigation and positioning method is subjected to filtering and denoising processing through the recursive model and the Kalman filtering algorithm of sub-filter 1, and the state prediction data corresponding to the first coordinate data and the corresponding weights are output.

[0162] The second coordinate data at the second moment obtained by the navigation and positioning method of cylinder parallel calculation is subjected to filtering and denoising processing through the recursive model and the Kalman filtering algorithm of sub-filter 2, and the state prediction data corresponding to the second coordinate data and the corresponding weights are output.

[0163] The third coordinate data at the second moment obtained by the inertial navigation system is subjected to filtering and denoising processing through the recursive model and the Kalman filtering algorithm of sub-filter 3, and the state prediction data corresponding to the third coordinate data and the corresponding weights are output.

[0164] Main filter data fusion:

[0165] The state prediction data corresponding to the first coordinate data and the corresponding weights, the state prediction data corresponding to the second coordinate data and the corresponding weights, and the state prediction data corresponding to the third coordinate data and the corresponding weights are fused through the main filter.

[0166] The main filter fuses the data output by the sub-filters, and the fusion formula is

[0167] P -Hat=(P · -Lasertarget -1 +P · -Cylinder -1 +P · -Ins -1 ) -1

[0168] X -Hat =P -Hat (P · -Lasertarget -1 ×X · -Lasertarget +P · -Cylinder -1 ×X · -Cylinder +P · -Ins -1 ×X · -Ins )

[0169] wherein, X · is the estimated value of each filter, and P · is the weight of each sub-filter. X -Hat is the target state prediction data, and P -Hat is the target weight prediction data of the target state prediction data.

[0170] The technical effect provided by this embodiment is that: through the recursive model and the sub-filter, the measurement data of the three measurement methods are respectively filtered and denoised, making the data more accurate, and using the Kalman filter model, the error of the data is processed, making the data output by the sub-filter more accurate.

[0171] In a possible design, after fusing a plurality of state prediction data and the weight of each state prediction data to obtain the target state prediction data, the method further includes:

[0172] Calculating the target weight prediction data of the shield body at the second moment according to the recursive model and the Kalman filter algorithm;

[0173] Calculating the Mahalanobis distance between the target state prediction data and each state prediction data respectively to obtain the distribution coefficient;

[0174] According to the distribution coefficient, recurrence model, and Kalman filtering algorithm, multiple weight prediction data of the shield body at the third moment are calculated respectively, so as to iteratively calculate the target state prediction data and target weight prediction data at the third moment based on the target state prediction data and target weight prediction data of the shield body at the second moment; among them, the weight prediction data is the weight of each state prediction data; the third moment is later than the second moment.

[0175] Specifically, through the recurrence model and Kalman filtering algorithm, the target weight prediction data of the shield body at the second moment is calculated.

[0176] For specific illustrations, reference can be made to Figure 5 , as Figure 5 shown, X-Lasertarget is the first coordinate data obtained by the laser target measurement method, X-Cylinder is the second coordinate data obtained by the cylinder parallel resolution method, and X-Ins is the third coordinate data measured by the inertial navigation system. β i is the distribution coefficient, that is, the process data returned from the main filter to the sub-filter.

[0177] Select the state prediction data of the sub-filter, the target state prediction data and target weight prediction data after the main filter fusion, and calculate the Mahalanobis distance. The formula is as follows

[0178]

[0179] Among them, is the state estimate value of each sub-filter.

[0180] When eval is smaller, it indicates that the state estimate values of the sub-filter and the main filter are closer, indicating that the state estimation effect of this sub-filter is better.

[0181] Therefore, the distribution coefficient is calculated according to the Mahalanobis distance. The calculation formula is as follows

[0182]

[0183] According to the distribution coefficient, recurrence model, and Kalman filtering algorithm, the weight prediction data of multiple sub-filters of the shield body at the third moment are calculated respectively. The calculation formula is as follows

[0184]

[0185] Among them, P i,k is the covariance after distribution.

[0186] According to the above covariance, the covariance of each sub-filter can be updated, making the state prediction data output by each sub-filter at the third moment more accurate.

[0187] The technical effect provided by this embodiment is that, through the positioning data at the previous moment, the positioning data at the next moment can be updated, making the state prediction data output by each sub-filter more accurate and improving the accuracy of the positioning data.

[0188] Figure 6 It is a schematic flow chart of the multi-source data fusion positioning method for a roadheader provided by an embodiment of the present application Figure 3 。 Figure 7 It is a working schematic diagram of the multi-source data fusion positioning method for a roadheader provided by an embodiment of the present application. Based on the embodiment, step S402 is described in detail. As Figure 4 shown in and Figure 6 and Figure 7 shown, it includes:

[0189] S601. Calculate the azimuth angle of the shield body at the first moment according to the first end face coordinate and the second end face coordinate.

[0190] The fourth coordinate data includes the first end face coordinate and the second end face coordinate of the shield body at the first moment, and the third end face coordinate of the pipe section at the first moment; among them, the second end face of the shield body refers to the end face on the shield body where multiple hydraulic cylinders are installed, and the third end face refers to the end face on the pipe section where multiple hydraulic cylinders are installed. As Figure 7 shown, the first end face is the plane where H is located, the second end face is the plane where T is located, and the third end face is the plane where S is located.

[0191] Specifically, at the first moment, the coordinates of the first end face and the second end face are known, and the center of the first end face is O H0 , and the center of the second end face is O T0 .

[0192] Calculate the azimuth angle of the shield body at the first moment according to the first end face coordinate and the second end face coordinate.

[0193]

[0194] S602. Calculate the respective first cylinder coordinates of multiple hydraulic cylinders and the first unit normal vector according to the azimuth angle of the shield body at the first moment and the second end face coordinate.

[0195] Among them, the first cylinder coordinate is the coordinate of each corresponding hydraulic cylinder on the second end face at the first moment; the first unit normal vector is the unit normal vector of the second end face at the first moment.

[0196] Specifically, according to the azimuth angle of the shield body at the first moment and the center O T of the second end face, calculate the respective first cylinder coordinates of multiple hydraulic cylinders at the first moment. The formula is as follows

[0197]

[0198] Among them, is the coordinate of the i-th group of hydraulic cylinders on the second end face, R is the distribution radius of the hydraulic cylinders on the second end face, and α i is the distribution angle of the i-th group of hydraulic cylinders on the second end face, and b i is the included angle between the second end face and the azimuth angle of the shield body.

[0199] According to the first cylinder coordinates of the above-mentioned multiple hydraulic cylinders at the first moment, the initial unit normal vector N of the second end face is calculated 0 .

[0200] S603. According to the first cylinder coordinates of the multiple hydraulic cylinders and the first unit normal vector, the second cylinder coordinates of the multiple hydraulic cylinders and the coordinates of the third end face at the first moment are calculated.

[0201] Among them, the second cylinder coordinates are the coordinates of the multiple hydraulic cylinders on the third end face at the first moment; the coordinates of the third end face at the first moment are the center coordinates of the third end face.

[0202] Specifically, according to the initial stroke obtained by the stroke sensor, the average stroke is calculated, and together with the unit normal vector of the second end face, the second cylinder coordinates of the multiple hydraulic cylinders on the third end face and the center O of the coordinates of the third end face are calculated S .

[0203] Since the hydraulic cylinders are always perpendicular to the second end face, the second cylinder coordinates of the multiple hydraulic cylinders at the first moment can be obtained from the first cylinder coordinates of the multiple hydraulic cylinders at the first moment, the unit normal vector of the second end face, and the average stroke obtained by the stroke sensor

[0204]

[0205] Among them, is the coordinate of the i-th group of cylinders on the third end face, and L 0 is the average initial cylinder stroke.

[0206] And the center O of the third end face is calculated S .

[0207] S604. According to the geometric relationship between the second end face and the advancing directions of the multiple hydraulic cylinders respectively, the third unit normal vector of the advancing direction of each hydraulic cylinder is calculated.

[0208] Among them, the third unit normal vector is the unit vector of the hydraulic cylinder and the second end face.

[0209] Specifically, according to the stroke data of multiple hydraulic cylinders respectively, the coordinates of the third end face at the first moment, and the coordinates of the third end face at the first moment, the second coordinate data is calculated.

[0210] Since the hydraulic cylinders and the second end face are always perpendicular, the normal vector of the second end face is N 1 (A, B, C), and the unit normal vector n of the advancing direction of the hydraulic cylinder can be obtained 1 , that is, the third unit normal vector, and the formula is as follows

[0211]

[0212] S605. According to the third unit normal vector and the second cylinder coordinates of multiple hydraulic cylinders at the first moment respectively, the third cylinder coordinates of multiple hydraulic cylinders at the second moment are calculated.

[0213] Among them, the third cylinder coordinate is the coordinate of multiple hydraulic cylinders on the second end face at the second moment.

[0214] Specifically, according to the third unit normal vector and the second cylinder coordinates of multiple hydraulic cylinders at the first moment respectively, the third cylinder coordinates of multiple hydraulic cylinders at the second moment can be calculated respectively, and the calculation formula is as follows

[0215]

[0216] Among them, L i is the stroke of the i-th group of cylinders.

[0217] S606. According to the coplanar relationship between multiple hydraulic cylinders and the geometric relationship between the second end face and the advancing directions of multiple hydraulic cylinders respectively, the second unit normal vector is calculated.

[0218] Among them, the second unit normal vector is the unit normal vector of the second end face at the second moment.

[0219] Specifically, since the contact points of multiple hydraulic cylinders on the second end face are in a coplanar relationship, four coplanar equations can be listed and solved respectively to obtain the second unit normal vector of the second end face.

[0220] The normal vector equation of the second end face is

[0221] Ax + By + Cz + D = 0

[0222] And the constraint equation of the working space of the hydraulic cylinders for the tunneling machine advancing and the second end face is as follows

[0223]

[0224] According to the above four formulas, the second unit normal vector of the second end face is calculated.

[0225] S607. Calculate the average stroke based on the stroke data of multiple hydraulic cylinders respectively; and calculate the coordinates of the second end face at the second moment based on the second unit normal vector, the coordinates of the third end face at the first moment, and the average stroke.

[0226] Specifically, solve the average stroke L according to the stroke data detected by the stroke sensor.

[0227] And based on the average stroke L, the second unit normal vector, and the center O of the third end face S , the center coordinates O of the second end face can be obtained T1 , and the calculation formula is as follows

[0228]

[0229] S608. Calculate the coordinates of the first end face at the second moment and the attitude data of the shield body at the second moment based on the geometric relationship between the first end face and the second end face, the second unit normal vector, and the coordinates of the second end face at the second moment.

[0230] According to the geometric relationship between the first end face and the second end face of the shield body, the center coordinates of the second end face at the second moment can be calculated based on the above, and the center coordinates of the first end face at the second moment can be obtained, that is, the positioning data of the shield body is obtained.

[0231] In addition, the real-time attitude data of the shield body can be calculated according to the second unit normal vector of the second end face.

[0232] The technical effect provided by this embodiment is that through the cylinder parallel calculation method, the front and rear positions of the shield body and the attitude data are calculated, overcoming the limitations of a single measurement method and realizing high-precision navigation and positioning of the roadheader in a complex construction environment.

[0233] Figure 8 This is the flow schematic of the multi-source data fusion positioning method for the roadheader provided by the embodiment of the present application Figure 4 . Based on the Figure 4 embodiment, step S403 is described in detail. As Figure 8 shown, it includes:

[0234] S701. Obtain the stroke increment of the hydraulic cylinder from the first moment to the second moment according to the average stroke.

[0235] Specifically, solve the average stroke according to the stroke data detected by the stroke sensor.

[0236] According to the average stroke, obtain the stroke increment of the hydraulic cylinder from the first moment to the second moment, that is, the driving distance of the roadheader. Then the driving distance of the roadheader from the first moment to the second moment is expressed as

[0237] S = [S D 0 0] T

[0238] Wherein, S D is the forward stroke increment measured by the oil cylinder, and the rightward and upward stroke increments are both zero.

[0239] S702. Obtain the real-time attitude matrix of the shield body through the attitude data of the preset inertial navigation system.

[0240] Specifically, the inertial navigation system is installed inside the shield body of the tunneling machine. After the coordinate system of its inertial navigation system is calibrated with the coordinate system of the tunneling machine, the coordinate axes coincide.

[0241] After the inertial navigation system alignment is completed, it enters the navigation state and outputs the azimuth angle θ, pitch angle roll angle γ.

[0242] According to the above known parameters, select the geographic coordinate system as the navigation coordinate system, and the direction cosine matrix from the geographic coordinate system to the tunneling machine can be obtained, which is the real-time attitude matrix of the tunneling machine The calculation formula is as follows

[0243]

[0244] S703. Calculate the coordinate increment at the second moment through the real-time attitude matrix and the stroke increment of the hydraulic cylinder from the first moment to the second moment.

[0245] Specifically, through the above real-time attitude matrix Convert the stroke increment S to obtain the output of the hydraulic cylinder propulsion stroke increment in the navigation coordinate system, that is, the coordinate increments in three directions:

[0246]

[0247] Can be calculated to obtain

[0248]

[0249] Therefore, the coordinate increment formula at the i-th moment is as follows

[0250]

[0251] Among them, x i y i z i respectively represent the coordinate increments at the i-th moment, represents the stroke increment at the i-th moment.

[0252] S704. Obtain the respective coordinates of the inertial navigation system at the first moment of the third coordinate data, and calculate the respective coordinates and attitude data of the shield body at the second moment of the third coordinate data through integral operation methods.

[0253] Specifically, according to the dead reckoning method, measure the initial coordinates of the inertial navigation system, that is, the respective coordinates at the first moment of the third coordinate data.

[0254] Through the integral operation method of coordinate increments, the position coordinates of the roadheader at the second moment can be obtained, that is, the respective coordinates and attitude data of the shield body's third coordinate data at the second moment.

[0255] The technical effect provided by this embodiment is that through the continuous navigation data of the inertial navigation system, it makes up for the deficiency in the prior art that the attitude and coordinates cannot be continuously and real-time output.

[0256] This application embodiment also provides a multi-source data fusion positioning device for a roadheader. The device is applied to a roadheader in a tunnel and includes a device body, a shield body, and a pipe section.

[0257] The pipe section is equipped with a data fusion processing device, and the data fusion processing device is used to implement a multi-source data fusion positioning method for a roadheader.

[0258] Specifically, the multi-source data fusion positioning device for a roadheader includes: a device body, a shield body, and a pipe section.

[0259] The pipe section is the equipment behind the hydraulic cylinders of the roadheader and includes the subsequent equipment of the roadheader, a trolley arranged in the tunnel, and equipment such as a control room.

[0260] The data fusion processing device is arranged in the control room, receives the data from laser target measurement, parallel oil cylinder measurement, and inertial navigation system measurement, performs fusion processing, and outputs the accurate navigation and positioning result of the roadheader.

[0261] A multi-source data fusion positioning device for a roadheader provided in this embodiment can execute the multi-source data fusion positioning method for a roadheader in the above embodiment. Its implementation principle and technical effect are similar, and will not be elaborated here in this embodiment.

[0262] In a possible design, the device further includes: a plurality of oil cylinders;

[0263] The plurality of oil cylinders connect the shield body and the pipe section; a stroke sensor is installed on each oil cylinder;

[0264] A laser target and an inertial navigation system are installed on the shield body, and a laser measuring instrument is installed on the pipe section;

[0265] The laser target and the inertial navigation system are communicatively connected through a secondary communication box.

[0266] Specifically, the device further includes a plurality of hydraulic cylinders, which are installed between the shield of the tunneling machine and the subsequent equipment of the tunneling machine, used to connect the two and serve as a propulsion system to provide power for the movement of the shield. A stroke sensor is installed on each hydraulic cylinder.

[0267] A laser target and an inertial navigation system are installed on the shield, and a total station of a laser measuring instrument is installed on the tunnel wall for measuring positioning data.

[0268] The laser target and the inertial navigation system are connected through a secondary communication box, and the secondary communication box is installed on the shield.

[0269] The technical effect of a multi-source data fusion positioning device for a tunneling machine provided in this embodiment is that through the communication connection of the secondary communication box, the main communication box, and the data fusion processing device, the transmission of various data is realized, which is beneficial to data fusion processing.

[0270] In a possible design, the laser target includes an inclination sensor, a camera, and a prism;

[0271] The pipe section is also installed with a main communication box;

[0272] The main communication box is respectively in communication connection with the secondary communication box and the data fusion processing device.

[0273] Specifically, an inclination sensor, a camera, and a prism are installed inside the laser target for measuring and obtaining positioning data.

[0274] The trolley arranged in the tunnel of the pipe section is also installed with a main communication box. The main communication box is in communication connection with the secondary communication box to obtain the positioning data output by the laser target and the inertial navigation system; the main communication box is also in communication connection with the data fusion processing device in the control room to facilitate the transmission of the positioning data output by the laser target and the inertial navigation system to the data fusion processing device.

[0275] A multi-source data fusion positioning device for a tunneling machine provided in this embodiment can execute the multi-source data fusion positioning method of the tunneling machine in the above embodiment. The implementation principle and technical effect are similar, and will not be elaborated here in this embodiment.

[0276] Embodiments of the present invention can divide the functional modules of an electronic device or a main control device according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of the present invention is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0277] Figure 9This is a schematic structural diagram of the multi-source data fusion positioning device for a roadheader provided by an embodiment of the present application. As Figure 9 shown, the multi-source data fusion positioning device for a roadheader includes an acquisition module 910, a processing module 920, and a result module 930.

[0278] The acquisition module 910 is configured to acquire first coordinate data, second coordinate data, and third coordinate data of the shield of the roadheader; wherein, the first coordinate data is obtained through laser target navigation positioning, the second coordinate data is obtained through parallel oil cylinder resolution, and the third coordinate data is obtained through dead reckoning; the first coordinate data, the second coordinate data, and the third coordinate data all include the coordinates and attitude data at the first moment and the second moment respectively; the second moment is later than the first moment.

[0279] The processing module 920 is configured to perform filtering processing on the first coordinate data, the second coordinate data, and the third coordinate data respectively through a preset recursive model and filtering algorithm to obtain the state prediction data corresponding to the first coordinate data, the second coordinate data, and the third coordinate data respectively, and the weight of each state prediction data.

[0280] The result module 930 is configured to perform fusion processing on multiple state prediction data and the weight of each state prediction data to obtain target state prediction data; wherein, the target state prediction data is used to indicate the coordinate data of the shield at the second moment.

[0281] In a possible design, the acquisition module 910 includes:

[0282] The first coordinate module is configured to obtain the first coordinate data according to the first measurement data of the laser measuring instrument and the second measurement data of the laser target; wherein, the laser measuring instrument is installed on the tunnel wall, and the laser target is installed on the shield.

[0283] The second coordinate module is configured to obtain the second coordinate data according to the fourth coordinate data of the pipe section and the stroke data of each of the multiple hydraulic cylinders; wherein, the multiple hydraulic cylinders are used to connect the shield and the pipe section.

[0284] The third coordinate module is configured to obtain the third coordinate data according to the attitude data of the inertial navigation system and the stroke data of each of the multiple hydraulic cylinders; wherein, the inertial navigation system is installed on the shield.

[0285] In a possible design, the laser target includes an inclination sensor, a camera, and a prism;

[0286] Then the first measurement data is the coordinate of the prism measured by the laser measuring instrument.

[0287] The second measurement data includes: the azimuth data obtained by the camera measuring the laser refraction angle of the prism, the pitch angle data and the roll angle data obtained by the inclination sensor, and the pre-calibrated position relationship data between the prism and the shield body.

[0288] In a possible design, the fourth coordinate data includes the first end face coordinates of the shield body at the first moment, the second end face coordinates, and the third end face coordinates of the pipe segment at the first moment; wherein, the second end face of the shield body refers to the end face of the shield body where a plurality of hydraulic cylinders are installed, and the third end face refers to the end face of the pipe segment where a plurality of hydraulic cylinders are installed;

[0289] The second coordinate module includes:

[0290] The azimuth module is used to calculate the azimuth of the shield body at the first moment according to the first end face coordinates and the second end face coordinates;

[0291] The first cylinder coordinate module is used to calculate the respective first cylinder coordinates of a plurality of hydraulic cylinders at the first moment and the first unit normal vector according to the azimuth of the shield body at the first moment and the second end face coordinates; wherein, the first cylinder coordinate is the coordinate of a plurality of hydraulic cylinders at the first moment on the second end face; the first unit normal vector is the unit normal vector of the second end face at the first moment;

[0292] The second cylinder coordinate module is used to calculate the respective second cylinder coordinates of a plurality of hydraulic cylinders at the first moment and the coordinates of the third end face at the first moment according to the respective first cylinder coordinates of a plurality of hydraulic cylinders at the first moment and the first unit normal vector; wherein, the second cylinder coordinate is the coordinate of a plurality of hydraulic cylinders at the first moment on the third end face; the coordinate of the third end face at the first moment is the center coordinate of the third end face;

[0293] The second data calculation module is used to calculate the second coordinate data according to the stroke data of a plurality of hydraulic cylinders, the respective second cylinder coordinates of a plurality of hydraulic cylinders at the first moment, and the coordinates of the third end face at the first moment.

[0294] In a possible design, the second calculation module includes:

[0295] The first normal vector module is used to calculate the third unit normal vector of the propulsion direction of each hydraulic cylinder according to the geometric relationship between the second end face and the respective propulsion directions of a plurality of hydraulic cylinders; wherein, the third unit normal vector is the unit vector between the hydraulic cylinder and the second end face;

[0296] The third hydraulic cylinder coordinate module is used to calculate the third hydraulic cylinder coordinates of multiple hydraulic cylinders at the second moment based on the third unit normal vector and the second hydraulic cylinder coordinates of multiple hydraulic cylinders at the first moment respectively; wherein, the third hydraulic cylinder coordinates are the coordinates of multiple hydraulic cylinders on the second end face at the second moment.

[0297] The second normal vector calculation module is used to calculate the second unit normal vector according to the coplanar relationship between multiple hydraulic cylinders and the geometric relationship between the second end face and the advancing directions of multiple hydraulic cylinders respectively; wherein, the second unit normal vector is the unit normal vector of the second end face at the second moment.

[0298] The mean value calculation module is used to calculate the mean value of the strokes according to the stroke data of multiple hydraulic cylinders respectively; and calculate the coordinates of the second end face at the second moment according to the second unit normal vector, the coordinates of the third end face at the first moment and the mean value of the strokes.

[0299] The second coordinate calculation module is used to calculate the coordinates of the first end face at the second moment and the attitude data of the shield body at the second moment according to the geometric relationship between the first end face and the second end face, the second unit normal vector and the coordinates of the second end face at the second moment.

[0300] In a possible design, the third coordinate module includes:

[0301] The increment calculation module is used to obtain the stroke increment of the hydraulic cylinder from the first moment to the second moment according to the mean value of the strokes.

[0302] The attitude matrix module is used to obtain the real-time attitude matrix of the shield body through the attitude data of the preset inertial navigation system.

[0303] The coordinate increment module is used to calculate the coordinate increment at the second moment through the real-time attitude matrix and the stroke increment of the hydraulic cylinder from the first moment to the second moment.

[0304] The third coordinate calculation module is used to obtain the respective coordinates of the third coordinate data of the inertial navigation system at the first moment, and calculate the respective coordinates and attitude data of the third coordinate data of the shield body at the second moment through the integral operation method.

[0305] In a possible design, the multi-source data fusion positioning device of the tunneling machine further includes:

[0306] The weight prediction module is used to calculate the target weight prediction data of the shield body at the second moment according to the recursive model and the Kalman filtering algorithm.

[0307] The coefficient calculation module is used to calculate the Mahalanobis distance between the target state prediction data and each state prediction data respectively to obtain the allocation coefficient.

[0308] An update weight module is used to calculate multiple weight prediction data of the shield body at the third moment respectively according to the distribution coefficient, the recurrence model, and the Kalman filtering algorithm, so as to iteratively calculate the target state prediction data and the target weight prediction data at the third moment according to the target state prediction data and the target weight prediction data of the shield body at the second moment; wherein, the weight prediction data is the weight of each state prediction data; the third moment is later than the second moment.

[0309] The tunneling machine multi-source data fusion positioning device provided in this embodiment can execute the tunneling machine multi-source data fusion positioning method of the above embodiment. The implementation principle and technical effect are similar, and will not be elaborated here in this embodiment.

[0310] In the specific implementation of the foregoing tunneling machine multi-source data fusion positioning method, each module can be implemented as a processor, and the processor can execute computer execution instructions stored in the memory, so that the processor executes the above-mentioned tunneling machine multi-source data fusion positioning method.

[0311] Figure 10 This is a schematic structural diagram of the hardware of the electronic device provided in the embodiment of the present application. As Figure 10 shown, the electronic device includes: at least one processor 1010 and a memory 1020. The electronic device also includes a communication component 1030. Among them, the processor 1010, the memory 1020, and the communication component 1030 are connected through a bus 1040.

[0312] In the specific implementation process, at least one processor 1010 executes the computer execution instructions stored in the memory 1020, so that at least one processor 1010 executes a tunneling machine multi-source data fusion positioning method executed on the electronic device side as above.

[0313] The specific implementation process of the processor 1010 can refer to the above method embodiment. The implementation principle and technical effect are similar, and will not be elaborated here in this embodiment.

[0314] In the above embodiment, it should be understood that the processor may be a central processing unit (English: Central Processing Unit, abbreviated: CPU), and may also be other general-purpose processors, digital signal processors (English: Digital Signal Processor, abbreviated: DSP), application specific integrated circuits (English: Application Specific Integrated Circuit, abbreviated: ASIC), etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor.

[0315] The memory may include high-speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.

[0316] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the buses in the drawings of this application are not limited to only one bus or one type of bus.

[0317] The functions implemented for the electronic device and the main control device are introduced for the solution provided by the embodiments of the present invention. It can be understood that in order for the electronic device or the main control device to implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Combining the units and algorithm steps of each example described in the embodiments disclosed in the embodiments of the present invention, the embodiments of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiments of the present invention.

[0318] This application also provides a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When the computer-executable instructions are executed by a processor, they are used to implement a multi-source data fusion positioning method for a roadheader as described above.

[0319] The above-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof.

[0320] 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 accessible by a general or special purpose computer.

[0321] An exemplary readable storage medium is coupled to the processor such 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 (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a master device.

[0322] The present application also provides a computer program product, which includes: a computer program stored in a readable storage medium. At least one processor of the electronic device can read the computer program from the readable storage medium. When the computer program is executed by the processor, it is used to implement the above-mentioned method for multi-source data fusion positioning of a roadheader.

[0323] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments; and the foregoing storage medium includes various media such as ROM, RAM, magnetic disk, or optical disc that can store program codes. So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present application.

Claims

1. A multi-source data fusion positioning method for a roadheader, characterized in that: The method is applied to a tunnel boring machine in a tunnel, and the method comprises: Acquire first coordinate data, second coordinate data and third coordinate data of the shield of the tunnel boring machine; wherein, the first coordinate data is obtained by laser target navigation positioning, the second coordinate data is obtained by cylinder parallel solution, and the third coordinate data is obtained by dead reckoning; the first coordinate data, the second coordinate data and the third coordinate data all include coordinate and posture data of the first moment and the second moment respectively; the second moment is later than the first moment; By using a preset recursive model and filtering algorithm, the first coordinate data, the second coordinate data and the third coordinate data are filtered respectively to obtain state prediction data corresponding to the first coordinate data, the second coordinate data and the third coordinate data, respectively, and a weight of each state prediction data; The plurality of state prediction data and the weight of each state prediction data are fused to obtain target state prediction data; wherein the target state prediction data is used to indicate the coordinate data of the shield body at the second moment.

2. The method according to claim 1, characterized in that The step of obtaining the first coordinate data, the second coordinate data and the third coordinate data of the shield of the tunnel boring machine includes: The first coordinate data is obtained according to the first measurement data of the laser measuring instrument and the second measurement data of the laser target; wherein the laser measuring instrument is installed on the tunnel wall, and the laser target is installed on the shield body; The second coordinate data is obtained according to the fourth coordinate data of the pipe section and the stroke data of each of the plurality of hydraulic cylinders; wherein the plurality of hydraulic cylinders are used to connect the shield body and the pipe section; The third coordinate data is obtained according to the posture data of the inertial navigation system and the stroke data of each of the plurality of hydraulic cylinders; wherein the inertial navigation system is installed on the shield body.

3. The method according to claim 2, characterized in that The laser target includes a tilt sensor, a camera and a prism; Then the first measurement data is obtained by measuring the coordinates of the prism by the laser measuring instrument; The second measurement data includes: azimuth angle data obtained by the camera measuring the laser refraction angle of the prism, pitch angle data and roll angle data obtained by the inclination sensor, and pre-calibrated positional relationship data between the prism and the shield body.

4. The method according to claim 2, characterized in that: The fourth coordinate data includes the first end face coordinates and the second end face coordinates of the shield body at the first moment, and the third end face coordinates of the pipe segment at the first moment; wherein the second end face refers to the end face of the shield body on which the multiple hydraulic cylinders are installed, and the third end face refers to the end face of the pipe segment on which the multiple hydraulic cylinders are installed; The second coordinate data is obtained according to the fourth coordinate data of the pipe section and the stroke data of each of the plurality of hydraulic cylinders, including: Calculating the azimuth of the shield at the first moment according to the first end face coordinates and the second end face coordinates; According to the azimuth angle and the second end face coordinates of the shield body at the first moment, the first cylinder coordinates of each of the multiple hydraulic cylinders and the first unit normal vector are calculated; wherein the first cylinder coordinates are the coordinates of the multiple corresponding hydraulic cylinders at the second end face at the first moment; the first unit normal vector is the unit normal vector of the second end face at the first moment; According to the first cylinder coordinates of each of the plurality of hydraulic cylinders and the first unit normal vector, the second cylinder coordinates of each of the plurality of hydraulic cylinders and the coordinates of the third end face at the first moment are calculated; wherein the second cylinder coordinates are the coordinates of the plurality of hydraulic cylinders at the third end face at the first moment; the coordinates of the third end face at the first moment are the coordinates of the center of the third end face; The second coordinate data is calculated based on the stroke data of each of the multiple hydraulic cylinders, the second cylinder coordinates of each of the multiple hydraulic cylinders at the first moment, and the coordinates of the third end surface at the first moment.

5. The method according to claim 4, characterized in that The second coordinate data is calculated based on the stroke data of each of the plurality of hydraulic cylinders, the second cylinder coordinates of each of the plurality of hydraulic cylinders at the first moment, and the coordinates of the third end surface at the first moment, including: According to the geometric relationship between the second end surface and the respective propulsion directions of the plurality of hydraulic cylinders, a third unit normal vector of the propulsion direction of each hydraulic cylinder is calculated; wherein the third unit normal vector is a unit vector between the hydraulic cylinder and the second end surface; According to the third unit normal vector and the respective second cylinder coordinates of the plurality of hydraulic cylinders at the first moment, the respective third cylinder coordinates of the plurality of hydraulic cylinders at the second moment are calculated; wherein the third cylinder coordinates are the coordinates of the plurality of hydraulic cylinders at the second end surface at the second moment; The second unit normal vector is calculated based on the coplanar relationship between the plurality of hydraulic cylinders and the geometric relationship between the second end surface and the respective propulsion directions of the plurality of hydraulic cylinders; wherein the second unit normal vector is the unit normal vector of the second end surface at the second moment; Calculate a stroke mean according to the stroke data of each of the plurality of hydraulic cylinders; and calculate a coordinate of the second end face at the second moment according to the second unit normal vector, the coordinate of the third end face at the first moment, and the stroke mean; The coordinates of the first end face at the second moment and the posture data of the shield body at the second moment are calculated based on the geometric relationship between the first end face and the second end face, the second unit normal vector and the coordinates of the second end face at the second moment.

6. The method according to any one of claim 5, characterized in that: The third coordinate data is obtained according to the attitude data of the inertial navigation system and the stroke data of each of the plurality of hydraulic cylinders, including: According to the stroke mean, obtaining the stroke increment of the hydraulic cylinder from the first moment to the second moment; Obtaining a real-time attitude matrix of the shield body through attitude data of a preset inertial navigation system; The coordinate increment at the second moment is calculated by using the real-time posture matrix and the stroke increment of the hydraulic cylinder from the first moment to the second moment; The respective coordinates of the third coordinate data of the inertial navigation system at the first moment are obtained, and the respective coordinates and posture data of the third coordinate data of the shield at the second moment are calculated by an integral operation method.

7. The method according to claim 1, characterized in that After fusing the plurality of state prediction data and the weight of each state prediction data to obtain target state prediction data, the method further includes: Calculating target weight prediction data of the shield at the second moment according to the recursive model and the Kalman filter algorithm; Calculating the Mahalanobis distance between the target state prediction data and each state prediction data to obtain a distribution coefficient; According to the distribution coefficient, the recursive model and the Kalman filter algorithm, a plurality of weight prediction data of the shield body at the third moment are respectively calculated, so as to iteratively calculate the target state prediction data and the target weight prediction data at the third moment according to the target state prediction data and the target weight prediction data of the shield body at the second moment; wherein the weight prediction data is the weight of each of the state prediction data; and the third moment is later than the second moment.

8. A multi-source data fusion positioning device for a roadheader, characterized in that: The device is applied to a tunnel boring machine in a tunnel, and comprises a device body, a shield body and a pipe section; The pipe section is equipped with a data fusion processing device, and the data fusion processing device is used to execute the method according to any one of claims 1 to 7.

9. The device according to claim 8, characterized in that The device also includes: a plurality of oil cylinders; The plurality of oil cylinders are connected to the shield body and the pipe section; a stroke sensor is installed on each of the oil cylinders; The shield is equipped with a laser target and an inertial navigation system, and the pipe section is equipped with a laser measuring instrument; The laser target and the inertial navigation system are communicatively connected via a secondary communication box.

10. The device according to claim 9, characterized in that The laser target includes a tilt sensor, a camera and a prism; The pipe section is also equipped with a main communication box; The main communication box is communicatively connected with the auxiliary communication box and the data fusion processing device respectively.

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