Tunneling head-on position automatic updating method and system

Abstract

The invention discloses a tunneling head-on position automatic updating method and system, and relates to the field of intelligent mining of mines. Acquiring real-time three-dimensional coordinates of the heading machine during working; converting the dynamic absolute coordinates into dynamic absolute coordinates; determining whether the heading machine reaches a head-on position; when a head-on position is reached, static identification is carried out on the heading machine by combining the dynamic absolute coordinates, and accurate absolute coordinates of the heading head-on real-time position are obtained; and automatically updating the tunneling head-on position in one image based on the accurate absolute coordinates. The absolute coordinates of the heading machine are obtained based on the combination of the precise positioning technology and the GIS technology, the heading machine is recognized to the head-on position, the waiting time is set, dynamic recognition of the heading machine is changed into static recognition, the positioning precision of the heading head-on position is improved, and the working efficiency is improved. The automatic updating of the tunneling head-on position in one map, three-dimensional geographic information data and a digital twinborn model is realized, the intelligent level of the tunneling working face is improved, and the method has practical significance for monitoring the working condition of the tunneling machine in real time.

Description

Technical Field

[0001] The present invention relates to the field of intelligent mining in mines, and in particular to an automatic update method and system for the position of the tunneling face Background Art

[0002] At present, in the process of mining operations and tunnel boring, roadheaders play a key role. However, their working environment is extremely challenging, including adverse factors such as high temperature, high humidity, high noise, and high dust concentration. These conditions seriously threaten the health and safety of underground workers and also increase the risk of mine accidents. In addition, in the face of changing rock hardness conditions, the cutting efficiency and quality of roadheaders often highly depend on the empirical judgment of operators, resulting in uncertainties.

[0003] Therefore, the accuracy of tunneling face positioning has become one of the core elements in the intelligent transformation of mining operations. Accurately obtaining the position of the roadheader's tunneling face is crucial for improving operation efficiency, ensuring operation safety, and optimizing cutting quality. Promoting the innovation and development of roadheader positioning technology is the key link to realizing the intelligentization and automation of coal mining and further promoting the high-quality development of the coal industry. At present, there is an urgent need to propose a method that can accurately obtain and automatically update the position of the tunneling face. Summary of the Invention

[0004] In view of the above problems, the present invention proposes an automatic update method and system for the position of the tunneling face.

[0005] An embodiment of the present invention provides an automatic update method for the position of the tunneling face. The automatic update method for the position of the tunneling face includes:

[0006] Obtain the real-time three-dimensional coordinates of the roadheader during operation;

[0007] Convert the real-time three-dimensional coordinates into dynamic absolute coordinates;

[0008] Determine whether the roadheader reaches the position of the tunneling face;

[0009] When reaching the position of the tunneling face, combine the dynamic absolute coordinates to perform dynamic positioning on the roadheader to obtain the dynamic positioning of the position of the tunneling face;

[0010] Record the distance that the roadheader retreats after one cycle of cutting operation;

[0011] When the roadheader retreats and stops, combine the retreated distance to perform static identification on the roadheader and correct the position of the dynamic positioning to determine the accurate absolute coordinates of the position of the tunneling face;

[0012] Based on the accurate absolute coordinates, automatically update the position of the tunneling face in a map.

[0013] Optionally, determining whether the tunneling machine reaches the tunneling face position includes:

[0014] Identifying whether the tunneling machine reaches the tunneling face position through video technology.

[0015] Optionally, when reaching the tunneling face position, combining the dynamic absolute coordinates to perform dynamic positioning on the tunneling machine to obtain the dynamic positioning of the tunneling face position, including:

[0016] Collecting multiple video frames of the tunneling machine when it reaches the tunneling face position;

[0017] Based on the video frames of the tunneling machine when it reaches the tunneling face position, combining the dynamic absolute coordinates, and comparing and analyzing to determine whether the tunneling machine reaches the tunneling face position;

[0018] When the tunneling machine reaches the tunneling face position, restoring the real-time pose of the tunneling machine when it reaches the tunneling face position in a 1:1 ratio;

[0019] Based on the real-time pose of the tunneling machine when it reaches the tunneling face position, calculating the first straight-line distance between the cutting head and the positioning card of the tunneling machine;

[0020] Based on the first straight-line distance, calculating to obtain the dynamic positioning.

[0021] Optionally, collecting multiple video frames of the tunneling machine when it reaches the face position, including:

[0022] Continuously collecting a preset number of video frames of the tunneling machine when it reaches the face position at a preset collection period.

[0023] Optionally, based on the video frames, combining the dynamic absolute coordinates, and comparing and analyzing to determine whether the tunneling machine reaches the tunneling face position, including:

[0024] For the tunneling machine in each video frame, based on its dynamic absolute coordinates, comparing and analyzing the degree of coincidence of its spatial position relationship with the roadway;

[0025] If the comparison and analysis results corresponding to each video frame are all: the two completely coincide, it is determined that the tunneling machine reaches the tunneling face position.

[0026] Optionally, when the tunneling machine reaches the tunneling face position, restoring the real-time pose of the tunneling machine when it reaches the tunneling face position in a 1:1 ratio, including:

[0027] When the roadheader reaches the heading face position, obtain the target data of the roadheader, and use data-driven technology and 3D modeling technology to restore the real-time pose of the roadheader at the moment when it reaches the heading face position 1:1 based on the target data.

[0028] Among them, the target data includes: data corresponding to various oil cylinder stroke sensors, inclination sensors, ranging radars, and roadway section dimensions respectively.

[0029] Optionally, based on the real-time pose of the roadheader when it reaches the heading face position, calculate the first straight-line distance between the cutting head and the positioning card of the roadheader, including:

[0030] Based on the real-time pose of the roadheader when it reaches the heading face position, use spatial geometric analysis to calculate the first straight-line distance between the cutting head and the positioning card of the roadheader. This first straight-line distance is the straight-line distance between the cutting head and the roadheader when reaching the heading face position, and there is a unique three-dimensional spatial position relationship between this first straight-line distance and the virtual control waistline at the center of the roadway.

[0031] Optionally, based on the first straight-line distance, calculate the dynamic positioning, including:

[0032] Based on the unique three-dimensional spatial position relationship, use spatial projection to project the target straight line corresponding to the first straight-line distance onto the virtual control waistline, and calculate the first projection length of this target straight line;

[0033] Combine the dynamic absolute coordinates and the first projection length to calculate the dynamic positioning, and automatically update the position of the dynamic positioning in a graph.

[0034] Optionally, combine the retracted distance, perform static identification on the roadheader, correct the position of the dynamic positioning, and determine the accurate absolute coordinates of the heading face position, including:

[0035] Collect multiple video images when the roadheader retracts and stops;

[0036] Based on the video images when retracting and stopping, combine the dynamic absolute coordinates, and compare and analyze to determine whether the roadheader is in a stationary state;

[0037] When the roadheader is in the stationary state, restore the real-time pose of the roadheader when it is in the stationary state 1:1;

[0038] Based on the real-time pose of the roadheader when it is in the stationary state, calculate the second straight-line distance between the cutting head and the positioning card of the roadheader;

[0039] Based on the second straight-line distance, calculate the precise absolute coordinates.

[0040] Optionally, collect multiple video images when the roadheader retreats and stops, including:

[0041] Continuously collect a preset number of video images of the roadheader reaching the heading position at a preset collection period.

[0042] Optionally, based on the video images when retreating and stopping, and in combination with the dynamic absolute coordinates, compare and analyze to determine whether the roadheader is in a stationary state, including:

[0043] For the roadheader in each video image, based on its dynamic absolute coordinates, compare and analyze the coincidence degree of its spatial position relationship with the roadway;

[0044] If the comparison and analysis results corresponding to each video image are all: the two completely coincide, then determine that the roadheader is in the stationary state.

[0045] Optionally, when the roadheader is in the stationary state, restore the real-time pose of the roadheader when it is in the stationary state at a scale of 1:1, including:

[0046] When the roadheader is in the stationary state, obtain the target data of the roadheader, and use data-driven technology and 3D modeling technology to restore the real-time pose of the roadheader when it is in the stationary state at a scale of 1:1 based on the target data;

[0047] Wherein, the target data includes: data corresponding to various oil cylinder stroke sensors, inclination sensors, ranging radars, and roadway section dimensions respectively.

[0048] Optionally, based on the real-time pose of the roadheader when it is in the stationary state, calculate the second straight-line distance between the cutting head and the positioning card of the roadheader, including:

[0049] Based on the real-time pose of the roadheader when it is in the stationary state, use spatial geometric analysis to calculate the second straight-line distance between the cutting head and the positioning card of the roadheader. This second straight-line distance is the straight-line distance between the cutting head and the roadheader when in the stationary state, and there is a unique three-dimensional spatial position relationship between this second straight-line distance and the virtual control waistline at the center of the roadway.

[0050] Optionally, based on the second straight-line distance, calculate the precise absolute coordinates, including:

[0051] Based on the unique three-dimensional spatial position relationship, the target straight line corresponding to the second straight line distance is projected onto the virtual control waist line by using spatial projection, and the second projection length of the target straight line is calculated through operation;

[0052] Combined with the coordinates of the positioning position in the stationary state, the second projection length, the difference between the second projection length and the first projection length, and the retreated distance, the precise absolute coordinates are calculated through operation.

[0053] Optionally, the method for automatically updating the position of the dynamic positioning or the heading face position in a map includes:

[0054] Using the geographic information service, synchronously update the absolute coordinates corresponding to the position of the dynamic positioning or the precise absolute coordinates to all base maps;

[0055] Based on the association relationship between all the base maps and the map, automatically update the position of the dynamic positioning or the heading face position in the map;

[0056] Wherein, the geographic information service is a service provided by the spatio-temporal big database of geological information and engineering information constructed based on GIS technology.

[0057] Optionally, after obtaining the precise absolute coordinates of the real-time position of the heading face, it further includes:

[0058] Using the geographic information service, update the precise absolute coordinates to the three-dimensional geographic information data and the target module of the digital twin model;

[0059] Based on the target module, the digital twin model automatically updates the position of the heading face;

[0060] Wherein, the target module refers to the module in the digital twin model for receiving various information of the roadheader. After receiving any new information, the digital twin model can automatically update the corresponding content according to the new information.

[0061] Optionally, the preset acquisition period includes: 10 seconds;

[0062] The preset number of sheets includes: 3 - 6 sheets.

[0063] An embodiment of the present invention provides a system for automatically updating the position of the heading face. The system for automatically updating the position of the heading face includes:

[0064] A roadheader positioning module, configured to obtain the real-time three-dimensional coordinates of the roadheader during operation;

[0065] A unified coordinate module, configured to convert the real-time three-dimensional coordinates into dynamic absolute coordinates;

[0066] An auxiliary module for determining whether the roadheader reaches the heading face position;

[0067] A dynamic positioning module for dynamically positioning the roadheader in combination with the dynamic absolute coordinates when reaching the heading face position to obtain the dynamic positioning of the heading face position;

[0068] A recording module for recording the distance the roadheader retreats after one cycle of cutting operation;

[0069] A static identification module for statically identifying the roadheader in combination with the retreated distance when the roadheader retreats and stops, correcting the position of the dynamic positioning, and determining the accurate absolute coordinates of the heading face position;

[0070] An automatic update module for automatically updating the heading face position in a map and a digital twin model respectively based on the accurate absolute coordinates.

[0071] Optionally, the auxiliary module is specifically used for:

[0072] Identifying whether the roadheader reaches the heading face position through video technology.

[0073] Optionally, the dynamic positioning module includes:

[0074] A dynamic acquisition sub-module for acquiring multiple video images of the roadheader reaching the heading face position;

[0075] A dynamic analysis sub-module for comparing and analyzing based on the video images of the roadheader reaching the heading face position in combination with the dynamic absolute coordinates to determine whether the roadheader reaches the heading face position;

[0076] A dynamic restoration pose sub-module for restoring the real-time pose of the roadheader when it reaches the heading face position in a 1:1 ratio when the roadheader reaches the heading face position;

[0077] A dynamic operation distance sub-module for calculating the first straight-line distance between the cutting head and the positioning card of the roadheader based on the real-time pose of the roadheader when it reaches the heading face position;

[0078] An operation dynamic positioning sub-module for calculating the dynamic positioning based on the first straight-line distance.

[0079] Optionally, the dynamic acquisition sub-module is specifically used for:

[0080] Continuously acquiring a preset number of video images of the roadheader reaching the heading face position at a preset acquisition period;

[0081] Among them, the preset acquisition period includes: 10 seconds; the preset number of images includes: 3 to 6 images.

[0082] Optionally, the dynamic analysis sub-module is specifically configured to:

[0083] For the roadheader in each video frame, based on its dynamic absolute coordinates, compare and analyze the coincidence degree of its spatial position relationship with the roadway;

[0084] If the comparison and analysis results corresponding to each video frame are all: the two completely coincide, it is determined that the roadheader reaches the heading face position.

[0085] Optionally, the dynamic restoration pose sub-module is specifically configured to:

[0086] When the roadheader reaches the heading face position, obtain the target data of the roadheader, and use data-driven technology and 3D modeling technology to restore the real-time pose of the roadheader when it reaches the heading face position on a 1:1 basis based on the target data;

[0087] Among them, the target data includes: data corresponding to various oil cylinder stroke sensors, inclination sensors, ranging radars, and roadway section dimensions.

[0088] Optionally, the dynamic calculation distance sub-module is specifically configured to:

[0089] Based on the real-time pose of the roadheader when it reaches the heading face position, use spatial geometric analysis to calculate the first straight-line distance between the cutting head and the positioning card of the roadheader. This first straight-line distance is the straight-line distance between the cutting head and the roadheader when reaching the heading face position, and there is a unique three-dimensional spatial position relationship between this first straight-line distance and the virtual control waistline at the center of the roadway.

[0090] Optionally, the operation dynamic positioning sub-module is specifically configured to:

[0091] Based on the unique three-dimensional spatial position relationship, use spatial projection to project the target straight line corresponding to the first straight-line distance onto the virtual control waistline, and calculate the first projection length of this target straight line;

[0092] Combine the dynamic absolute coordinates and the first projection length to calculate the dynamic positioning, and automatically update the position of the dynamic positioning in a graph.

[0093] Optionally, the static recognition module includes:

[0094] A static acquisition sub-module, which is used to acquire multiple video frames when the roadheader retreats and stops;

[0095] A static analysis sub-module, which is used to compare and analyze based on the video frame when the tunneling machine stops moving backward, combined with the dynamic absolute coordinates, to determine whether the tunneling machine is in a stationary state;

[0096] A static restoration pose sub-module, which is used to restore the real-time pose of the tunneling machine when it is in the stationary state in a 1:1 ratio in the case that the tunneling machine is in the stationary state;

[0097] A static operation distance sub-module, which is used to calculate the second straight-line distance between the cutting head and the positioning card of the tunneling machine based on the real-time pose of the tunneling machine when it is in the stationary state;

[0098] An operation coordinate sub-module, which is used to calculate the precise absolute coordinates based on the second straight-line distance.

[0099] Optionally, the static acquisition sub-module is specifically used for:

[0100] Continuously acquire a preset number of video frames of the tunneling machine reaching the heading position at a preset acquisition period;

[0101] Wherein, the preset acquisition period includes: 10 seconds; the preset number of frames includes: 3 to 6 frames.

[0102] Optionally, the static analysis sub-module is specifically used for:

[0103] For the tunneling machine in each video frame, based on its dynamic absolute coordinates, compare and analyze the coincidence degree of its spatial position relationship with the roadway;

[0104] If the comparison and analysis results corresponding to each video frame are all: the two completely coincide, it is determined that the tunneling machine is in the stationary state.

[0105] Optionally, the static restoration pose sub-module is specifically used for:

[0106] In the case that the tunneling machine is in the stationary state, obtain the target data of the tunneling machine, and use data-driven technology and three-dimensional modeling technology to restore the real-time pose of the tunneling machine when it is in the stationary state in a 1:1 ratio based on the target data;

[0107] Wherein, the target data includes: data corresponding to various oil cylinder stroke sensors, inclination sensors, ranging radars, and roadway section dimensions respectively.

[0108] Optionally, the static operation distance sub-module is specifically used for:

[0109] Based on the real-time pose of the roadheader in the stationary state, using spatial geometric analysis, the second straight-line distance between the cutting head and the positioning card of the roadheader is calculated. This second straight-line distance is the straight-line distance between the cutting head and the roadheader in the stationary state. There is a unique three-dimensional spatial position relationship between this second straight-line distance and the virtual control waistline at the center of the roadway.

[0110] Optionally, the operation coordinate sub-module is specifically used for:

[0111] Based on the unique three-dimensional spatial position relationship, using spatial projection to project the target straight line corresponding to the second straight-line distance onto the virtual control waistline, and calculating the second projection length of this target straight line;

[0112] Combining the positioning position in the stationary state, the second projection length, the difference between the second projection length and the first projection length, and the retracted distance, the precise absolute coordinate is calculated.

[0113] Optionally, the automatic update module is specifically used for:

[0114] Using the geographic information service, synchronously update the absolute coordinate corresponding to the position of the dynamic positioning or the precise absolute coordinate to all base maps;

[0115] Based on the association relationship between all base maps and the single map, automatically update the position of the dynamic positioning or the heading position of the roadheader in the single map;

[0116] Wherein, the geographic information service is a service provided by the spatio-temporal big database of geological information and engineering information built based on GIS technology.

[0117] Optionally, the automatic update module is further used for:

[0118] Using the geographic information service, update the precise absolute coordinate to the three-dimensional geographic information data and the target module of the digital twin model;

[0119] Based on the target module, make the digital twin model automatically update the heading position of the roadheader;

[0120] Wherein, the target module refers to: the module in the digital twin model used to receive various information of the roadheader. After receiving any new information, the digital twin model can automatically update the corresponding content according to the new information.

[0121] The automatic update method for the heading position of the present invention first obtains the real-time three-dimensional coordinates of the roadheader during operation; then converts the real-time three-dimensional coordinates into dynamic absolute coordinates; then determines whether the roadheader reaches the heading position; when reaching the heading position, combines the dynamic absolute coordinates to perform dynamic positioning on the roadheader to obtain the dynamic positioning of the heading position.

[0122] After that, after one cycle of cutting operation of the roadheader, record the distance that the roadheader retreats. When the roadheader retreats and stops, combine the retreated distance to perform static identification on the roadheader, correct the position of the dynamic positioning, and determine the accurate absolute coordinates of the heading; finally, based on the accurate absolute coordinates, automatically update the heading position in a map and a digital twin model respectively.

[0123] The automatic update method for the heading position proposed by the present invention obtains the absolute coordinates of the roadheader based on the combination of precise positioning technology and GIS technology, identifies whether the roadheader reaches the heading position, performs dynamic positioning when reaching the heading position to obtain the dynamic positioning of the heading position. After that, when the roadheader retreats and stops, combine the retreated distance, change the dynamic identification of the roadheader to static identification, correct the position of the dynamic positioning, improve the positioning accuracy of the heading position, and realize the automatic update of the heading position in a map, three-dimensional geographic information data, and digital twin model, improve the intelligent level of the heading face, and have practical significance for real-time monitoring of the working conditions of the roadheader, and have high practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0124] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0125] Figure 1 is a flowchart of an automatic update method for the heading position according to an embodiment of the present invention;

[0126] Figure 2 is a block diagram of an automatic update system for the heading position according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0127] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, which is only a part of the embodiments of the present invention, and not all of the embodiments, and are not used to limit the present invention.

[0128] The inventor has found that the accuracy of the heading positioning in current tunneling has become one of the core elements in the intelligent transformation of mining operations. Accurately obtaining the heading position of the roadheader is crucial for improving operation efficiency, ensuring operation safety, and optimizing cutting quality. However, through further research, the inventor has discovered that:

[0129] Currently, in mining and tunnel boring operations, the roadheader faces a series of extremely challenging environments: high temperature, high humidity, ear-piercing noise, and dense dust. These extreme conditions not only seriously affect the health and safety of underground workers but also are often accompanied by the risk of mining accidents.

[0130] In addition, for rocks of different hardnesses, the tunneling efficiency and operation quality highly depend on the empirical judgment of the operator, which further increases the uncertainty and risk of the operation. Due to the unique geographical and environmental limitations inside the mine, such as uneven ground, lack of satellite navigation signal coverage, limited basic positioning technology, complex roadway structure, and rough wall surface resulting in severe signal transmission interference, traditional positioning methods are difficult to work effectively in this environment, unable to obtain the accurate heading position of the tunneling face, and the obtained heading position of the tunneling face also needs to be manually updated, which is obviously not conducive to the intelligentization and automation of coal mining and cannot well promote the high-quality development of the coal industry.

[0131] To address the above problems, the inventor has creatively proposed an automatic update method and system for the heading position of the tunneling face in the present invention. The following explains and illustrates the technical solutions proposed in the present invention.

[0132] Refer to Figure 1 , which shows a flowchart of an automatic update method for the heading position of the tunneling face in this embodiment. The automatic update method for the heading position of the tunneling face includes:

[0133] Step 101: Obtain the real-time three-dimensional coordinates of the roadheader during operation.

[0134] For the automatic update method for the heading position of the tunneling face proposed in the present invention, it is first necessary to obtain the real-time three-dimensional coordinates of the roadheader during operation. There can be various specific obtaining methods. For example, a roadheader positioning module is installed on the body of the roadheader, and the real-time three-dimensional coordinates can be obtained through this positioning module. There can be various implementation structures for the roadheader positioning module, and a relatively optimal implementation structure will be described later, so it will not be elaborated here for now.

[0135] In addition, based on current technologies, it is already possible to achieve a visual display of the real-time motion state of a roadheader. For example: Currently, there is already a method to achieve a visual display of the real-time motion state of a roadheader based on a digital twin model. The so-called digital twin model is constructed based on BIM technology. It can achieve the integration of multi-source information on the working face, and can visualize the real-time motion state of the roadheader and the working performance of key components according to the feedback information from underground. It realizes the real-time integration of the tunneling equipment with the 3D geological model, roadway model, environmental perception parameters, video stream, etc., and realizes the holographic perception of the fully mechanized tunneling face and the true reproduction of the digital twin scenario. Of course, the basis for its realization naturally also includes the real-time three-dimensional coordinates of the roadheader. After processing based on the real-time three-dimensional coordinates, the digital twin model can correctly visualize its real-time motion state.

[0136] Step 102: Convert the real-time three-dimensional coordinates into dynamic absolute coordinates.

[0137] After obtaining the real-time three-dimensional coordinates, it is necessary to convert them into dynamic absolute coordinates. Generally, the three-dimensional coordinates of a roadheader are obtained in its own coordinate system. Therefore, it is necessary to convert them into coordinates in a unified coordinate system. Most of the commonly used unified coordinates in the coal mining industry are currently based on GIS (Geographic Information System). Therefore, it is necessary to convert the real-time three-dimensional coordinates of the roadheader into the corresponding absolute coordinates. Since this is obtained during the dynamic process of the roadheader, it is defined as dynamic absolute coordinates.

[0138] In an embodiment of the present invention, a preferred way to implement coordinate conversion is: By using GIS technology to compare and analyze the real-time three-dimensional coordinates of the roadheader and the absolute coordinates in the absolute coordinate system, convert the real-time three-dimensional coordinates into the corresponding dynamic absolute coordinates.

[0139] Step 103: Determine whether the roadheader has reached the heading face position.

[0140] During the operation of the roadheader, while obtaining the real-time three-dimensional coordinates and converting them into the corresponding dynamic absolute coordinates, it is also necessary to determine whether the roadheader has reached the heading face position.

[0141] There are various methods to determine whether the roadheader has reached the heading face position. In an embodiment of the present invention, a preferred way to determine whether the roadheader has reached the heading face position includes: Identifying whether the roadheader has reached the heading face position through video technology. For example: Identifying whether the roadheader has reached the heading face position through video monitoring equipment.

[0142] Step 104: When reaching the heading face position, combine the dynamic absolute coordinates to perform dynamic positioning on the roadheader to obtain the dynamic positioning at the heading face position.

[0143] When the roadheader reaches the heading face position, the roadheader does not stop at this time. Instead, it directly combines the dynamic absolute coordinates to perform dynamic positioning on the roadheader, and obtains the dynamic positioning of the heading face position.

[0144] A better method for obtaining the dynamic positioning of the heading face position includes:

[0145] Step T1: Collect multiple video images of the roadheader reaching the heading face position.

[0146] First, collect multiple video images of the roadheader reaching the heading face position. A better way is to continuously collect a preset number of video images of the roadheader reaching the heading face position at a preset collection period. For the preset collection period and the number of presets, after a large number of tests and studies by the inventor, preferably, it can be selected that the preset collection period includes: 10 seconds; the preset number includes: 3 - 6 images. That is, taking 10 seconds as a cycle, collecting one video image every 10 seconds. If 3 images are continuously collected, then it takes 30 seconds. If 6 images are continuously collected, then it takes 60 seconds.

[0147] Step T2: Based on the video images of the roadheader reaching the heading face position, combine the dynamic absolute coordinates, and compare and analyze to determine whether the roadheader reaches the heading face position.

[0148] After collecting multiple video images, based on these video images, combine the dynamic absolute coordinates, and compare and analyze to determine whether the roadheader reaches the heading face position. Suppose 6 video images are collected. Then, for the roadheader in each video image, based on its dynamic absolute coordinates, compare and analyze the coincidence degree of its relationship with the roadway spatial position. If the comparison and analysis results corresponding to each of the 6 video images are: the two are completely coincident, then it is determined that the roadheader reaches the heading face position. Naturally, it can be understood that if the comparison and analysis result corresponding to any one of the 6 video images is: the two are not completely coincident, then it is considered that the roadheader does not reach the heading face position, and the above steps need to be repeated to determine whether the roadheader reaches the heading face position again.

[0149] Step T3: When the roadheader reaches the heading face position, restore the real-time pose of the roadheader when it reaches the heading face position at a ratio of 1:1.

[0150] When it is determined that the roadheader reaches the heading face position, in order to obtain the accurate dynamic positioning of the heading face position, first, it is necessary to restore the real-time pose of the roadheader at a ratio of 1:1. A better method for restoring the real-time pose of the roadheader at a ratio of 1:1 includes:

[0151] When the roadheader reaches the heading face position, obtain the target data of the roadheader, and use data-driven technology and 3D modeling technology to restore the real-time pose of the roadheader 1:1 based on the target data. Among them, the target data includes: the data corresponding to various oil cylinder stroke sensors, inclination sensors, ranging radars, and roadway section sizes. That is: all data related to restoring the real-time pose of the roadheader 1:1 are target data. Based on these target data, data-driven technology and 3D modeling technology can be used to restore the real-time pose of the roadheader 1:1.

[0152] Step T4: Based on the real-time pose of the roadheader when it reaches the heading face position, calculate the first straight-line distance between the cutting head and the positioning card of the roadheader.

[0153] After restoring the real-time pose of the roadheader when it reaches the heading face position 1:1, based on this real-time pose, calculate the first straight-line distance between the cutting head and the positioning card of the roadheader. A better method for calculating the first straight-line distance includes:

[0154] Based on the real-time pose of the roadheader when it reaches the heading face position, use spatial geometric analysis to calculate the first straight-line distance between the cutting head and the positioning card of the roadheader. This first straight-line distance is the straight-line distance between the cutting head and the roadheader when reaching the heading face position. There is a unique three-dimensional spatial position relationship between this straight-line distance and the virtual control waistline at the center of the roadway. Of course, if there is no positioning card, the straight-line distance between the cutting head and the roadheader when reaching the heading face position can also be calculated by other methods, such as: RTK (Real-time kinematic) positioning technology, Bluetooth positioning technology, RFID (Radio Frequency Identification) positioning technology, Wi-Fi positioning, etc. After positioning with these positioning technologies, use spatial geometric analysis to calculate the aforementioned straight-line distance.

[0155] Step T5: Based on the first straight-line distance, calculate the dynamic positioning.

[0156] After obtaining the first straight-line distance between the cutting head and the positioning card of the roadheader when reaching the heading face position, based on this first straight-line distance, calculate the dynamic positioning of the heading position. A better method for calculating the dynamic positioning includes:

[0157] Based on the unique three-dimensional spatial position relationship, the target straight line corresponding to the first straight-line distance is projected onto the virtual control waist line using spatial projection, and the first projection length of the target straight line is calculated; that is, the distance of the positioning card of the roadheader along the roadway slope direction when reaching the heading face position. Finally, combined with the dynamic absolute coordinates and the first projection length, the absolute coordinates of the dynamic positioning of the tunneling position are calculated, and the position of the dynamic positioning is automatically updated in a map.

[0158] Step 105: Record the distance that the roadheader retreats after one cycle of cutting operation.

[0159] After dynamic positioning, the cutting operation of the roadheader will continue. After one cycle, the roadheader will stop. At this time, relative to the heading face position, the roadheader retreats, and the distance that the roadheader retreats is recorded.

[0160] Step 106: When the roadheader retreats and stops, combine the retreated distance to perform static identification on the roadheader, correct the position of the dynamic positioning, and determine the accurate absolute coordinates of the heading face position.

[0161] When the roadheader retreats and stops, combine the retreated distance to perform static identification on the roadheader, correct the position of the dynamic positioning obtained in Step 105, so as to determine the accurate absolute coordinates of the heading face position. The method of dynamic positioning, static identification and correction in Steps 104 to 106 to obtain the accurate absolute coordinates of the heading face position is a core innovation different from the traditional technology. In the current traditional technology, there is no similar means. The specific steps of Step 106 include:

[0162] Step S1: Collect multiple video images when the roadheader retreats and stops.

[0163] First, collect multiple video images when the roadheader reaches the heading face position. A better way is to continuously collect a preset number of video images of the roadheader reaching the heading face position at a preset collection period. For the preset collection period and the number of presets, after a large number of tests and studies by the inventor, preferably, the preset collection period includes: 10 seconds; the preset number includes: 3 - 6. That is, taking 10 seconds as a cycle, collecting one video image every 10 seconds. If 3 images are continuously collected, it takes 30 seconds. If 6 images are continuously collected, it takes 60 seconds.

[0164] Step S2: Based on the video images when retreating and stopping, combine the dynamic absolute coordinates, and compare and analyze to determine whether the roadheader is in a stationary state.

[0165] After obtaining multiple video frames, based on these video frames and combined with dynamic absolute coordinates, it is determined whether the roadheader is in a stationary state through comparative analysis. Suppose 6 video frames are collected. Then, for the roadheader in each video frame, based on its dynamic absolute coordinates, the degree of coincidence of its spatial position relationship with the roadway is compared and analyzed. If the comparative analysis results corresponding to each of the 6 video frames are: the two completely coincide, it is determined that the roadheader is in a stationary state. Naturally, it can be understood that if the comparative analysis result corresponding to any one of the 6 video frames is: the two do not completely coincide, then it is considered that the roadheader is not in a stationary state, and it is necessary to return to step S1 to collect video frames again and then determine them in the manner of step S2 until it is determined that the roadheader is in a stationary state.

[0166] Step S3: When the roadheader is in a stationary state, restore the real-time pose of the roadheader when it is in a stationary state at a 1:1 ratio.

[0167] When it is determined that the roadheader is in a stationary state, in order to obtain the absolute coordinates of the accurate heading position of the roadheader, it is first necessary to restore the real-time pose of the roadheader when it is in a stationary state at a 1:1 ratio. A relatively optimal method for restoring the real-time pose of the roadheader when it is in a stationary state at a 1:1 ratio includes:

[0168] When the roadheader is in a stationary state, obtain the target data of the roadheader, and use data-driven technology and 3D modeling technology to restore the real-time pose of the roadheader when it is in a stationary state at a 1:1 ratio based on the target data. Among them, the target data includes: the data corresponding to various oil cylinder stroke sensors, inclination sensors, ranging radars, and roadway section dimensions. That is to say: all the relevant data involved in restoring the real-time pose of the roadheader when it is in a stationary state at a 1:1 ratio are target data. Based on these target data, the real-time pose of the roadheader can be restored at a 1:1 ratio by using data-driven technology and 3D modeling technology.

[0169] Step S4: Based on the real-time pose of the roadheader when it is in a stationary state, calculate the second straight-line distance between the cutting head and the positioning card of the roadheader.

[0170] After restoring the real-time pose of the roadheader when it is in a stationary state at a 1:1 ratio, based on this real-time pose, calculate the second straight-line distance between the cutting head and the roadheader at this time. A relatively optimal method for calculating the second straight-line distance includes:

[0171] Based on the real-time pose of the roadheader when it is in a stationary state, using spatial geometry analysis, the second straight-line distance between the cutting head and the positioning card of the roadheader at this time is calculated. This second straight-line distance is the straight-line distance between the cutting head and the roadheader in the stationary state. There is a unique three-dimensional spatial position relationship between this second straight-line distance and the virtual control waistline at the center of the roadway. Of course, if there is no positioning card, the straight-line distance between the cutting head and the roadheader can also be calculated by other methods. For example: RTK (Real-time kinematic) positioning technology, Bluetooth positioning technology, RFID (Radio Frequency Identification) positioning technology, Wi-Fi positioning, etc. After positioning using these positioning technologies, then using spatial geometry analysis, the aforementioned second straight-line distance is calculated.

[0172] Step S5: Based on the second straight-line distance, calculate the precise absolute coordinates.

[0173] After obtaining the second straight-line distance between the cutting head and the positioning card of the roadheader when the roadheader is in a stationary state, based on this second straight-line distance, the precise absolute coordinates of the heading position of the roadheader are further calculated. A better method for calculating the precise absolute coordinates includes:

[0174] Based on the unique three-dimensional spatial position relationship, use spatial projection to project the target line corresponding to the second straight-line distance onto the virtual control waistline, and calculate the second projection length of this target line; that is: the distance of the positioning card of the roadheader along the roadway slope direction when the roadheader is in a stationary state. Finally, combined with the positioning position in the stationary state, the second projection length, the difference between the second projection length and the first projection length, and the distance the roadheader has retreated, the precise absolute coordinates of the heading position are calculated. That is: the precise absolute coordinates of the heading position = the positioning position in the stationary state + the second projection length + the difference between the second projection length and the first projection length + the distance the roadheader has retreated.

[0175] Step 107: Based on the precise absolute coordinates, automatically update the heading position of the roadheader in a map.

[0176] After obtaining the precise absolute coordinates of the tunneling head position, the tunneling head position can be automatically updated in a map based on the precise absolute coordinates of the tunneling head position. In addition, the position of the dynamic positioning in the aforementioned step 104 will also be automatically updated in a map. The automatic update of the tunneling head position and dynamic positioning in a map is also different from traditional technologies. Traditional technologies first do not use static recognition, but directly use the rough absolute coordinates corresponding to the real-time three-dimensional coordinates when the tunneling machine is in the tunneling head position as the absolute coordinates of the tunneling position. Then, they manually draw on all the base maps corresponding to a map, add the rough absolute coordinates to all the base maps, and then update other layers in a linked manner.

[0177] The present application utilizes the precise absolute coordinates and dynamic positioning of the excavation position, without the need for manual drawing. Instead, the geographic information service is used to synchronously update the precise absolute coordinates and the absolute coordinates corresponding to the dynamic positioning to all base maps. Then, based on the association between all base maps and a map, the excavation head position and dynamic positioning are automatically updated in a map. Among them, the geographic information service is an effective integration of geological information and engineering information based on GIS technology. It constructs a large spatiotemporal database of geological information and engineering information, thereby providing geographic information services.

[0178] Furthermore, if there is a need to use a digital twin model to visualize the tunnel boring machine image, the precise absolute coordinates of the tunnel boring machine position must also be updated in the digital twin model. Therefore, after obtaining the precise absolute coordinates of the real-time position of the tunnel boring machine head, the method for automatically updating the tunnel boring machine head position also includes:

[0179] Utilizing geographic information services, precise absolute coordinates are updated to the three-dimensional geographic information data and the target module of the digital twin model. Based on the target module, the digital twin model automatically updates the tunneling head position. The target module refers to the module in the digital twin model used to receive various types of information about the tunnel boring machine. After receiving any new information, the digital twin model can automatically update the corresponding content based on the received new information.

[0180] Through the method of steps 101 to 105 above, the precise excavation head position can be obtained, and the automatic update of the excavation head position in a map, three-dimensional geographic information data, and digital twin model is realized, thereby improving the intelligence level of the excavation working face and having practical significance for real-time monitoring of the working conditions of the tunnel boring machine.

[0181] Based on the above-mentioned method for automatically updating the position of the tunneling head, the embodiment of the present invention also proposes a system for automatically updating the position of the tunneling head, referring to Figure 2 The block diagram of the automatic updating system of the tunneling head position shown in FIG. 1 includes:

[0182] The roadheader positioning module 210 is used to obtain the real-time three-dimensional coordinates of the roadheader during operation;

[0183] The unified coordinate module 220 is used to convert the real-time three-dimensional coordinates into dynamic absolute coordinates;

[0184] The auxiliary module 230 is used to determine whether the roadheader reaches the heading position;

[0185] The dynamic positioning module 240 is used to perform dynamic positioning on the roadheader when reaching the heading position of the roadheader, in combination with the dynamic absolute coordinates, to obtain the dynamic positioning of the heading position of the roadheader;

[0186] The recording module 250 is used to record the distance that the roadheader retreats after one cycle of cutting operation of the roadheader;

[0187] The static identification module 260 is used to perform static identification on the roadheader when the roadheader retreats and stops, in combination with the retreated distance, to correct the position of the dynamic positioning, and to determine the accurate absolute coordinates of the heading position of the roadheader;

[0188] The automatic update module 270 is used to automatically update the heading position of the roadheader in a map and a digital twin model respectively based on the accurate absolute coordinates.

[0189] Optionally, a preferred structure for implementing the roadheader positioning module 210 includes: a wireless coding transmitter, a data acquisition and control device, and a data transmission network. The wireless coding transmitter is used to emit a radio frequency signal of roadheader information, and the radio frequency information carries relevant information of the roadheader, such as real-time three-dimensional coordinates, data of each sensor, etc. The data acquisition and control device is used to receive the radio frequency signal of the wireless coding transmitter and upload it to the ground center software system through the data transmission network. The ground center software system generally runs on a server. The data transmission network can be divided into a wired network and a wireless network, both of which are available or at least one of them. The wired network can utilize the existing industrial ring network. The underground data is uniformly converged to the ground platform through the integrated wired bearing ring network; the wireless network mainly consists of positioning sub-stations that are uniformly and proximally connected to the ring network through the upstream port, and finally realizes the data exchange of the entire system. In this way, the real-time three-dimensional coordinates of the roadheader during operation can be obtained.

[0190] Optionally, the unified coordinate module 220 can preferably implement coordinate conversion based on geographic information services. The geographic information service based on GIS can realize the unified processing, management, analysis, sharing, etc. of the spatio-temporal information of the heading face, provide guarantee for the automatic construction and dynamic update of the digital twin model, and at the same time can complete the conversion between the real-time three-dimensional coordinates and the dynamic absolute coordinates.

[0191] Optionally, the auxiliary module 230 is specifically configured to:

[0192] Identify whether the roadheader reaches the heading position through video technology.

[0193] Optionally, the dynamic positioning module 240 includes:

[0194] A dynamic acquisition sub-module, configured to acquire multiple video images of the roadheader reaching the heading position;

[0195] A dynamic analysis sub-module, configured to compare and analyze based on the video images of the roadheader reaching the heading position and in combination with the dynamic absolute coordinates to determine whether the roadheader reaches the heading position;

[0196] A dynamic pose restoration sub-module, configured to, when the roadheader reaches the heading position, restore in a 1:1 ratio the real-time pose of the roadheader when it reaches the heading position;

[0197] A dynamic distance calculation sub-module, configured to calculate the first straight-line distance between the cutting head and the positioning card of the roadheader based on the real-time pose of the roadheader when it reaches the heading position;

[0198] An operation dynamic positioning sub-module, configured to calculate the dynamic positioning based on the first straight-line distance.

[0199] Optionally, the dynamic acquisition sub-module is specifically configured to:

[0200] Continuously acquire a preset number of video images of the roadheader reaching the heading position at a preset acquisition period;

[0201] Wherein, the preset acquisition period includes: 10 seconds; the preset number includes: 3 - 6 images.

[0202] Optionally, the dynamic analysis sub-module is specifically configured to:

[0203] For the roadheader in each video image, compare and analyze the coincidence degree of its relationship with the roadway spatial position based on its dynamic absolute coordinates;

[0204] If the comparison and analysis results corresponding to each video image are all: complete coincidence between the two, it is determined that the roadheader reaches the heading position.

[0205] Optionally, the dynamic pose restoration sub-module is specifically configured to:

[0206] When the roadheader reaches the heading face position, obtain the target data of the roadheader, and use data-driven technology and 3D modeling technology to restore the real-time pose of the roadheader at 1:1 based on the target data when it reaches the heading face position.

[0207] Among them, the target data includes: data corresponding to various oil cylinder stroke sensors, inclination sensors, ranging radars, and roadway section dimensions respectively.

[0208] Optionally, the dynamic operation distance sub-module is specifically used for:

[0209] Based on the real-time pose of the roadheader when it reaches the heading face position, use spatial geometric analysis to calculate the first straight-line distance between the cutting head and the positioning card of the roadheader. This first straight-line distance is the straight-line distance between the cutting head and the roadheader when reaching the heading face position. There is a unique three-dimensional spatial position relationship between this first straight-line distance and the virtual control waistline at the center of the roadway.

[0210] Optionally, the operation dynamic positioning sub-module is specifically used for:

[0211] Based on the unique three-dimensional spatial position relationship, use spatial projection to project the target straight line corresponding to the first straight-line distance onto the virtual control waistline, and calculate the first projection length of this target straight line;

[0212] Combine the dynamic absolute coordinates and the first projection length to calculate the dynamic positioning, and automatically update the position of the dynamic positioning in a map.

[0213] The static recognition module 260 includes:

[0214] The static acquisition sub-module is used to acquire multiple video images when the roadheader retreats and stops;

[0215] The static analysis sub-module is used to determine whether the roadheader is in a stationary state based on the video images when retreating and stopping, in combination with the dynamic absolute coordinates;

[0216] The static pose restoration sub-module is used to restore the real-time pose of the roadheader at 1:1 when it is in the stationary state in the case where the roadheader is in the stationary state;

[0217] The static operation distance sub-module is used to calculate the second straight-line distance between the cutting head and the positioning card of the roadheader based on the real-time pose of the roadheader when it is in the stationary state;

[0218] The operation coordinate sub-module is used to calculate the precise absolute coordinates based on the second straight-line distance.

[0219] Optionally, the static acquisition sub-module is specifically configured to:

[0220] Continuously acquire a preset number of video images of the roadheader reaching the heading position at a preset acquisition period;

[0221] Among them, the preset acquisition period includes: 10 seconds; the preset number includes: 3 to 6 images.

[0222] Optionally, the static analysis sub-module is specifically configured to:

[0223] For the roadheader in each video image, based on its dynamic absolute coordinates, compare and analyze the coincidence degree of its spatial position relationship with the roadway;

[0224] If the comparison and analysis results corresponding to each video image are all: the two completely coincide, it is determined that the roadheader is in the stationary state.

[0225] Optionally, the static restoring pose sub-module is specifically configured to:

[0226] When the roadheader is in the stationary state, obtain the target data of the roadheader, and use data-driven technology and 3D modeling technology to restore the real-time pose of the roadheader at the stationary state 1:1 based on the target data;

[0227] Among them, the target data includes: the data corresponding to various oil cylinder stroke sensors, inclination sensors, ranging radars, and roadway section dimensions.

[0228] Optionally, the static calculating distance sub-module is specifically configured to:

[0229] Based on the real-time pose of the roadheader in the stationary state, use spatial geometric analysis to calculate the second straight-line distance between the cutting head and the positioning card of the roadheader. This second straight-line distance is the straight-line distance between the cutting head and the roadheader in the stationary state, and there is a unique three-dimensional spatial position relationship between this second straight-line distance and the virtual control waistline at the center of the roadway.

[0230] Optionally, the calculating coordinate sub-module is specifically configured to:

[0231] Based on the unique three-dimensional spatial position relationship, use spatial projection to project the target straight line corresponding to the second straight-line distance onto the virtual control waistline, and calculate the second projection length of this target straight line;

[0232] Combined with the positioning position in the stationary state, the second projection length, the difference between the second projection length and the first projection length, and the retracted distance, calculate the precise absolute coordinates.

[0233] Optionally, the automatic update module 270 is specifically configured to:

[0234] Use the geographic information service to synchronously update the absolute coordinates corresponding to the dynamically located position or the precise absolute coordinates to all base maps;

[0235] Based on the association relationship between all the base maps and the single map, automatically update the dynamically located position or the heading position of the tunneling machine in the single map;

[0236] Wherein, the geographic information service is a service provided by the spatio-temporal big database of geological information and engineering information built based on GIS technology.

[0237] Optionally, the automatic update module 270 is further configured to:

[0238] Use the geographic information service to update the precise absolute coordinates to the three-dimensional geographic information data and the target module of the digital twin model;

[0239] Based on the target module, enable the digital twin model to automatically update the heading position of the tunneling machine;

[0240] Wherein, the target module refers to the module in the digital twin model for receiving various information of the tunneling machine. After receiving any new information, the digital twin model can automatically update the corresponding content according to the new information.

[0241] In summary, for the method for automatically updating the heading position of the present invention, first obtain the real-time three-dimensional coordinates of the tunneling machine during operation; then convert the real-time three-dimensional coordinates into dynamic absolute coordinates; then determine whether the tunneling machine reaches the heading position; when reaching the heading position, combine the dynamic absolute coordinates to perform dynamic positioning on the tunneling machine to obtain the dynamic positioning of the heading position.

[0242] After that, record the distance that the tunneling machine retreats after one cycle of cutting operation. When the tunneling machine retreats and stops, combine the retreated distance to perform static identification on the tunneling machine and correct the dynamically located position to determine the precise absolute coordinates of the heading; finally, based on the precise absolute coordinates, automatically update the heading position in the single map and the digital twin model respectively.

[0243] The automatic update method for the heading position proposed in the present invention obtains the absolute coordinates of the roadheader based on the combination of precise positioning technology and GIS technology, identifies whether the roadheader reaches the heading position, performs dynamic positioning when it reaches the heading position to obtain the dynamic positioning of the heading position. Then, when the roadheader retreats and stops, combined with the retreat distance, the roadheader changes from dynamic recognition to static recognition, and corrects the position of the dynamic positioning, improving the positioning accuracy of the heading position. Moreover, it realizes the automatic update of the heading position in a single map, three-dimensional geographic information data, and digital twin model, improving the intelligent level of the heading face, which has practical significance for real-time monitoring of the working conditions of the roadheader and has high practicability.

[0244] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0245] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the said element.

[0246] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit of the present invention and the scope protected by the claims, and these all fall within the protection scope of the present invention.

Claims

1. An automatic update method for the heading position of tunneling, characterized in that, The automatic update method for the heading position of the tunneling machine includes: Obtain the real-time three-dimensional coordinates of the tunneling machine during operation; Convert the real-time three-dimensional coordinates into dynamic absolute coordinates; Determine whether the tunneling machine reaches the heading position; When reaching the heading position, combine the dynamic absolute coordinates to perform dynamic positioning on the tunneling machine to obtain the dynamic positioning of the heading position; Record the distance that the tunneling machine retreats after one cycle of cutting operation; When the tunneling machine retreats and stops, combine the retreated distance to perform static identification on the tunneling machine and correct the position of the dynamic positioning to determine the accurate absolute coordinates of the heading position; Based on the accurate absolute coordinates, automatically update the heading position in a map.

2. The automatic update method for the heading position according to claim 1, wherein Determining whether the tunneling machine reaches the heading position includes: Identify whether the tunneling machine reaches the heading position through video technology.

3. The automatic update method for the heading position according to claim 2, wherein When reaching the heading position, combining the dynamic absolute coordinates to perform dynamic positioning on the tunneling machine to obtain the dynamic positioning of the heading position includes: Collect multiple video frames of the tunneling machine reaching the heading position; Based on the video frames of the tunneling machine reaching the heading position, combine the dynamic absolute coordinates and perform comparative analysis to determine whether the tunneling machine reaches the heading position; When the tunneling machine reaches the heading position, restore the real-time pose of the tunneling machine reaching the heading position at a 1:1 ratio; Based on the real-time pose of the tunneling machine reaching the heading position, calculate the first straight-line distance between the cutting head and the positioning card of the tunneling machine; Based on the first straight-line distance, calculate to obtain the dynamic positioning.

4. The automatic update method for the heading position according to claim 3, characterized in that Collecting multiple video frames of the tunneling machine reaching the heading position includes: Continuously collect a preset number of video frames of the tunneling machine reaching the heading position at a preset collection period.

5. The automatic update method for the heading position according to claim 3, characterized in that, Based on the video frames, combining the dynamic absolute coordinates and performing comparative analysis to determine whether the tunneling machine reaches the heading position includes: For the tunneling machine in each video frame, based on its dynamic absolute coordinates, perform comparative analysis on the coincidence degree of its spatial position relationship with the roadway; If the comparative analysis result corresponding to each video frame is that the two completely coincide, it is determined that the tunneling machine reaches the heading position.

6. The automatic update method for the heading position according to claim 3, characterized in that When the tunneling machine reaches the heading position, restoring the real-time pose of the tunneling machine reaching the heading position at a 1:1 ratio includes: When the tunneling machine reaches the heading position, obtain the target data of the tunneling machine, and use data-driven technology and three-dimensional modeling technology to restore the real-time pose of the tunneling machine reaching the heading position at a 1:1 ratio based on the target data; Among them, the target data includes the data corresponding to various oil cylinder stroke sensors, inclination sensors, ranging radars, and roadway section sizes.

7. The automatic update method for the heading position according to claim 3, wherein Based on the real-time pose of the tunneling machine reaching the heading position, calculating the first straight-line distance between the cutting head and the positioning card of the tunneling machine includes: Based on the real-time pose of the roadheader when it reaches the heading position, the first straight-line distance between the cutting head and the positioning card of the roadheader is calculated by using spatial geometric analysis. This first straight-line distance is the straight-line distance between the cutting head and the roadheader when reaching the heading position, and there is a unique three-dimensional spatial position relationship between this first straight-line distance and the virtual control waistline at the center of the roadway.

8. The automatic update method for the heading position according to claim 7, wherein Based on the first straight-line distance, the dynamic positioning is calculated, including: Based on the unique three-dimensional spatial position relationship, the target straight line corresponding to the first straight-line distance is projected onto the virtual control waistline by using spatial projection, and the first projection length of this target straight line is calculated. Combined with the dynamic absolute coordinates and the first projection length, the dynamic positioning is calculated, and the position of the dynamic positioning is automatically updated in a graph.

9. The automatic update method for the heading position according to claim 2, characterized in that Combined with the retracted distance, the roadheader is statically identified, and the position of the dynamic positioning is corrected to determine the accurate absolute coordinates of the heading position, including: Collect multiple video images of the roadheader when it retracts and stops. Based on the video images when it retracts and stops, combined with the dynamic absolute coordinates, it is determined through comparative analysis whether the roadheader is in a static state. In the case where the roadheader is in the static state, the real-time pose of the roadheader when it is in the static state is restored 1:

1. Based on the real-time pose of the roadheader when it is in the static state, the second straight-line distance between the cutting head and the positioning card of the roadheader is calculated. Based on the second straight-line distance, the accurate absolute coordinates are calculated.

10. The automatic update method for the heading position according to claim 9, characterized in that, Collect multiple video images of the roadheader when it retracts and stops, including: Continuously collect a preset number of video images of the roadheader when it reaches the heading position at a preset collection period.

11. The automatic update method for the heading position according to claim 9, wherein Based on the video images when it retracts and stops, combined with the dynamic absolute coordinates, it is determined through comparative analysis whether the roadheader is in a static state, including: For the roadheader in each video image, based on its dynamic absolute coordinates, the coincidence degree of its spatial position relationship with the roadway is determined through comparative analysis. If the comparative analysis results corresponding to each video image are all: the two completely coincide, then it is determined that the roadheader is in the static state.

12. The automatic update method for the heading position according to claim 9, characterized in that, In the case where the roadheader is in the static state, the real-time pose of the roadheader when it is in the static state is restored 1:1, including: In the case where the roadheader is in the static state, the target data of the roadheader is obtained, and by using data-driven technology and three-dimensional modeling technology, based on the target data, the real-time pose of the roadheader when it is in the static state is restored 1:

1. Among them, the target data includes: the data corresponding to various oil cylinder stroke sensors, inclination sensors, ranging radars, and roadway section dimensions.

13. The automatic update method for the heading position according to claim 9, characterized in that Based on the real-time pose of the roadheader when it is in the static state, the second straight-line distance between the cutting head and the positioning card of the roadheader is calculated, including: Based on the real-time pose of the roadheader in the stationary state, using spatial geometric analysis, the second straight-line distance between the cutting head and the positioning card of the roadheader is calculated. This second straight-line distance is the straight-line distance between the cutting head and the roadheader in the stationary state. There is a unique three-dimensional spatial position relationship between this second straight-line distance and the virtual control waistline at the center of the roadway.

14. The automatic update method for the heading position according to claim 13, characterized in that Based on the second straight-line distance, the precise absolute coordinates are calculated, including: Based on the unique three-dimensional spatial position relationship, the target straight line corresponding to the second straight-line distance is projected onto the virtual control waistline using spatial projection, and the second projection length of this target straight line is calculated. Combining the positioning position in the stationary state, the second projection length, the difference between the second projection length and the first projection length, and the retracted distance, the precise absolute coordinates are calculated.

15. The automatic update method for the heading position according to claim 1 or 8, characterized in that, The method for automatically updating the position of the dynamic positioning or the heading position of the roadheader in a map includes: Using the geographic information service, synchronously updating the absolute coordinates corresponding to the position of the dynamic positioning or the precise absolute coordinates to all base maps. Based on the association relationship between all the base maps and the one map, automatically updating the position of the dynamic positioning or the heading position of the roadheader in the one map. Among them, the geographic information service is provided by the spatio-temporal big database of geological information and engineering information built based on GIS technology.

16. The automatic update method for the heading position according to claim 1, characterized in that After obtaining the precise absolute coordinates of the real-time position of the roadheader heading, it further includes: Using the geographic information service, updating the precise absolute coordinates to the three-dimensional geographic information data and the target module of the digital twin model. Based on the target module, the digital twin model automatically updates the heading position of the roadheader. Among them, the target module refers to the module in the digital twin model that receives various information of the roadheader. After receiving any new information, the digital twin model can automatically update the corresponding content according to the new information.

17. The automatic update method for the heading position according to claim 4 or 10, characterized in that, The preset acquisition period includes: 10 seconds. The preset number of sheets includes: 3 - 6 sheets.

18. An automatic update system for the heading position of tunneling, characterized in that, The automatic update system for the heading position of the roadheader includes: A roadheader positioning module for obtaining the real-time three-dimensional coordinates of the roadheader during operation. A unified coordinate module for converting the real-time three-dimensional coordinates into dynamic absolute coordinates. An auxiliary module for determining whether the roadheader reaches the heading position. A dynamic positioning module for, when reaching the heading position, combining the dynamic absolute coordinates to perform dynamic positioning on the roadheader to obtain the dynamic positioning of the heading position. A recording module for recording the retracted distance of the roadheader after one cycle of cutting operation. A static recognition module for, when the roadheader retracts and stops, combining the retracted distance to perform static recognition on the roadheader, correcting the position of the dynamic positioning, and determining the precise absolute coordinates of the heading position. An automatic update module for automatically updating the heading position of the roadheader in a map and the digital twin model respectively based on the precise absolute coordinates.

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