A method and system for automatically updating a heading position

Abstract

The application discloses a kind of advancing head position automatic updating method and system, it is related to mining intelligent mining field.Real-time three-dimensional coordinates of heading machine in working are obtained;It is converted into dynamic absolute coordinate;Determine whether heading machine reaches head position;When reaching head position, in combination with dynamic absolute coordinate, carry out static identification to heading machine, obtain the accurate absolute coordinate of advancing head real-time position;Based on accurate absolute coordinate, automatically update advancing head position in a map.The application obtains the absolute coordinate of heading machine based on accurate positioning technology and GIS technology, identifies that heading machine reaches head position, sets waiting time to change heading machine from dynamic identification to static identification, improves the positioning accuracy of advancing head position, realizes the automatic update of advancing head position in a map, three-dimensional geographic information data, digital twin model, improves the intelligent level of advancing working face, has practical significance to real-time monitoring heading machine working condition.

Description

Technical Field

[0001] This invention relates to the field of intelligent mining, and in particular to a method and system for automatically updating the position of the tunnel face. Background Technology

[0002] Currently, tunnel boring machines (TBMs) play a crucial role in mining operations and tunnel excavation. However, their working environment is extremely challenging, including high temperatures, high humidity, loud noise, and high dust concentrations. These conditions seriously threaten the health and safety of underground workers and increase the risk of mining accidents. Furthermore, given the varying rock hardness, the cutting efficiency and quality of TBMs often rely heavily on the operator's experience and judgment, introducing uncertainty.

[0003] Therefore, the accuracy of tunneling face positioning has become one of the core elements of the intelligent transformation of mining operations. Accurately obtaining the tunneling machine's face position plays a decisive role in improving operational efficiency, ensuring operational safety, and optimizing cutting quality. Promoting the innovation and development of tunneling machine positioning technology is a key link in realizing intelligent and automated coal mining, thereby promoting the high-quality development of the coal industry. Currently, there is an urgent need to propose a method that can accurately acquire and automatically update the tunneling face position. 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 tunnel face.

[0005] This invention provides a method for automatically updating the position of a tunneling face, the method comprising:

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

[0007] Convert the real-time 3D coordinates into dynamic absolute coordinates;

[0008] Determine whether the tunneling machine has reached the tunneling face position;

[0009] Upon reaching the tunneling face position, the tunneling machine is dynamically positioned using the dynamic absolute coordinates to obtain the dynamic positioning of the tunneling face position.

[0010] Record the distance the tunneling machine retracts after one cycle of cutting operation;

[0011] When the tunneling machine retracts and stops, the machine is statically identified based on the retraction distance, and the position of the dynamic positioning is corrected to determine the precise absolute coordinates of the tunneling face position.

[0012] Based on the precise absolute coordinates, the position of the tunnel face is automatically updated on a single graph.

[0013] Optionally, determining whether the tunneling machine has reached the tunneling face includes:

[0014] Video technology is used to identify whether the tunneling machine has reached the tunneling face position.

[0015] Optionally, upon reaching the tunneling face position, the tunneling machine is dynamically positioned using the dynamic absolute coordinates to obtain the dynamic positioning of the tunneling face position, including:

[0016] Multiple video images were captured showing the tunneling machine reaching the tunneling face position.

[0017] Based on the video footage of the tunneling face reaching the specified position, and combined with the dynamic absolute coordinates, a comparative analysis is conducted to determine whether the tunneling machine has reached the specified position.

[0018] When the tunneling machine reaches the tunneling face position, the real-time pose of the tunneling machine when it reaches the tunneling face position is restored at a 1:1 ratio.

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

[0020] The dynamic positioning is calculated based on the first straight-line distance.

[0021] Optionally, multiple video images of the tunneling machine reaching the face position are captured, including:

[0022] The system continuously captures a preset number of video images of the tunneling machine reaching the face position at a preset acquisition cycle.

[0023] Optionally, based on the video footage and the dynamic absolute coordinates, a comparative analysis is performed to determine whether the tunneling machine has reached the tunneling face position, including:

[0024] For each video frame of the tunneling machine, its dynamic absolute coordinates are used to compare and analyze the degree of overlap between its position and the spatial relationship of the tunnel.

[0025] If the comparison analysis results for each video frame are completely identical, then it is determined that the tunneling machine has reached the tunneling face position.

[0026] Optionally, when the tunneling machine reaches the tunneling face position, the real-time pose of the tunneling machine at the tunneling face position is restored at a 1:1 ratio, including:

[0027] When the tunneling machine reaches the tunneling face position, the target data of the tunneling machine is acquired. Based on the target data, the real-time pose of the tunneling machine when it reaches the tunneling face position is restored at a 1:1 ratio.

[0028] The target data includes data corresponding to various hydraulic cylinder stroke sensors, tilt sensors, ranging radar, and tunnel cross-sectional dimensions.

[0029] Optionally, based on the real-time pose of the tunneling machine when it reaches the tunneling face position, the first linear distance between the cutting head and the positioning card of the tunneling machine is calculated, including:

[0030] Based on the real-time pose of the tunneling machine when it reaches the tunneling face position, the first straight-line distance between the cutting head and the positioning card of the tunneling machine is calculated using spatial geometric analysis. This first straight-line distance is the straight-line distance between the cutting head and the tunneling machine when it reaches the tunneling face position. There is a unique three-dimensional spatial positional relationship between this first straight-line distance and the virtual control waistline at the center of the roadway.

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

[0032] Based on the unique three-dimensional spatial positional relationship, the target line corresponding to the first straight line distance is projected onto the virtual control waistline using spatial projection, and the first projection length of the target line is calculated.

[0033] The dynamic positioning is calculated by combining the dynamic absolute coordinates and the first projection length, and the position of the dynamic positioning is automatically updated on a map.

[0034] Optionally, by combining the retreating distance, static identification of the tunneling machine is performed, and the position of the dynamic positioning is corrected to determine the precise absolute coordinates of the tunneling face position, including:

[0035] Multiple video images were captured of the tunneling machine retracting and stopping.

[0036] Based on the video footage of the machine retracting and stopping, and combined with the dynamic absolute coordinates, a comparative analysis is conducted to determine whether the tunneling machine is in a stationary state.

[0037] When the tunneling machine is in the stationary state, the real-time pose of the tunneling machine when it is in the stationary state is restored at a 1:1 ratio.

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

[0039] The precise absolute coordinates are calculated based on the second straight-line distance.

[0040] Optionally, multiple video images of the tunneling machine retracting and stopping are captured, including:

[0041] The system continuously captures a preset number of video images of the tunneling machine reaching the face position at a preset acquisition cycle.

[0042] Optionally, based on the video footage of the machine retracting and stopping, and combined with the dynamic absolute coordinates, a comparative analysis is performed to determine whether the tunneling machine is in a stationary state, including:

[0043] For each video frame of the tunneling machine, its dynamic absolute coordinates are used to compare and analyze the degree of overlap between its position and the spatial relationship of the tunnel.

[0044] If the comparison analysis results for each video frame are completely identical, then it is determined that the tunneling machine is in the stationary state.

[0045] Optionally, when the tunneling machine is in the stationary state, reconstructing the real-time pose of the tunneling machine in the stationary state at a 1:1 scale includes:

[0046] When the tunneling machine is in the stationary state, the target data of the tunneling machine is acquired, and based on the target data, the real-time pose of the tunneling machine when it is in the stationary state is restored at a 1:1 ratio.

[0047] The target data includes data corresponding to various hydraulic cylinder stroke sensors, tilt sensors, ranging radar, and tunnel cross-sectional dimensions.

[0048] Optionally, based on the real-time pose of the tunneling machine when it is in the stationary state, the second linear distance between the cutting head and the positioning card of the tunneling machine is calculated, including:

[0049] Based on the real-time pose of the tunneling machine when it is stationary, the second straight-line distance between the cutting head and the positioning card of the tunneling machine is calculated using spatial geometric analysis. This second straight-line distance is the straight-line distance between the cutting head and the tunneling machine when it is stationary. There is a unique three-dimensional spatial positional relationship between this second straight-line distance and the virtual control waistline at the center of the tunnel.

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

[0051] Based on the unique three-dimensional spatial positional relationship, the target line corresponding to the second straight line distance is projected onto the virtual control waistline using spatial projection, and the second projection length of the target line is calculated.

[0052] The precise absolute coordinates are calculated by combining the coordinates of the positioning position in a static state, the second projection length, the difference between the second projection length and the first projection length, and the retreat distance.

[0053] Optionally, the method for automatically updating the dynamically positioned location or the tunnel face location on a single image includes:

[0054] Using geographic information services, the absolute coordinates or precise absolute coordinates corresponding to the dynamically located position are synchronously updated to all base maps;

[0055] Based on the association between all the base maps and the single map, the position of the dynamic positioning or the position of the tunnel face is automatically updated in the single map;

[0056] The geographic information service mentioned above is a service provided by a spatiotemporal big data database of geological and engineering information built based on GIS technology.

[0057] Optionally, after obtaining the precise absolute coordinates of the real-time position of the tunnel face, the method also includes:

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

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

[0060] The target module refers to the module in the digital twin model used to receive various types of information from the tunneling machine. After receiving any new information, the digital twin model can automatically update the corresponding content based on the new information.

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

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

[0063] This invention provides an automatic updating system for the position of a tunnel face, the system comprising:

[0064] The tunneling machine positioning module is used to acquire the real-time three-dimensional coordinates of the tunneling machine during operation;

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

[0066] An auxiliary module is used to determine whether the tunneling machine has reached the tunneling face position;

[0067] The dynamic positioning module is used to dynamically position the tunneling machine by combining the dynamic absolute coordinates when the tunneling face position is reached, so as to obtain the dynamic positioning of the tunneling face position.

[0068] The recording module is used to record the distance the tunneling machine retracts after one cycle of the tunneling machine's cutting operation;

[0069] The static identification module is used to perform static identification of the tunneling machine when it stops retracting, based on the retraction distance, to correct the position of the dynamic positioning and determine the precise absolute coordinates of the tunneling face position.

[0070] An automatic update module is used to automatically update the tunnel face position in both a map and a digital twin model based on the precise absolute coordinates.

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

[0072] Video technology is used to identify whether the tunneling machine has reached the facing position.

[0073] Optionally, the dynamic positioning module includes:

[0074] The dynamic acquisition submodule is used to acquire multiple video images of the tunneling machine reaching the tunneling face position;

[0075] The dynamic analysis submodule is used to determine whether the tunneling machine has reached the tunneling face position based on the video footage of the tunneling face position and the dynamic absolute coordinates.

[0076] The dynamic pose restoration submodule is used to restore the real-time pose of the tunneling machine when it reaches the tunneling face position at a 1:1 ratio.

[0077] The dynamic distance calculation submodule is used to calculate the first 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 reaches the tunneling face position;

[0078] The dynamic positioning calculation submodule is used to calculate the dynamic positioning based on the first straight-line distance.

[0079] Optionally, the dynamic acquisition submodule is specifically used for:

[0080] The tunneling machine is continuously captured at a preset acquisition cycle, showing a preset number of video images of the tunneling machine reaching the face position.

[0081] The preset acquisition period includes 10 seconds; the preset number of images includes 3 to 6 images.

[0082] Optionally, the dynamic analysis submodule is specifically used for:

[0083] For each video frame of the tunneling machine, its dynamic absolute coordinates are used to compare and analyze the degree of overlap between its position and the spatial relationship of the tunnel.

[0084] If the comparison analysis results for each video frame are completely identical, then it is determined that the tunneling machine has reached the tunneling face position.

[0085] Optionally, the dynamic pose restoration submodule is specifically used for:

[0086] When the tunneling machine reaches the tunneling face position, the target data of the tunneling machine is acquired. Based on the target data, the real-time pose of the tunneling machine when it reaches the tunneling face position is restored at a 1:1 ratio.

[0087] The target data includes data corresponding to various hydraulic cylinder stroke sensors, tilt sensors, ranging radar, and tunnel cross-sectional dimensions.

[0088] Optionally, the dynamic distance calculation submodule is specifically used for:

[0089] Based on the real-time pose of the tunneling machine when it reaches the tunneling face position, the first straight-line distance between the cutting head and the positioning card of the tunneling machine is calculated using spatial geometric analysis. This first straight-line distance is the straight-line distance between the cutting head and the tunneling machine when it reaches the tunneling face position. There is a unique three-dimensional spatial positional relationship between this first straight-line distance and the virtual control waistline at the center of the roadway.

[0090] Optionally, the dynamic positioning submodule is specifically used for:

[0091] Based on the unique three-dimensional spatial positional relationship, the target line corresponding to the first straight line distance is projected onto the virtual control waistline using spatial projection, and the first projection length of the target line is calculated.

[0092] The dynamic positioning is calculated by combining the dynamic absolute coordinates and the first projection length, and the position of the dynamic positioning is automatically updated on a map.

[0093] Optionally, the static recognition module includes:

[0094] The static acquisition submodule is used to acquire multiple video images of the tunneling machine retracting and stopping.

[0095] The static analysis submodule is used to determine whether the tunneling machine is in a stationary state by comparing and analyzing the video footage when it stops and the dynamic absolute coordinates.

[0096] The static pose restoration submodule is used to restore the real-time pose of the tunneling machine when it is in the stationary state at a 1:1 ratio.

[0097] The static distance calculation submodule 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] The coordinate calculation submodule is used to calculate the precise absolute coordinates based on the second straight-line distance.

[0099] Optionally, the static acquisition submodule is specifically used for:

[0100] The tunneling machine is continuously captured at a preset acquisition cycle, showing a preset number of video images of the tunneling machine reaching the face position.

[0101] The preset acquisition period includes 10 seconds; the preset number of images includes 3 to 6 images.

[0102] Optionally, the static analysis submodule is specifically used for:

[0103] For each video frame of the tunneling machine, its dynamic absolute coordinates are used to compare and analyze the degree of overlap between its position and the spatial relationship of the tunnel.

[0104] If the comparison analysis results for each video frame are completely identical, then it is determined that the tunneling machine is in the stationary state.

[0105] Optionally, the static pose restoration submodule is specifically used for:

[0106] When the tunneling machine is in the stationary state, the target data of the tunneling machine is acquired, and based on the target data, the real-time pose of the tunneling machine when it is in the stationary state is restored at a 1:1 ratio.

[0107] The target data includes data corresponding to various hydraulic cylinder stroke sensors, tilt sensors, ranging radar, and tunnel cross-sectional dimensions.

[0108] Optionally, the static distance calculation submodule is specifically used for:

[0109] Based on the real-time pose of the tunneling machine when it is stationary, the second straight-line distance between the cutting head and the positioning card of the tunneling machine is calculated using spatial geometric analysis. This second straight-line distance is the straight-line distance between the cutting head and the tunneling machine when it is stationary. There is a unique three-dimensional spatial positional relationship between this second straight-line distance and the virtual control waistline at the center of the tunnel.

[0110] Optionally, the computational coordinate submodule is specifically used for:

[0111] Based on the unique three-dimensional spatial positional relationship, the target line corresponding to the second straight line distance is projected onto the virtual control waistline using spatial projection, and the second projection length of the target line is calculated.

[0112] The precise absolute coordinates are calculated by combining the stationary position, the second projection length, the difference between the second projection length and the first projection length, and the retreat distance.

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

[0114] Using geographic information services, the absolute coordinates or precise absolute coordinates corresponding to the dynamically located position are synchronously updated to all base maps;

[0115] Based on the association between all the base maps and the single map, the position of the dynamic positioning or the position of the tunnel face is automatically updated in the single map;

[0116] The geographic information service mentioned above is a service provided by a spatiotemporal big data database of geological and engineering information built based on GIS technology.

[0117] Optionally, the automatic update module is further configured to:

[0118] Using geographic information services, the precise absolute coordinates are updated to the target module of the three-dimensional geographic information data and the digital twin model;

[0119] Based on the target module, the digital twin model automatically updates the tunnel face position;

[0120] The target module refers to the module in the digital twin model used to receive various types of information from the tunneling machine. After receiving any new information, the digital twin model can automatically update the corresponding content based on the new information.

[0121] The automatic update method for the tunneling face position of the present invention first obtains the real-time three-dimensional coordinates of the tunneling machine during operation; then converts the real-time three-dimensional coordinates into dynamic absolute coordinates; then determines whether the tunneling machine has reached the tunneling face position; when the tunneling face position is reached, the tunneling machine is dynamically positioned by combining the dynamic absolute coordinates to obtain the dynamic positioning of the tunneling face position.

[0122] After the tunneling machine completes one cycle of cutting operations, the distance the tunneling machine retreats is recorded. When the tunneling machine stops after retreating, the retreat distance is used to perform static identification of the tunneling machine and correct the position of the dynamic positioning to determine the precise absolute coordinates of the tunneling face. Finally, based on the precise absolute coordinates, the position of the tunneling face is automatically updated in both a map and a digital twin model.

[0123] The automatic update method for the tunneling face position proposed in this invention is based on the combination of precise positioning technology and GIS technology to obtain the absolute coordinates of the tunneling machine, identify whether the tunneling machine has reached the tunneling face position, and perform dynamic positioning when it reaches the tunneling face position to obtain the dynamic positioning of the tunneling face position. Afterwards, when the tunneling machine retreats and stops, the dynamic identification of the tunneling machine is changed to static identification based on the retreat distance, and the position of the dynamic positioning is corrected, which improves the positioning accuracy of the tunneling face position. Furthermore, it realizes the automatic update of the tunneling face position on a single map, three-dimensional geographic information data, and digital twin model, which improves the intelligence level of the tunneling face and has practical significance for real-time monitoring of the tunneling machine's working status, and has high practicality. Attached Figure Description

[0124] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

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

[0126] Figure 2 This is a block diagram of an automatic update system for the position of the tunnel face according to an embodiment of the present invention. Detailed Implementation

[0127] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention, and are merely some embodiments of the present invention, not all embodiments, and are not intended to limit the present invention.

[0128] The inventors discovered that the accuracy of face positioning in tunneling operations has become a core element in the intelligent transformation of mining operations. Accurately obtaining the face position of the tunneling machine plays a decisive role in improving operational efficiency, ensuring operational safety, and optimizing cutting quality. However, further research by the inventors revealed that:

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

[0130] Furthermore, for rocks of varying hardness, tunneling efficiency and work quality heavily rely on the operator's experience and judgment, further increasing operational uncertainty and risk. Given the unique geographical and environmental constraints within mines—including uneven ground, lack of satellite navigation signal coverage, limitations in basic positioning technology, and complex tunnel structures with rough walls causing severe signal transmission interference—traditional positioning methods are ineffective in this environment. They cannot obtain precise tunneling face positions, and the obtained face positions require manual updates. This is clearly detrimental to the intelligent and automated development of coal mining and hinders the high-quality development of the coal industry.

[0131] To address the aforementioned problems, the inventors have creatively proposed a method and system for automatically updating the position of the tunnel face, as described in this invention. The technical solution proposed in this invention will be explained and described below.

[0132] Reference Figure 1 The flowchart illustrates an automatic update method for the position of a tunnel face according to this embodiment. The automatic update method for the position of a tunnel face includes:

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

[0134] The automatic update method for the tunneling face position proposed in this invention first requires obtaining the real-time three-dimensional coordinates of the tunneling machine during operation. There are various methods for obtaining these coordinates; for example, a tunneling machine positioning module can be installed on the tunneling machine itself, through which the real-time three-dimensional coordinates can be obtained. The tunneling machine positioning module can have various implementation structures; one preferred implementation structure will be described below and will not be elaborated upon here.

[0135] Furthermore, based on current technology, it is already possible to visualize the real-time motion status of tunneling machines. For example, there are already methods to visualize the real-time motion status of tunneling machines based on digital twin models. A digital twin model, built on BIM technology, can achieve multi-source information fusion at the working face. It can visualize the real-time motion status of the tunneling machine and the working performance of key components based on feedback information from underground. It enables real-time fusion of tunneling equipment with 3D geological models, tunnel models, environmental perception parameters, video streams, etc., achieving holographic perception of the tunneling face and realistic reproduction of the digital twin scene. Of course, the foundation for this includes the real-time 3D coordinates of the tunneling machine. Only after processing these real-time 3D coordinates can the digital twin model accurately visualize its real-time motion status.

[0136] Step 102: Convert real-time 3D coordinates into dynamic absolute coordinates.

[0137] After obtaining the real-time 3D coordinates, they need to be converted into dynamic absolute coordinates. Generally, the 3D coordinates of a tunneling machine are obtained in its own coordinate system, so they need to be converted to coordinates in a unified coordinate system. However, the unified coordinates commonly used in the coal mining industry are mostly based on GIS (Geographic Information System). Therefore, the real-time 3D coordinates of the tunneling machine need to be converted into corresponding absolute coordinates. Since these coordinates are obtained during the dynamic process of the tunneling machine, they are defined as dynamic absolute coordinates.

[0138] In one embodiment of the present invention, a preferred method for implementing coordinate transformation is to use GIS technology to compare and analyze the real-time three-dimensional coordinates of the tunneling machine with the absolute coordinates in the absolute coordinate system, and then convert the real-time three-dimensional coordinates into the corresponding dynamic absolute coordinates.

[0139] Step 103: Determine if the tunneling machine has reached the tunneling face position.

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

[0141] There are various methods to determine whether a tunneling machine has reached the tunneling face. In one embodiment of the present invention, a preferred method for determining whether a tunneling machine has reached the tunneling face includes: identifying whether the tunneling machine has reached the tunneling face using video technology. For example, identifying whether the tunneling machine has reached the tunneling face using video monitoring equipment.

[0142] Step 104: Upon reaching the tunneling face position, the tunneling machine is dynamically positioned using dynamic absolute coordinates to obtain the dynamic positioning of the tunneling face position.

[0143] When the tunneling machine reaches the tunneling face position, it does not stop. Instead, it uses dynamic absolute coordinates to dynamically position the machine and obtain the dynamic position of the tunneling face.

[0144] A preferred method for dynamically locating the tunnel face includes:

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

[0146] First, multiple video images of the tunneling machine reaching the tunnel face are captured. A preferred method is to continuously capture a preset number of video images of the tunneling machine reaching the tunnel face at a preset capture cycle. After extensive testing and research, the inventors have found the following optimal settings for the preset capture cycle and the number of preset images: a preset capture cycle of 10 seconds and a preset number of 3 to 6 images. That is, with a 10-second cycle, one video image is captured every 10 seconds. If 3 images are captured consecutively, it will take 30 seconds; if 6 images are captured consecutively, it will take 60 seconds.

[0147] Step T2: Based on the video footage of the tunneling face position, combined with dynamic absolute coordinates, compare and analyze to determine whether the tunneling machine has reached the tunneling face position.

[0148] After acquiring multiple video frames, these frames are analyzed using dynamic absolute coordinates to determine whether the tunneling machine has reached the tunneling face. Assuming six video frames are acquired, for each frame, the tunneling machine's dynamic absolute coordinates are compared to its position relative to the tunnel's spatial location. If all six frames show a perfect overlap, the tunneling machine has reached the tunneling face. However, if any of the six frames does not show a perfect overlap, the tunneling machine has not reached the tunneling face, and the above steps are repeated to re-determine its position.

[0149] Step T3: When the tunneling machine reaches the tunneling face position, restore the real-time pose of the tunneling machine when it reached the tunneling face position at a 1:1 scale.

[0150] Once the tunneling machine has reached the face, to obtain accurate dynamic positioning of the face, it is first necessary to reconstruct the real-time pose of the tunneling machine at a 1:1 scale. A preferred method for reconstructing the real-time pose of the tunneling machine at a 1:1 scale includes:

[0151] Once the tunneling machine reaches the face, target data for the machine is acquired. Using data-driven technology and 3D modeling, the machine's real-time pose is reconstructed at a 1:1 scale based on this target data. This target data includes data corresponding to various hydraulic cylinder stroke sensors, tilt sensors, ranging radar, and the dimensions of the tunnel cross-section. In other words, all data related to the 1:1 reconstruction of the tunneling machine's real-time pose is considered target data. Based on this target data, data-driven technology and 3D modeling can be used to reconstruct the machine's real-time pose at a 1:1 scale.

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

[0153] After reconstructing the real-time pose of the tunneling machine when it reaches the tunneling face at a 1:1 scale, the first linear distance between the cutting head and the positioning card of the tunneling machine is calculated based on this real-time pose. A preferred method for calculating the first linear distance includes:

[0154] Based on the real-time pose of the tunneling machine when it reaches the tunneling face, spatial geometric analysis is used to calculate the first straight-line distance between the cutting head and the positioning card of the tunneling machine. This first straight-line distance is the straight-line distance between the cutting head and the tunneling machine when it reaches the tunneling face. This straight-line distance has a unique three-dimensional spatial positional relationship with the virtual control line at the center of the roadway. Of course, if there is no positioning card, the straight-line distance between the cutting head and the tunneling machine when it reaches the tunneling face 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 using these technologies, spatial geometric analysis is then used to calculate the aforementioned straight-line distance.

[0155] Step T5: Calculate the dynamic positioning based on the first straight-line distance.

[0156] After obtaining the initial straight-line distance between the cutting head and the positioning card of the tunneling machine when reaching the tunneling face position, the dynamic positioning of the tunneling position is calculated based on this initial straight-line distance. A preferred method for calculating the dynamic positioning includes:

[0157] Based on a unique three-dimensional spatial positional relationship, the target straight line corresponding to the first straight-line distance is projected onto the virtual control waistline using spatial projection, and the first projected length of the target straight line is calculated; that is, the distance of the tunnel boring machine's positioning card along the roadway slope direction when the tunneling face position is reached. Finally, by combining the dynamic absolute coordinates and the first projected length, the absolute coordinates of the dynamic positioning of the tunneling position are calculated, and the dynamic positioning position is automatically updated on a single graph.

[0158] Step 105: Record the distance the tunneling machine retracts after one cycle of cutting operation.

[0159] After dynamic positioning, the tunneling machine will continue its cutting operation. After one cycle, the tunneling machine will stop. At this time, the tunneling machine will be retracted relative to the tunneling face position. The distance the tunneling machine retracts will be recorded.

[0160] Step 106: When the tunneling machine stops after retracting, the machine is statically identified based on the retraction distance, and the position of the dynamic positioning is corrected to determine the precise absolute coordinates of the tunneling face position.

[0161] When the tunneling machine retracts and stops, the retraction distance is used to perform static identification of the machine, correcting the dynamic positioning obtained in step 105, thereby determining the precise absolute coordinates of the tunneling face. The method of obtaining the precise absolute coordinates of the tunneling face through dynamic positioning, static identification, and correction in steps 104-106 is a core innovation that distinguishes it from traditional technologies; currently, no similar method exists in traditional technologies. Step 106 specifically includes the following steps:

[0162] Step S1: Collect multiple video images of the tunneling machine retracting and stopping.

[0163] First, multiple video images of the tunnel boring machine reaching the face are captured. A preferred method is to continuously capture a preset number of video images of the tunnel boring machine reaching the face at a preset capture cycle. After extensive testing and research, the inventors have found the following optimal settings for the preset capture cycle and the number of preset images: a preset capture cycle of 10 seconds and a preset number of 3 to 6 images. That is, with a 10-second cycle, one video image is captured every 10 seconds. If 3 images are captured consecutively, it will take 30 seconds; if 6 images are captured consecutively, it will take 60 seconds.

[0164] Step S2: Based on the video footage of the machine reversing and stopping, and combined with the dynamic absolute coordinates, compare and analyze to determine whether the tunneling machine is in a stationary state.

[0165] After acquiring multiple video frames, these frames are analyzed using dynamic absolute coordinates to determine whether the tunneling machine is stationary. Assuming six video frames are acquired, for each frame, the tunneling machine's dynamic absolute coordinates are compared to its position within the tunnel. If all six frames show a perfect overlap, the tunneling machine is considered stationary. Conversely, if any of the six frames does not show a perfect overlap, the tunneling machine is not considered stationary, and the process returns to step S1 to acquire more video frames, repeating the process in step S2 until the tunneling machine is confirmed to be stationary.

[0166] Step S3: With the tunneling machine stationary, recreate the real-time pose of the tunneling machine when it was stationary at a 1:1 scale.

[0167] To obtain accurate absolute coordinates of the tunneling face position when the tunneling machine is stationary, it is first necessary to reconstruct the real-time pose of the tunneling machine at a 1:1 scale. A preferred method for reconstructing the real-time pose of the tunneling machine at a stationary state includes:

[0168] With the tunneling machine stationary, target data of the machine is acquired. Using data-driven technology and 3D modeling, the real-time pose of the tunneling machine in a stationary state is reconstructed at a 1:1 scale based on this target data. This target data includes data corresponding to various hydraulic cylinder stroke sensors, tilt sensors, ranging radar, and the dimensions of the tunnel cross-section. In other words, all data related to the 1:1 reconstruction of the tunneling machine's real-time pose in a stationary state constitutes target data. Based on this target data, data-driven technology and 3D modeling can be used to reconstruct the tunneling machine's real-time pose at a 1:1 scale.

[0169] Step S4: Based on the real-time pose of the tunneling machine when it is stationary, calculate the second linear distance between the cutting head and the positioning card of the tunneling machine.

[0170] After reconstructing the real-time pose of the tunneling machine at a 1:1 scale when it is stationary, the second linear distance between the cutting head and the tunneling machine is calculated based on this real-time pose. A preferred method for calculating the second linear distance includes:

[0171] Based on the real-time pose of the tunneling machine when it is stationary, the second straight-line distance between the cutting head and the positioning card of the tunneling machine is calculated using spatial geometric analysis. This second straight-line distance is the straight-line distance between the cutting head and the tunneling machine when stationary. There is a unique three-dimensional spatial relationship between this second straight-line distance and the virtual control line at the center of the tunnel. Of course, if there is no positioning card, the straight-line distance between the cutting head and the tunneling machine can be calculated using 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 using these technologies, the aforementioned second straight-line distance can be calculated using spatial geometric analysis.

[0172] Step S5: Calculate the precise absolute coordinates based on the second straight-line distance.

[0173] After obtaining the second linear distance between the cutting head and the positioning clip of the tunneling machine when it is stationary, the precise absolute coordinates of the tunneling face position are calculated based on this second linear distance. A preferred method for calculating the precise absolute coordinates includes:

[0174] Based on a unique three-dimensional spatial positional 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 projected length of the target straight line is calculated; that is, the distance of the positioning card along the roadway slope direction when the tunneling machine is stationary. Finally, combining the positioning position in the stationary state, the second projected length, the difference between the second projected length and the first projected length, and the distance the tunneling machine has retreated, the precise absolute coordinates of the tunneling position are calculated. That is: Precise absolute coordinates of the tunneling position = Positioning position in the stationary state + Second projected length + Difference between the second projected length and the first projected length + Distance the tunneling machine has retreated.

[0175] Step 107: Based on precise absolute coordinates, automatically update the tunnel face position on a single map.

[0176] Once the precise absolute coordinates of the tunneling face position are obtained, the tunneling face position can be automatically updated on a single map based on these precise absolute coordinates. Furthermore, the dynamically located position from step 104 will also be automatically updated on a single map. This automatic updating of the tunneling face position and dynamic positioning on a single map differs from traditional techniques. Traditional techniques, instead of using static recognition, directly use the approximate absolute coordinates corresponding to the real-time 3D coordinates of the tunneling machine at the tunneling face position as the absolute coordinates of the tunneling position. Then, they manually draw maps on all the base maps corresponding to a single map, adding these approximate absolute coordinates to all base maps, and then updating other layers in a linked manner.

[0177] This application utilizes the precise absolute coordinates and dynamic positioning of the tunneling location, eliminating the need for manual drawing. Instead, it uses geographic information services to synchronously update the absolute coordinates corresponding to the dynamic positioning to all base maps. Then, based on the association between all base maps and a single map, the tunneling face position and dynamic positioning are automatically updated on a single map. In this process, the geographic information service is an effective fusion of geological and engineering information based on GIS technology. It constructs a spatiotemporal database of geological and engineering information, thereby providing geographic information services.

[0178] Furthermore, if there is a need to use a digital twin model to visualize the tunneling machine, the precise absolute coordinates of the tunneling position must also be updated in the digital twin model. Therefore, after obtaining the precise absolute coordinates of the real-time position of the tunneling face, the automatic update method for the tunneling face position also includes:

[0179] Using geographic information services, precise absolute coordinates are updated to the target module of the 3D geographic information data and digital twin model. Based on the target module, the digital twin model automatically updates the position of the tunnel face. Here, the target module refers to the module in the digital twin model used to receive various types of information from the tunneling machine. After receiving any new information, the digital twin model can automatically update the corresponding content according to the received new information.

[0180] By using the methods described in steps 101 to 105 above, the precise location of the tunnel face can be obtained. Furthermore, the location of the tunnel face can be automatically updated on a single map, three-dimensional geographic information data, and digital twin model, thereby improving the intelligence level of the tunneling face and having practical significance for real-time monitoring of the tunneling machine's operation.

[0181] Based on the above-described automatic update method for tunnel face position, this invention also proposes an automatic update system for tunnel face position, referring to... Figure 2 The block diagram shown is of an automatic update system for the tunnel face position, which includes:

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

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

[0184] Auxiliary module 230 is used to determine whether the tunneling machine has reached the facing position;

[0185] The dynamic positioning module 240 is used to dynamically position the tunneling machine by combining the dynamic absolute coordinates when the tunneling face position is reached, so as to obtain the dynamic positioning of the tunneling face position.

[0186] Recording module 250 is used to record the distance the tunneling machine retracts after one cycle of the tunneling machine's cutting operation;

[0187] The static identification module 260 is used to perform static identification of the tunneling machine when it stops retracting, based on the retraction distance, to correct the position of the dynamic positioning and determine the precise absolute coordinates of the tunneling face position.

[0188] The automatic update module 270 is used to automatically update the tunnel face position in a map and a digital twin model based on the precise absolute coordinates.

[0189] Optionally, a preferred structure for the tunneling machine positioning module 210 includes: a wireless encoder transmitter, a data acquisition and control device, and a data transmission network. The wireless encoder transmitter emits radio frequency (RF) signals containing information about the tunneling machine, such as real-time 3D coordinates and data from various sensors. The data acquisition and control device receives the RF signals from the wireless encoder transmitter and uploads them to a ground-based central software system via the data transmission network. This ground-based central software system typically runs on a server. The data transmission network can be either wired or wireless, with either or at least one of these. The wired network can utilize existing industrial ring network networks, with underground data uniformly aggregated to the ground platform via an integrated wired ring network. The wireless network is primarily used by positioning substations that connect to the ring network via uplink ports, ultimately enabling data exchange across the entire system. This method allows the acquisition of the tunneling machine's real-time 3D coordinates during operation.

[0190] Optionally, the unified coordinate module 220 can preferably achieve coordinate transformation based on geographic information services. GIS-based geographic information services can realize unified spatiotemporal information processing, management, analysis, and sharing of tunneling faces, providing a guarantee for the automatic construction and dynamic updating of digital twin models, and can also complete the conversion between real-time 3D coordinates and dynamic absolute coordinates.

[0191] Optionally, the auxiliary module 230 is specifically used for:

[0192] Video technology is used to identify whether the tunneling machine has reached the tunneling face position.

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

[0194] The dynamic acquisition submodule is used to acquire multiple video images of the tunneling machine reaching the tunneling face position;

[0195] The dynamic analysis submodule is used to determine whether the tunneling machine has reached the tunneling face position based on the video footage of the tunneling face position and the dynamic absolute coordinates.

[0196] The dynamic pose restoration submodule is used to restore the real-time pose of the tunneling machine when it reaches the tunneling face position at a 1:1 ratio.

[0197] The dynamic distance calculation submodule is used to calculate the first 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 reaches the tunneling face position;

[0198] The dynamic positioning calculation submodule is used to calculate the dynamic positioning based on the first straight-line distance.

[0199] Optionally, the dynamic acquisition submodule is specifically used for:

[0200] The tunneling machine is continuously captured at a preset acquisition cycle, showing a preset number of video images of the tunneling machine reaching the face position.

[0201] The preset acquisition period includes 10 seconds; the preset number of images includes 3 to 6 images.

[0202] Optionally, the dynamic analysis submodule is specifically used for:

[0203] For each video frame of the tunneling machine, its dynamic absolute coordinates are used to compare and analyze the degree of overlap between its position and the spatial relationship of the tunnel.

[0204] If the comparison analysis results for each video frame are completely identical, then it is determined that the tunneling machine has reached the tunneling face position.

[0205] Optionally, the dynamic pose restoration submodule is specifically used for:

[0206] When the tunneling machine reaches the tunneling face position, the target data of the tunneling machine is acquired. Based on the target data, the real-time pose of the tunneling machine when it reaches the tunneling face position is restored at a 1:1 ratio.

[0207] The target data includes data corresponding to various hydraulic cylinder stroke sensors, tilt sensors, ranging radar, and tunnel cross-sectional dimensions.

[0208] Optionally, the dynamic distance calculation submodule is specifically used for:

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

[0210] Optionally, the dynamic positioning submodule is specifically used for:

[0211] Based on the unique three-dimensional spatial positional relationship, the target line corresponding to the first straight line distance is projected onto the virtual control waistline using spatial projection, and the first projection length of the target line is calculated.

[0212] The dynamic positioning is calculated by combining the dynamic absolute coordinates and the first projection length, and the position of the dynamic positioning is automatically updated on a map.

[0213] The static identification module 260 includes:

[0214] The static acquisition submodule is used to acquire multiple video images of the tunneling machine retracting and stopping.

[0215] The static analysis submodule is used to determine whether the tunneling machine is in a stationary state by comparing and analyzing the video footage when it stops and the dynamic absolute coordinates.

[0216] The static pose restoration submodule is used to restore the real-time pose of the tunneling machine when it is in the stationary state at a 1:1 ratio.

[0217] The static distance calculation submodule 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.

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

[0219] Optionally, the static acquisition submodule is specifically used for:

[0220] The tunneling machine is continuously captured at a preset acquisition cycle, showing a preset number of video images of the tunneling machine reaching the face position.

[0221] The preset acquisition period includes 10 seconds; the preset number of images includes 3 to 6 images.

[0222] Optionally, the static analysis submodule is specifically used for:

[0223] For each video frame of the tunneling machine, its dynamic absolute coordinates are used to compare and analyze the degree of overlap between its position and the spatial relationship of the tunnel.

[0224] If the comparison analysis results for each video frame are completely identical, then it is determined that the tunneling machine is in the stationary state.

[0225] Optionally, the static pose restoration submodule is specifically used for:

[0226] When the tunneling machine is in the stationary state, the target data of the tunneling machine is acquired, and based on the target data, the real-time pose of the tunneling machine when it is in the stationary state is restored at a 1:1 ratio.

[0227] The target data includes data corresponding to various hydraulic cylinder stroke sensors, tilt sensors, ranging radar, and tunnel cross-sectional dimensions.

[0228] Optionally, the static distance calculation submodule is specifically used for:

[0229] Based on the real-time pose of the tunneling machine when it is stationary, the second straight-line distance between the cutting head and the positioning card of the tunneling machine is calculated using spatial geometric analysis. This second straight-line distance is the straight-line distance between the cutting head and the tunneling machine when it is stationary. There is a unique three-dimensional spatial positional relationship between this second straight-line distance and the virtual control waistline at the center of the tunnel.

[0230] Optionally, the computational coordinate submodule is specifically used for:

[0231] Based on the unique three-dimensional spatial positional relationship, the target line corresponding to the second straight line distance is projected onto the virtual control waistline using spatial projection, and the second projection length of the target line is calculated.

[0232] The precise absolute coordinates are calculated by combining the stationary position, the second projection length, the difference between the second projection length and the first projection length, and the retreat distance.

[0233] Optionally, the automatic update module 270 is specifically used for:

[0234] Using geographic information services, the absolute coordinates or precise absolute coordinates corresponding to the dynamically located position are synchronously updated to all base maps;

[0235] Based on the association between all the base maps and the single map, the position of the dynamic positioning or the position of the tunnel face is automatically updated in the single map;

[0236] The geographic information service mentioned above is a service provided by a spatiotemporal big data database of geological and engineering information built based on GIS technology.

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

[0238] Using geographic information services, the precise absolute coordinates are updated to the target module of the three-dimensional geographic information data and the digital twin model;

[0239] Based on the target module, the digital twin model automatically updates the tunnel face position;

[0240] The target module refers to the module in the digital twin model used to receive various types of information from the tunneling machine. After receiving any new information, the digital twin model can automatically update the corresponding content based on the new information.

[0241] In summary, the automatic update method for the tunneling face position of the present invention first obtains the real-time three-dimensional coordinates of the tunneling machine during operation; then converts the real-time three-dimensional coordinates into dynamic absolute coordinates; then determines whether the tunneling machine has reached the tunneling face position; when the tunneling face position is reached, the tunneling machine is dynamically positioned by combining the dynamic absolute coordinates to obtain the dynamic positioning of the tunneling face position.

[0242] After the tunneling machine completes one cycle of cutting operations, the distance the tunneling machine retreats is recorded. When the tunneling machine stops after retreating, the retreat distance is used to perform static identification of the tunneling machine and correct the position of the dynamic positioning to determine the precise absolute coordinates of the tunneling face. Finally, based on the precise absolute coordinates, the position of the tunneling face is automatically updated in both a map and a digital twin model.

[0243] The automatic update method for the tunneling face position proposed in this invention is based on the combination of precise positioning technology and GIS technology to obtain the absolute coordinates of the tunneling machine, identify whether the tunneling machine has reached the tunneling face position, and perform dynamic positioning when it reaches the tunneling face position to obtain the dynamic positioning of the tunneling face position. Afterwards, when the tunneling machine retreats and stops, the dynamic identification of the tunneling machine is changed to static identification based on the retreat distance, and the position of the dynamic positioning is corrected, which improves the positioning accuracy of the tunneling face position. Furthermore, it realizes the automatic update of the tunneling face position on a single map, three-dimensional geographic information data, and digital twin model, which improves the intelligence level of the tunneling face and has practical significance for real-time monitoring of the tunneling machine's working status, and has high practicality.

[0244] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including 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 be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0246] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for automatically updating the position of a tunnel face, characterized in that, The automatic update method for the tunnel face position includes: Obtain the real-time three-dimensional coordinates of the tunneling machine during operation; Convert the real-time 3D coordinates into dynamic absolute coordinates; Determine whether the tunneling machine has reached the tunneling face position; Upon reaching the tunneling face position, the tunneling machine is dynamically positioned using the dynamic absolute coordinates to obtain the dynamic positioning of the tunneling face position. Record the distance the tunneling machine retracts after one cycle of cutting operation; When the tunneling machine retracts and stops, the machine is statically identified based on the retraction distance, and the position of the dynamic positioning is corrected to determine the precise absolute coordinates of the tunneling face position. Based on the precise absolute coordinates, the position of the tunnel face is automatically updated on a single graph.

2. The automatic update method for the tunnel face position according to claim 1, characterized in that, Determining whether the tunneling machine has reached the tunneling face includes: Video technology is used to identify whether the tunneling machine has reached the tunneling face position.

3. The automatic update method for the tunnel face position according to claim 2, characterized in that, Upon reaching the tunneling face position, the tunneling machine is dynamically positioned using the dynamic absolute coordinates to obtain the dynamic positioning of the tunneling face position, including: Multiple video images were captured showing the tunneling machine reaching the tunneling face position. Based on the video footage of the tunneling face reaching the specified position, and combined with the dynamic absolute coordinates, a comparative analysis is conducted to determine whether the tunneling machine has reached the specified position. When the tunneling machine reaches the tunneling face position, the real-time pose of the tunneling machine when it reaches the tunneling face position is restored at a 1:1 ratio. Based on the real-time pose of the tunneling machine when it reaches the tunneling face position, the first straight-line distance between the cutting head and the positioning card of the tunneling machine is calculated. The dynamic positioning is calculated based on the first straight-line distance.

4. The automatic update method for the tunnel face position according to claim 3, characterized in that, Multiple video images of the tunneling machine reaching the face position were captured, including: The system continuously captures a preset number of video images of the tunneling machine reaching the face position at a preset acquisition cycle.

5. The automatic update method for the tunnel face position according to claim 3, characterized in that, Based on the video footage and the dynamic absolute coordinates, a comparative analysis is performed to determine whether the tunneling machine has reached the tunneling face position, including: For each video frame of the tunneling machine, its dynamic absolute coordinates are used to compare and analyze the degree of overlap between its position and the spatial relationship of the tunnel. If the comparison analysis results for each video frame are completely identical, then it is determined that the tunneling machine has reached the tunneling face position.

6. The automatic update method for the tunnel face position according to claim 3, characterized in that, When the tunneling machine reaches the tunneling face position, the real-time pose of the tunneling machine at that position is reconstructed at a 1:1 ratio, including: When the tunneling machine reaches the tunneling face position, the target data of the tunneling machine is acquired. Based on the target data, the real-time pose of the tunneling machine when it reaches the tunneling face position is restored at a 1:1 ratio. The target data includes data corresponding to various hydraulic cylinder stroke sensors, tilt sensors, ranging radar, and tunnel cross-sectional dimensions.

7. The automatic updating method for the tunnel face position according to claim 3, characterized in that, Based on the real-time pose of the tunneling machine when it reaches the tunneling face position, the first straight-line distance between the cutting head and the positioning card of the tunneling machine is calculated, including: Based on the real-time pose of the tunneling machine when it reaches the tunneling face position, the first straight-line distance between the cutting head and the positioning card of the tunneling machine is calculated using spatial geometric analysis. This first straight-line distance is the straight-line distance between the cutting head and the tunneling machine when it reaches the tunneling face position. There is a unique three-dimensional spatial positional relationship between this first straight-line distance and the virtual control waistline at the center of the roadway.

8. The automatic updating method for the tunnel face position according to claim 7, characterized in that, Based on the first straight-line distance, the dynamic positioning is calculated, including: Based on the unique three-dimensional spatial positional relationship, the target line corresponding to the first straight line distance is projected onto the virtual control waistline using spatial projection, and the first projection length of the target line is calculated. The dynamic positioning is calculated by combining the dynamic absolute coordinates and the first projection length, and the position of the dynamic positioning is automatically updated on a map.

9. The automatic updating method for the tunnel face position according to claim 8, characterized in that, Based on the retreat distance, static identification of the tunneling machine is performed, and the position of the dynamic positioning is corrected to determine the precise absolute coordinates of the tunneling face position, including: Multiple video images were captured of the tunneling machine retracting and stopping. Based on the video footage of the machine retracting and stopping, and combined with the dynamic absolute coordinates, a comparative analysis is conducted to determine whether the tunneling machine is in a stationary state. When the tunneling machine is in the stationary state, the real-time pose of the tunneling machine when it is in the stationary state is restored at a 1:1 ratio. Based on the real-time pose of the tunneling machine when it is in the stationary state, the second straight-line distance between the cutting head and the positioning card of the tunneling machine is calculated; The precise absolute coordinates are calculated based on the second straight-line distance.

10. The method for automatically updating the position of the tunnel face according to claim 9, characterized in that, Multiple video images were captured when the tunneling machine reversed and stopped, including: The system continuously captures a preset number of video images of the tunneling machine reaching the face position at a preset acquisition cycle.

11. The method for automatically updating the position of the tunnel face according to claim 9, characterized in that, Based on the video footage of the machine retracting and stopping, and combined with the dynamic absolute coordinates, a comparative analysis is performed to determine whether the tunneling machine is in a stationary state, including: For each video frame of the tunneling machine, its dynamic absolute coordinates are used to compare and analyze the degree of overlap between its position and the spatial relationship of the tunnel. If the comparison analysis results for each video frame are completely identical, then it is determined that the tunneling machine is in the stationary state.

12. The automatic updating method for the tunnel face position according to claim 9, characterized in that, When the tunneling machine is in the stationary state, reconstruct the real-time pose of the tunneling machine in the stationary state at a 1:1 scale, including: When the tunneling machine is in the stationary state, the target data of the tunneling machine is acquired, and based on the target data, the real-time pose of the tunneling machine when it is in the stationary state is restored at a 1:1 ratio. The target data includes data corresponding to various hydraulic cylinder stroke sensors, tilt sensors, ranging radar, and tunnel cross-sectional dimensions.

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

14. The method for automatically updating the position of the tunnel face according to claim 9, characterized in that, Based on the second straight-line distance, the precise absolute coordinates are calculated, including: Based on the unique three-dimensional spatial positional relationship, the target line corresponding to the second straight line distance is projected onto the virtual control waistline using spatial projection, and the second projection length of the target line is calculated. The precise absolute coordinates are calculated by combining the stationary position, the second projection length, the difference between the second projection length and the first projection length, and the retreat distance.

15. The method for automatically updating the position of the tunnel face according to claim 1 or 8, characterized in that, The method for automatically updating the dynamically located position or the tunnel face position in a single image includes: Using geographic information services, the absolute coordinates or precise absolute coordinates corresponding to the dynamically located position are synchronously updated to all base maps; Based on the association between all the base maps and the single map, the position of the dynamic positioning or the position of the tunnel face is automatically updated in the single map; The geographic information service mentioned above is a service provided by a spatiotemporal big data database of geological and engineering information built based on GIS technology.

16. The method for automatically updating the position of the tunnel face according to claim 1, characterized in that, After obtaining the precise absolute coordinates of the real-time position of the tunnel face, the following is also included: Using geographic information services, the precise absolute coordinates are updated to the target module of the three-dimensional geographic information data and digital twin model; Based on the target module, the digital twin model automatically updates the tunnel face position; The target module refers to the module in the digital twin model used to receive various types of information from the tunneling machine. After receiving any new information, the digital twin model can automatically update the corresponding content based on the new information.

17. The method for automatically updating the position of the tunnel face according to claim 4 or 10, characterized in that, The preset acquisition period includes: 10 seconds; The preset number of sheets includes 3 to 6 sheets.

18. An automatic update system for the position of a tunnel face, characterized in that, The automatic update system for the tunnel face position includes: The tunneling machine positioning module is used to acquire the real-time three-dimensional coordinates of the tunneling machine during operation; A unified coordinate module is used to convert the real-time three-dimensional coordinates into dynamic absolute coordinates; An auxiliary module is used to determine whether the tunneling machine has reached the tunneling face position; The dynamic positioning module is used to dynamically position the tunneling machine by combining the dynamic absolute coordinates when the tunneling face position is reached, so as to obtain the dynamic positioning of the tunneling face position. The recording module is used to record the distance the tunneling machine retracts after one cycle of cutting operation. The static identification module is used to perform static identification of the tunneling machine when it stops retracting, based on the retraction distance, to correct the position of the dynamic positioning and determine the precise absolute coordinates of the tunneling face position. An automatic update module is used to automatically update the tunnel face position in both a map and a digital twin model based on the precise absolute coordinates.

Images