Pipe jacking machine pose analysis method, system and equipment and storage medium

Abstract

The invention discloses a pipe jacking machine pose analysis method, system and device and a storage medium. The method is characterized by comprising the following steps: acquiring a first position coordinate set of a first target device and a second position coordinate set of a second target device; calculating the coordinate relation between the geodetic coordinate system and the laser target coordinate system according to the first position coordinate set and the second position coordinate set, and determining coordinate system conversion parameters; according to the coordinate system conversion parameters, coordinate conversion is carried out on a third coordinate set, collected in advance, of the target pipe jacking machine, and a real-time attitude data set of the target pipe jacking machine is determined; and determining an underground real-time pose of the target pipe jacking machine based on a preset design line and the real-time pose data set. The underground real-time position and the real-time pose of the pipe jacking machine can be accurately recognized based on the position information of the target device, the track recognition accuracy of the pipe jacking machine is improved, then the error between the existing track of the pipe jacking machine and the construction planning track is analyzed, and the underground construction efficiency and accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground construction, and in particular to a method, system, equipment and storage medium for analyzing the posture of a pipe jacking machine. Background Art

[0002] Pipe jacking is a trenchless pipe laying technology primarily used in urban underground pipelines, such as those for water supply and drainage, electricity, communications, and gas projects. It reduces damage to surface transportation, buildings, and the environment. The main component of underground pipe jacking is the pipe jacking machine, a device that uses hydraulic or mechanical thrust to push prefabricated pipes into the ground, section by section. During construction, the machine excavates the soil at the front, removes the soil through a soil removal system, and simultaneously pushes the pipe forward using jacks, ultimately forming a continuous underground pipeline. Although the machine's advancement trajectory is based on the theoretical centerline of the tunnel as specified by the engineering design, factors such as construction geology and accumulated errors over long distances can cause deviations between the machine's trajectory and the theoretical centerline during the advancement process. This requires machine deviation correction, and the key to this correction lies in real-time determination of the machine's position. Existing technologies often require the installation of numerous sensors in the pipeline to detect the machine's position parameters and the use of guidance technology for automatic machine position calculation. However, this pose calculation is inefficient and inaccurate, and the cost is high. Summary of the Invention

[0003] The present invention provides a method, system, device and storage medium for analyzing the posture of a pipe jacking machine, so as to solve the technical problem in the prior art that the real-time posture of the pipe jacking machine cannot be measured during underground construction.

[0004] According to one aspect of the present invention, a method for analyzing the posture of a pipe jacking machine is provided, comprising:

[0005] collecting a first position coordinate set of the first target device and a second position coordinate set of the second target device;

[0006] Calculating the coordinate relationship between the earth coordinate system and the laser target coordinate system based on the first position coordinate set and the second position coordinate set to determine coordinate system conversion parameters;

[0007] Performing coordinate transformation on the third coordinate set of the target pipe jacking machine collected in advance according to the coordinate system transformation parameters to determine the real-time posture data set of the target pipe jacking machine;

[0008] The underground real-time posture of the target pipe jacking machine is determined based on the preset design route and the real-time posture data set.

[0009] According to another aspect of the present invention, a pipe jacking machine posture analysis system is provided, comprising:

[0010] a measurement module, configured to collect a first position coordinate set of a first target device and a second position coordinate set of a second target device;

[0011] a calculation module, configured to calculate the coordinate relationship between the earth coordinate system and the laser target coordinate system according to the first position coordinate set and the second position coordinate set, and determine coordinate system conversion parameters;

[0012] A coordinate conversion module is used to perform coordinate conversion on a third coordinate set of the pre-collected target pipe jacking machine according to the coordinate system conversion parameters to determine a real-time posture data set of the target pipe jacking machine;

[0013] The posture analysis module is used to determine the underground real-time posture of the target pipe jacking machine based on a preset design route and the real-time posture data set.

[0014] According to another aspect of the present invention, an electronic device is provided, comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the pipe jacking machine posture analysis method described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the pipe jacking machine posture analysis method described in any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention collects a first position coordinate set of a first target device and a second position coordinate set of a second target device, and can effectively identify the trajectory information of the pipe jacking machine during the construction process through the coordinate information of the set target device, effectively improves the efficiency of determining the posture of the pipe jacking machine, and does not need to set a large number of sensors in the pipeline, thereby reducing the positioning cost; the coordinate relationship between the earth coordinate system and the laser target coordinate system is calculated based on the first position coordinate set and the second position coordinate set, and the coordinate system conversion parameters are determined. The relationship between the two coordinate systems can be clarified through the coordinate system conversion parameters, and then the coordinate system conversion parameters can be used for rapid conversion, effectively improving the efficiency of identifying the posture of the pipe jacking machine; the third coordinate set of the target pipe jacking machine collected in advance is calculated based on the coordinate system conversion parameters. The invention converts the target coordinate into a real-time posture data set, determines the real-time posture data set of the target pipe jacking machine; determines the underground real-time posture of the target pipe jacking machine based on the preset design route and the real-time posture data set, obtains the real-time posture data set by performing coordinate system conversion on the fixed third coordinate set, and directly obtains the real-time posture of the pipe jacking machine through the real-time posture data set, and then compares the real-time posture with the design route, identifies the underground real-time posture of the pipe jacking machine relative to the design route, improves the efficiency and accuracy of determining the real-time posture of the pipe jacking machine, solves the technical problem that the real-time posture of the pipe jacking machine in the underground construction process in the prior art cannot be measured, improves the accuracy of the trajectory recognition of the pipe jacking machine, and then analyzes the error between the existing trajectory of the pipe jacking machine and the construction planning trajectory, can adjust the pipe jacking machine in time, and improves the efficiency and accuracy of underground construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A flow chart of a method for analyzing the posture of a pipe jacking machine is provided for an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of a pipe jacking machine provided in an embodiment of the present invention;

[0023] Figure 3 A flow chart of another method for analyzing the posture of a pipe jacking machine provided in an embodiment of the present invention;

[0024] Figure 4 A flow chart of another method for analyzing the posture of a pipe jacking machine provided in an embodiment of the present invention;

[0025] Figure 5A schematic structural diagram of a pipe jacking machine posture analysis system provided by an embodiment of the present invention;

[0026] Figure 6 A schematic structural diagram of an electronic device that can be used to implement an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Figure 1 The present invention provides a flow chart of a method for analyzing the posture of a pipe jacking machine. This embodiment is applicable to identifying the real-time posture of a pipe jacking machine in the underground during the construction process of the pipe jacking machine. The method can be executed by a pipe jacking machine posture analysis system. The pipe jacking machine posture analysis system can be implemented in the form of hardware and / or software. The pipe jacking machine posture system can be configured in an electronic device. Figure 1 As shown, the method includes:

[0030] S110 , collecting a first position coordinate set of a first target device and a second position coordinate set of a second target device.

[0031] Optionally, in the present invention, Figure 2 Schematic diagram of a pipe jacking machine provided by an embodiment of the present invention. Figure 2As shown, a pipe jacking machine 204 is connected to a pipe segment 203. During underground construction, a pipeline is formed by connecting multiple pipe segments 203. Each pipe segment 203 can be of the same or different lengths. The last pipe segment 203 is connected to a wellhead jack 202 and is pushed forward by the wellhead jack 202. The wellhead jack is connected to a wellhead backrest 201, which supports the advancement of the wellhead jack 202. The pipe jacking machine 204 excavates forward along the theoretical centerline of the tunnel under the advancement of the wellhead jack 202. A laser target 206 is provided on the pipe jacking machine 204. Target devices 205 and 207 are respectively set in the pipeline 203. Target devices 205 and 207 are fixed in the pipe wall inside the pipeline 203. The number of target devices is at least 2. The other target devices are set in the same manner as target devices 205 and 207. Target devices 205 and 207 move together with the advancement of the pipeline 204. Figure 2 Target device 205 and target device 207 are only examples.

[0032] The first and second target devices may be target devices installed on the connecting pipe joint of the pipe jacking machine. The first and second target devices are different target devices and are installed in different locations. For example, the first and second target devices may be target device 205 or target device 207. If the first target device is target device 205, the second target device is target device 207; if the first target device is target device 207, the second target device is target device 205.

[0033] The first position coordinate set may be a coordinate set describing the position of the first target device. It should be noted that the first position coordinate set may include the first geodetic coordinates of the first target device and the first laser target coordinates; the first geodetic coordinates may be the position coordinates of the first target device in the geodetic coordinate system; and the first laser target coordinates may be the position coordinates of the first target device in the laser target coordinate system.

[0034] Optionally, the geodetic coordinate system may be a coordinate system used by the construction unit during the construction of the pipe jacking machine; and the laser target coordinate system may be a coordinate system established based on the laser target of the pipe jacking machine.

[0035] The second position coordinate set may be a coordinate set describing the position of the second target device. It should be noted that the second position coordinate set may include the second geodetic coordinates of the second target device and the second laser target coordinates; the second geodetic coordinates may be the position coordinates of the second target device in the geodetic coordinate system; and the second laser target coordinates may be the position coordinates of the second target device in the laser target coordinate system.

[0036] Specifically, for the first target device, the first geodetic coordinates of the first target device in the geodetic coordinate system and the first laser target coordinates of the laser target coordinate system are collected respectively to obtain a first position coordinate set; for the second target device, the second geodetic coordinates of the second target device in the geodetic coordinate system and the second laser target coordinates of the laser target coordinate system are collected respectively to obtain a second position coordinate set.

[0037] S120 , calculating the coordinate relationship between the earth coordinate system and the laser target coordinate system according to the first position coordinate set and the second position coordinate set, and determining coordinate system conversion parameters.

[0038] The coordinate conversion parameters may be parameter values for converting coordinates between the earth coordinate system and the laser target coordinate system. For example, since both the earth coordinate system and the laser target coordinate system are three-dimensional coordinate systems, the coordinate conversion parameters may be composed of rotation parameters and translation parameters between the two coordinate systems. The coordinate conversion parameters may be used to convert the coordinates of the laser target coordinate system into the earth coordinate system, and vice versa.

[0039] Specifically, the coordinate relationship is calculated based on the first geodetic coordinates and the second geodetic coordinates of the first target device and the second target device in the geodetic coordinate system and the first laser target coordinates and the second laser target coordinates of the first target device and the second target device in the laser target coordinate system to determine the coordinate system conversion parameters.

[0040] Optionally, in another optional embodiment of the present invention, calculating the coordinate relationship between the earth coordinate system and the laser target coordinate system based on the first position coordinate set and the second position coordinate set to determine the coordinate system conversion parameters includes:

[0041] Acquire a real-time Euler data set of the laser target device; wherein the real-time Euler data set includes a real-time azimuth angle, a real-time rotation angle, and a real-time pitch angle of the laser target device;

[0042] The coordinate relationship between the earth coordinate system and the laser target coordinate system is calculated based on the first position coordinate set, the second position coordinate set and the real-time Euler data set to determine the coordinate system conversion parameters.

[0043] Optionally, during the underground construction of the target pipe jacking machine, the real-time azimuth angle, real-time rotation angle and real-time pitch angle of the laser target device can be collected based on the collection equipment set on the laser target device to obtain a real-time Euler data set of the laser target device.

[0044] Optionally, since the laser target coordinate system is established based on the laser target device, the calculation is performed based on the first geodetic coordinates and the second geodetic coordinates of the first target device and the second target device in the geodetic coordinate system, and the first laser target coordinates and the second laser target coordinates of the first target device and the second target device in the laser target coordinate system, as well as the real-time Euler data set. The laser target device is gradually solved by obtaining pre-calibrated fixed distance data between the first target device and the second target device and the laser target device, and the rotation matrix, scaling factor and solved translation vector are constructed based on the real-time Euler data set to obtain the coordinate system conversion parameters.

[0045] Specifically, a real-time Euler data set of the laser target device is obtained; wherein the real-time Euler data set includes the real-time azimuth angle, real-time rotation angle and real-time pitch angle of the laser target device; the coordinate relationship between the geodetic coordinate system and the laser target coordinate system is calculated based on the first position coordinate set, the second position coordinate set and the real-time Euler data set, and the coordinate system conversion parameters are determined.

[0046] S130 , performing coordinate conversion on a third coordinate set of the target pipe jacking machine collected in advance according to the coordinate system conversion parameters to determine a real-time posture data set of the target pipe jacking machine.

[0047] The third coordinate set may be the pre-collected coordinate data of the target pipe jacking machine in the laser target coordinate system. It should be noted that the third coordinate set includes the coordinates of the front end point of the pipe jacking machine in the laser target coordinate system and the coordinates of the rear end point of the pipe jacking machine in the laser target coordinate system.

[0048] Among them, the real-time attitude data set can be the coordinate data and real-time rotation angle of the target pipe jacking machine in the geodetic coordinate system. It should be noted that the real-time attitude data set includes the coordinates of the front end point of the pipe jacking machine in the geodetic coordinate system, the coordinates of the rear end point of the pipe jacking machine in the geodetic coordinate system and the real-time rotation angle of the pipe jacking machine. Among them, the real-time rotation angle can be the rotation angle of the target pipe jacking machine around the axis of the pipe jacking machine. It should be noted that the real-time rotation angle of the target pipe jacking machine can be obtained by calculating the rotation angle of the target pipe jacking machine based on the coordinate system conversion parameters based on the fixed relationship pre-calibrated between the target pipe jacking machine and the laser target equipment.

[0049] Optionally, the real-time rotation angle may also be collected in real time by a collection device provided in the target pipe jacking machine to obtain the real-time rotation angle of the target pipe jacking machine.

[0050] Optionally, when performing coordinate system conversion parameters between the geodetic coordinate system and the laser target coordinate system, based on the calibrated third coordinate set of the laser target equipment and the target pipe jacking machine, coordinate conversion calculations are performed on the target pipe jacking machine in the geodetic coordinate system and the real-time coordinates and real-time posture based on the third coordinate set through the coordinate system conversion parameters to obtain the real-time posture data set of the target pipe jacking machine.

[0051] Specifically, after obtaining the coordinate system conversion parameters between the earth coordinate system and the laser target coordinate system, the third coordinate set of the target pipe jacking machine in the laser target coordinate system is converted by using the coordinate system conversion parameters to obtain a real-time posture data set of the target pipe jacking machine in the earth coordinate system.

[0052] S140 : Determine the underground real-time posture of the target pipe jacking machine based on a preset design route and the real-time posture data set.

[0053] The preset design route may be a pipe jacking machine construction route that is pre-planned and designed by the target pipe jacking machine before construction.

[0054] The underground real-time position and posture can be the real-time position and posture of the target pipe jacking machine underground compared with the designed route. It should be noted that the underground real-time position and posture are obtained by comparing the real-time position and posture of the target pipe jacking machine underground with the designed route pre-set during construction.

[0055] Specifically, after calculating the real-time posture data set of the target pipe jacking machine, the pre-planned design route of the target pipe jacking machine is obtained, and the real-time posture data set is compared with the design route to determine the underground real-time posture of the target pipe jacking machine. The construction error between the underground real-time posture of the target pipe jacking machine and the design route is identified, and the underground real-time posture of the target pipe jacking machine is adjusted in real time based on the construction error to improve the construction accuracy of the target pipe jacking machine.

[0056] The technical solution of the embodiment of the present invention collects a first position coordinate set of a first target device and a second position coordinate set of a second target device, and can effectively identify the trajectory information of the pipe jacking machine during the construction process through the coordinate information of the set target device, effectively improves the efficiency of determining the posture of the pipe jacking machine, and does not need to set a large number of sensors in the pipeline, thereby reducing the positioning cost; the coordinate relationship between the earth coordinate system and the laser target coordinate system is calculated based on the first position coordinate set and the second position coordinate set, and the coordinate system conversion parameters are determined. The relationship between the two coordinate systems can be clarified through the coordinate system conversion parameters, and then the coordinate system conversion parameters can be used for rapid conversion, effectively improving the efficiency of identifying the posture of the pipe jacking machine; the third coordinate set of the target pipe jacking machine collected in advance is calculated based on the coordinate system conversion parameters. The invention converts the target coordinate into a real-time posture data set, determines the real-time posture data set of the target pipe jacking machine; determines the underground real-time posture of the target pipe jacking machine based on the preset design route and the real-time posture data set, obtains the real-time posture data set by performing coordinate system conversion on the fixed third coordinate set, and directly obtains the real-time posture of the pipe jacking machine through the real-time posture data set, and then compares the real-time posture with the design route, identifies the underground real-time posture of the pipe jacking machine relative to the design route, improves the efficiency and accuracy of determining the real-time posture of the pipe jacking machine, solves the technical problem that the real-time posture of the pipe jacking machine in the underground construction process in the prior art cannot be measured, improves the accuracy of the trajectory recognition of the pipe jacking machine, and then analyzes the error between the existing trajectory of the pipe jacking machine and the construction planning trajectory, can adjust the pipe jacking machine in time, and improves the efficiency and accuracy of underground construction.

[0057] Figure 3 This is a flow chart of another method for analyzing the posture of a pipe jacking machine provided by an embodiment of the present invention. The relationship between this embodiment and the above embodiment is to explain the specific method of collecting the first position coordinate set of the first target device and the second position coordinate set of the second target device. Figure 3 As shown, the method includes:

[0058] S310: Obtain the pipe jacking machine jacking distance and the center line of the pipe jacking tunnel of the target pipe jacking machine.

[0059] The pipe jacking machine's advancement distance may be the distance excavated by the target pipe jacking machine during underground pipe jacking construction. It should be noted that the pipe jacking machine's advancement distance may be measured using a distance measurement device installed on the target pipe jacking machine. Exemplarily, the distance measurement device on the target pipe jacking machine may be at least one of a distance sensor, a laser rangefinder, a wire sensor, and a total station.

[0060] The pipe jacking tunnel centerline may be a dataset corresponding to the pipe segment centerlines of each pipe segment laid by the target pipe jacking machine during tunnel excavation. It should be noted that in the pipe jacking tunnel centerline, each pipe segment corresponds to a pipe segment centerline. A pipe segment centerline is a centerline segment of a pipe segment. A pipe segment centerline is a virtual line segment in a geodetic coordinate system and may be composed of the coordinates of the endpoints of the centerline segment of the pipe segment.

[0061] Optionally, since the pipeline of the target pipe jacking machine is composed of pipe segments, the pipe segment centerline of each pipe segment is a line segment. Since the lengths of different pipe segments are inconsistent, the lengths of the centerlines of each pipe segment are inconsistent. In the three-dimensional space corresponding to the geodetic coordinate system, the centerline of the pipe jacking tunnel is composed of continuous line segments, and the lengths of each line segment are also inconsistent. For example, when the length of the pipe segment is 1 meter, the pipe segment centerline corresponding to the pipe segment is 1 meter; when the length of the pipe segment is 10 meters, the pipe segment centerline corresponding to the pipe segment is 10 meters. The embodiment of the present invention does not limit the method for obtaining the centerline of the pipe jacking tunnel. For example, the centerline of the pipe jacking tunnel can be obtained by measurement.

[0062] Specifically, the jacking distance of the target pipe jacking machine and the center line of the pipe jacking tunnel are obtained.

[0063] S320: Collect a first rotation angle of the first target device and a second rotation angle of the second target device respectively.

[0064] The first rotation angle may be the rotation angle of the first target device in the pipe segment. It should be noted that, during underground pipe jacking construction, the pipe segment is not stationary when being pushed, but rotates. Therefore, a sensor is provided in the first target device to detect the rotation angle, thereby obtaining the first rotation angle of the first target device.

[0065] Wherein, the second rotation angle can be the rotation angle of the second target device in the pipe joint.Similarly, a sensor is set in the second target device to detect the rotation angle to obtain the second rotation angle of the second target device.

[0066] Specifically, a first rotation angle of the first target device and a second rotation angle of the second target device are collected respectively.

[0067] S330: Calculate the first geodetic coordinates of the first target device according to the center line of the pipe jacking tunnel, the jacking distance of the pipe jacking machine, and the first rotation angle.

[0068] Specifically, after obtaining the center line of the jacking tunnel, the jacking distance of the jacking machine and the first rotation angle, the first geodetic coordinates of the first target device are calculated based on the center line of the jacking tunnel, the jacking distance of the jacking machine and the first rotation angle.

[0069] Optionally, in another optional embodiment of the present invention, calculating the first geodetic coordinates of the first target device according to the center line of the pipe jacking tunnel, the jacking distance of the pipe jacking machine, and the first rotation angle includes:

[0070] Perform target device calibration on the first target device, determine the position calibration information of the first target device, and collect the calibrated rotation angle of the first target device; match the center line of the jacking tunnel with the center line of the jacking tunnel according to the jacking distance of the jacking machine, and determine the center line of the first pipe segment; determine the rotation angle change value according to the calibrated rotation angle and the first rotation angle; determine the first geodetic coordinate according to the first pipe segment center line, the position calibration information and the rotation angle change value.

[0071] The position calibration information may include the position information of the mapping point corresponding to the first target device and the pipe segment centerline in the pipe segment, the vertical distance between the first target device and the pipe segment centerline, and the lateral distance between the first target device and the pipe segment centerline. It should be noted that when the position calibration information of the first target device is obtained, when the pipe segment of the first target device enters the tunnel and before jacking operations are performed, the target device calibration is performed on the pipe segment centerline corresponding to the first target device and the pipe segment to determine the position calibration information.

[0072] The calibrated rotation angle may be a rotation angle of the first target device collected when the target device is calibrated.

[0073] Optionally, target device calibration is performed on the first target device to determine position calibration information of the first target device, and a calibration rotation angle of the first target device is collected.

[0074] The first pipe segment centerline may be the pipe segment centerline of the pipe segment corresponding to the first target device. It should be noted that after measuring the advancement distance of the pipe jacking machine, the pipe segment centerline of the pipe segment corresponding to the first target device can be obtained by performing calculations based on the advancement distance of the pipe jacking machine on the centerline of the pipe jacking tunnel, and the calculation is determined as the first pipe segment centerline.

[0075] Optionally, the center line of the jacking tunnel is matched according to the jacking distance of the jacking machine to determine the center line of the first pipe section.

[0076] The rotation angle change value may be the difference between the first rotation angle and the calibrated rotation angle.

[0077] Optionally, a difference is calculated between the first rotation angle and the calibrated rotation angle to obtain a rotation angle change value.

[0078] Specifically, the first target device is calibrated to determine the position calibration information of the first target device, and the calibrated rotation angle of the first target device is collected; the center line of the jacking tunnel is matched on the center line of the jacking tunnel according to the jacking distance of the jacking machine to determine the center line of the first pipe section; the rotation angle change value is determined according to the calibrated rotation angle and the first rotation angle; the first geodetic coordinate is determined according to the center line of the first pipe section, the position calibration information and the rotation angle change value.

[0079] Optionally, in another optional embodiment of the present invention, determining the first geodetic coordinate according to the first pipe section centerline, the position calibration information and the rotation angle change value includes:

[0080] The first relative coordinates of the first target position are determined according to the position calibration information and the first pipe segment centerline by a preset calculation method; and the first geodetic coordinates are determined according to the rotation angle change value and the first relative coordinates.

[0081] The preset calculation method may be a preset interpolation method.

[0082] The first relative coordinate may be the position corresponding to the position calibration information in the center line of the first pipe segment.

[0083] Optionally, the mapping point of the first target device on the center line of the first pipe segment is calculated based on interpolation according to the position information of the mapping point corresponding to the first target device and the center line of the pipe segment in the position calibration information, and the first relative coordinate is determined according to the vertical distance from the first target device to the center line of the pipe segment and the lateral distance from the first target device to the center line of the pipe segment based on the mapping point of the first target device on the center line of the first pipe segment as the center point.

[0084] Optionally, after the first relative coordinate is obtained, the first geodetic coordinate of the first target device is calculated based on the rotation angle change value of the first target device and the first relative coordinate.

[0085] S340: Calculate the second geodetic coordinates of the second target device according to the center line of the pipe jacking tunnel, the jacking distance of the pipe jacking machine, and the second rotation angle.

[0086] Specifically, the second geodetic coordinates of the second target device are calculated according to the center line of the jacking tunnel, the jacking distance of the jacking machine, and the second rotation angle.

[0087] Optionally, in another optional embodiment of the present invention, calculating the second geodetic coordinates of the second target device according to the center line of the jacking tunnel, the jacking distance of the jacking machine, and the second rotation angle includes:

[0088] The second target device is calibrated to determine the position calibration information of the second target device, and the calibrated rotation angle of the second target device is collected; the center line of the jacking tunnel is matched with the center line of the jacking tunnel according to the jacking distance of the jacking machine to determine the center line of the second pipe segment; the rotation angle change value is determined according to the calibrated rotation angle and the second rotation angle; the second geodetic coordinate is determined according to the center line of the second pipe segment, the position calibration information and the rotation angle change value.

[0089] The position calibration information may include the position information of the mapping point corresponding to the second target device and the pipe segment centerline in the pipe segment, the vertical distance between the second target device and the pipe segment centerline, and the lateral distance between the second target device and the pipe segment centerline. It should be noted that when the position calibration information of the second target device is obtained, target device calibration is performed on the pipe segment centerline corresponding to the second target device and the pipe segment when the pipe segment of the second target device enters the tunnel and before jacking operations are performed to determine the position calibration information.

[0090] The calibrated rotation angle may be a rotation angle of the second target device collected when the target device is calibrated.

[0091] Optionally, target device calibration is performed on the second target device to determine position calibration information of the second target device, and a calibration rotation angle of the second target device is collected.

[0092] The second pipe segment centerline may be the pipe segment centerline of the pipe segment corresponding to the second target device. It should be noted that after measuring the advancement distance of the pipe jacking machine, the pipe segment centerline of the pipe segment corresponding to the second target device can be obtained by performing calculations based on the advancement distance of the pipe jacking machine on the centerline of the pipe jacking tunnel, and the calculations can be performed based on the advancement distance of the pipe jacking machine. This calculation can be used as the second pipe segment centerline.

[0093] Optionally, the center line of the jacking tunnel is matched according to the jacking distance of the jacking machine to determine the center line of the second pipe segment.

[0094] The rotation angle change value may be the difference between the second rotation angle and the calibrated rotation angle.

[0095] Optionally, a difference is calculated between the second rotation angle and the calibration rotation angle to obtain a rotation angle change value.

[0096] Specifically, the second target device is calibrated to determine the position calibration information of the second target device, and the calibrated rotation angle of the second target device is collected; the center line of the jacking tunnel is matched with the center line of the jacking tunnel according to the jacking distance of the jacking machine to determine the center line of the second pipe section; the rotation angle change value is determined according to the calibrated rotation angle and the second rotation angle; the second geodetic coordinate is determined according to the center line of the second pipe section, the position calibration information and the rotation angle change value.

[0097] Optionally, in another optional embodiment of the present invention, determining the second geodetic coordinate according to the center line of the second pipe segment, the position calibration information and the rotation angle change value includes:

[0098] The second relative coordinates of the second target position are determined according to the position calibration information and the center line of the second pipe segment by a preset calculation method; and the second geodetic coordinates are determined according to the rotation angle change value and the second relative coordinates.

[0099] The preset calculation method may be a preset interpolation method.

[0100] The second relative coordinate may be the position corresponding to the position calibration information in the center line of the second pipe segment.

[0101] Optionally, the mapping point of the second target device on the center line of the second pipe segment is calculated based on interpolation according to the position information of the mapping point corresponding to the second target device and the center line of the pipe segment in the position calibration information. Based on the mapping point of the second target device on the center line of the second pipe segment as the center point, the second relative coordinate is determined according to the vertical distance from the second target device to the center line of the pipe segment and the lateral distance from the second target device to the center line of the pipe segment.

[0102] Optionally, after the second relative coordinate is obtained, the second geodetic coordinate of the second target device is calculated based on the rotation angle change value of the second target device and the second relative coordinate.

[0103] S350 , respectively obtain the first laser target coordinates of the first target device and the second laser target coordinates of the second target device.

[0104] Specifically, by pre-calibrating the first target device and the second target device, the fixed distance and fixed angle between the first target device and the second target device and the laser target equipment are determined, and then the first laser target coordinates of the first target device and the second target device and the second laser target coordinates of the second target device are directly obtained through the pre-calibrated fixed distance and fixed angle of the first target device and the second target device.

[0105] Optionally, in another optional embodiment of the present invention, the first target device and the second target device are photographed by the laser target device to determine the measurement photographed image;

[0106] The second laser target coordinates and the second laser target coordinates are determined according to the measurement captured image and the laser target coordinate system.

[0107] Optionally, a camera and a reflecting prism are provided in the laser target device, and the camera is used to capture images corresponding to the first target device and the second target device to identify the first laser target coordinates and the second laser target coordinates of the first target device and the second target device in the laser target coordinate system.

[0108] Optionally, in order to improve the accuracy of the laser target device's camera in identifying the first target device and the second target device, lighting lamps are set on the first target device and the second target device to illuminate the direction corresponding to the laser target device to improve the accuracy of the laser target device in identifying the first target device and the second target device.

[0109] The test image may be an image captured by a camera of the laser target device capturing the first and second target devices. It should be noted that the first and second target devices are provided with lighting, and the light sources in the test image may be identified as the first and second target devices.

[0110] Optionally, the coordinate origin of the laser target coordinate system can be a camera of the laser target device, which performs distance and orientation identification based on the measured images of the first target device and the second target device, determines the angle and distance between the camera of the laser target device and the first target device and the second target device, and then determines the second laser target coordinates and the second laser target coordinates.

[0111] Optionally, through the triangular relationship constructed between the laser target camera and the first target device and the second target device, the pixel parameters of the first target device and the second target device in the measured image are identified based on the camera expression parameters, and then the orientation and distance of the first target device and the second target device from the camera are calculated, and the orientation and distance of the first target device and the second target device from the camera are converted into the first laser target coordinates and the second laser target coordinates.

[0112] S360: Calculate the coordinate relationship between the earth coordinate system and the laser target coordinate system based on the first position coordinate set and the second position coordinate set to determine coordinate system conversion parameters.

[0113] S370 , performing coordinate transformation on the third coordinate set of the target pipe jacking machine collected in advance according to the coordinate system transformation parameters to determine a real-time posture data set of the target pipe jacking machine.

[0114] S380: Determine the underground real-time posture of the target pipe jacking machine based on the preset design route and the real-time posture data set.

[0115] The technical solution of the embodiment of the present invention can identify the coordinate value of the target device in the geodetic coordinate system based on the center line of the jacking tunnel during the operation of the target jacking machine, and then calculate the coordinate relationship conversion parameters between the geodetic coordinate system and the laser target coordinate system. The center line of the jacking tunnel can quickly locate the coordinates of the target device, effectively improving the efficiency and accuracy of locating the position coordinates of the target device, thereby improving the efficiency and accuracy of determining the real-time posture of the jacking machine, solving the technical problem in the prior art that the real-time posture of the jacking machine cannot be measured during underground construction, improving the accuracy of the trajectory identification of the jacking machine, and then analyzing the error between the existing trajectory of the jacking machine and the construction planned trajectory, so as to be able to adjust the jacking machine in time and improve the efficiency and accuracy of underground construction.

[0116] Figure 4 This is a flow chart of another method for analyzing the posture of a pipe jacking machine provided by an embodiment of the present invention. The relationship between this embodiment and the above embodiment is to explain the specific method for obtaining the third coordinate set of the target pipe jacking machine. Figure 4 As shown, the method includes:

[0117] S410, obtaining a first initial coordinate set of a target pipe jacking machine; obtaining a laser target data set of a laser target device.

[0118] The first initial coordinate set may be a position coordinate set of the target pipe jacking machine in the geodetic coordinate system when the target pipe jacking machine is not performing underground pipe jacking construction. It should be noted that the coordinates of the front end point and the rear end point of the target pipe jacking machine are obtained by directly measuring the front end point and the rear end point of the target pipe jacking machine, thereby determining the first initial coordinate set.

[0119] Optionally, after measuring the first initial coordinate set, the rotation angle of the target pipe jacking machine is measured.

[0120] The laser target data set may be a measurement data set of the laser target device in the target pipe jacking machine when the target pipe jacking machine is not performing underground pipe jacking construction. It should be noted that the laser target data set includes the prism coordinates on the laser target, the rotation angle of the laser target axis, the pitch angle of the laser target axis, and the azimuth angle of the laser target;

[0121] By measuring the coordinates of the upper prism of the laser target device in the geodetic coordinates, obtaining the rotation angle and pitch angle of the laser target axis of the laser target device based on the inclinometer inside the laser target device, and measuring the laser target azimuth angle of the laser target device, the laser target data set of the laser target device is obtained.

[0122] Specifically, a first initial coordinate set of the target pipe jacking machine and a laser target data set of the laser target device are obtained.

[0123] Optionally, in another optional embodiment of the present invention, the step of obtaining a laser target data set of the laser target device includes:

[0124] Measuring a prism on a laser target of a laser target device and determining the coordinates of the prism on the laser target;

[0125] Obtaining the rotation angle and the pitch angle of the laser target axis by using the inclinometer of the laser target device;

[0126] photographing a reflective prism of the laser target device by the laser target device to determine a second photographed image;

[0127] determining a first angle according to the second captured image;

[0128] A second angle of the laser target device is acquired, and the azimuth angle of the laser target axis is determined according to the first angle and the second angle.

[0129] The prism on the laser target may be a reflective prism with a reflective capability. It should be noted that the coordinates of the prism on the laser target can be directly measured by a measuring device.

[0130] The laser target axis may be the central axis of the laser target device; the rotation angle of the laser target axis may describe the left and right direction of the laser target device; the rotation angle of the laser target axis may describe the pitch direction of the laser target device.

[0131] Optionally, when the target pipe jacking machine is not performing underground pipe jacking construction, the prism on the laser target of the laser target device is measured by measuring equipment to obtain the coordinates of the prism on the laser target; and the rotation angle and pitch angle of the laser target axis are obtained by the inclinometer of the laser target device.

[0132] The second captured image may be an image of the prism on the laser target captured by the camera of the laser target device. It should be noted that when the measuring device measures the prism on the laser target, an infrared spot is generated. The second captured image having the infrared spot on the prism on the laser target is captured by the camera of the laser target device.

[0133] The first angle may be the angle formed by the line connecting the measuring device and the laser target and the camera axis of the laser target device. It should be noted that the camera axis of the laser target device is the optical centerline of the camera of the laser target device, perpendicular to the image sensor plane of the camera, and is the reference direction of the camera imaging.

[0134] Optionally, the laser target coordinate system based on the camera of the laser target device is usually a right-handed coordinate system constructed with the camera axis of the laser target device as the Z axis, the X axis horizontally to the right, and the Y axis vertically downward.

[0135] The second angle may be the azimuth angle of the line connecting the measuring device and the laser target.

[0136] Alternatively, the azimuth of the camera axis can be calculated based on the azimuth of the line connecting the measuring device and the laser target and the angle formed by the line connecting the measuring device and the laser target and the camera axis of the laser target device. Furthermore, since there is a fixed angle between the azimuth of the camera axis and the azimuth of the laser target axis, the azimuth of the laser target axis can be obtained after the azimuth of the camera axis is known. The azimuth of the laser target axis can be the direction of the laser target axis of the laser target device.

[0137] Specifically, the prism on the laser target of the laser target device is measured to determine the coordinates of the prism on the laser target; the rotation angle of the laser target axis and the pitch angle of the laser target axis are obtained through the inclinometer of the laser target device; the reflecting prism of the laser target device is photographed by the laser target device to determine a second photographed image; the first angle is determined based on the second photographed image; the second angle of the laser target device is obtained, and the azimuth angle of the laser target axis is determined based on the first angle and the second angle.

[0138] S420: Calibrate the laser target device according to the first initial coordinate set and the laser target data set to determine the third coordinate set.

[0139] Optionally, the rotation angle of the target pipe jacking machine when no underground pipe jacking construction is being carried out is obtained, and a laser target coordinate system is constructed based on the camera of the laser target device, and the position and angle relationship between the prism coordinates on the laser target of the laser target device and the camera of the laser target device is measured, and the coordinates of the prism on the laser target in the laser target coordinate system are calibrated, and the coordinates of the front end point of the pipe jacking machine and the rear end point coordinates of the target pipe jacking machine in the first initial coordinate set are converted to the coordinates of the front end point of the pipe jacking machine in the laser target coordinate system and the coordinates of the rear end point of the pipe jacking machine in the laser target coordinate system based on the position and angle relationship of the prism coordinates on the laser target and the coordinates of the front end point of the pipe jacking machine and the rear end point of the pipe jacking machine of the target pipe jacking machine, respectively, to obtain a third coordinate set.

[0140] S430: Collect a first position coordinate set of the first target device and a second position coordinate set of the second target device.

[0141] S440: Calculate the coordinate relationship between the earth coordinate system and the laser target coordinate system according to the first position coordinate set and the second position coordinate set, and determine coordinate system conversion parameters.

[0142] S450 , performing coordinate transformation on the third coordinate set of the target pipe jacking machine collected in advance according to the coordinate system transformation parameters to determine a real-time posture data set of the target pipe jacking machine.

[0143] S460: Determine the underground real-time posture of the target pipe jacking machine based on the preset design route and the real-time posture data set.

[0144] The technical solution of the embodiment of the present invention can, before the target pipe jacking machine is operated, measure the coordinates of the target pipe jacking machine and the laser target device, establish a laser target coordinate system based on the laser target device, utilize the relative relationship between the target pipe jacking machine and the laser target device during the construction process of the target pipe jacking machine, and then determine the position and posture of the target pipe jacking machine based on the calculated coordinate relationship conversion parameters between the geodetic coordinate system and the laser target coordinate system, thereby effectively improving the efficiency and accuracy of positioning the position coordinates of the target device, and improving the efficiency and accuracy of determining the real-time position and posture of the pipe jacking machine, solving the technical problem in the prior art that the real-time position and posture of the pipe jacking machine cannot be measured during underground construction of the pipe jacking machine, improving the accuracy of the trajectory recognition of the pipe jacking machine, and then analyzing the error between the existing trajectory of the pipe jacking machine and the construction planned trajectory, so as to be able to adjust the pipe jacking machine in time and improve the efficiency and accuracy of underground construction.

[0145] Figure 5 The schematic diagram of the structure of a pipe jacking machine posture analysis system provided by an embodiment of the present invention. Figure 5 As shown, the device includes: a measurement module 510, a calculation module 520, a coordinate conversion module 530 and a posture analysis module 540; wherein,

[0146] A measurement module 510 is configured to collect a first position coordinate set of a first target device and a second position coordinate set of a second target device;

[0147] A calculation module 520 is configured to calculate the coordinate relationship between the earth coordinate system and the laser target coordinate system based on the first position coordinate set and the second position coordinate set, and determine coordinate system conversion parameters;

[0148] A coordinate conversion module 530 is configured to perform coordinate conversion on a third coordinate set of the target pipe jacking machine collected in advance according to the coordinate system conversion parameters to determine a real-time posture data set of the target pipe jacking machine;

[0149] The posture analysis module 540 is used to determine the underground real-time posture of the target pipe jacking machine based on a preset design route and the real-time posture data set.

[0150] The technical solution of the embodiment of the present invention collects a first position coordinate set of a first target device and a second position coordinate set of a second target device, and can effectively identify the trajectory information of the pipe jacking machine during the construction process through the coordinate information of the set target device, effectively improves the efficiency of determining the posture of the pipe jacking machine, and does not need to set a large number of sensors in the pipeline, thereby reducing the positioning cost; the coordinate relationship between the earth coordinate system and the laser target coordinate system is calculated based on the first position coordinate set and the second position coordinate set, and the coordinate system conversion parameters are determined. The relationship between the two coordinate systems can be clarified through the coordinate system conversion parameters, and then the coordinate system conversion parameters can be used for rapid conversion, effectively improving the efficiency of identifying the posture of the pipe jacking machine; the third coordinate set of the target pipe jacking machine collected in advance is calculated based on the coordinate system conversion parameters. The invention converts the target coordinate into a real-time posture data set, determines the real-time posture data set of the target pipe jacking machine; determines the underground real-time posture of the target pipe jacking machine based on the preset design route and the real-time posture data set, obtains the real-time posture data set by performing coordinate system conversion on the fixed third coordinate set, and directly obtains the real-time posture of the pipe jacking machine through the real-time posture data set, and then compares the real-time posture with the design route, identifies the underground real-time posture of the pipe jacking machine relative to the design route, improves the efficiency and accuracy of determining the real-time posture of the pipe jacking machine, solves the technical problem that the real-time posture of the pipe jacking machine in the underground construction process in the prior art cannot be measured, improves the accuracy of the trajectory recognition of the pipe jacking machine, and then analyzes the error between the existing trajectory of the pipe jacking machine and the construction planning trajectory, can adjust the pipe jacking machine in time, and improves the efficiency and accuracy of underground construction.

[0151] The first position coordinate set includes a first geodetic coordinate and a first laser target coordinate; the second position coordinate set includes a second geodetic coordinate and a second laser target coordinate;

[0152] Optionally, the measurement module 510 is specifically configured to: obtain a pipe jacking machine jacking distance of a target pipe jacking machine and a center line of the pipe jacking tunnel;

[0153] respectively collecting a first rotation angle of the first target device and a second rotation angle of the second target device;

[0154] Calculating the first geodetic coordinates of the first target device according to the center line of the pipe jacking tunnel, the jacking distance of the pipe jacking machine, and the first rotation angle;

[0155] Calculating the second geodetic coordinates of the second target device according to the center line of the pipe jacking tunnel, the jacking distance of the pipe jacking machine, and the second rotation angle;

[0156] The coordinates of the first target device and the second target device are collected by laser target equipment to determine the first laser target coordinates and the second laser target coordinates.

[0157] Optionally, the measurement module 510 is further configured to: perform target device calibration on the first target device, determine position calibration information of the first target device, and collect a calibrated rotation angle of the first target device;

[0158] Matching the center line of the jacking tunnel with the center line of the jacking tunnel according to the jacking distance of the jacking machine to determine the center line of the first pipe segment;

[0159] determining a rotation angle change value according to the calibrated rotation angle and the first rotation angle;

[0160] The first geodetic coordinate is determined according to the first pipe section centerline, the position calibration information and the rotation angle change value.

[0161] Optionally, the measurement module 510 is further configured to: determine a first relative coordinate of a first target position according to the position calibration information and the first pipe segment centerline using a preset calculation method;

[0162] The first geodetic coordinate is determined according to the rotation angle change value and the first relative coordinate.

[0163] The optional calculation module 520 is specifically used to:

[0164] Acquire a real-time Euler data set of the laser target device; wherein the real-time Euler data set includes the azimuth angle, rotation angle and pitch angle of the laser target device;

[0165] The coordinate relationship between the earth coordinate system and the laser target coordinate system is calculated based on the first position coordinate set, the second position coordinate set and the real-time Euler data set to determine the coordinate system conversion parameters.

[0166] Optionally, the system further includes a pipe jacking machine measurement module and a calibration module; wherein,

[0167] A pipe jacking machine measurement module is used to obtain a first initial coordinate set of a target pipe jacking machine and a laser target data set of a laser target device;

[0168] a calibration module, configured to calibrate the laser target device according to the first initial coordinate set and the laser target data set to determine the third coordinate set;

[0169] The laser target data set includes the prism coordinates on the laser target, the rotation angle of the laser target axis, the pitch angle of the laser target axis and the laser target azimuth angle;

[0170] The calibration module is specifically used for:

[0171] Measuring a prism on a laser target of a laser target device and determining the coordinates of the prism on the laser target;

[0172] Obtaining the rotation angle and the pitch angle of the laser target axis by using the inclinometer of the laser target device;

[0173] photographing a reflective prism of the laser target device by the laser target device to determine a second photographed image;

[0174] determining a first angle according to the second captured image;

[0175] A second angle of the laser target device is acquired, and the azimuth angle of the laser target axis is determined according to the first angle and the second angle.

[0176] The pipe jacking machine posture analysis device provided in an embodiment of the present invention can execute the pipe jacking machine posture analysis method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0177] Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their modes are only examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0178] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0179] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0180] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the pipe jacking machine posture analysis method.

[0181] In some embodiments, the pipe jacking machine posture analysis method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the pipe jacking machine posture analysis method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the pipe jacking machine posture analysis method in any other appropriate manner (for example, by means of firmware).

[0182] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0183] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the modes / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0184] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0185] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0186] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0187] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0188] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0189] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the pipe jacking machine posture analysis method provided in any embodiment of the present invention are implemented. The method includes:

[0190] collecting a first position coordinate set of the first target device and a second position coordinate set of the second target device;

[0191] Calculating the coordinate relationship between the earth coordinate system and the laser target coordinate system based on the first position coordinate set and the second position coordinate set to determine coordinate system conversion parameters;

[0192] Performing coordinate transformation on the third coordinate set of the target pipe jacking machine collected in advance according to the coordinate system transformation parameters to determine the real-time posture data set of the target pipe jacking machine;

[0193] The underground real-time posture of the target pipe jacking machine is determined based on the preset design route and the real-time posture data set.

[0194] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0195] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0196] Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0197] Computer program code for performing the operations of the present invention can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0198] Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using a general-purpose computing device. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they can be implemented using program code executable by a computer device, which can then be stored in a storage device and executed by the computing device. Alternatively, they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

[0199] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0200] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for analyzing the posture of a pipe jacking machine, characterized in that: include: collecting a first position coordinate set of the first target device and a second position coordinate set of the second target device; Calculating the coordinate relationship between the earth coordinate system and the laser target coordinate system based on the first position coordinate set and the second position coordinate set to determine coordinate system conversion parameters; Performing coordinate transformation on the third coordinate set of the target pipe jacking machine collected in advance according to the coordinate system transformation parameters to determine the real-time posture data set of the target pipe jacking machine; The underground real-time posture of the target pipe jacking machine is determined based on the preset design route and the real-time posture data set.

2. The method according to claim 1, characterized in that The first position coordinate set includes a first geodetic coordinate and a first laser target coordinate; the second position coordinate set includes a second geodetic coordinate and a second laser target coordinate; The collecting of a first position coordinate set of a first target device and a second position coordinate set of a second target device includes: Obtain the jacking distance of the target pipe jacking machine and the center line of the jacking tunnel; respectively collecting a first rotation angle of the first target device and a second rotation angle of the second target device; Calculating the first geodetic coordinates of the first target device according to the center line of the pipe jacking tunnel, the jacking distance of the pipe jacking machine, and the first rotation angle; Calculating the second geodetic coordinates of the second target device according to the center line of the pipe jacking tunnel, the jacking distance of the pipe jacking machine, and the second rotation angle; The first laser target coordinates of the first target device and the second laser target coordinates of the second target device are respectively acquired.

3. The method according to claim 2, characterized in that The calculating the first geodetic coordinates of the first target device according to the center line of the pipe jacking tunnel, the jacking distance of the pipe jacking machine, and the first rotation angle includes: performing target device calibration on the first target device, determining position calibration information of the first target device, and collecting a calibrated rotation angle of the first target device; Matching the center line of the jacking tunnel with the center line of the jacking tunnel according to the jacking distance of the jacking machine to determine the center line of the first pipe segment; determining a rotation angle change value according to the calibrated rotation angle and the first rotation angle; The first geodetic coordinate is determined according to the first pipe section centerline, the position calibration information and the rotation angle change value.

4. The method according to claim 3, characterized in that The determining of the first geodetic coordinate according to the first pipe section centerline, the position calibration information and the rotation angle change value includes: Determining the first relative coordinates of the first target position according to the position calibration information and the first pipe segment centerline using a preset calculation method; The first geodetic coordinate is determined according to the rotation angle change value and the first relative coordinate.

5. The method according to claim 1, wherein The calculating the coordinate relationship between the earth coordinate system and the laser target coordinate system according to the first position coordinate set and the second position coordinate set to determine the coordinate system conversion parameters includes: Acquire a real-time Euler data set of the laser target device; wherein the real-time Euler data set includes the azimuth angle, rotation angle and pitch angle of the laser target device; The coordinate relationship between the earth coordinate system and the laser target coordinate system is calculated based on the first position coordinate set, the second position coordinate set and the real-time Euler data set to determine the coordinate system conversion parameters.

6. The method according to claim 1, characterized in that Before calculating the coordinate relationship between the earth coordinate system and the laser target coordinate system according to the first position coordinate set and the second position coordinate set and determining the coordinate system conversion parameters, the method further includes: Obtaining a first initial coordinate set of a target pipe jacking machine; Obtaining a laser target data set of a laser target device; The laser target device is calibrated according to the first initial coordinate set and the laser target data set to determine the third coordinate set.

7. The method according to claim 6, characterized in that The laser target data set includes the prism coordinates on the laser target, the rotation angle of the laser target axis, the pitch angle of the laser target axis and the laser target azimuth angle; The step of obtaining a laser target data set of a laser target device includes: Measuring a prism on a laser target of a laser target device and determining the coordinates of the prism on the laser target; Obtaining the rotation angle and the pitch angle of the laser target axis by using the inclinometer of the laser target device; photographing a reflective prism of the laser target device by the laser target device to determine a second photographed image; determining a first angle according to the second captured image; A second angle of the laser target device is acquired, and the azimuth angle of the laser target axis is determined according to the first angle and the second angle.

8. A pipe jacking machine posture analysis system, characterized in that: include: a measurement module, configured to collect a first position coordinate set of a first target device and a second position coordinate set of a second target device; a calculation module, configured to calculate the coordinate relationship between the earth coordinate system and the laser target coordinate system according to the first position coordinate set and the second position coordinate set, and determine coordinate system conversion parameters; A coordinate conversion module is used to perform coordinate conversion on a third coordinate set of the pre-collected target pipe jacking machine according to the coordinate system conversion parameters to determine a real-time posture data set of the target pipe jacking machine; The posture analysis module is used to determine the underground real-time posture of the target pipe jacking machine based on a preset design route and the real-time posture data set.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the pipe jacking machine posture analysis method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the pipe jacking machine posture analysis method according to any one of claims 1 to 7 when executed.

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