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

Abstract

The application discloses a pipe jacking machine pose analysis method, system, device and storage medium. Its features include: collecting a first position coordinate set of a first target device and a second position coordinate set of a second target device; calculating the coordinate relationship of 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 the coordinate system conversion parameter; performing coordinate conversion on a third coordinate set of a target pipe jacking machine collected in advance according to the coordinate system conversion parameter, and determining a real-time attitude data set of the target pipe jacking machine; and determining the real-time pose of the target pipe jacking machine in the ground based on a preset design line and the real-time attitude data set. The application can accurately identify the real-time position and real-time pose of the pipe jacking machine in the ground based on the position information of the target device, improve the accuracy of pipe jacking machine trajectory identification, and further analyze the error between the existing trajectory of the pipe jacking machine and the construction planning trajectory, thereby improving the efficiency and accuracy of underground construction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underground construction, and in particular to a pipe jacking machine pose analysis method, system, device and storage medium. BACKGROUND

[0002] Pipe jacking machine underground construction is a trenchless pipe laying technology, mainly used for urban underground pipelines, such as water supply and drainage, power, communication, gas and other projects, which can reduce the damage to the ground traffic, buildings and the environment. The main body of pipe jacking machine underground construction is the pipe jacking machine, which is a device that pushes the prefabricated pipe into the ground by hydraulic or mechanical thrust. During construction, the pipe jacking machine excavates the soil at the front end, transports the spoil out through the spoil removal system, and uses the jack to push the pipe into the ground, finally forming a continuous underground pipeline; although the pipe jacking machine uses the tunnel theoretical center line as the reference for the jacking trajectory during construction, the construction trajectory of the pipe jacking machine deviates from the tunnel theoretical center line due to factors such as construction geology and long-distance cumulative error, and the pipe jacking machine needs to be corrected, and the key point of correction is how to obtain the pose of the pipe jacking machine in real time. The existing technology often needs to set a large number of sensors in the pipe to sense the pose parameters of the pipe jacking machine, and select a guide technology for automatic pipe jacking machine pose calculation, but the efficiency and accuracy of pose calculation are low, and the cost is high. SUMMARY

[0003] The present application provides a pipe jacking machine pose analysis method, system, device and storage medium to solve the technical problem that the pipe jacking machine cannot measure the real-time pose of the pipe jacking machine during underground construction in the prior art.

[0004] According to one aspect of the present application, a pipe jacking machine pose analysis method is provided, comprising:

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

[0006] Performing coordinate relationship calculation of 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;

[0007] Performing coordinate conversion on a third coordinate set of a target pipe jacking machine collected in advance according to the coordinate system conversion parameters, and determining a real-time attitude data set of the target pipe jacking machine;

[0008] Determining the real-time pose of the target pipe jacking machine in the ground based on a pre-set design route and the real-time attitude data set.

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

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

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

[0012] a coordinate conversion module 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 parameter, and determine a real-time attitude data set of the target pipe jacking machine;

[0013] a pose analysis module configured to determine an underground real-time pose of the target pipe jacking machine based on a preset design line and the real-time attitude data set.

[0014] According to another aspect of the present application, an electronic device is provided, which comprises:

[0015] at least one processor; and

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

[0017] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the pipe jacking machine pose analysis method according to any one of the embodiments of the present application.

[0018] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to execute the pipe jacking machine pose analysis method according to any one of the embodiments of the present application when executed by the processor.

[0019] The technical scheme of the embodiment of the present application can effectively identify the track information of the pipe jacking machine in the construction process through the first position coordinate set of the first target device and the second position coordinate set of the second target device, effectively improve the efficiency of determining the pose 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 calculation of the geodetic coordinate system and the laser target coordinate system is performed according to the first position coordinate set and the second position coordinate set, the coordinate system conversion parameter is determined, the relationship between the two coordinate systems can be determined through the coordinate system conversion parameter, and the coordinate system conversion parameter can be quickly converted, thereby effectively improving the efficiency of identifying the pose of the pipe jacking machine; the third coordinate set of the target pipe jacking machine is converted according to the coordinate system conversion parameter, and the real-time attitude data set of the target pipe jacking machine is determined; the real-time pose of the target pipe jacking machine is determined based on the preset design route and the real-time attitude data set, the real-time attitude data set is obtained by converting the fixed third coordinate set, the real-time pose of the pipe jacking machine can be directly obtained through the real-time attitude data set, and then the real-time pose is compared with the design route to identify the real-time pose of the pipe jacking machine underground relative to the design route, thereby improving the efficiency and accuracy of determining the real-time pose of the pipe jacking machine, solving the technical problem that the real-time pose of the pipe jacking machine cannot be measured in the underground construction process in the prior art, improving the accuracy of pipe jacking machine track identification, and then analyzing the error between the existing track of the pipe jacking machine and the construction planning track, so that the pipe jacking machine can be adjusted in time, thereby improving the efficiency and accuracy of underground construction. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0021] Figure 1 A flowchart of a pipe jacking machine pose analysis method is provided for the embodiment of the present application.

[0022] Figure 2 A schematic diagram of a pipe jacking machine is provided for the embodiment of the present application.

[0023] Figure 3 A flowchart of another pipe jacking machine pose analysis method is provided for the embodiment of the present application.

[0024] Figure 4 A flowchart of another pipe jacking machine pose analysis method is provided for the embodiment of the present application.

[0025] Figure 5A structural schematic diagram of a pipe jacking machine pose analysis system provided by an embodiment of the present application is shown.

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

[0027] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts should fall within the protection scope of the present application.

[0028] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to the process, method, product, or device.

[0029] Figure 1 A flowchart of a pipe jacking machine pose analysis method provided by an embodiment of the present application is shown. The embodiment can be applicable to identifying the real-time pose of a pipe jacking machine in the ground during underground construction of the pipe jacking machine. The method can be executed by a pipe jacking machine pose analysis system, which can be realized in the form of hardware and / or software and can be configured in an electronic device. As shown in the figure, the method comprises: Figure 1

[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 application, Figure 2 A schematic diagram of a pipe jacking machine provided by an embodiment of the present application is shown. As shown in the figure, Figure 2 ​As shown, the pipe jacking machine 204 connects the pipe sections 203, and the pipe is connected by a plurality of pipe sections 203 during the underground construction process. The lengths of the pipe sections 203 can be consistent or inconsistent. The last pipe section 203 is connected to the wellhead jack 202, and the wellhead jack 202 is connected to the wellhead backrest 201. The wellhead backrest 201 is used to support the jacking of the wellhead jack 202. The pipe jacking machine 204 is excavated along the theoretical center line of the tunnel under the jacking of the wellhead jack 202. The pipe jacking machine 204 is provided with a laser target 206. The target device 205 and the target device 207 are arranged in the pipe 203, respectively. The target device 205 and the target device 207 are fixed in the pipe wall inside the pipe 203. The number of target devices is at least two. Other target devices are arranged in the same manner as the target device 205 and the target device 207. The target device 205 and the target device 207 move together with the jacking of the pipe 204, Figure 2 The target device 205 and the target device 207 are only examples.

[0032] The first target device and the second target device can be target devices arranged on the pipe jacking machine connected pipe section. The first target device and the second target device are different target devices and are arranged at different positions. For example, the first target device and the second target device can be the target device 205 or the target device 207. If the first target device is the target device 205, the second target device is the target device 207. If the first target device is the target device 207, the second target device is the target device 205.

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

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

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

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

[0037] In S120, a coordinate relationship calculation of the geodetic coordinate system and the laser target coordinate system is performed according to the first position coordinate set and the second position coordinate set, and a coordinate system conversion parameter is determined.

[0038] The coordinate conversion parameter can be a parameter value for converting the coordinates of the geodetic coordinate system and the laser target coordinate system. For example, since the geodetic coordinate system and the laser target coordinate system are both three-dimensional coordinate systems, the coordinate conversion parameter can be composed of a rotation parameter and a translation parameter between the two coordinate systems. Through the coordinate conversion parameter, the coordinates of the laser target coordinate system can be converted into the coordinates of the geodetic coordinate system, and the coordinates of the geodetic coordinate system can be converted into the coordinates of the laser target coordinate system.

[0039] Specifically, based on the first geodetic coordinate and the second geodetic coordinate of the first target device and the second target device in the geodetic coordinate system, and the first laser target coordinate and the second laser target coordinate of the first target device and the second target device in the laser target coordinate system, a coordinate relationship calculation is performed to determine the coordinate system conversion parameter.

[0040] Optionally, in another optional embodiment of the present application, the coordinate relationship calculation of the geodetic 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 parameter comprises:

[0041] The 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, the real-time rotation angle and the real-time pitch angle of the laser target device;

[0042] The coordinate relationship calculation of the geodetic coordinate system and the laser target coordinate system is performed according to the first position coordinate set, the second position coordinate set and the real-time Euler data set to determine the coordinate system conversion parameter.

[0043] Optionally, during the underground construction process of the target pipe jacking machine, the real-time azimuth angle, the real-time rotation angle and the real-time pitch angle of the laser target device can be collected based on the collection device arranged on the laser target device to obtain the 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, 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, and the real-time Euler data set, the laser target device is gradually solved by acquiring the pre-calibrated fixed distance data of the first target device and the second target device and the laser target device, and the rotation matrix, the scaling factor and the solved translation vector are constructed based on the real-time Euler data set, and the coordinate system conversion parameters are obtained.

[0045] Specifically, the real-time Euler data set of the laser target device is acquired; wherein the real-time Euler data set includes the real-time azimuth angle, the real-time rotation angle and the real-time pitch angle of the laser target device; the coordinate relationship calculation of the geodetic coordinate system and the laser target coordinate system is performed according to 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, according to the coordinate system conversion parameters, the third coordinate set of the target pipe jacking machine is converted, and the real-time attitude data set of the target pipe jacking machine is determined.

[0047] Among them, the third coordinate set can be the 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 of the target pipe jacking machine in the geodetic coordinate system and the real-time rotation angle. 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. 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 calculated based on the fixed relationship between the target pipe jacking machine and the laser target device, based on the coordinate system conversion parameters, and the real-time rotation angle of the target pipe jacking machine is obtained.

[0049] Optionally, the real-time rotation angle can also be acquired by the acquisition device arranged in the target pipe jacking machine, and the real-time rotation angle of the target pipe jacking machine is obtained.

[0050] Optionally, when the coordinate system conversion parameters are calculated in the geodetic coordinate system and the laser target coordinate system, based on the third coordinate set calibrated by the laser target device and the target pipe jacking machine, the real-time coordinates and the real-time attitude of the target pipe jacking machine in the geodetic coordinate system are calculated based on the third coordinate set by the coordinate system conversion parameters, and the real-time attitude data set of the target pipe jacking machine is obtained.

[0051] Specifically, after obtaining the coordinate system conversion parameters between the geodetic 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 the coordinate system conversion parameters to obtain the real-time attitude data set of the target pipe jacking machine in the geodetic coordinate system.

[0052] S140, determining the underground real-time pose of the target pipe jacking machine based on the preset design route and the real-time attitude data set.

[0053] The preset design route can be a pipe jacking machine construction route planned and designed by the target pipe jacking machine before construction.

[0054] The underground real-time pose can be the real-time position and attitude of the target pipe jacking machine underground compared with the design route. It should be noted that the underground real-time pose is obtained by comparing the real-time position and real-time attitude of the target pipe jacking machine underground with the design route set in advance during construction.

[0055] Specifically, after obtaining the real-time attitude data set of the target pipe jacking machine, the target pipe jacking machine in the pre-planned design route is obtained, the real-time attitude data set is compared with the design route to determine the underground real-time pose of the target pipe jacking machine, the construction error between the underground real-time pose of the target pipe jacking machine and the design route is identified, and the underground real-time pose 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 scheme of the embodiment of the present application can effectively identify the track information of the pipe jacking machine in the construction process by collecting the first position coordinate set of the first target device and the second position coordinate set of the second target device, effectively improve the efficiency of determining the pose 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 calculation of the geodetic coordinate system and the laser target coordinate system is performed according to the first position coordinate set and the second position coordinate set, the coordinate system conversion parameter is determined, the relationship between the two coordinate systems can be determined through the coordinate system conversion parameter, and the coordinate system conversion parameter can be quickly converted, thereby effectively improving the efficiency of identifying the pose of the pipe jacking machine; the third coordinate set of the target pipe jacking machine is converted according to the coordinate system conversion parameter, and the real-time attitude data set of the target pipe jacking machine is determined; the real-time pose of the target pipe jacking machine is determined based on the preset design route and the real-time attitude data set, the real-time attitude data set is obtained by converting the fixed third coordinate set, the real-time pose of the pipe jacking machine can be directly obtained through the real-time attitude data set, and then the real-time pose is compared with the design route to identify the real-time pose of the pipe jacking machine underground relative to the design route, thereby improving the efficiency and accuracy of determining the real-time pose of the pipe jacking machine, solving the technical problem that the real-time pose of the pipe jacking machine cannot be measured in the underground construction process in the prior art, improving the accuracy of the track identification of the pipe jacking machine, and then analyzing the error between the existing track of the pipe jacking machine and the construction planning track, so that the pipe jacking machine can be adjusted in time, thereby improving the efficiency and accuracy of the underground construction.

[0057] Figure 3 The flowchart of another pipe jacking machine pose analysis method provided by the embodiment of the present application, the relationship between the present embodiment and the above-mentioned embodiment is that 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 is explained. Figure 3 As shown in the figure, the method comprises:

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

[0059] It should be noted that the pipe jacking distance of the target pipe jacking machine can be measured by the mileage measuring device installed on the target pipe jacking machine. For example, the mileage measuring device on the target pipe jacking machine can be at least one of a mileage sensor, a laser range finder, a wire pulling sensor and a total station.

[0060] The pipe jacking tunnel center line can be a data set corresponding to a pipe joint center line of each pipe joint laid when the target pipe jacking machine digs a tunnel. It should be noted that in the pipe jacking tunnel center line, each pipe joint corresponds to a pipe joint center line, the pipe joint center line is a center line segment of a pipe joint, the pipe joint center line is a virtual line segment in the geodetic coordinate system, and the pipe joint center line can be composed of coordinates of end points of the center line segment of the pipe joint.

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

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

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

[0064] The first rotation angle can be a rotation angle of the first target device in the pipe joint. It should be noted that since the pipe joint is not fixed during underground pipe jacking construction and rotates itself when being pushed, a sensor is arranged in the first target device to detect the rotation angle, so as to obtain the first rotation angle of the first target device.

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

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

[0067] S330, calculating the first geodetic coordinate of the first target device according to the pipe jacking tunnel center line, the pipe jacking distance and the first rotation angle.

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

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

[0070] performing target device calibration on the first target device to determine position calibration information of the first target device and collect a calibration rotation angle of the first target device; performing top pipe tunnel center line matching on the top pipe tunnel center line according to the jacking distance of the top pipe jacking machine to determine a first pipe joint center line; determining a rotation angle change value according to the calibration rotation angle and the first rotation angle; and determining the first geodetic coordinate according to the first pipe joint center line, the position calibration information and the rotation angle change value.

[0071] The position calibration information can be position information of a mapping point corresponding to the first target device and the pipe joint center line in the pipe joint, a vertical distance from the first target device to the pipe joint center line and a lateral distance from the first target device to the pipe joint center line. It should be noted that the position calibration information is determined by performing target device calibration on the first target device to the pipe joint center line when the pipe joint of the first target device enters the tunnel and before jacking operation.

[0072] The calibration rotation angle can be a rotation angle of the first target device when target device calibration is performed on the first target device.

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

[0074] The first pipe joint center line can be a pipe joint center line of a pipe joint corresponding to the first target device. It should be noted that after the jacking distance of the top pipe jacking machine is measured, the pipe joint center line of the pipe joint corresponding to the first target device can be determined as the first pipe joint center line by calculating based on the jacking distance of the top pipe jacking machine on the top pipe tunnel center line.

[0075] Optionally, the first pipe joint center line is determined by performing top pipe tunnel center line matching on the top pipe tunnel center line according to the jacking distance of the top pipe jacking machine.

[0076] The rotation angle change value can be a difference between the first rotation angle and the calibration rotation angle.

[0077] Optionally, the first rotation angle and the calibration rotation angle are calculated to obtain the rotation angle change value.

[0078] Specifically, 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; the pipe jacking tunnel center line is matched according to the pipe jacking distance of the pipe jacking machine in the pipe jacking tunnel center line to determine a first pipe joint center line; a rotation angle change value is determined according to the calibration rotation angle and the first rotation angle; and the first geodetic coordinate is determined according to the first pipe joint center line, the position calibration information and the rotation angle change value.

[0079] Optionally, in another optional embodiment of the present application, the first geodetic coordinate is determined according to the first pipe joint center line, the position calibration information and the rotation angle change value, including:

[0080] a first relative coordinate of the first target position is determined according to the position calibration information and the first pipe joint center line by a preset calculation method; and the first geodetic coordinate is determined according to the rotation angle change value and the first relative coordinate.

[0081] The preset calculation method can be a pre-set interpolation method.

[0082] The first relative coordinate can be a position corresponding to the position calibration information in the first pipe joint center line.

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

[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, the second geodetic coordinate of the second target device is calculated according to the pipe jacking tunnel center line, the pipe jacking distance of the pipe jacking machine and the second rotation angle.

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

[0087] Optionally, in another optional embodiment of the present application, the second geodetic coordinate of the second target device is calculated according to the pipe jacking tunnel center line, the pipe jacking distance of the pipe jacking machine and the second rotation angle, including:

[0088] The 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; the pipe jacking tunnel center line matching is performed on the pipe jacking tunnel center line according to the pipe jacking distance to determine a second pipe joint center line; the rotation angle change value is determined according to the calibration rotation angle and the second rotation angle; and the second geodetic coordinates are determined according to the second pipe joint center line, the position calibration information and the rotation angle change value.

[0089] The position calibration information can be position information of a mapping point corresponding to the second target device and the pipe joint center line in the pipe joint, a vertical distance from the second target device to the pipe joint center line, and a transverse distance from the second target device to the pipe joint center line.

[0090] The calibration rotation angle can be a rotation angle of the second target device when the target device calibration is performed on the second target device.

[0091] Optionally, the 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 joint center line can be a pipe joint center line of a pipe joint corresponding to the second target device. It should be noted that after the pipe jacking distance is measured, the pipe jacking tunnel center line matching can be performed on the pipe jacking tunnel center line based on the pipe jacking distance, and the pipe jacking distance is calculated to obtain the pipe joint center line of the pipe joint corresponding to the second target device, which is determined as the second pipe joint center line.

[0093] Optionally, the pipe jacking tunnel center line matching is performed on the pipe jacking tunnel center line according to the pipe jacking distance to determine the second pipe joint center line.

[0094] The rotation angle change value can be a difference between the second rotation angle and the calibration rotation angle.

[0095] Optionally, the second rotation angle and the calibration rotation angle are calculated to obtain the rotation angle change value.

[0096] Specifically, the 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; the pipe jacking tunnel center line matching is performed on the pipe jacking tunnel center line according to the pipe jacking distance to determine a second pipe joint center line; the rotation angle change value is determined according to the calibration rotation angle and the second rotation angle; and the second geodetic coordinates are determined according to the second pipe joint center line, the position calibration information and the rotation angle change value.

[0097] Optionally, in another optional embodiment of the present application, the second geodetic coordinate is determined according to the second pipe joint center line, the position calibration information and the rotation angle change value, comprising:

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

[0099] The preset calculation method can be a pre-set interpolation method.

[0100] The second relative coordinate can be a position corresponding to the position calibration information in the second pipe joint center line.

[0101] Optionally, the mapping point of the second target device on the second pipe joint center line is calculated based on the interpolation method according to the position information of the mapping point of the second target device and the pipe joint center line in the pipe joint; and the second relative coordinate is determined according to the vertical distance from the second target device to the pipe joint center line and the horizontal distance from the second target device to the pipe joint center line based on the mapping point of the second target device on the second pipe joint center line as a center point.

[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 acquiring the first laser target coordinate of the first target device and the second laser target coordinate of the second target device.

[0104] Specifically, the first target device and the second target device are pre-calibrated to determine the fixed distance and the fixed angle of the first target device and the second target device and the laser target device, and then the first laser target coordinate of the first target device and the second laser target coordinate of the second target device are directly acquired 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 application, the first target device and the second target device are photographed by the laser target device to determine the measurement photographing image.

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

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

[0108] Optionally, in order to improve the accuracy of the camera of the laser target device in identifying the first target device and the second target device, an illuminating lamp is arranged on the first target device and the second target device, and the illuminating lamp irradiates the corresponding direction of the laser target device, so as to improve the accuracy of the laser target device in identifying the first target device and the second target device.

[0109] Optionally, in order to improve the accuracy of the camera of the laser target device in identifying the first target device and the second target device, an illuminating lamp is arranged on the first target device and the second target device, and the illuminating lamp irradiates the corresponding direction of the laser target device, so as to improve the accuracy of the laser target device in identifying the first target device and the second target device.

[0110] Optionally, the coordinate origin of the laser target coordinate system can be the camera of the laser target device, the camera of the laser target device identifies the distance and the direction of the first target device and the second target device based on the measurement image, determines the angle and the distance between the camera of the laser target device and the first target device and the second target device, and further determines the second laser target coordinate and the second laser target coordinate.

[0111] Optionally, the camera of the laser target device and the first target device and the second target device form a triangular relationship, the pixel parameters of the first target device and the second target device in the measurement image are identified based on the camera expression parameters, the direction and the distance of the first target device and the second target device from the camera are calculated, and the direction and the distance of the first target device and the second target device from the camera are converted into the first laser target coordinate and the second laser target coordinate.

[0112] S360, according to the first position coordinate set and the second position coordinate set, the coordinate relationship calculation of the geodetic coordinate system and the laser target coordinate system is performed, and the coordinate system conversion parameter is determined.

[0113] S370, according to the coordinate system conversion parameter, the third coordinate set of the target pipe jacking machine is converted, and the real-time attitude data set of the target pipe jacking machine is determined.

[0114] S380, based on the pre-set design line and the real-time attitude data set, the underground real-time pose of the target pipe jacking machine is determined.

[0115] The technical scheme of the embodiment of the present application can identify the coordinate value of the target device in the geodetic coordinate system based on the pipe jacking tunnel center line during the operation of the target pipe jacking machine, and then calculate the coordinate relationship conversion parameters of the geodetic coordinate system and the laser target coordinate system, so that the pipe jacking tunnel center line can quickly locate the coordinates of the target device, effectively improving the efficiency and accuracy of locating the position coordinates of the target device, improving the efficiency and accuracy of determining the real-time pose of the pipe jacking machine, solving the technical problem that the real-time pose of the pipe jacking machine cannot be measured during underground construction in the prior art, improving the accuracy of pipe jacking trajectory recognition, and then analyzing the error between the existing trajectory of the pipe jacking machine and the construction planning trajectory, so that the pipe jacking machine can be adjusted in time, and the efficiency and accuracy of underground construction are improved.

[0116] Figure 4 The flowchart of another pipe jacking machine pose analysis method provided by the embodiment of the present application, the relationship between the present embodiment and the above-mentioned embodiment is that the specific method for obtaining the third coordinate set of the target pipe jacking machine is explained. As shown in the figure, Figure 4 the method comprises:

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

[0118] The first initial coordinate set can be the 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 front end point coordinate of the target pipe jacking machine and the rear end point coordinate 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, and then the first initial coordinate set is determined.

[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 can be the 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 laser target prism coordinate, the rotation angle of the laser target axis, the pitch angle of the laser target axis, and the laser target azimuth angle.

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

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

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

[0124] The coordinates of the laser target prism in the laser target measuring device are determined.

[0125] The rotation angle and pitch angle of the laser target axis are obtained by the tilting device of the laser target equipment.

[0126] A second image is determined by photographing the reflective prism of the laser target device.

[0127] Determine the first included angle based on the second captured image;

[0128] Obtain the second included angle of the laser target device, and determine the azimuth angle of the laser target axis based on the first included angle and the second included angle.

[0129] The prism on the laser target can be a reflective prism. It should be noted that the coordinates of the prism on the laser target can be directly measured using measuring equipment.

[0130] Among them, the laser target axis can be the central axis of the laser target device; the rotation angle of the laser target axis can describe the left and right direction of the laser target device, and the rotation angle of the laser target axis can describe the pitch direction of the laser target device.

[0131] Optionally, when the target pipe jacking machine is not carrying out underground pipe jacking construction, the coordinates of the prism on the laser target are obtained by measuring the prism on the laser target using measuring equipment; and the rotation angle and pitch angle of the laser target axis are obtained by the tilting instrument of the laser target equipment.

[0132] The second image can be an image captured by the camera of the laser target device onto the prism on the laser target. It should be noted that when the measuring device measures the prism on the laser target, it generates an infrared spot. The second image, containing the infrared spot on the prism, is obtained by capturing the prism with the camera of the laser target device.

[0133] The first included angle can 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 center line of the camera, which is perpendicular to the image sensor plane of the camera and is the reference direction for camera imaging.

[0134] Optionally, the laser target coordinate system of the camera based on 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 horizontal to the right, and the Y-axis vertically downward.

[0135] The second included angle can be an azimuth angle of a line connecting the measuring device and the laser target.

[0136] Optionally, based on the azimuth angle of the line connecting the measuring device and the laser target and the included angle formed by the line connecting the measuring device and the laser target and the camera axis of the laser target device, the azimuth angle of the camera axis can be calculated, and then since the azimuth angle of the camera axis and the azimuth angle of the laser target axis have a fixed included angle, the azimuth angle of the laser target axis can be obtained after the azimuth angle of the camera axis is known. The azimuth angle 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 reflection prism of the laser target device is photographed through the laser target device to determine a second photographed image; the first included angle is determined according to the second photographed image; the second included angle of the laser target device is obtained, and the azimuth angle of the laser target axis is determined according to the first included angle and the second included angle.

[0138] S420, device calibration is performed on the laser target device according to the first initial coordinate set and the laser target data set, and a third coordinate set is determined.

[0139] Optionally, the rotation angle of the target pipe jacking machine when not performing underground pipe jacking construction is obtained, the coordinates of the prism on the laser target of the laser target device and the positional and angular relationship between the camera of the laser target device are measured based on the laser target coordinate system established by the camera of the laser target device, the coordinates of the prism on the laser target in the laser target coordinate system are calibrated, and the positional and angular relationship between the front end point coordinate of the pipe jacking machine in the first initial coordinate set and the rear end point coordinate of the target pipe jacking machine is 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 prism on the laser target and the positional and angular relationship between the front end point coordinate of the pipe jacking machine in the first initial coordinate set and the rear end point coordinate of the target pipe jacking machine, to obtain a third coordinate set.

[0140] S430, a first position coordinate set of a first target device and a second position coordinate set of a second target device are collected.

[0141] S440, coordinate relationship calculation of a geodetic coordinate system and a laser target coordinate system is performed according to the first position coordinate set and the second position coordinate set, and coordinate system conversion parameters are determined.

[0142] S450, the third coordinate set of the target pipe jacking machine collected in advance is converted according to the coordinate system conversion parameters, and a real-time attitude data set of the target pipe jacking machine is determined.

[0143] S460, determining the real-time pose of the target pipe jacking machine in the underground based on the preset design line and the real-time pose data set.

[0144] The technical scheme of the embodiment of the present application can measure the coordinates of the target pipe jacking machine and the laser target device before the target pipe jacking machine operates, 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 in the construction process, and then determine the pose of the target pipe jacking machine based on the coordinate relationship conversion parameters of the computing geodetic coordinate system and the laser target coordinate system, thereby effectively improving the efficiency and accuracy of positioning the coordinates of the target device, improving the efficiency and accuracy of determining the real-time pose of the pipe jacking machine, solving the technical problem that the real-time pose of the pipe jacking machine cannot be measured in the underground construction process in the prior art, improving the accuracy of pipe jacking machine trajectory recognition, and then analyzing the error between the existing trajectory of the pipe jacking machine and the construction planning trajectory, so that the pipe jacking machine can be adjusted in time, and the efficiency and accuracy of underground construction are improved.

[0145] Figure 5 A structural schematic diagram of a pipe jacking machine pose analysis system is provided for the embodiment of the present application. As shown in the figure, Figure 5 The device comprises a measurement module 510, a calculation module 520, a coordinate conversion module 530, and a pose analysis module 540; wherein,

[0146] The 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] The calculation module 520 is configured to calculate the coordinate relationship 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 determine the coordinate system conversion parameters.

[0148] The 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, and determine a real-time pose data set of the target pipe jacking machine.

[0149] The pose analysis module 540 is configured to determine the real-time pose of the target pipe jacking machine in the underground based on the preset design line and the real-time pose data set.

[0150] The technical scheme of the embodiment of the application can effectively identify the track information of the pipe jacking machine in the construction process through the first position coordinate set of the first target device and the second position coordinate set of the second target device, effectively improve the efficiency of determining the pose 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 calculation of the geodetic coordinate system and the laser target coordinate system is performed according to the first position coordinate set and the second position coordinate set, the coordinate system conversion parameter is determined, the relationship between the two coordinate systems can be determined through the coordinate system conversion parameter, and then the coordinate system conversion parameter can be quickly converted, thereby effectively improving the efficiency of identifying the pose of the pipe jacking machine; the third coordinate set of the target pipe jacking machine is converted according to the coordinate system conversion parameter, and the real-time attitude data set of the target pipe jacking machine is determined; the real-time pose of the target pipe jacking machine is determined based on the preset design route and the real-time attitude data set, the real-time attitude data set is obtained by converting the fixed third coordinate set, the real-time pose of the pipe jacking machine can be directly obtained through the real-time attitude data set, then the real-time pose is compared with the design route, the real-time pose of the pipe jacking machine underground relative to the design route is identified, the efficiency and accuracy of determining the real-time pose of the pipe jacking machine are improved, the technical problem that the real-time pose of the pipe jacking machine cannot be measured in the underground construction process in the prior art is solved, the accuracy of the track identification of the pipe jacking machine is improved, and then the error between the existing track of the pipe jacking machine and the construction planning track is analyzed, the pipe jacking machine can be adjusted in time, and the efficiency and accuracy of the underground construction are improved.

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

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

[0153] The first rotation angle of the first target device and the second rotation angle of the second target device are respectively acquired;

[0154] The first geodetic coordinate of the first target device is calculated according to the pipe jacking tunnel center line, the pipe jacking distance and the first rotation angle;

[0155] The second geodetic coordinate of the second target device is calculated according to the pipe jacking tunnel center line, the pipe jacking distance and the second rotation angle;

[0156] The first laser target coordinate and the second laser target coordinate are determined by performing coordinate acquisition on the first target device and the second target device through the laser target equipment.

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

[0158] According to the jacking distance of the pipe jacking machine, a pipe jacking tunnel center line matching is performed on the pipe jacking tunnel center line to determine a first pipe joint center line;

[0159] According to the calibration rotation angle and the first rotation angle, a rotation angle change value is determined.

[0160] According to the first pipe joint center line, the position calibration information, and the rotation angle change value, the first geodetic coordinates are determined.

[0161] Optionally, the measuring module 510 is specifically further configured to: determine a first relative coordinate of a first target position according to the position calibration information and the first pipe joint center line by a preset calculation method.

[0162] According to the rotation angle change value and the first relative coordinate, the first geodetic coordinates are determined.

[0163] Optionally, the calculation module 520 is specifically configured to:

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

[0165] According to the first position coordinate set, the second position coordinate set, and the real-time Euler data set, a coordinate relationship calculation of a geodetic coordinate system and a laser target coordinate system is performed to determine the coordinate system conversion parameter.

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

[0167] The pipe jacking machine measuring module is configured 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] The calibration module is configured to perform device calibration on 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 prism coordinates on the laser target, a rotation angle of a laser target axis, a pitch angle of the laser target axis, and a laser target azimuth angle.

[0170] The calibration module is specifically configured to:

[0171] Measure a prism on the laser target of the laser target device to determine the prism coordinates on the laser target;

[0172] An inclinometer of the laser target device is used to obtain a rotation angle of the laser target axis and a pitch angle of the laser target axis;

[0173] A second photograph image is determined by photographing a reflecting prism of the laser target device.

[0174] A first included angle is determined according to the second photograph image.

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

[0176] The pipe jacking machine pose analysis device provided by the embodiment of the present application can execute the pipe jacking machine pose analysis method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0177] Figure 6 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their modes of operation, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0178] As shown in Figure 6 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, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can execute 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. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0179] A plurality of 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 through a computer network, such as the Internet, and / or various telecommunication networks.

[0180] The processor 11 can be various general and / or special-purpose processing components 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 appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the pipe jacking machine pose analysis method.

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

[0182] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

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

[0184] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0185] To provide for interaction with a user, the systems and techniques described here 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, 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, speech, or tactile input.

[0186] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, 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] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0188] It should be understood that the various forms of flow shown above can be reordered, added to, or deleted from without departing from the scope of the present application. For example, the steps described in the present application can be executed in parallel, in sequence, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, and the present application is not limited herein.

[0189] The embodiment provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement steps of a pipe jacking machine pose analysis method provided by any embodiment of the present application, and the method comprises the following steps:

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

[0191] Performing coordinate relationship calculation of a geodetic coordinate system and a laser target coordinate system according to the first position coordinate set and the second position coordinate set, and determining a coordinate system conversion parameter;

[0192] Performing coordinate conversion on a third coordinate set of a target pipe jacking machine collected in advance according to the coordinate system conversion parameter, and determining a real-time pose data set of the target pipe jacking machine;

[0193] 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.

[0194] The computer storage medium of the embodiments of the present application 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 may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples (non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus or device.

[0195] The computer readable signal medium can include a data signal propagated in baseband or propagated as a carrier wave, in which computer readable program code is embodied. Such propagated data signals can take a wide variety of forms, including but not limited to electro-magnetic signals, optical signals, or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that is not a storage medium, that is capable of storing the program for use by or in connection with the instruction execution system, apparatus or device.

[0196] The program code embodied on the computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the above.

[0197] The computer program code for carrying out operations of the present application can be written in one or more programming languages or combinations of languages including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages such as "C" or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0198] Those skilled in the art should understand that the modules or steps of the present application described above can be implemented by general computing devices, which can be centralized on a single computing device or distributed on a network composed of multiple computing devices. Alternatively, they can be implemented by computer-executable program codes, which can be stored in storage devices and executed by computing devices, or they can be implemented by individual integrated circuit modules or a plurality of modules or steps of them can be implemented by a single integrated circuit module.

[0199] It should be understood that the steps shown above can be reordered, added, or deleted. For example, the steps described in the present application can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions of the present application can be achieved, and the present application is not limited herein.

[0200] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for analyzing the pose of a pipe jacking machine, characterized in that, include: The system acquires a first set of coordinates for the first target device and a second set of coordinates for the second target device; wherein the first target device and the second target device are two different target devices installed on the connecting pipe section of the pipe jacking machine; the first set of coordinates includes first geodetic coordinates and first laser target coordinates; the second set of coordinates includes second geodetic coordinates and second laser target coordinates; The coordinate relationship between the geodetic coordinate system and the laser target coordinate system is calculated based on the first and second position coordinate sets to determine the coordinate system transformation parameters; Based on the coordinate system transformation parameters, the third coordinate set of the pre-acquired target pipe jacking machine is transformed to determine the real-time attitude dataset of the target pipe jacking machine; wherein, the third coordinate set is the coordinate data of the pre-acquired target pipe jacking machine in the laser target coordinate system; The underground real-time position and posture of the target pipe jacking machine are determined based on the preset design route and the real-time posture dataset.

2. The method according to claim 1, characterized in that, The acquisition of the first set of position coordinates of the first target device and the second set of position coordinates of the second target device includes: Obtain the jacking distance of the target pipe jacking machine and the centerline of the pipe jacking tunnel; The first rotation angle of the first target device and the second rotation angle of the second target device are collected respectively. The first geodetic coordinates of the first target device are calculated based on the centerline of the pipe jacking tunnel, the jacking distance of the pipe jacking machine, and the first rotation angle. The second geodetic coordinates of the second target device are calculated based on the centerline 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 obtained respectively.

3. The method according to claim 2, characterized in that, The calculation of the first geodetic coordinates of the first target device based on the centerline of the pipe jacking tunnel, the jacking distance of the pipe jacking machine, and the first rotation angle includes: The first target device is calibrated to determine its position calibration information and to collect its calibration rotation angle. Based on the jacking distance of the pipe jacking machine, the centerline of the pipe jacking tunnel is matched to determine the centerline of the first pipe section; The change in rotation angle is determined based on the calibrated rotation angle and the first rotation angle. The first geodetic coordinates are determined based on the centerline of the first pipe section, the position calibration information, and the change value of the rotation angle.

4. The method according to claim 3, characterized in that, Determining the first geodetic coordinates based on the centerline of the first pipe section, the position calibration information, and the rotation angle change value includes: The first relative coordinates of the first target position are determined by a preset calculation method based on the position calibration information and the center line of the first pipe section; wherein the preset calculation method is a pre-set interpolation method. The first geodetic coordinates are determined based on the change in rotation angle and the first relative coordinates.

5. The method according to claim 1, characterized in that, The step of calculating the coordinate relationship between the geodetic coordinate system and the laser target coordinate system based on the first and second position coordinate sets, and determining the coordinate system transformation parameters, includes: Acquire real-time Euler dataset of laser target device; wherein, the real-time Euler dataset includes the azimuth angle, rotation angle and elevation angle of 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 dataset to determine the coordinate system transformation parameters.

6. The method according to claim 1, characterized in that, Before calculating the coordinate relationship between the geodetic coordinate system and the laser target coordinate system based on the first and second position coordinate sets, and determining the coordinate system transformation parameters, the method further includes: Obtain the first initial coordinate set of the target pipe jacking machine; Obtain the laser target dataset from the laser target equipment; The laser target device is calibrated based on the first initial coordinate set and the laser target dataset to determine the third coordinate set.

7. The method according to claim 6, characterized in that, The laser target dataset includes the coordinates of the prism on the laser target, the rotation angle of the laser target axis, the elevation angle of the laser target axis, and the azimuth angle of the laser target. The laser target dataset obtained from the laser target device includes: The coordinates of the laser target prism in the laser target measuring device are determined. The rotation angle and pitch angle of the laser target axis are obtained by the tilting device of the laser target equipment. A second image is determined by photographing the reflective prism of the laser target device. Determine the first included angle based on the second captured image; Obtain the second included angle of the laser target device, and determine the azimuth angle of the laser target axis based on the first included angle and the second included angle.

8. A pipe jacking machine posture analysis system, characterized in that, include: The measurement module is used to acquire a first set of position coordinates for a first target device and a second set of position coordinates for a second target device; wherein the first target device and the second target device are two different target devices set on the connecting pipe section of the pipe jacking machine; the first set of position coordinates includes first geodetic coordinates and first laser target coordinates; the second set of position coordinates includes second geodetic coordinates and second laser target coordinates; The calculation module is used to calculate the coordinate relationship between the geodetic coordinate system and the laser target coordinate system based on the first position coordinate set and the second position coordinate set, and to determine the coordinate system transformation parameters; The coordinate transformation module is used to perform coordinate transformation on the third coordinate set of the pre-acquired target pipe jacking machine according to the coordinate system transformation parameters, and determine the real-time attitude dataset of the target pipe jacking machine; wherein, the third coordinate set is the coordinate data of the pre-acquired target pipe jacking machine in the laser target coordinate system; The pose analysis module is used to determine the real-time underground pose of the target pipe jacking machine based on the preset design route and the real-time pose dataset.

9. An electronic device, characterized in that, The electronic device includes: 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, the computer program being executed by the at least one processor to enable the at least one processor to perform the jacking machine pose analysis method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the jacking machine pose analysis method according to any one of claims 1-7.

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