A fusion positioning method, apparatus, device, medium and product

Abstract

The application discloses a fusion positioning method, device, equipment, medium and product, and relates to tunneling equipment positioning. According to distance information measured by a millimeter wave radar and attitude angles of the tunneling equipment measured by a navigator, a first distance deviation of a body rotation center of the tunneling equipment relative to a theoretical center line of a roadway is determined. According to point cloud data obtained by laser radar scanning and the attitude angles of the tunneling equipment measured by the navigator, a second distance deviation of the body rotation center of the tunneling equipment relative to the theoretical center line of the roadway is determined. According to distance information measured by a UWB ranging radar, a position change amount of the tunneling equipment in a footage direction is determined. The first distance deviation, the second distance deviation and the position change amount in the footage direction are fused to obtain the position of the tunneling equipment. The application fuses the measurement modes of the navigator, the UWB ranging radar, the millimeter wave radar and the laser radar, and improves the positioning precision and reliability of the tunneling equipment.

Description

Technical Field

[0001] This application relates to the field of tunneling equipment positioning technology, and in particular to a fusion positioning method, device, equipment, medium and product. Background Technology

[0002] Tunneling equipment positioning refers to the technology of determining the current position and attitude of tunneling equipment during tunnel construction. This is a crucial step in tunnel construction, directly affecting the accuracy and quality of the work. The lack of GPS signals in the underground environment, harsh construction conditions (dust, vibration, humidity), the accumulation of errors during long-distance tunneling, and high real-time requirements present significant challenges to tunneling equipment positioning.

[0003] Existing positioning methods include laser guidance, machine vision, and inertial navigation. Laser guidance uses a laser beam as a reference point for positioning; this method offers high accuracy but is limited by tunnel environments. Machine vision relies on visual sensors to build, match, and update maps in real time; however, it suffers from high computational complexity and low timeliness. Inertial navigation uses gyroscopes and accelerometers for positioning; this method is highly autonomous and unaffected by external environments, but it suffers from cumulative errors and requires periodic calibration. Summary of the Invention

[0004] The purpose of this application is to provide a fusion positioning method, apparatus, device, medium, and product to improve positioning accuracy and reliability.

[0005] To achieve the above objectives, this application provides the following solution.

[0006] Firstly, this application provides a fusion positioning method for locating tunneling equipment. The tunneling equipment is equipped with a navigator, a UWB (Ultra-Wideband) ranging radar, a millimeter-wave radar, and a lidar. A reference guide rail is installed on the roof of the tunnel where the tunneling equipment is located. The installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current task phase. The fusion positioning method includes:

[0007] Based on the distance information measured by millimeter-wave radar and the attitude angle of the tunneling equipment measured by the navigator, the first distance deviation of the tunneling equipment's rotation center relative to the theoretical centerline of the roadway is determined;

[0008] Based on the point cloud data obtained from lidar scanning and the attitude angle of the tunneling equipment measured by the navigator, the second distance deviation of the tunneling equipment's body rotation center relative to the theoretical centerline of the roadway is determined.

[0009] Based on the distance information obtained from the UWB ranging radar, the positional change of the tunneling equipment in the advance direction is determined;

[0010] The position of the tunneling equipment is determined based on the change in position of the tunneling equipment in the advance direction and the first and second distance deviations of the rotation center of the tunneling equipment relative to the theoretical centerline of the roadway.

[0011] Secondly, this application provides a fusion positioning device, which includes: a navigator, a UWB ranging radar, a millimeter-wave radar, a lidar, a reference rail, and an industrial control computer;

[0012] The navigator, the UWB ranging radar, the millimeter-wave radar, and the lidar are all mounted on the tunneling equipment. The reference guide rail is mounted on the roof of the tunnel where the tunneling equipment is located, and the installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current task phase.

[0013] The navigator, the UWB ranging radar, the millimeter-wave radar, and the lidar are all connected to the industrial control computer;

[0014] The industrial control computer is used to determine the position of the tunneling equipment using the aforementioned fusion positioning method.

[0015] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described fusion positioning method.

[0016] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described fusion positioning method.

[0017] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the above-described fusion positioning method.

[0018] According to the specific embodiments provided in this application, this application has the following technical effects.

[0019] This application provides a fusion positioning method, apparatus, equipment, medium, and product. Based on distance information measured by millimeter-wave radar and attitude angles of the tunneling equipment measured by a navigator, this application determines a first distance deviation of the tunneling equipment's rotation center relative to the theoretical centerline of the tunnel. Based on point cloud data obtained from lidar scanning and attitude angles of the tunneling equipment measured by the navigator, it determines a second distance deviation of the tunneling equipment's rotation center relative to the theoretical centerline of the tunnel. Based on distance information measured by UWB ranging radar, it determines the positional change of the tunneling equipment in the advancing direction. Based on the positional change of the tunneling equipment in the advancing direction and the first and second distance deviations of the tunneling equipment's rotation center relative to the theoretical centerline of the tunnel, the position of the tunneling equipment is determined. This application integrates measurement methods from a navigator, UWB ranging radar, millimeter-wave radar, and lidar, improving the accuracy and reliability of tunneling equipment positioning. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating a fusion positioning method provided in an embodiment of this application.

[0022] Figure 2 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] In one exemplary embodiment, this application provides a fusion positioning method for locating tunneling equipment. The tunneling equipment is equipped with a navigator, a UWB ranging radar, a millimeter-wave radar, and a lidar. A reference guide rail is installed on the roof of the tunnel where the tunneling equipment is located. The installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current task phase. Figure 1 As shown, the fusion positioning method includes the following steps 101-104.

[0026] Step 101: Based on the distance information measured by millimeter-wave radar and the attitude angle of the tunneling equipment measured by the navigator, determine the first distance deviation of the tunneling equipment's rotation center relative to the theoretical centerline of the roadway.

[0027] Step 102: Based on the point cloud data obtained by lidar scanning and the attitude angle of the tunneling equipment measured by the navigator, determine the second distance deviation of the tunneling equipment's rotation center relative to the theoretical centerline of the roadway.

[0028] Step 103: Determine the positional change of the tunneling equipment in the advance direction based on the distance information obtained from the UWB ranging radar.

[0029] Step 104: Determine the position of the tunneling equipment based on the positional change of the tunneling equipment in the advance direction and the first and second distance deviations of the machine rotation center relative to the theoretical centerline of the roadway.

[0030] Steps 101-104 above integrate measurement methods from navigation devices, UWB ranging radar, millimeter-wave radar, and lidar, improving the accuracy and reliability of tunneling equipment positioning. This embodiment of the application achieves the measurement of tunneling equipment's advance, elevation difference, deviation, and attitude in the roadway coordinate system through a combination of navigation, UWB ranging radar, millimeter-wave radar, lidar, and reference guide rails. This results in an automatic positioning and attitude measurement system that meets the full-condition requirements of autonomous cutting by tunneling equipment, solving the problem of positioning underground tunneling equipment and laying the foundation for intelligent and unmanned operation.

[0031] In another exemplary embodiment, the number of millimeter-wave radars is four, and the four millimeter-wave radars are respectively located at the front left, rear left, front right, and rear right of the tunneling equipment. The implementation principle of step 101 above is as follows:

[0032] The navigation measurement obtains the heading angle yaw of the tunneling equipment, the target heading yaw_target of the tunnel, and the angle difference between the tunneling equipment and the target heading yaw1 = yaw - yaw_target.

[0033] The distance between the left side of the fuselage and the left side of the tunnel, measured by the left-side millimeter-wave radar, is:

[0034]

[0035] Given a fixed roadway width L and a tunneling equipment width D, when the tunneling equipment is at the theoretical centerline of the roadway, the distance between the side of the tunneling equipment and the roadway sidewall is:

[0036]

[0037] The distance from the machine's rotation center to the roadway centerline, measured by the left-side millimeter-wave radar, is:

[0038]

[0039] In the above formula, The distance deviation between the machine's rotation center and the theoretical centerline of the tunnel, measured by the i-th millimeter-wave radar located on the left side of the tunneling equipment, is denoted as i=1,2. When i=1, the i-th millimeter-wave radar on the left side of the tunneling equipment is the millimeter-wave radar located at the front left of the tunneling equipment; when i=2, the i-th millimeter-wave radar on the left side of the tunneling equipment is the millimeter-wave radar located at the rear left of the tunneling equipment. The distance between the left side of the machine body and the left side of the tunnel, measured by the i-th millimeter-wave radar located on the left side of the tunneling equipment. Let L be the distance between the side of the tunneling equipment and the sidewall of the roadway when the tunneling equipment is at the theoretical centerline of the roadway, and D be the width of the tunneling equipment. The distance information is obtained from the i-th millimeter-wave radar located on the left side of the tunneling equipment. Let be the lateral distance between the installation position of the i-th millimeter-wave radar on the left side of the tunneling equipment and the left side of the fuselage. Let be the vertical distance between the installation position of the i-th millimeter-wave radar located on the left side of the tunneling equipment and the center of rotation of the machine. This represents the difference in heading angle between the tunneling equipment and the target.

[0040] Similarly, the distance from the right side of the fuselage to the right side of the tunnel, measured by the right-side millimeter-wave radar, is:

[0041]

[0042] The distance from the machine's rotation center to the roadway centerline, measured by the right-side millimeter-wave radar, is:

[0043]

[0044] In the above formula, The distance deviation between the machine's rotation center and the theoretical centerline of the tunnel, measured by the j-th millimeter-wave radar located on the right side of the tunneling equipment, is given by j=1,2. When j=1, the j-th millimeter-wave radar on the right side of the tunneling equipment is located at the front right of the tunneling equipment; when j=2, the j-th millimeter-wave radar on the right side of the tunneling equipment is located at the rear right of the tunneling equipment. The distance between the right side of the machine body and the right side of the tunnel, measured by the j-th millimeter-wave radar located on the right side of the tunneling equipment. The distance information is obtained from the j-th millimeter-wave radar located on the right side of the tunneling equipment. Let be the lateral distance between the installation position of the j-th millimeter-wave radar on the right side of the tunneling equipment and the right side of the fuselage. Let be the vertical distance between the installation position of the j-th millimeter-wave radar on the right side of the tunneling equipment and the center of rotation of the machine.

[0045] Four millimeter-wave radars were installed on the tunneling equipment, located at the front left, rear left, front right, and rear right. The average of the obtained results yielded the distance from the tunneling equipment's rotation center to the roadway centerline, as measured by the millimeter-wave radar:

[0046]

[0047] in, This refers to the first distance deviation between the rotation center of the tunneling equipment and the theoretical centerline of the roadway.

[0048] In another exemplary embodiment, step 102 described above can be replaced by steps 201-203.

[0049] Step 201: Determine the three-dimensional coordinates of the reference guide rail in the lidar coordinate system based on the point cloud data obtained by lidar scanning.

[0050] Step 202: Construct a first rotation matrix and a second rotation matrix based on the attitude angle; the first rotation matrix is ​​the rotation matrix of the lidar coordinate system relative to the target heading coordinate system, and the second rotation matrix is ​​the rotation matrix of the tunneling equipment body coordinate system relative to the target heading coordinate system; the tunneling equipment body coordinate system is constructed with the tunneling equipment body rotation center as the origin.

[0051] Step 203: Based on the three-dimensional coordinates of the reference guide rail in the lidar coordinate system, the three-dimensional coordinates of the lidar in the tunneling equipment body coordinate system, the first rotation matrix, and the second rotation matrix, determine the second distance deviation of the tunneling equipment body rotation center relative to the theoretical centerline of the roadway.

[0052] The specific implementation method of step 201 above is as follows.

[0053] From all point cloud data within the current scanning cycle, the point cloud data of the top plate is selected using the following formula:

[0054] and

[0055] in, and These represent the lower and upper limits of the distance to the point cloud data of the top plate, respectively. and These are the lower and upper limits of the angle of the point cloud data of the top plate, respectively. point.distance is the distance information in the point cloud data, and point.angle is the angle information in the point cloud data.

[0056] Clustering algorithms were used to cluster the point cloud data of the top plate, resulting in three point cloud data clusters.

[0057] The point cloud data cluster that satisfies the following formula is identified as the point cloud data cluster of the reference guide:

[0058] and

[0059] in, and These represent the lower and upper limits of the x-axis coordinate span of the point cloud data of the reference guide rail, respectively. and The lower and upper limits for the number of point cloud data points for the reference guide rail. This represents the span of the x-axis coordinates of different point cloud data within a point cloud data cluster. For the span redundancy deviation, you can use 0.05 or other data, which can be set according to your needs. Details will not be elaborated here. This represents the number of point cloud data points in the point cloud data cluster.

[0060] The average value of each point cloud data in the point cloud data cluster of the reference guide rail is calculated and used as the three-dimensional coordinates of the reference guide rail in the lidar coordinate system.

[0061] In step 202 above, the first rotation matrix is:

[0062]

[0063] in, Let be the first rotation matrix. , , These represent the rotation angles of the lidar coordinate system relative to the target's heading coordinate system along the X, Y, and Z axes, respectively. , , ; , and These refer to the heading angle, pitch angle, and roll angle of the tunneling equipment's attitude angles. The target heading for the tunneling equipment at the current stage of the mission;

[0064] The second rotation matrix is:

[0065]

[0066] in, This is the second rotation matrix. , , These represent the rotation angles of the tunneling equipment's body coordinate system relative to the target heading coordinate system along the X, Y, and Z axes, respectively. , , .

[0067] In another exemplary embodiment, step 203 above is specifically implemented as follows:

[0068] Based on the three-dimensional coordinates of the reference guide rail in the lidar coordinate system and the first rotation matrix, the distance information between the lidar and the reference guide rail in the target heading coordinate system is determined using the following formula;

[0069]

[0070]

[0071] in, This refers to the distance information between the lidar and the reference guide rail in the target heading coordinate system. The reference guide rail has three-dimensional coordinates in the lidar coordinate system. and These are the x-axis and y-axis coordinates of the reference guide rail in the lidar coordinate system, respectively.

[0072] Based on the three-dimensional coordinates of the lidar in the coordinate system of the tunneling equipment and the second rotation matrix, the distance information between the lidar and the rotation center of the tunneling equipment in the target heading coordinate system is determined using the following formula;

[0073]

[0074]

[0075] in, This refers to the distance information between the lidar and the rotation center of the tunneling equipment in the target heading coordinate system. This is the second rotation matrix. The coordinates of the lidar in the coordinate system of the tunneling equipment are three-dimensional. , , These represent the x-axis, y-axis, and z-axis coordinates of the lidar in the coordinate system of the tunneling equipment.

[0076] Based on the distance information between the lidar and the reference guide rail in the target heading coordinate system and the distance information between the lidar and the rotation center of the tunneling equipment in the target heading coordinate system, the distance information of the rotation center of the tunneling equipment relative to the reference guide rail is determined using the following formula;

[0077]

[0078] in, This refers to the distance information between the rotation center of the tunneling equipment and the reference guide rail.

[0079] Based on the x-axis distance from the distance information of the tunneling equipment's rotation center relative to the reference guide rail, the following formula is used to determine the deviation distance of the tunneling equipment's rotation center from the theoretical centerline of roadway mining;

[0080]

[0081] in, This refers to the second distance deviation between the rotation center of the tunneling equipment and the theoretical centerline of the roadway. This refers to the x-axis distance in the distance information between the rotation center of the tunneling equipment and the reference guide rail. This refers to the distance between the reference guide rail and the theoretical centerline of the roadway.

[0082] In another exemplary embodiment, the deviation relative to the roadway centerline measured by the lidar in the roadway coordinate system is: The deviations measured by the four millimeter-wave radars are as follows: Because millimeter-wave measurements are relative to the average of the left and right sides of the tunnel, they have an error value compared to lidar measurements. :

[0083]

[0084] Error value As the equipment moves and changes, the dust levels near the tunneling equipment during cutting can cause the lidar measurements to lose all accuracy. Therefore, the error value should be adjusted when the tunneling equipment begins cutting. This moment is fixed as denoted as The subsequent positional changes of the tunneling equipment were monitored by millimeter-wave radar. The difference was calculated as follows:

[0085]

[0086]

[0087] in, This refers to the current distance deviation between the rotation center of the tunneling equipment and the theoretical centerline of the roadway. The first distance deviation between the rotation center of the tunneling equipment and the theoretical centerline of the roadway at the current sampling time t is given. Let T be the measurement error at the target time. The second distance deviation between the rotation center of the tunneling equipment and the theoretical centerline of the roadway at the target time T is given. The first distance deviation between the rotation center of the tunneling equipment at the target time T and the theoretical centerline of the roadway is the sampling time that is closest to the current sampling time t and meets the measurement requirements of the lidar.

[0088] In another exemplary embodiment, step 104 described above can be replaced by steps 301-304.

[0089] Step 301: Determine whether the environment in which the tunneling equipment is located at the current sampling time meets the measurement requirements of the lidar, and obtain the determination result;

[0090] Step 302: If the judgment result is yes, then determine the current distance deviation of the rotation center of the tunneling equipment relative to the theoretical centerline of the roadway as the second distance deviation;

[0091] Step 303: If the judgment result is negative, then determine the current distance deviation of the tunneling equipment's rotation center relative to the theoretical centerline of the roadway as follows:

[0092]

[0093]

[0094] Step 304: Determine the position of the tunneling equipment in the advance direction based on the change in position of the tunneling equipment in the advance direction.

[0095] The process includes determining whether the environment in which the tunneling equipment is located at the current sampling time meets the measurement requirements of the lidar, and obtaining the determination result, specifically including:

[0096] If the absolute value of the difference between the second distance deviation at the current sampling time and the second distance deviation at the previous sampling time is not greater than a preset threshold, then the judgment result is determined to be that the environment in which the tunneling equipment is located at the current sampling time meets the measurement requirements of the lidar; otherwise, the judgment result is determined to be that the environment in which the tunneling equipment is located at the current sampling time does not meet the measurement requirements of the lidar.

[0097] Based on the same inventive concept, this application also provides a fusion positioning device for implementing the fusion positioning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more fusion positioning device embodiments provided below can be found in the limitations of the fusion positioning method described above, and will not be repeated here.

[0098] In one exemplary embodiment, a fusion positioning device is provided, comprising: a navigator, a UWB ranging radar, a millimeter-wave radar, a lidar, a reference rail, and an industrial control computer; the navigator, the UWB ranging radar, the millimeter-wave radar, and the lidar are all mounted on the tunneling equipment, and the reference rail is mounted on the roof of the tunnel where the tunneling equipment is located, with the installation direction of the reference rail consistent with the target heading of the tunneling equipment in the current task phase; the navigator, the UWB ranging radar, the millimeter-wave radar, and the lidar are all connected to the industrial control computer; the industrial control computer is used to determine the position of the tunneling equipment using the aforementioned fusion positioning method.

[0099] The inertial navigation system installed on the tunneling equipment can measure the equipment's attitude, including heading, pitch, and roll angles. Based on the target heading provided by the underground survey team and the measured heading angle information, the yaw angle of the tunneling equipment relative to the tunneling direction can be calculated.

[0100] The UWB ranging radar consists of two antenna modules: one mounted above the belt conveyor at the rear of the machine, maintaining its position throughout a cutting cycle; and the other mounted on the left side of the rear of the machine. The UWB ranging radar measures the straight-line distance between the two antenna modules. By calibrating the position and measuring the navigation attitude angles, it measures the change in the advance direction of the tunneling equipment within the roadway coordinate system.

[0101] There are four millimeter-wave radars, which are installed on the front left, rear left, front right, and rear right sides of the machine. By measuring the distance to the left and right sides of the tunnel, and combining the navigation attitude information and installation position error, the distance between the rotation center of the tunneling equipment and the theoretical centerline of the tunnel coordinate system is calculated.

[0102] The lidar measures the distance between the rotation center and the theoretical centerline of the roadway by measuring the reference guide rail installed on the roof of the roadway, combining it with navigation attitude information, and combining it with the rotation center position information of the tunneling equipment.

[0103] During cutting, excessive dust can cause significant measurement errors in lidar deviation data. Furthermore, the irregularity of the tunnel sidewalls means that millimeter-wave radar measurements do not necessarily reflect the deviation from the theoretical centerline of the tunnel. Therefore, lidar measurements must be used in conjunction with lidar measurements. Lidar data is used during the autonomous travel phase of the tunneling equipment. Lidar is used to calibrate the millimeter-wave radar deviation measurement data at the start of cutting, and the calibrated millimeter-wave measurements are then used throughout the cutting process.

[0104] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 2 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and databases. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media to run. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a fusion positioning method.

[0105] Those skilled in the art will understand that Figure 2 The structures shown are merely block diagrams of some structures related to the present application and do not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0106] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0107] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0108] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0109] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0110] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0111] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A fusion positioning method, characterized by, The fusion positioning method is used for positioning a tunneling equipment, the tunneling equipment is provided with a navigator, a UWB ranging radar, a millimeter wave radar and a laser radar, a reference guide rail is arranged on a roof of a roadway where the tunneling equipment is located, an installation direction of the reference guide rail is consistent with a target heading of the tunneling equipment in a current task stage, and the fusion positioning method comprises: determining a first distance deviation of a body rotation center of the tunneling equipment relative to a theoretical center line of the roadway according to distance information measured by the millimeter wave radar and an attitude angle of the tunneling equipment measured by the navigator; determining a second distance deviation of the body rotation center of the tunneling equipment relative to the theoretical center line of the roadway according to point cloud data obtained by laser radar scanning and the attitude angle of the tunneling equipment measured by the navigator; determining a position change amount of the tunneling equipment in a footage direction according to distance information measured by the UWB ranging radar; determining a position of the tunneling equipment according to the position change amount of the tunneling equipment in the footage direction and the first distance deviation and the second distance deviation of the body rotation center of the tunneling equipment relative to the theoretical center line of the roadway, and specifically comprising: judging whether an environment where the tunneling equipment is located at a current sampling moment meets a measurement requirement of the laser radar, and obtaining a judgment result; if the judgment result is yes, determining that a current distance deviation of the body rotation center of the tunneling equipment relative to the theoretical center line of the roadway is the second distance deviation; if the judgment result is no, determining that the current distance deviation of the body rotation center of the tunneling equipment relative to the theoretical center line of the roadway is: ； ； wherein, is a current distance deviation of the center of rotation of the machine body of the tunneling equipment relative to the theoretical center line of the roadway, is a first distance deviation of the center of rotation of the machine body of the tunneling equipment relative to the theoretical center line of the roadway at the current sampling time t, is a measurement error at the target time T, is a second distance deviation of the center of rotation of the machine body of the tunneling equipment relative to the theoretical center line of the roadway at the target time T, is a first distance deviation of the center of rotation of the machine body of the tunneling equipment relative to the theoretical center line of the roadway at the target time T, and the target time T is a sampling time closest to the current sampling time t and meeting the measurement requirements of the laser radar. determining a position of the tunneling equipment in the footage direction according to the position change amount of the tunneling equipment in the footage direction.

2. The fusion positioning method of claim 1, wherein, The number of the millimeter wave radars is four, and the four millimeter wave radars are respectively located at front left, rear left, front right and rear right of the tunneling equipment.

3. The fusion positioning method of claim 2, wherein, determining the first distance deviation of the body rotation center of the tunneling equipment relative to the theoretical center line of the roadway according to the distance information measured by the millimeter wave radars and the attitude angle of the tunneling equipment measured by the navigator, and specifically comprising: calculating the distance deviation of the body rotation center relative to the theoretical center line of the roadway measured by the millimeter wave radars located at the front left and the rear left of the tunneling equipment according to the distance information measured by the millimeter wave radars located at the front left and the rear left of the tunneling equipment and the attitude angle of the tunneling equipment measured by the navigator by using the following formula: ； ； ； wherein, is the distance deviation of the rotation center of the machine body relative to the theoretical center line of the roadway measured by the i-th millimeter wave radar located on the left side of the tunneling equipment, i = 1, 2, when i = 1, the i-th millimeter wave radar located on the left side of the tunneling equipment is the millimeter wave radar located on the left front of the tunneling equipment, and when i = 2, the i-th millimeter wave radar located on the left side of the tunneling equipment is the millimeter wave radar located on the left rear of the tunneling equipment, is the distance between the left side of the machine body and the left side of the roadway measured by the i-th millimeter wave radar located on the left side of the tunneling equipment, is the distance between the side of the tunneling equipment and the sidewall of the roadway when the tunneling equipment is at the theoretical center line of the roadway, L is the width of the roadway, and D is the width of the tunneling equipment, is the distance information measured by the i-th millimeter wave radar located on the left side of the tunneling equipment, is the transverse distance of the installation position of the i-th millimeter wave radar located on the left side of the tunneling equipment relative to the left side of the machine body, is the vertical distance of the installation position of the i-th millimeter wave radar located on the left side of the tunneling equipment relative to the rotation center of the machine body, is the relative target heading angle difference of the tunneling equipment. calculating the distance deviation of the body rotation center relative to the theoretical center line of the roadway measured by the millimeter wave radars located at the front right and the rear right of the tunneling equipment according to the distance information measured by the millimeter wave radars located at the front right and the rear right of the tunneling equipment and the attitude angle of the tunneling equipment measured by the navigator by using the following formula: ； ； wherein, a distance deviation of a rotation center of the machine body relative to a theoretical center line of the roadway measured by the jth millimeter wave radar located on the right side of the tunneling equipment, j = 1, 2, when j = 1, the jth millimeter wave radar located on the right side of the tunneling equipment is a millimeter wave radar located on the right front of the tunneling equipment, and when j = 2, the jth millimeter wave radar located on the right side of the tunneling equipment is a millimeter wave radar located on the right rear of the tunneling equipment, a distance between the right side of the machine body and the right side of the roadway measured by the jth millimeter wave radar located on the right side of the tunneling equipment, distance information measured by the jth millimeter wave radar located on the right side of the tunneling equipment, a transverse distance of the installation position of the jth millimeter wave radar located on the right side of the tunneling equipment relative to the right side of the machine body, a vertical distance of the installation position of the jth millimeter wave radar located on the right side of the tunneling equipment relative to the rotation center of the machine body; calculating the first distance deviation of the body rotation center of the tunneling equipment relative to the theoretical center line of the roadway according to the distance deviations of the body rotation center relative to the theoretical center line of the roadway measured by the millimeter wave radars located at the front left, the rear left, the front right and the rear right of the tunneling equipment by using the following formula; ； wherein, is a first distance deviation of the center of rotation of the machine body of the excavation device relative to the theoretical center line of the roadway.

4. The fusion positioning method of claim 1, wherein, determining the second distance deviation of the body rotation center of the tunneling equipment relative to the theoretical center line of the roadway according to the point cloud data obtained by laser radar scanning and the attitude angle of the tunneling equipment measured by the navigator, and specifically comprising: Determine the three-dimensional coordinates of the datum guide rail in the laser radar coordinate system according to the point cloud data obtained by laser radar scanning; Construct a first rotation matrix and a second rotation matrix according to the attitude angle; the first rotation matrix is the rotation matrix of the laser radar coordinate system relative to the target heading coordinate system, and the second rotation matrix is the rotation matrix of the machine body coordinate system of the tunneling equipment relative to the target heading coordinate system; the machine body coordinate system of the tunneling equipment is constructed with the machine body rotation center of the tunneling equipment as the origin; Determine the second distance deviation of the machine body rotation center of the tunneling equipment relative to the theoretical center line of the roadway according to the three-dimensional coordinates of the datum guide rail in the laser radar coordinate system, the three-dimensional coordinates of the laser radar in the machine body coordinate system of the tunneling equipment, the first rotation matrix and the second rotation matrix.

5. The method of claim 1, wherein, Determine whether the environment of the tunneling equipment at the current sampling time meets the measurement requirements of the laser radar, and obtain a judgment result, specifically including: If the absolute value of the difference between the second distance deviation at the current sampling time and the second distance deviation at the previous sampling time is not greater than a preset threshold, it is determined that the judgment result is that the environment of the tunneling equipment at the current sampling time meets the measurement requirements of the laser radar, otherwise, it is determined that the judgment result is that the environment of the tunneling equipment at the current sampling time does not meet the measurement requirements of the laser radar.

6. A fusion positioning device, characterized by The fusion positioning device comprises a navigator, a UWB ranging radar, a millimeter wave radar, a laser radar, a datum guide rail and an industrial computer; The navigator, the UWB ranging radar, the millimeter wave radar and the laser radar are all arranged on the tunneling equipment, the datum guide rail is arranged on the roof of the roadway at the position of the tunneling equipment, and the installation direction of the datum guide rail is consistent with the target heading of the tunneling equipment at the current task stage; The navigator, the UWB ranging radar, the millimeter wave radar and the laser radar are all connected with the industrial computer; The industrial computer is used to determine the position of the tunneling equipment by using the fusion positioning method of any one of claims 1-5.

7. A computer device comprising: A memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the fusion positioning method of any one of claims 1-5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the fusion positioning method of any one of claims 1-5.

9. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the fusion positioning method of any one of claims 1-5.

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