Laser radar positioning method, device, equipment and medium

Abstract

The invention discloses a laser radar positioning method and device, equipment and a medium, and relates to the technical field of tunneling equipment positioning. According to the method, the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system are determined by analyzing the point cloud data obtained by scanning of the laser radar, then the position is solved by combining the attitude angle of the tunneling equipment, and the distance information of the rotation center of the tunneling equipment relative to the reference guide rail is obtained. According to the method, the calculated amount of positioning of the tunneling equipment can be reduced, error accumulation is avoided, and the positioning precision is improved.

Description

Technical Field

[0001] The present application relates to the technical field of tunneling equipment positioning, and in particular to a laser radar positioning method, device, equipment and medium. Background Art

[0002] Tunneling equipment positioning technology is a critical component of tunnel construction, directly impacting tunneling accuracy, efficiency, and safety. With technological advancements, positioning methods for tunneling equipment (such as tunnel boring machines (TBMs) and shield machines) are becoming increasingly diverse, incorporating a variety of sensors and algorithms to improve accuracy and reliability.

[0003] Existing positioning methods include vision-based Simultaneous Localization and Mapping (SLAM) and inertial navigation system (INS). The former uses a camera to scan tunnel wall features, constructing a map and performing positioning in real time, but this method suffers from high computational complexity. The latter uses gyroscopes and accelerometers to measure the angular velocity and linear acceleration of the tunneling equipment, calculating position and attitude through integration. This method relies on an integral algorithm for position and attitude calculation, resulting in errors that accumulate over time. Summary of the Invention

[0004] The purpose of this application is to provide a laser radar positioning method, device, equipment and medium to reduce the calculation amount of tunneling equipment positioning, avoid error accumulation, and improve positioning accuracy.

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

[0006] In a first aspect, the present application provides a laser radar positioning method for positioning tunneling equipment, wherein the tunneling equipment is provided with a navigator and a laser radar, and a reference guide rail is provided on the top plate 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 mission phase. The laser radar positioning method includes: Based on all point cloud data within the current scanning cycle obtained by the laser radar scanning, the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system are determined; Obtain the attitude angle of the tunneling equipment measured by the navigator; construct a first rotation matrix and a second rotation matrix according to the attitude angle; the first rotation matrix is a rotation matrix of a laser radar coordinate system relative to a target heading coordinate system, and the second rotation matrix is a rotation matrix of a tunneling equipment body coordinate system relative to the target heading coordinate system; the tunneling equipment body coordinate system is constructed with a tunneling equipment rotation center as an origin; According to the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, the three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system, the first rotation matrix and the second rotation matrix, the distance information of the tunneling equipment rotation center relative to the reference guide rail is determined.

[0007] Optionally, the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system are determined based on all point cloud data of a current scanning period obtained by laser radar scanning, and specifically include: In all point cloud data in the current scanning period, point cloud data of the roof is selected by using the following formula: and are a lower limit and an upper limit of the distance of the point cloud data of the roof, are a lower limit and an upper limit of the angle of the point cloud data of the roof, point.distance is distance information in the point cloud data, point.angle is angle information in the point cloud data; The point cloud data of the roof is clustered by using a clustering algorithm to obtain three point cloud data clusters; The point cloud data cluster satisfying the following formula is determined as the point cloud data cluster of the reference guide rail: and are a lower limit and an upper limit of the X-axis coordinate span of the point cloud data of the reference guide rail, are a lower limit and an upper limit of the number of the point cloud data of the reference guide rail, is the span of the X-axis coordinates of different point cloud data in the point cloud data cluster, is the number of the point cloud data in the point cloud data cluster; The average value of each point cloud data in the point cloud data cluster of the reference guide rail is calculated as the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system.

[0008] Optionally, the first rotation matrix is: wherein,​​​​​​​​​ is a first rotation matrix, , , are rotation angles of X-axis direction, Y-axis direction and Z-axis direction of the laser radar coordinate system relative to the target heading coordinate system respectively, , , ; , and are heading angle, pitch angle and roll angle in the attitude angle of the tunneling equipment respectively, is a target heading of the tunneling equipment in the current task stage; the second rotation matrix is: ; wherein, is a second rotation matrix, , , are rotation angles of X-axis direction, Y-axis direction and Z-axis direction of the tunneling equipment body coordinate system relative to the target heading coordinate system respectively, , , .

[0009] Optionally, according to the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, the three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system, the first rotation matrix and the second rotation matrix, the distance information of the tunneling equipment rotation center relative to the reference guide rail is determined, and specifically includes: according to the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system and the first rotation matrix, the distance information between the laser radar and the reference guide rail in the target heading coordinate system is determined; according to the three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system and the second rotation matrix, the distance information between the laser radar and the tunneling equipment rotation center in the target heading coordinate system is determined; according to the distance information between the laser radar and the reference guide rail in the target heading coordinate system and the distance information between the laser radar and the tunneling equipment rotation center in the target heading coordinate system, the distance information of the tunneling equipment rotation center relative to the reference guide rail is determined.

[0010] Optionally, the formula for determining the distance information between the laser radar and the reference guide rail in the target heading coordinate system is: ; ; wherein, is the distance information between the laser radar and the reference guide rail in the target heading coordinate system, is the first rotation matrix, is the three-dimensional coordinate of the reference guide rail in the laser radar coordinate system, and are the X-axis coordinate and the Y-axis coordinate of the reference guide rail in the laser radar coordinate system, respectively; The formula for determining the distance information between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system is: ; ; wherein, is the distance information between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system, is the second rotation matrix, is the three-dimensional coordinate of the laser radar in the tunneling equipment body coordinate system, , , are the X-axis, Y-axis and Z-axis coordinates of the laser radar in the tunneling equipment body coordinate system, respectively; The formula for determining the distance information of the rotation center of the tunneling equipment relative to the reference guide rail is: ; wherein, is the distance information of the rotation center of the tunneling equipment relative to the reference guide rail.

[0011] Optionally, the target heading coordinate system takes the direction perpendicular to the theoretical center line of the roadway mining as the X-axis direction, takes the target heading of the current task stage as the Y-axis direction, and takes the vertical upward direction as the Z-axis direction. According to the three-dimensional coordinate of the reference guide rail in the laser radar coordinate system, the three-dimensional coordinate of the laser radar in the tunneling equipment body coordinate system, the first rotation matrix and the second rotation matrix, the distance information of the rotation center of the tunneling equipment relative to the reference guide rail is determined, and then the method further comprises: According to the X-axis distance in the distance information of the rotation center of the tunneling equipment relative to the reference guide rail, the deviation distance of the rotation center of the tunneling equipment relative to the theoretical center line of the roadway mining is determined by using the following formula: ; wherein, is the deviation distance of the rotation center of the tunneling equipment relative to the theoretical center line of the roadway mining, is the X-axis distance in the distance information of the rotation center of the tunneling equipment relative to the reference guide rail, is the distance between the reference guide rail and the theoretical center line of the roadway mining.

[0012] In a second aspect, the application provides a laser radar positioning device, comprising a reference guide rail, a navigator, a laser radar and a position solution center. The navigation device and the laser radar are arranged on the tunneling equipment, the reference guide rail is arranged on the roof of a roadway at a position of the tunneling equipment, and a mounting direction of the reference guide rail is consistent with a target heading of the tunneling equipment in a current task stage. The navigation device and the laser radar are connected with the position calculation center, and the position calculation center is configured to determine distance information of a rotation center of the tunneling equipment relative to the reference guide rail by using the laser radar positioning method.

[0013] Optionally, the laser radar positioning device further comprises a laser pointing device configured to indicate the target heading of the tunneling equipment in the current task stage.

[0014] In a third aspect, the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the laser radar positioning method.

[0015] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program executable by a processor to implement the laser radar positioning method.

[0016] According to the specific embodiments provided by the present application, the present application has the following technical effects.

[0017] The present application provides a laser radar positioning method, device, equipment and medium, the present application analyzes the point cloud data obtained by the laser radar scanning, determines the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, and then combines the attitude angle of the tunneling equipment to calculate the position, to obtain the distance information of the rotation center of the tunneling equipment relative to the reference guide rail. The present application does not need to construct a map in real time, nor does it need to perform integral calculation. The present application can reduce the calculation amount of the tunneling equipment positioning, avoid error accumulation, and improve the positioning accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0019] Figure 1 A flowchart of a laser radar positioning method provided by an embodiment of the present application.

[0020] Figure 2 A structural schematic diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0021] 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 part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0022] The above purposes, features and advantages of the present application will be more apparent and understandable. The present application will be further described in detail below with reference to the drawings and specific embodiments.

[0023] In an exemplary embodiment, a laser radar positioning method is provided for positioning of a tunneling equipment, the tunneling equipment being provided with a navigator and a laser radar, a reference guide rail being provided on a roof of a tunnel where the tunneling equipment is located, an installation direction of the reference guide rail being consistent with a target heading of the tunneling equipment in a current task stage, as shown in Figure 1 The method comprises the following steps 101-104.

[0024] Step 101, based on all point cloud data obtained in a current scanning period by laser radar scanning, three-dimensional coordinates of the reference guide rail in a laser radar coordinate system are determined.

[0025] Step 102, an attitude angle of the tunneling equipment measured by the navigator is obtained.

[0026] Step 103, a first rotation matrix and a second rotation matrix are constructed according to the attitude angle; the first rotation matrix is a rotation matrix of the laser radar coordinate system relative to a target heading coordinate system, and the second rotation matrix is a rotation matrix of a tunneling equipment body coordinate system relative to the target heading coordinate system; the tunneling equipment body coordinate system is constructed with a rotation center of the tunneling equipment as an origin.

[0027] Step 104, distance information of the rotation center of the tunneling equipment relative to the reference guide rail is determined according to the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system, the first rotation matrix and the second rotation matrix.

[0028] The implementation of the above steps 101-104 can realize rapid and accurate positioning of the tunneling equipment.

[0029] In another exemplary embodiment, a reference rail is installed on the tunnel roof, with the reference rail installation direction parallel to the pointing direction of a laser pointer, which indicates the target heading of the tunneling equipment during the current mission phase. A laser radar is used to scan the installed reference rail, calibrate the distance between the laser radar and the reference rail, and combine this with the measurements from the navigator to calculate the distance between the tunneling equipment's rotation center and the reference rail, obtaining the reference-calibrated X-axis coordinate of the tunnel. If the reference rail can be completely parallel to the laser pointer in space, the Z-axis coordinate of the tunnel body can also be measured, which has a reference calibration in the tunnel coordinate system. The reference rail installation must cover all positions along the tunneling equipment's forward distance.

[0030] In another exemplary embodiment, the specific implementation of step 101 is as follows: Assume that the laser radar can obtain 1000 point cloud data points in one scanning cycle. Each point cloud data point includes distance, angle, X-axis coordinate, and Y-axis coordinate. First, the point cloud data in each scanning cycle is filtered. That is, the point cloud data that meets certain distance and angle conditions is saved. This point cloud data is the point cloud data of the roof. This embodiment of the application sets the following conditions for selecting the point cloud data of the roof.

[0031] and ; in, and are the lower and upper limits of the distance of the top plate point cloud data, and are the lower and upper limits of the angle of the top plate point cloud data, point.distance is the distance information in the point cloud data, point.angle is the angle information in the point cloud data.

[0032] The point cloud data of the roof is clustered using a density-based spatial clustering of applications with noise (DBSCAN) algorithm within a certain radius and number of points. This data is generally divided into three categories: point cloud data on the reference rail, point cloud data on the roof on one side of the reference rail, and point cloud data on the roof on the other side of the reference rail.

[0033] By judging the span of the X-axis coordinates and the number of point clouds of different point cloud data clusters, the point cloud data cluster that satisfies the X-axis coordinate span and the number of point clouds within a certain range is determined as the point cloud data cluster of the reference guide.

[0034] Calculate the span of the X-axis coordinates of the point cloud data in the point cloud data cluster (maximum value minus minimum value), and calculate the number of point cloud data in the point cloud data cluster. When the span and number are within a certain range, it is considered that the scanning characteristics of the reference guide rail are met and it is the required point cloud. Taking into account the complex environment underground, there may be repeated point clouds. The average value of the coordinates of each axis can be directly calculated as the three-dimensional coordinate of the reference guide rail in the laser radar coordinate system. Alternatively, the Y-axis coordinate of the point cloud data (i.e., the distance in the vertical direction) can be judged first, and the point cloud data with the smallest Y-axis coordinate value can be selected as the target point cloud. The average value of this part of the point cloud is obtained as the three-dimensional coordinate of the reference guide rail in the laser radar coordinate system, where the data of the reference guide rail in the z direction of the laser radar coordinate system is 0. Specifically, the embodiment of the present application sets the following conditions for selecting the point cloud data of the reference guide rail.

[0035] and ; in, and They are the lower and upper limits of the X-axis coordinate span of the point cloud data of the reference guide rail, and The lower and upper limits of the number of point cloud data for the reference guide, is the span of the X-axis coordinates of different point cloud data in the point cloud data cluster, is the number of point cloud data in the point cloud data cluster.

[0036] In another exemplary embodiment, in the above step 102, the reference guide rail is installed along the mining direction of the tunnel, and the target heading of the tunneling equipment at the current task stage is known to be , according to the navigator, the attitude angle of the tunneling equipment can be obtained ,in, 、 and They are respectively the heading angle, pitch angle and roll angle in the attitude angle of the tunneling equipment. According to this information, two first rotation matrices and second rotation matrices can be obtained.

[0037] Wherein, the first rotation matrix is: ; in, is the first rotation matrix, 、 、 are the rotation angles of the lidar coordinate system relative to the target heading coordinate system in the X-axis, Y-axis, and Z-axis directions, respectively. , , , 、 and respectively, are the yaw angle, the pitch angle and the roll angle in the posture angle of the tunneling equipment, is the target heading of the tunneling equipment in the current task stage; The second rotation matrix is: ; wherein, is the second rotation matrix, , , respectively, are the rotation angles of the X-axis direction, the Y-axis direction and the Z-axis direction of the tunneling equipment body coordinate system relative to the target heading coordinate system, , , .

[0038] In another exemplary embodiment, the above step 103 can be replaced by steps 201-203 as follows.

[0039] Step 201: According to the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system and the first rotation matrix, the distance information between the laser radar and the reference guide rail in the target heading coordinate system is determined.

[0040] Step 202: According to the three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system and the second rotation matrix, the distance information between the laser radar and the tunneling equipment rotation center in the target heading coordinate system is determined.

[0041] Step 203: According to the distance information between the laser radar and the reference guide rail in the target heading coordinate system and the distance information between the laser radar and the tunneling equipment rotation center in the target heading coordinate system, the distance information of the tunneling equipment rotation center relative to the reference guide rail is determined.

[0042] wherein, the formula for determining the distance information between the laser radar and the reference guide rail in the target heading coordinate system is: ; ; wherein, is the distance information between the laser radar and the reference guide rail in the target heading coordinate system, is the first rotation matrix, is the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, and respectively, are the X-axis coordinates and Y-axis coordinates of the reference guide rail in the laser radar coordinate system. Accordingly, the distance between the laser radar and the reference guide rail in the target heading coordinate system can be calculated, and the body deviation needs to be calculated additionally. The distance value between the body rotation center and the laser radar installation position in the target heading coordinate system.

[0043] The formula for determining the distance information between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system is: ; ; wherein, is the distance information between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system, is the second rotation matrix, is the three-dimensional coordinate of the laser radar in the tunneling equipment body coordinate system, , , is the X-axis, Y-axis and Z-axis coordinate of the laser radar in the tunneling equipment body coordinate system, respectively; The formula for determining the distance information of the rotation center of the tunneling equipment relative to the reference guide rail is: ; wherein, is the distance information of the rotation center of the tunneling equipment relative to the reference guide rail.

[0044] In another exemplary embodiment, the target heading coordinate system takes the direction perpendicular to the theoretical line of the tunneling as the X-axis direction, takes the target heading of the current task stage (i.e., the direction of the tunneling theoretical mining) as the Y-axis direction, and takes the vertical upward direction as the Z-axis direction.

[0045] is a 3x1 array, wherein the first data is the deviation of the rotation center of the tunneling equipment from the X-axis of the reference guide rail, and if the installation position of the reference guide rail has a fixed installation distance from the theoretical line of the tunneling , is the deviation distance of the rotation center of the tunneling equipment relative to the theoretical line of the tunneling, is the change amount of the rotation center of the tunneling equipment relative to the theoretical line of the tunneling, wherein, and are the X-axis distance and Y-axis distance in the distance information of the rotation center of the tunneling equipment relative to the reference guide rail.

[0046] Based on the same inventive concept, the embodiments of the present application also provide a laser radar positioning device for implementing the above-mentioned laser radar positioning method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, and therefore the specific limitations in one or more laser radar positioning device embodiments provided below can refer to the limitations of the laser radar positioning method in the foregoing, which will not be described here again.

[0047] In an exemplary embodiment, a laser radar positioning device is provided, comprising: a reference guide rail, a navigator, a laser radar and a position solution center; the navigator and the laser radar are both arranged on the tunneling equipment, the reference guide rail is arranged on the top plate 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 mission stage; the navigator and the laser radar are both connected to the position solution center, and the position solution center is used to use the laser radar positioning method in the above embodiment to determine the distance information of the rotation center of the tunneling equipment relative to the reference guide rail.

[0048] In another exemplary embodiment, the laser radar positioning device further includes a laser pointer, which is used to indicate the target heading of the tunneling equipment in the current mission phase.

[0049] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 2 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a laser radar positioning method is implemented.

[0050] Those skilled in the art will understand that Figure 2 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application and does not constitute a limitation on the computer device to which the solution of the present application is applied. A specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps of the above-mentioned method embodiments when executing the computer program.

[0051] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0052] 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, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0053] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, 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 may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0054] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0055] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, 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.

[0056] The principles and implementation manners of the present application are described herein by using specific examples, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will have changes. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A laser radar positioning method, characterized in that: The laser radar positioning method is used to locate tunneling equipment. The tunneling equipment is provided with a navigator and a laser radar. A reference guide rail is provided on the top plate 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 mission phase. The laser radar positioning method includes: Based on all point cloud data within the current scanning cycle obtained by the laser radar scanning, the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system are determined; Obtain the attitude angle of the tunneling equipment measured by the navigator; Constructing a first rotation matrix and a second rotation matrix based on 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 tunneling equipment body coordinate system relative to the target heading coordinate system; the tunneling equipment body coordinate system is constructed with the tunneling equipment rotation center as the origin; The distance information of the rotation center of the tunneling equipment relative to the reference guide rail is determined based on the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, the three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system, the first rotation matrix and the second rotation matrix.

2. The laser radar positioning method according to claim 1, characterized in that: Based on all point cloud data of the current scanning cycle obtained by the LiDAR scanning, the three-dimensional coordinates of the reference guide rail in the LiDAR coordinate system are determined, specifically including: Among all the point cloud data in the current scanning cycle, the point cloud data of the top plate is selected using the following formula; and ; in, and are the lower and upper limits of the distance of the top plate point cloud data, and are the lower and upper limits of the angle of the top plate point cloud data, point.distance is the distance information in the point cloud data, point.angle is the angle information in the point cloud data; Clustering algorithm is used to cluster the point cloud data of the roof to obtain three point cloud data clusters; Determine the point cloud data cluster that satisfies the following formula as the point cloud data cluster of the reference guide rail; and ; in, and They are the lower and upper limits of the X-axis coordinate span of the point cloud data of the reference guide rail, and The lower and upper limits of the number of point cloud data for the reference guide, is the span of the X-axis coordinates of different point cloud data in the point cloud data cluster, is the number of point cloud data in the point cloud data cluster; The average value of each point cloud data in the point cloud data cluster of the reference guide rail is calculated as the three-dimensional coordinate of the reference guide rail in the lidar coordinate system.

3. The laser radar positioning method according to claim 1, wherein: The first rotation matrix is: ； in, is the first rotation matrix, 、 、 are the rotation angles of the lidar coordinate system relative to the target heading coordinate system in the X-axis, Y-axis, and Z-axis directions, respectively. , , ; 、 and They are the heading angle, pitch angle and roll angle of the tunneling equipment’s attitude angles. The target heading of the tunneling equipment at the current mission stage; The second rotation matrix is: ； in, is the second rotation matrix, 、 、 are the rotation angles of the tunneling equipment body coordinate system relative to the target heading coordinate system in the X-axis, Y-axis and Z-axis directions, respectively. , , .

4. The laser radar positioning method according to claim 1, wherein: Determining the distance information of the rotation center of the tunneling equipment relative to the reference guide rail based on the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, the three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system, the first rotation matrix, and the second rotation matrix, specifically includes: Determine the distance between the laser radar and the reference guide rail in the target heading coordinate system based on the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system and the first rotation matrix; Determine the distance between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system based on the three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system and the second rotation matrix; The distance information of the rotation center of the tunneling equipment relative to the reference guide rail is determined based on the distance information between the laser radar and the reference guide rail in the target heading coordinate system and the distance information between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system.

5. The laser radar positioning method according to claim 4, characterized in that: The formula for determining the distance information between the laser radar and the reference guide rail in the target heading coordinate system is: ； ； in, is the distance information between the laser radar and the reference guide rail in the target heading coordinate system, is the first rotation matrix, is the three-dimensional coordinate of the reference rail in the laser radar coordinate system, and are the X-axis coordinate and Y-axis coordinate of the reference guide rail in the laser radar coordinate system; The formula for determining the distance information between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system is: ； ； in, is the distance information between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system, is the second rotation matrix, is the three-dimensional coordinate of the laser radar in the coordinate system of the tunneling equipment body, 、 、 These are the X-axis, Y-axis, and Z-axis coordinates of the laser radar in the coordinate system of the tunneling equipment. The formula for determining the distance information of the rotation center of the tunneling equipment relative to the reference guide rail is: ； in, It is the distance information of the rotation center of the tunneling equipment relative to the reference guide rail.

6. The laser radar positioning method according to claim 5, characterized in that: The target heading coordinate system has the direction perpendicular to the theoretical center line of the tunnel mining as the X-axis direction, the target heading of the current mission stage as the Y-axis direction, and the vertical upward direction as the Z-axis direction; Determine the distance information of the rotation center of the tunneling equipment relative to the reference guide rail based on the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, the three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system, the first rotation matrix, and the second rotation matrix, and then further include: Based on the X-axis distance of the tunneling equipment's rotation center relative to the reference guide rail, use the following formula to determine the deviation of the tunneling equipment's rotation center from the theoretical centerline of the roadway mining. ； in, is the deviation distance of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel mining. The X-axis distance of the distance between the rotation center of the tunneling equipment and the reference guide rail. It is the distance between the reference guide rail and the theoretical center line of the tunnel mining.

7. A laser radar positioning device, characterized in that: The laser radar positioning device includes: a reference guide rail, a navigator, a laser radar and a position calculation center; The navigator and the laser radar are both installed on the tunneling equipment, the reference guide rail is installed on the top plate 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 mission stage; The navigator and the laser radar are both connected to the position solution center, and the position solution center is used to determine the distance information of the rotation center of the tunneling equipment relative to the reference guide rail using the laser radar positioning method described in any one of claims 1-6.

8. The laser radar positioning device according to claim 7, characterized in that: The laser radar positioning device also includes a laser pointer, which is used to indicate the target heading of the tunneling equipment in the current mission stage.

9. A computer device comprising: 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 laser radar positioning method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the laser radar positioning method according to any one of claims 1 to 6 is implemented.

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