A lidar positioning method, apparatus, device, and medium

Abstract

The application discloses a laser radar positioning method, device, equipment and medium, and relates to the technical field of tunneling equipment positioning. The application determines the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system by analyzing the point cloud data obtained by laser radar scanning, then combines the attitude angle of the tunneling equipment to solve the position, and obtains the distance information of the rotation center of the tunneling equipment relative to the reference guide rail. The application does not need to construct a map in real time, nor does it need to perform integral calculation. The application can reduce the calculation amount of tunneling equipment positioning, avoid error accumulation, and improve positioning accuracy.

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

[0002] Tunneling equipment positioning technology is a key link in tunnel construction, which directly affects the tunneling precision, construction efficiency and safety. With the development of technology, the positioning means of tunneling equipment (such as Tunnel Boring Machine (TBM) and shield machine) is increasingly diversified, combining various sensors and algorithms to improve accuracy and reliability.

[0003] The existing positioning methods include a Simultaneous Localization And Mapping (SLAM) positioning method based on vision and an Inertial Navigation System (INS) positioning method. Among them, the former method uses a camera to scan the tunnel wall features, constructs a map in real time and locates, which has the defect of large amount of calculation, and the latter method uses a gyroscope and an accelerometer to measure the angular velocity and linear acceleration of the tunneling equipment, and calculates the position and attitude by integration, which calculates the position and attitude based on the integration algorithm, and the error will accumulate with time. SUMMARY

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

[0005] To achieve the above purpose, the present application provides the following solutions.

[0006] In a first aspect, the present application provides a laser radar positioning method for positioning tunneling equipment, wherein a navigator and a laser radar are arranged on the tunneling equipment, a reference guide rail is arranged on the roof of a roadway at the position of the tunneling equipment, the installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current task stage, and the laser radar positioning method comprises:

[0007] Based on all point cloud data obtained by laser radar scanning in the current scanning period, the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system are determined;

[0008] The attitude angle of the tunneling equipment measured by the navigator is obtained;

[0009] 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;

[0010] 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.

[0011] 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:

[0012] In all point cloud data in the current scanning period, point cloud data of the roof is selected by using the following formula:

[0013] and ;

[0014] wherein, and are a lower limit and an upper limit of the distance of the point cloud data of the roof, and 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;

[0015] The point cloud data of the roof is clustered by using a clustering algorithm to obtain three point cloud data clusters.

[0016] The point cloud data cluster satisfying the following formula is determined as the point cloud data cluster of the reference guide rail:

[0017] and ;

[0018] wherein, 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, and 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.

[0019] 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.

[0020] Optionally, the first rotation matrix is:

[0021] ;

[0022] wherein, is the first rotation matrix, , , are rotation angles of the X-axis direction, the Y-axis direction and the Z-axis direction of the laser radar coordinate system relative to the target heading coordinate system, , , ; , and are the heading angle, the pitch angle and the roll angle in the attitude angle of the tunneling equipment, is the target heading of the tunneling equipment in the current task stage;

[0023] The second rotation matrix is:

[0024] ;

[0025] wherein, is the second rotation matrix, , , are 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, , , .

[0026] 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 rotation center of the tunneling equipment relative to the reference guide rail is determined, specifically comprising:

[0027] 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;

[0028] 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 rotation center of the tunneling equipment in the target heading coordinate system is determined;

[0029] 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 rotation center of the tunneling equipment in the target heading coordinate system, distance information of the rotation center of the tunneling equipment relative to the reference guide rail is determined.

[0030] Optionally, a formula for determining the distance information between the laser radar and the reference guide rail in the target heading coordinate system is:

[0031] ;

[0032] ;

[0033] wherein, is the distance information between the laser radar and the reference guide rail in the target heading coordinate system, is a first rotation matrix, is a three-dimensional coordinate of the reference guide rail in the laser radar coordinate system, and are an X-axis coordinate and a Y-axis coordinate of the reference guide rail in the laser radar coordinate system, respectively;

[0034] A 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:

[0035] ;

[0036] ;

[0037] wherein, is the distance information between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system, is a second rotation matrix, is a three-dimensional coordinate of the laser radar in the tunneling equipment body coordinate system, , , are an X-axis coordinate, a Y-axis coordinate and a Z-axis coordinate of the laser radar in the tunneling equipment body coordinate system, respectively;

[0038] A formula for determining the distance information of the rotation center of the tunneling equipment relative to the reference guide rail is:

[0039] ;

[0040] wherein, is the distance information of the rotation center of the tunneling equipment relative to the reference guide rail.

[0041] Optionally, the target heading coordinate system takes a direction perpendicular to a theoretical center line of a tunneling roadway as an X-axis direction, takes a target heading of a current task stage as a Y-axis direction, and takes a vertical upward direction as a Z-axis direction.

[0042] 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, distance information of the tunneling equipment rotation center relative to the reference guide rail is determined, and then the method further comprises the following steps:

[0043] According to the X-axis distance in the distance information of the tunneling equipment rotation center relative to the reference guide rail, the deviation distance of the tunneling equipment rotation center relative to the theoretical center line of the roadway mining is determined by using the following formula:

[0044] ;

[0045] wherein, the deviation distance of the tunneling equipment rotation center relative to the theoretical center line of the roadway mining is d, the X-axis distance in the distance information of the tunneling equipment rotation center relative to the reference guide rail is d x, the distance between the reference guide rail and the theoretical center line of the roadway mining is d 0.

[0046] 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 calculation center.

[0047] The navigator and the laser radar are both arranged on the tunneling equipment, the reference guide rail is arranged on the roof of the roadway at the position of the tunneling equipment, and the installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current task stage.

[0048] The navigator and the laser radar are both connected with the position calculation center, and the position calculation center is used to determine the distance information of the tunneling equipment rotation center relative to the reference guide rail by using the above laser radar positioning method.

[0049] Optionally, the laser radar positioning device further comprises a laser pointing instrument, and the laser pointing instrument is used to indicate the target heading of the tunneling equipment in the current task stage.

[0050] In a third aspect, the 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 realize the above laser radar positioning method.

[0051] In a fourth aspect, the application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the above laser radar positioning method.

[0052] According to the specific embodiments provided by the application, the following technical effects are achieved.

[0053] The application provides a laser radar positioning method, device, equipment and medium. The application determines the three-dimensional coordinates of a reference guide rail in a laser radar coordinate system by analyzing point cloud data obtained by laser radar scanning, then combines the attitude angle of a tunneling equipment to solve the position, and obtains distance information of a rotation center of the tunneling equipment relative to the reference guide rail. The application does not need to construct a map in real time or perform integral calculation. The application can reduce the calculation amount of tunneling equipment positioning, avoid error accumulation, and improve positioning accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced. 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 labor.

[0055] Figure 1 A flowchart of a laser radar positioning method provided by an embodiment of the present application.

[0056] Figure 2 A structural schematic diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0058] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail in combination with the drawings and specific embodiments.

[0059] In an exemplary embodiment, a laser radar positioning method is provided, which is used for positioning a tunneling equipment. The tunneling equipment is provided with a navigator and a laser radar. A reference guide rail is arranged on the roof of a roadway at the position of the tunneling equipment. The installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current task stage, as shown in Figure 1 The method includes the following steps 101-104.

[0060] Step 101: Based on all point cloud data obtained by laser radar scanning in the current scanning period, the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system are determined.

[0061] Step 102, obtaining the attitude angle of the tunneling equipment measured by the navigator.

[0062] Step 103, constructing a first rotation matrix and a second rotation matrix according to the attitude angle; the first rotation matrix is a rotation matrix of the laser radar coordinate system relative to the target heading coordinate system, and the second rotation matrix is a 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 rotation center of the tunneling equipment as the origin.

[0063] Step 104, determining the distance information of the rotation center of the tunneling equipment relative to the reference guide rail 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.

[0064] Implementing the above steps 101-104 can achieve rapid and accurate positioning of the tunneling equipment.

[0065] In another exemplary embodiment, the reference guide rail is installed on the roof of the tunnel, and the installation direction of the reference guide rail is parallel to the pointing direction of the laser pointer, wherein the laser pointer is used to indicate the target heading of the tunneling equipment in the current task stage. The distance information of the rotation center of the tunneling equipment relative to the reference guide rail can be calculated by scanning the installed reference guide rail with the laser radar, calibrating the distance of the laser radar from the reference guide rail, and combining the measurement value of the navigator, so as to obtain the tunnel X-axis coordinate with reference calibration. If the reference guide rail can be completely parallel to the laser pointer in the spatial direction, the tunnel Z-axis coordinate with reference calibration can also be measured. The installation of the reference guide rail needs to cover all positions in the advancing distance of the tunneling equipment.

[0066] In another exemplary embodiment, the specific implementation of the above step 101 is as follows:

[0067] Suppose that the laser radar can obtain 1000 point cloud data in one scanning period, each point cloud data including distance, angle, X-axis coordinate and Y-axis coordinate. First, filter the point cloud data in each scanning period, that is, save the point cloud data meeting certain distance and angle conditions, which is the point cloud data of the roof. The present application sets the following conditions for the selection of the point cloud data of the roof.

[0068] And ;

[0069] Wherein, and are the lower limit and the upper limit of the distance of the point cloud data of the roof, and lower and upper limits of the angle of the point cloud data of the top plate, point.distance is distance information in the point cloud data, point.angle is angle information in the point cloud data.

[0070] The point cloud data of the top plate is classified by a clustering algorithm under the condition of a certain radius and the number of point clouds using a density-based spatial clustering of applications with noise (DBSCAN) algorithm. The above data is generally divided into three categories, which are point cloud data on the reference guide rail, point cloud data on the top plate on one side of the reference guide rail, and point cloud data on the top plate on the other side of the reference guide rail.

[0071] The point cloud data cluster that meets 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 rail by judging the span of the X-axis coordinates and the number of point clouds of different point cloud data clusters.

[0072] The span (maximum value minus minimum value) of the X-axis coordinates of the point cloud data in the point cloud data cluster is calculated, and the number of point cloud data in the point cloud data cluster is calculated. When the span and the number are within a certain range, it is considered that the scanning feature of the reference guide rail is met, and it is the required point cloud. Considering the complex environment underground, there may be repeated point clouds, and the average value of each axis coordinate can be directly calculated as the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system. Alternatively, the Y-axis coordinate (i.e. the distance in the vertical direction) of the point cloud data is first judged, and the point cloud data with the smallest Y-axis coordinate value is selected as the target point cloud, and the average value of this part of the point cloud is obtained as the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, wherein the reference guide rail in the laser radar coordinate system z direction data is 0. Specifically, the present application embodiment sets the following conditions for the selection of the point cloud data of the reference guide rail.

[0073] and ;

[0074] wherein, and lower and upper limits of the X-axis coordinate span of the point cloud data of the reference guide rail, and lower and upper limits of the number of 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 point cloud data in the point cloud data cluster.

[0075] In another exemplary embodiment, in the above step 102, the reference guide rail is installed along the mining direction of the roadway, and the target heading of the tunneling equipment in the current task stage is known as , the pose angle of the tunneling equipment can be obtained according to the navigator , wherein , and are respectively a heading angle, a pitch angle and a roll angle in the pose angle of the tunneling equipment, and two first rotation matrices and a second rotation matrix can be obtained according to the information.

[0076] wherein the first rotation matrix is:

[0077] ;

[0078] wherein is the first rotation matrix, , , are respectively a rotation angle of an X-axis direction, a Y-axis direction and a Z-axis direction of the laser radar coordinate system relative to a target heading coordinate system, , , , , and are respectively a heading angle, a pitch angle and a roll angle in the pose angle of the tunneling equipment, is a target heading of the tunneling equipment in a current task stage;

[0079] the second rotation matrix is:

[0080] ;

[0081] wherein is the second rotation matrix, , , are respectively a rotation angle of an X-axis direction, a Y-axis direction and a Z-axis direction of the tunneling equipment body coordinate system relative to the target heading coordinate system, , , .

[0082] In another exemplary embodiment, the above step 103 can be replaced by steps 201-203 as follows.

[0083] 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.

[0084] 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.

[0085] In step 203, distance information of the rotating center of the tunneling equipment relative to the reference guide rail is determined according to distance information between the laser radar and the reference guide rail in the target heading coordinate system and distance information between the laser radar and the rotating center of the tunneling equipment in the target heading coordinate system.

[0086] The formula for determining the distance information between the laser radar and the reference guide rail in the target heading coordinate system is:

[0087] ;

[0088] ;

[0089] 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. 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.

[0090] The formula for determining the distance information between the laser radar and the rotating center of the tunneling equipment in the target heading coordinate system is:

[0091] ;

[0092] ;

[0093] wherein, is the distance information between the laser radar and the rotating 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.

[0094] The formula for determining the distance information of the rotating center of the tunneling equipment relative to the reference guide rail is:

[0095] ;

[0096] wherein, is the distance information of the rotating center of the tunneling equipment relative to the reference guide rail.

[0097] In another exemplary embodiment, the target heading coordinate system takes the direction perpendicular to the theoretical center line of the roadway as the X-axis direction, takes the target heading of the current task stage (i.e., the direction of the roadway theoretical mining) as the Y-axis direction, and takes the vertical upward direction as the Z-axis direction.

[0098] is a 3x1 array, where the first data is the deviation of the tunneling equipment rotation center from the reference rail X-axis, and if the reference rail installation position has a fixed installation distance from the theoretical center line of the roadway , is the deviation of the tunneling equipment rotation center from the theoretical center line of the roadway mining, The change amount of is the increase or decrease value of the tunneling equipment in the vertical direction, where, and are the X-axis distance and Y-axis distance in the distance information of the tunneling equipment rotation center relative to the reference rail.

[0099] 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 problem-solving implementation scheme provided by the device is similar to the implementation scheme described in the above method, so 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.

[0100] In an exemplary embodiment, a laser radar positioning device is provided, comprising: a reference 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 rail is arranged on the roof of the roadway at the position of the tunneling equipment, and the installation direction of the reference rail is consistent with the target heading of the tunneling equipment in the current task stage; the navigator and the laser radar are both connected with the position solution center, and the position solution center is used to determine the distance information of the tunneling equipment rotation center relative to the reference rail by using the laser radar positioning method in the above-mentioned embodiments.

[0101] In another exemplary embodiment, the laser radar positioning device further comprises a laser pointing instrument, which is used to indicate the target heading of the tunneling equipment in the current task stage.

[0102] In an exemplary embodiment, a computer device is provided, which can be a server or a terminal, and the internal structure diagram thereof can be as shown in Figure 2As shown in the figure. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. 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 the 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 the external device. The communication interface of the computer device is used to communicate with the terminal outside through the network connection. The computer program is executed by the processor to realize a laser radar positioning method.

[0103] Those skilled in the art can understand that, Figure 2 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement. In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to realize the steps in each of the above method embodiments.

[0104] In one exemplary embodiment, a computer readable storage medium is provided, storing a computer program, which is executed by a processor to realize the steps in each of the above method embodiments.

[0105] 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 for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0106] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to a memory, a database or other medium used in the embodiments provided in the present application can include at least one of a non-volatile and a volatile memory. The non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical storage, a high-density embedded non-volatile memory, a resistive random access memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. The volatile memory can include a random access memory (RAM) or an external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as a static random access memory (SRAM) or a dynamic random access memory (DRAM), etc.

[0107] The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a blockchain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0108] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0109] The principles and implementation modes of the present application are described by applying specific examples in the present application. The above-mentioned embodiments are only used to help understand the method and its core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range can be changed. In conclusion, the content of the present application should not be understood as a limitation.

Claims

1. A lidar positioning method, characterized in that, The laser radar positioning method is used for positioning tunneling equipment. The tunneling equipment is equipped with a navigator and a laser radar. 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 stage. Specifically, the reference guide rail is installed on the roof of the tunnel, and the straight line direction of the reference guide rail is parallel to the pointing direction of the laser pointer. The laser pointer is used to indicate the target heading of the tunneling equipment in the current task stage. The lidar positioning method includes: Based on all point cloud data obtained from the current scanning cycle by the lidar, the three-dimensional coordinates of the reference guide rail in the lidar coordinate system are determined. Obtain the attitude angles of the tunneling equipment measured by the navigator; A first rotation matrix and a second rotation matrix are constructed 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 fuselage coordinate system relative to the target heading coordinate system; the tunneling equipment fuselage coordinate system is constructed with the tunneling equipment rotation center as the origin; 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, the distance information of the tunneling equipment rotation center relative to the reference guide rail is determined. Based on all point cloud data obtained from the current scanning cycle using lidar scanning, the three-dimensional coordinates of the reference guide rail in the lidar coordinate system are determined, specifically including: The point cloud data of the top plate is selected from all point cloud data in the current scanning cycle using the following formula; and ; in, and These represent the lower and upper limits of the distance to the point cloud data of the top plate, respectively. and These represent the lower and upper limits of the angle of the point cloud data of the top plate, respectively. point.distance Distance information in point cloud data, point.angle This refers to the angle information in the point cloud data; Clustering algorithms were used to cluster the point cloud data of the roof, resulting in three point cloud data clusters; The point cloud data cluster that satisfies the following formula is identified as the point cloud data cluster of the reference guide; and ; 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. 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 and used as the three-dimensional coordinates of the reference guide rail in the lidar coordinate system.

2. The lidar positioning method according to claim 1, characterized in that, The first rotation matrix is: ； 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 are 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 mission phase; The second rotation matrix is: ； in, This is the second rotation matrix. , , These represent the rotation angles of the tunneling equipment's fuselage coordinate system relative to the target heading coordinate system along the X, Y, and Z axes, respectively. , , .

3. The lidar positioning method according to claim 1, characterized in that, 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, the distance information of the tunneling equipment's rotation center relative to the reference guide rail is determined, specifically including: 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. 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. 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.

4. The lidar positioning method according to claim 3, characterized in that, The formula for determining the distance between the lidar and the reference guide rail in the target heading coordinate system is: ； ； in, This refers to the distance information between the lidar and the reference guide rail in the target heading coordinate system. Let be the first rotation matrix. 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. The formula for determining the distance between the lidar and the rotation center of the tunneling equipment in the target heading coordinate system is: ； ； 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 three-dimensional coordinates of the lidar in the coordinate system of the tunneling equipment. , , These are the X, Y, and Z coordinates of the lidar in the coordinate system of the tunneling equipment; The formula for determining the distance between the rotation center of the tunneling equipment and the reference guide rail is: ； in, This refers to the distance information between the rotation center of the tunneling equipment and the reference guide rail.

5. The lidar positioning method according to claim 4, characterized in that, The target heading coordinate system has the X-axis direction perpendicular to the theoretical centerline of the roadway mining, the Y-axis direction with the target heading of the current task stage, and the Z-axis direction vertically upward. 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, the distance information of the tunneling equipment's rotation center relative to the reference guide rail is determined, followed by: Based on the X-axis distance from 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 centerline of roadway mining is determined using the following formula. ； in, The deviation of the tunneling equipment's rotation center from the theoretical centerline of the roadway. The distance along the X-axis is 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.

6. A lidar positioning device, characterized in that, The lidar positioning device includes: a reference rail, a navigator, a lidar, and a position calculation center; Both the navigator and the lidar are mounted on the tunneling equipment. The reference guide rail is mounted 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 mission phase. Both the navigator and the lidar are connected to the position calculation center, which is used to determine the distance information of the rotation center of the tunneling equipment relative to the reference guide rail using the lidar positioning method according to any one of claims 1-5. The lidar positioning device also includes a laser pointer, which is used to indicate the target heading of the tunneling equipment in the current mission phase.

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 lidar positioning method according to any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the lidar positioning method according to any one of claims 1-5.

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