Shield autonomous tunneling attitude control method based on unmanned aerial vehicle stereoscopic vision

Abstract

The invention discloses a shield autonomous tunneling attitude control method based on unmanned aerial vehicle stereoscopic vision. The method comprises the following steps: 1, establishing a global coordinate system by taking a tunnel design axis as a reference; 2, hovering the unmanned aerial vehicle carrying stereoscopic vision equipment at the position 1 and the position 2, and calculating a third pose transformation matrix from the position 2 to the global coordinate system; 3, calculating the position coordinates of the free end of the piston rod of the oil cylinder of the shield tunneling machine in the global coordinate system; 4, calculating the target stroke increment of the thrust cylinder; 5, the control system of the shield tunneling machine completes control over the stroke increment of each thrust oil cylinder according to the tunneling distance of the shield tunneling machine and the stroke increment of each thrust oil cylinder; and 6, returning to the step 3, performing attitude control of the next tunneling distance, and realizing closed-loop control of the stroke increment of the thrust cylinder of the shield tunneling machine. The invention relates to the technical field of shield construction, and can solve the problems that a shield attitude monitoring method in the prior art is low in feedback frequency, and the manual control precision of the shield attitude is insufficient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shield construction, and particularly relates to a shield autonomous tunneling posture control method based on unmanned aerial vehicle stereo vision. BACKGROUND

[0002] The shield method construction is one of the main technologies of modern urban underground engineering, and plays an important role in the construction of metro, tunnel and pipe gallery. The accuracy and real-time performance of posture control in the shield tunneling process are directly related to the construction quality and the safety of the surrounding environment. The traditional shield tunneling posture control method mainly relies on technical personnel to control the propulsion system combined with the shield posture data fed back by the mobile guide monitoring equipment.

[0003] At present, the mobile guide monitoring equipment mainly includes total station and level, etc. A large amount of manpower and time cost is needed in the monitoring process, especially in the process of station changing. Although the use of these monitoring equipment can make the control of the shield posture reach a certain accuracy, under the complex geological conditions and dynamic construction environment, there are problems such as monitoring lag, insufficient accuracy and low efficiency, which are difficult to adapt to the requirements of modern engineering for high accuracy and high efficiency. Therefore, it is necessary to provide a shield autonomous tunneling posture control method based on unmanned aerial vehicle stereo vision, which can solve the problems of low feedback frequency of the shield posture monitoring method and insufficient accuracy of the artificial control of the shield posture. SUMMARY

[0004] The purpose of the present application is to provide a shield autonomous tunneling posture control method based on unmanned aerial vehicle stereo vision, which can solve the problems of low feedback frequency of the shield posture monitoring method and insufficient accuracy of the artificial control of the shield posture.

[0005] The present application is implemented as follows:

[0006] A shield autonomous tunneling posture control method based on unmanned aerial vehicle stereo vision, comprising the following steps:

[0007] Step 1: establishing a global coordinate system X0Y0Z0 with the tunnel design axis as the reference;

[0008] Step 2: the unmanned aerial vehicle carrying the stereo vision equipment hovers at position 1 and position 2 in the tunnel respectively, and calculates the third pose transformation matrix of position 2 to the global coordinate system X0Y0Z0 ;

[0009] Step 3: calculating the position coordinates of the free end N of the oil cylinder piston rod of the shield machine in the global coordinate system X0Y0Z0 ;

[0010] Step 4: calculating the target stroke increment of the propulsion oil cylinder ;

[0011] Step 5: After the control system of the tunneling machine equally divides the tunneling distance m and the stroke increment of each propulsion cylinder, the control system adjusts the piston rod extension speed by controlling the opening of the proportional flow valve corresponding to each propulsion cylinder to complete the control of the stroke increment of each propulsion cylinder.

[0012] Step 6: Return to step 3 to control the posture of the next tunneling distance m', and realize the closed-loop control of the stroke increment of the propulsion cylinder of the tunneling machine by the control system of the tunneling machine.

[0013] In step 1, the Y0 axis of the global coordinate system X0Y0Z0 is positive in the direction from the starting point to the ending point of the tunnel design axis, the Z0 axis of the global coordinate system X0Y0Z0 is positive vertically upward, and the X0 axis is perpendicular to the Y0 axis and the Z0 axis. The coordinates of the starting point of the tunnel design axis are (0, 0, 0).

[0014] Step 2 includes the following steps:

[0015] Step 2.1: Manually determine four control points P A , P B , P C and P D in the global coordinate system X0Y0Z0 near the starting point of the tunnel, and give the coordinates of the four control points in the global coordinate system X0Y0Z0 as , , , ;

[0016] Step 2.2: The unmanned aerial vehicle carrying the stereo vision device flies to position 1 and hovers, and establishes a first local coordinate system X1Y1Z1 with position 1 as the origin.

[0017] Step 2.3: Obtain the position coordinates of the four control points P A , P B , P C and P D in the first local coordinate system X1Y1Z1, which are , , , respectively.

[0018] Step 2.4: Establish the pose transformation relationship from the first local coordinate system X1Y1Z1 to the global coordinate system X0Y0Z0, i.e. the first pose transformation matrix , satisfies the following relationship:

[0019] ;

[0020] Further, As follows:

[0021] ;

[0022] Step 2.5: Set two measuring points P E and P F on the axis of the shield tunneling machine, wherein P E is located on the side of the head of the shield tunneling machine, and P F is located on the cross section of the end face of the cylinder barrel of the oil cylinder of the propulsion system of the shield tunneling machine;

[0023] Step 2.6: After the UAV flies from position 1 to position 2 and hovers, the stereovision device of the UAV can observe the two measuring points P E and P F , and a second local coordinate system X2Y2Z2 is established at position 2 where the UAV is located;

[0024] Step 2.7: According to the self-inertial navigation system of the UAV, the translation amounts p1, q1 and r1 along the X1, Y1 and Z1 axes and the rotation angles a1, b1 and g1 around the X1, Y1 and Z1 axes of the UAV in the first local coordinate system X1Y1Z1 are obtained from position 1 to position 2, and a second pose transformation matrix from the second local coordinate system X2Y2Z2 to the first local coordinate system X1Y1Z1 is obtained, which is expressed as:

[0025] ;

[0026] Step 2.8: A third pose transformation matrix from the second local coordinate system X2Y2Z2 to the global coordinate system X0Y0Z0 is obtained, which is expressed as:

[0027] ;

[0028] wherein, is a 3x3 attitude matrix, is a 3x1 position matrix.

[0029] In the step 2.2, the X1 positive direction of the first local coordinate system X1Y1Z1 is the horizontal direction to the right, the Y1 positive direction is along the positive front direction, and the Z1 positive direction is vertically upward to the top surface of the UAV.

[0030] The step 3 comprises the following sub-steps:

[0031] Step 3.1: At position 2, the UAV obtains the two measuring points P E and P FThe position coordinates in the second local coordinate system X2Y2Z2 are respectively , ;

[0032] Step 3.2: Based on the 3×3 attitude matrix and 3×1 position matrix Calculate the two measurement points P E and P F The position coordinates in the global coordinate system X0Y0Z0 are respectively , The calculation method is as follows:

[0033] ;

[0034] ;

[0035] Step 3.3: Based on the two measurement points P E and P F Position coordinates in the global coordinate system X0Y0Z0 and ,calculate unit vector The calculation formula is:

[0036] ;

[0037] Step 3.4: Set the unit vector in the global coordinate system X0Y0Z0 Given (0,1,0), the unit vector Transformed by the first rotation matrix R as follows ,Right now:

[0038] ;

[0039] The first rotation matrix R is represented as:

[0040] ;

[0041] In the formula, It is a 3×3 identity matrix; ; ; It is by Constructed antisymmetric matrix;

[0042] Step 3.5: The cross section where the cylinder end face of the propulsion system of the shield machine is arranged on the plane X0O0Z0 of the global coordinate system X0Y0Z0, O0 is located at the center of the propulsion system, the X0 axis and the Z0 axis are located on the horizontal symmetry axis and the vertical symmetry axis of the propulsion system respectively, the corresponding point of the propulsion cylinder MN on the plane X0O0Z0 is denoted as M0, and the vector is determined according to the plane arrangement scheme of the propulsion cylinder. In the global coordinate system X0Y0Z0, it is represented as ;

[0043] Step 3.6: The vector is represented by the vector and the first rotation matrix R, as follows:

[0044] ;

[0045] Step 3.7: The stroke of each propulsion cylinder of the shield machine in the current state is collected by the stroke sensor, and the stroke of the propulsion cylinder MN is set as , then the vector is represented as:

[0046] ;

[0047] Step 3.8: The vector is represented by and as follows:

[0048] ;

[0049] Step 3.9: According to the position coordinates F of the measuring point P in the global coordinate system X0Y0Z0 and the vector , the position coordinates of the free end N of the cylinder piston rod of the shield machine in the global coordinate system X0Y0Z0 are calculated, and the calculation formula is as follows:

[0050] .

[0051] The step 4 includes the following sub-steps:

[0052] Step 4.1: According to the y coordinate of the position coordinates of the measuring point P F in the global coordinate system X0Y0Z0, the control system of the shield machine automatically selects the target position coordinates of the measuring point P F on the tunnel design axis after the shield machine excavates a distance m, the excavation distance , and synchronously gives the measuring point P EThe target position coordinates of the point on the tunnel design axis ;

[0053] Step 4.2: After tunneling a distance m, the tunnel boring machine's control system autonomously uses two measurement points P... E and P F The deviations from the tunnel's design axis in both horizontal and vertical directions are calculated at two measurement points P. E and P F The target position P in the global coordinate system X0Y0Z0 E 'and P F The coordinates of point P are given. E The target position P in the global coordinate system X0Y0Z0 E The coordinates of ' are Measurement point P F The target position P in the global coordinate system X0Y0Z0 F The coordinates of ' are ;

[0054] Step 4.3: Based on the two measurement points P E and P F The target position P in the global coordinate system X0Y0Z0 E 'and P F ' coordinate calculation unit vector The calculation formula is:

[0055] ;

[0056] Step 4.4: Set the unit vector in the global coordinate system X0Y0Z0 Given (0,1,0), the unit vector Transformed by the second rotation matrix R' ,Right now:

[0057] ;

[0058] The second rotation matrix R' is represented as:

[0059] ;

[0060] In the formula, It is a 3×3 identity matrix; ; ; It is by Constructed antisymmetric matrix;

[0061] Step 4.5: Vector Depend on The second rotation matrix R' is represented as follows:

[0062] ;

[0063] Step 4.6: according to the measurement point P F Target position P in the global coordinate system X0Y0Z0 F ' coordinate of the shield machine and the position coordinate of the free end N of the piston rod of the oil cylinder of the shield machine in the global coordinate system X0Y0Z0 Vector is calculated, and the calculation formula is:

[0064] ;

[0065] Step 4.7: vector is represented by vector and vector , and is:

[0066] ;

[0067] Step 4.8: calculate the target stroke of the advancing oil cylinder MN , and the calculation formula is:

[0068] ;

[0069] Step 4.9: calculate the target stroke increment of the advancing oil cylinder , and the calculation formula is:

[0070] .

[0071] Compared with the prior art, the present application has the following beneficial effects:

[0072] The present application obtains the coordinates of four control points and two measurement points in each coordinate system based on the unmanned aerial vehicle stereo vision technology, and calculates the target stroke increment of each advancing oil cylinder of the shield machine, which has high measurement accuracy, real-time feedback and flexible control, can realize automatic closed-loop control of the target stroke increment of each advancing oil cylinder, does not depend on manual control, solves the problems of low feedback frequency causing monitoring lag, insufficient manual control accuracy and low monitoring efficiency of the shield monitoring method of the prior art, and provides a new technical path for automatic control of the tunneling posture of the shield machine. BRIEF DESCRIPTION OF DRAWINGS

[0073] Figure 1 is the control principle diagram of the shield autonomous tunneling posture control method of the present application based on the unmanned aerial vehicle stereo vision. DETAILED DESCRIPTION

[0074] The present application will be further described below in combination with the drawings and specific embodiments.

[0075] Please refer to the attached Figure 1 , for example, take the push cylinder MN (the piston rod free end N of the push cylinder is in contact with the formed tunnel segment) as an example, a shield autonomous tunneling posture control method based on unmanned aerial vehicle stereo vision includes the following steps:

[0076] Step 1: Establish a global coordinate system X0Y0Z0 based on the tunnel design axis.

[0077] In step 1, the Y0 axis of the global coordinate system X0Y0Z0 is positive in the direction from the starting point to the end point of the tunnel design axis, the Z0 axis of the global coordinate system X0Y0Z0 is vertically upward, and the X0 axis is perpendicular to the Y0 axis and the Z0 axis. The coordinate data of the starting point of the tunnel design axis is (0, 0, 0).

[0078] Step 2: The unmanned aerial vehicle carrying the stereo vision equipment hovers at position 1 and position 2 in the tunnel respectively, and calculates the third pose transformation matrix of position 2 to the global coordinate system X0Y0Z0 .

[0079] The step 2 includes the following sub-steps:

[0080] Step 2.1: Manually determine four control points P A , P B , P C and P D in the global coordinate system X0Y0Z0 near the starting point of the tunnel, and give the coordinates of the four control points in the global coordinate system X0Y0Z0 as , , , .

[0081] Step 2.2: The unmanned aerial vehicle carrying the stereo vision equipment flies to position 1 and hovers, and establishes a first local coordinate system X1Y1Z1 with position 1 as the origin.

[0082] In step 2.2, the X1 positive direction of the first local coordinate system X1Y1Z1 is its horizontal direction to the right, the Y1 positive direction is along its forward direction, and the Z1 positive direction is vertically upward from the top surface of the unmanned aerial vehicle.

[0083] In step 2.2, the selection of position 1 can be determined according to the actual working condition, so that the stereo vision range of the unmanned aerial vehicle can cover the four control points at one time.

[0084] Step 2.3: Obtain the coordinates of the four control points P A , P B , P C and P DPosition coordinates in the first local coordinate system X1Y1Z1 are respectively , , , .

[0085] Step 2.4: Establish the pose transformation relationship from the first local coordinate system X1Y1Z1 to the global coordinate system X0Y0Z0, that is, the first pose transformation matrix , satisfies the following relationship:

[0086] ;

[0087] Further, can be expressed as follows:

[0088] .

[0089] Step 2.5: Set two measurement points P E and P F on the axis of the shield machine, wherein P E is located near the head side of the shield machine, and P F is located on the cross section of the cylinder end face of the shield machine's propulsion system.

[0090] Step 2.6: After the UAV flies from position 1 to position 2 and hovers, the stereoscopic vision device of the UAV can observe the two measurement points P E and P F , and the second local coordinate system X2Y2Z2 is established at position 2 where the UAV is located.

[0091] In step 2.6, the specific position of position 2 can be determined according to the actual working condition, so that the UAV can observe the two measurement points P E and P F at the same time at position 2.

[0092] Step 2.7: Relying on the inertial navigation system of the UAV itself, the translation amounts p1, q1 and r1 along the X1, Y1 and Z1 axes and the rotation angles α1, β1 and γ1 around the X1, Y1 and Z1 axes of the UAV in the first local coordinate system X1Y1Z1 are obtained from position 1 to position 2, so as to obtain the second pose transformation matrix from the second local coordinate system X2Y2Z2 to the first local coordinate system X1Y1Z1, which can be expressed as:

[0093] .

[0094] Step 2.8: The third pose transformation matrix from the second local coordinate system X2Y2Z2 to the global coordinate system X0Y0Z0 may be expressed as:

[0095] .

[0096] wherein, is a 3x3 pose matrix, is a 3x1 position matrix.

[0097] Step 3: Calculate the position coordinates of the free end N of the oil cylinder piston rod of the shield tunneling machine in the global coordinate system X0Y0Z0 .

[0098] The step 3 includes the following sub-steps:

[0099] Step 3.1: At position 2, the unmanned aerial vehicle obtains two measurement points P E and P F in the second local coordinate system X2Y2Z2, respectively, , .

[0100] Step 3.2: According to the 3x3 pose matrix and the 3x1 position matrix , the position coordinates of the two measurement points P E and P F in the global coordinate system X0Y0Z0 are calculated, respectively, , The calculation method is:

[0101] ;

[0102] .

[0103] Step 3.3: According to the position coordinates E and F of the two measurement points P and P in the global coordinate system X0Y0Z0, the unit vector of is calculated, and the calculation formula is:

[0104] .

[0105] Step 3.4: Set the unit vector in the global coordinate system X0Y0Z0 as (0, 1, 0), and transform the unit vector to through the first rotation matrix R, that is:

[0106] ;

[0107] wherein the first rotation matrix R can be represented as:

[0108] ;

[0109] wherein, is a 3x3 unit matrix; ; ; is an anti-symmetric matrix constructed from .

[0110] Step 3.5: The cross section where the end face of the thrust cylinder of the tunneling machine is arranged on the plane X0O0Z0 of the global coordinate system X0Y0Z0, O0 is located at the center of the thrust system, the X0 axis and the Z0 axis are located on the horizontal and vertical symmetry axes of the thrust system respectively, the corresponding point of the thrust cylinder MN on the plane X0O0Z0 is denoted as M0, and the vector in the global coordinate system X0Y0Z0 can be represented as .

[0111] Step 3.6: The vector can be represented by the vector and the first rotation matrix R as follows:

[0112] .

[0113] Step 3.7: The stroke of each thrust cylinder in the current state of the tunneling machine is collected by the stroke sensor, and the stroke of the thrust cylinder MN is set as , then the vector can be represented as:

[0114] .

[0115] The stroke sensor is a conventional measuring device in the field of tunneling machines for collecting the stroke of the thrust cylinder, and the stroke of each thrust cylinder can be directly collected by its corresponding stroke sensor, which will not be described here.

[0116] Step 3.8: The vector can be represented by and as follows:

[0117] .

[0118] Step 3.9: According to the position coordinates F of the measuring point P in the global coordinate system X0Y0Z0 and the vector , the position coordinates of the free end N of the cylinder piston rod of the tunneling machine in the global coordinate system X0Y0Z0 can be calculated The calculation formula is as follows:

[0119] .

[0120] Step 4: Calculate the target stroke increment of the propulsion cylinder .

[0121] Step 4 includes the following sub-steps:

[0122] Step 4.1: Based on the measurement point P F Position coordinates in global coordinate system X0Y0Z0 y coordinate The tunnel boring machine's control system automatically selects measurement point P after the tunnel boring machine has excavated a certain distance m. F Target location coordinates on the tunnel design axis tunneling distance And simultaneously provide the measurement point P E The target position coordinates of the point on the tunnel design axis .

[0123] After tunneling a distance of m, the measuring point P F Target location coordinates on the tunnel design axis The control program built into the existing shield tunneling machine control system automatically selects the location, and can also be used based on the measurement point P. F The target position coordinates are obtained synchronously from the measurement point P. E The target position coordinates of the point on the tunnel design axis are not described here in detail regarding the control system's control over the two Ps. E and P F The process of calculating the target position coordinates on the tunnel design axis.

[0124] The tunneling distance (m) of the tunnel boring machine can be determined according to the size of each ring of tunnel segments in the tunnel, so as to facilitate the installation of tunnel segments during the tunneling process.

[0125] Step 4.2: After tunneling a distance m, the tunnel boring machine's control system autonomously uses two measurement points P... E and P F The deviation from the tunnel design axis in both horizontal and vertical directions (measurement point P) E The deviation in the horizontal direction from the tunnel's design axis is denoted as... Measurement point P E The deviation from the tunnel's design axis in the elevation direction is denoted as... Measurement point P F The deviation in the horizontal direction from the tunnel's design axis is denoted as... Measurement point P F The deviation from the tunnel's design axis in the elevation direction is denoted as... (This can calculate two measurement points P) E and P F The target position P in the global coordinate system X0Y0Z0 E 'and P F The coordinates of point P are given. E The target position P in the global coordinate system X0Y0Z0 E The coordinates of ' are Measurement point P F The target position P in the global coordinate system X0Y0Z0 F The coordinates of ' are .

[0126] Step 4.3: Based on the two measurement points P E and P F The target position P in the global coordinate system X0Y0Z0 E 'and P F ' coordinate calculation unit vector The calculation formula is:

[0127] .

[0128] Step 4.4: Set the unit vector in the global coordinate system X0Y0Z0 Given (0,1,0), the unit vector Transformed by the second rotation matrix R' ,Right now:

[0129] .

[0130] The second rotation matrix R' can be expressed as:

[0131] ;

[0132] In the formula, It is a 3×3 identity matrix; ; ; It is by Construct an antisymmetric matrix.

[0133] Step 4.5: Vector can be The second rotation matrix R' is represented as follows:

[0134] .

[0135] Step 4.6: Based on the measurement point P F The target position P in the global coordinate system X0Y0Z0 Fthe coordinates of the shield machine in the global coordinate system X0Y0Z0 and the position coordinates of the free end N of the piston rod of the oil cylinder of the shield machine in the global coordinate system X0Y0Z0 , the vector can be calculated, and the calculation formula is:

[0136] .

[0137] Step 4.7: the vector can be represented by the vector and the vector , and the calculation formula is:

[0138] .

[0139] Step 4.8: calculating the target stroke of the thrust oil cylinder MN , and the calculation formula is:

[0140] .

[0141] Step 4.9: calculating the target stroke increment of the thrust oil cylinder , and the calculation formula is:

[0142] .

[0143] Step 5: after the control system of the shield machine equally divides the tunneling distance m and the stroke increments of each thrust oil cylinder, the control system of the shield machine adjusts the extension speed of the piston rod by controlling the opening of the proportional flow valve corresponding to each thrust oil cylinder, thereby controlling the stroke increment of each thrust oil cylinder, i.e., the autonomous tunneling posture control of the shield.

[0144] The control method of the control system of the shield machine for controlling the extension speed of the piston rod of the thrust oil cylinder according to the stroke increment of the thrust oil cylinder is a conventional processing means of the shield control system, and the control process is not described herein.

[0145] Step 6: return to Step 3, and the UAV reacquires the position coordinates of the two measurement points P E and P F in the second local coordinate system X2Y2Z2, and performs posture control (i.e., autonomous tunneling posture control of the shield) for the next tunneling distance m', thereby realizing closed-loop control of the stroke increments of the thrust oil cylinders of the shield machine by the control system of the shield machine.

[0146] During the tunneling process of the current ring, since the formed tunnel is relatively stable, the position coordinates of the free end N of the piston rod of the oil cylinder in the global coordinate system X0Y0Z0 only need to be calculated once. When the tunneling of the next ring starts, since the segment where the free end N of the piston rod of the oil cylinder is located has changed, The calculation should be re-computed, and the calculation process is the same as that of step 3, which is not described herein again.

[0147] The above merely describes the preferred embodiments of the present application, but not for limiting the protection scope of the application, thus, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for autonomous tunneling attitude control of tunnel boring machines based on UAV stereo vision, characterized by: Includes the following steps: Step 1: Establish a global coordinate system X0Y0Z0 based on the tunnel design axis; Step 2: The drone equipped with a stereo vision device hovers at positions 1 and 2 inside the tunnel, and calculates the third pose transformation matrix from position 2 to the global coordinate system X0Y0Z0. ; Step 3: Calculate the position coordinates of the free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system X0Y0Z0. ; Step 4: Calculate the target stroke increment of the propulsion cylinder ; Step 5: After the tunnel boring machine's control system divides the tunnel boring machine's excavation distance m and the stroke increment of each propulsion cylinder into equal parts, it controls the opening of the proportional flow valve corresponding to each propulsion cylinder to adjust the piston rod extension speed, thereby completing the control of the stroke increment of each propulsion cylinder. Step 6: Return to step 3 and perform attitude control for the next tunneling distance m' to achieve closed-loop control of the tunnel boring machine's propulsion cylinder stroke increment by the tunnel boring machine's control system.

2. The method for autonomous tunneling attitude control of a shield tunneling machine based on UAV stereo vision as described in claim 1, characterized in that: In step 1, the direction from the starting point to the ending point of the tunnel design axis is the positive Y0 axis of the global coordinate system X0Y0Z0, the vertical upward direction is the positive Z0 axis of the global coordinate system X0Y0Z0, and the direction perpendicular to the Y0 axis and Z0 axis is the X0 axis. The coordinates of the starting point of the tunnel design axis are (0,0,0).

3. The method for autonomous tunneling attitude control of a shield tunneling machine based on UAV stereo vision as described in claim 1, characterized in that: Step 2 includes the following sub-steps: Step 2.1: Manually determine four control points P located in the global coordinate system X0Y0Z0 near the tunnel starting point. A P B P C and P D The coordinates of these four control points in the global coordinate system X0Y0Z0 are given as follows: , , , ; Step 2.2: The drone equipped with a stereo vision device flies to position 1 and hovers. The first local coordinate system X1Y1Z1 is established with position 1 of the drone as the origin. Step 2.3: Obtain four control points P A P B P C and P D The position coordinates in the first local coordinate system X1Y1Z1 are respectively... , , , ; Step 2.4: Establish the pose transformation relationship from the first local coordinate system X1Y1Z1 to the global coordinate system X0Y0Z0, i.e., the first pose transformation matrix. , The following relationship must be satisfied: ； Furthermore, The following expression: ； Step 2.5: Set two measuring points P on the central axis of the tunnel boring machine. E and P F , where P E Located on the head side of the tunnel boring machine, P F Located on the cross-section of the cylinder end face of the propulsion system of the tunnel boring machine; Step 2.6: After the UAV flies from position 1 to position 2, it hovers, allowing the UAV's stereo vision equipment to observe the two measurement points P. E and P F And establish a second local coordinate system X2Y2Z2 based on the location 2 of the UAV; Step 2.7: Relying on the UAV's own inertial navigation system, from position 1 to position 2, obtain the translation amounts p1, q1, and r1 of the UAV along the X1, Y1, and Z1 axes, and the rotation angles α1, β1, and γ1 around the X1, Y1, and Z1 axes, based on the first local coordinate system X1Y1Z1. This yields the second pose transformation matrix from the second local coordinate system X2Y2Z2 to the first local coordinate system X1Y1Z1. , represented as: ； Step 2.8: The third pose transformation matrix from the second local coordinate system X2Y2Z2 to the global coordinate system X0Y0Z0 Represented as: ； in, It is a 3×3 attitude matrix. It is a 3×1 position matrix.

4. The method for autonomous tunneling attitude control of a shield tunneling machine based on UAV stereo vision according to claim 3, characterized in that: In step 2.2, the positive X1 direction of the first local coordinate system X1Y1Z1 is its horizontal direction to the right, the positive Y1 direction is along its forward direction, and the positive Z1 direction is vertically upward from the top surface of the UAV.

5. The method for autonomous tunneling attitude control of a shield tunneling machine based on UAV stereo vision according to claim 1, characterized in that: Step 3 includes the following sub-steps: Step 3.1: At location 2, the UAV acquires two measurement points P using a stereo vision device. E and P F The position coordinates in the second local coordinate system X2Y2Z2 are respectively , ; Step 3.2: Based on the 3×3 attitude matrix and 3×1 position matrix Calculate the two measurement points P E and P F The position coordinates in the global coordinate system X0Y0Z0 are respectively , The calculation method is as follows: ； ； Step 3.3: Based on the two measurement points P E and P F Position coordinates in the global coordinate system X0Y0Z0 and ,calculate unit vector The calculation formula is: ； Step 3.4: Set the unit vector in the global coordinate system X0Y0Z0 Given (0, -1, 0), the unit vector Transformed by the first rotation matrix R as follows ,Right now: ； The first rotation matrix R is represented as: ； In the formula, It is a 3×3 identity matrix; ; ; It is by Constructed antisymmetric matrix; Step 3.5: Arrange the cross-section of the propulsion cylinder end face of the tunnel boring machine's propulsion system on the plane X0O0Z0 of the global coordinate system X0Y0Z0. O0 is located at the center of the propulsion system. The X0 axis and Z0 axis are located on the horizontal and vertical axes of symmetry of the propulsion system, respectively. The corresponding point of the propulsion cylinder MN on the plane X0O0Z0 is denoted as M0. According to the planar arrangement scheme of the propulsion cylinder, the vector... In the global coordinate system X0Y0Z0, it is represented as ; Step 3.6: Vector From vector The first rotation matrix R is represented as follows: ； Step 3.7: Collect the stroke amount of each propulsion cylinder in the current state of the tunnel boring machine using the stroke sensor, and set the stroke of propulsion cylinder MN as... Then the vector Represented as: ； Step 3.8: Vector Depend on and Represented as: ； Step 3.9: Based on the measurement point P F Position coordinates in the global coordinate system X0Y0Z0 sum vector Calculate the position coordinates of the free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system X0Y0Z0. The calculation formula is as follows: 。 6. The method for autonomous tunneling attitude control of a shield tunneling machine based on UAV stereo vision according to claim 1, characterized in that: Step 4 includes the following sub-steps: Step 4.1: Based on the measurement point P F Position coordinates in global coordinate system X0Y0Z0 y coordinate The tunnel boring machine's control system automatically selects measurement point P after the tunnel boring machine has excavated a certain distance m. F Target location coordinates on the tunnel design axis tunneling distance And simultaneously provide the measurement point P E The target position coordinates of the point on the tunnel design axis ; Step 4.2: After tunneling a distance m, the tunnel boring machine's control system autonomously uses two measurement points P... E and P F The deviations from the tunnel's design axis in both horizontal and vertical directions are calculated at two measurement points P. E and P F The target position P in the global coordinate system X0Y0Z0 E 'and P F The coordinates of point P are given. E The target position P in the global coordinate system X0Y0Z0 E The coordinates of ' are Measurement point P F The target position P in the global coordinate system X0Y0Z0 F The coordinates of ' are ; Step 4.3: Based on the two measurement points P E and P F The target position P in the global coordinate system X0Y0Z0 E 'and P F ' coordinate calculation unit vector The calculation formula is: ； Step 4.4: Set the unit vector in the global coordinate system X0Y0Z0 Given (0, -1, 0), the unit vector Transformed by the second rotation matrix R' ,Right now: ； The second rotation matrix R' is represented as: ； In the formula, It is a 3×3 identity matrix; ; ; It is by Constructed antisymmetric matrix; Step 4.5: Vector Depend on The second rotation matrix R' is represented as follows: ； Step 4.6: Based on the measurement point P F The target position P in the global coordinate system X0Y0Z0 F ' coordinates The position coordinates of the free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system X0Y0Z0 The vector is calculated. The calculation formula is: ； Step 4.7: Vector From vector sum vector Represented as: ； Step 4.8: Calculate the target stroke of the propulsion cylinder MN The calculation formula is: ； Step 4.9: Calculate the target stroke increment of the propulsion cylinder The calculation formula is: 。

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