Shield autonomous tunneling posture control method based on unmanned aerial vehicle stereo vision

Abstract

The application discloses a kind of based on unmanned plane stereovision's shield autonomous excavation posture control method, comprising the following steps:1, with the tunnel design axis as reference to establish global coordinate system;2, unmanned plane with stereovision equipment is suspended in position 1 and position 2, calculate the third pose transformation matrix of position 2 to global coordinate system;3, calculate the position coordinate of the free end of the piston rod of the cylinder of shield machine in global coordinate system;4, calculate the target stroke increment of advance cylinder;5, the control system of shield machine controls each advance cylinder stroke increment according to the advance distance of shield machine and each advance cylinder stroke increment;6, return 3, the posture control of next advance distance is carried out, realizes the closed-loop control of advance cylinder stroke increment of shield machine.The application relates to the technical field of shield construction, can solve the problems of low feedback frequency of the shield posture monitoring method of prior art and insufficient precision of shield posture artificial control.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine (TBM) construction technology, and in particular to a method for controlling the autonomous tunneling attitude of a TBM based on UAV stereo vision. Background Technology

[0002] Shield tunneling is one of the main technologies in modern urban underground engineering, playing a crucial role in the construction of subways, tunnels, and utility tunnels. The accuracy and real-time nature of attitude control during shield tunneling directly affect construction quality and the safety of the surrounding environment. Traditional shield tunneling attitude control methods primarily rely on technicians using shield attitude data fed back from mobile guidance monitoring equipment to control the propulsion system.

[0003] Currently, mobile guidance monitoring equipment mainly consists of total stations and levels. These devices require significant manpower and time investment during monitoring, especially during station changes. While they can achieve a certain level of accuracy in controlling the tunnel boring machine's (TBM) attitude, they suffer from problems such as monitoring lag, insufficient accuracy, and low efficiency in complex geological conditions and dynamic construction environments, making them unsuitable for the high precision and efficiency requirements of modern engineering. Therefore, there is a need to provide a TBM autonomous tunneling attitude control method based on UAV stereo vision, which can solve the problems of low feedback frequency and insufficient accuracy of manual TBM attitude control in existing TBM attitude monitoring methods. Summary of the Invention

[0004] The purpose of this invention is to provide a method for controlling the attitude of tunnel boring machines (TBMs) autonomously based on UAV stereo vision, which can solve the problems of low feedback frequency and insufficient accuracy of manual control of TBM attitude in existing TBM attitude monitoring methods.

[0005] This invention is implemented as follows:

[0006] A method for autonomous tunneling attitude control of a tunnel boring machine based on UAV stereo vision includes the following steps:

[0007] Step 1: Establish a global coordinate system based on the tunnel design axis. ;

[0008] Step 2: The drone equipped with stereo vision hovers at positions 1 and 2 inside the tunnel, and calculates the coordinates from position 2 to the global coordinate system. The third pose transformation matrix ;

[0009] Step 3: Calculate the free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system. Position coordinates in ;

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

[0011] 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.

[0012] Step 6: Return to step 3 and proceed to the next tunneling distance. The attitude control enables the shield machine's control system to achieve closed-loop control of the incremental stroke of the shield machine's propulsion cylinders.

[0013] In step 1, the global coordinate system is defined as the direction from the starting point to the ending point of the tunnel design axis. of The positive axis and vertical upward form the global coordinate system. Positive axis, perpendicular to The direction is The coordinates of the starting point of the tunnel design axis are (0,0,0).

[0014] Step 2 includes the following sub-steps:

[0015] Step 2.1: Manually determine four coordinates located near the tunnel starting point in the global coordinate system. Control points in And give the coordinates of these four control points in the global coordinate system. The coordinates below are respectively , , , ;

[0016] Step 2.2: The drone equipped with stereo vision equipment flies to position 1 and hovers. A first local coordinate system is established with position 1 of the drone as the origin. ;

[0017] Step 2.3: Obtain four control points First local coordinate system The position coordinates in the middle are respectively , , , ;

[0018] Step 2.4: Establish from the first local coordinate system To the global coordinate system The pose transformation relationship, i.e., the first pose transformation matrix. , The following relationship must be satisfied:

[0019] ;

[0020] Furthermore, The following expression is used:

[0021] ;

[0022] Step 2.5: Set two measuring points on the central axis of the tunnel boring machine. ,in, Located on the head side of the tunnel boring machine, Located on the cross-section where the cylinder end face of the propulsion system of the tunnel boring machine is located;

[0023] Step 2.6: After the UAV flies from position 1 to position 2, it hovers to allow the UAV's stereo vision equipment to observe both measurement points. A second local coordinate system is established based on the location 2 of the UAV. ;

[0024] Step 2.7: Relying on the UAV's own inertial navigation system, obtain the UAV's coordinates in the first local coordinate system from position 1 to position 2. Based on Translation of direction , rotation angle The second local coordinate system is obtained. To the first local coordinate system The second pose transformation matrix , represented as:

[0025] ;

[0026] Step 2.8: From the second local coordinate system To the global coordinate system The third pose transformation matrix Represented as:

[0027] ;

[0028] in, It is a 3×3 attitude matrix. It is a 3×1 position matrix.

[0029] In step 2.2, the first local coordinate system The positive direction is to the right in its horizontal direction. The positive direction is along its directly forward direction. The positive direction is when the top of the vertical drone faces upwards.

[0030] Step 3 includes the following sub-steps:

[0031] Step 3.1: At location 2, the UAV acquires two measurement points using a stereo vision device. Second local coordinate system The position coordinates in the middle are respectively , ;

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

[0033] ;

[0034] ;

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

[0036] ;

[0037] Step 3.4: Set the global coordinate system Lower unit vector 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: Arrange the cross-section of the end face of the propulsion cylinder of the tunnel boring machine's propulsion system in the global coordinate system. plane superior, Located at the center of the propulsion system, Located on the horizontal and vertical axes of symmetry of the propulsion system, respectively, the propulsion cylinder MN is in a plane The corresponding point on is denoted as According to the planar layout scheme of the propulsion cylinder, the vector In the global coordinate system The Chinese character is represented as ;

[0043] Step 3.6: Vector From vector The first rotation matrix R is represented as follows:

[0044] ;

[0045] 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:

[0046] ;

[0047] Step 3.8: Vector Depend on and Represented as:

[0048] ;

[0049] Step 3.9: Based on the measurement points In the global coordinate system Position coordinates in sum vector Calculate the free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system. Position coordinates in The calculation formula is as follows:

[0050] .

[0051] Step 4 includes the following sub-steps:

[0052] Step 4.1: Based on the measurement points In the global coordinate system Mid-position coordinates 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 PE The 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... and The deviations from the tunnel's design axis in both horizontal and vertical directions are calculated at two measurement points. In the global coordinate system The target location below Coordinates of the measurement point In the global coordinate system The target location below The coordinates are as Measurement points In the global coordinate system The target location below The coordinates are as ;

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

[0055] ;

[0056] Step 4.4: Set the global coordinate system Lower unit vector Given (0,1,0), the unit vector Through the second rotation matrix Transform into ,Right now:

[0057] ;

[0058] Wherein, the second rotation matrix 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 Second rotation matrix It is expressed as follows:

[0062] ;

[0063] Step 4.6: Based on the measurement point P F In the global coordinate system The target location below coordinates And the free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system Position coordinates in The vector is calculated. The calculation formula is:

[0064] ;

[0065] Step 4.7: Vector From vector sum vector Represented as:

[0066] ;

[0067] Step 4.8: Calculate the target stroke of the propulsion cylinder MN The calculation formula is:

[0068] ;

[0069] Step 4.9: Calculate the target stroke increment of the propulsion cylinder The calculation formula is:

[0070] .

[0071] Compared with the prior art, the present invention has the following advantages:

[0072] This invention uses UAV stereo vision technology to acquire the coordinates of four control points and two measurement points in various coordinate systems, and calculates the target stroke increment of each propulsion cylinder of the tunnel boring machine. It has high measurement accuracy, real-time feedback, and flexible control, and can realize automatic closed-loop control of the target stroke increment of each propulsion cylinder without relying on manual control. It solves the problems of low feedback frequency causing monitoring lag, insufficient accuracy of manual control, and low monitoring efficiency in existing tunnel boring machine monitoring methods, and provides a brand-new technical path for the automatic control of the tunnel boring machine's excavation posture. Attached Figure Description

[0073] Figure 1 This is a control principle diagram of the shield tunneling attitude control method based on UAV stereo vision of the present invention. Detailed Implementation

[0074] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0075] Please see the appendix Figure 1 Taking the propulsion cylinder MN (the free end N of the piston rod of the propulsion cylinder is in contact with the formed tunnel segment) as an example, a method for controlling the autonomous tunneling attitude of a shield machine based on UAV stereo vision includes the following steps:

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

[0077] In step 1, the global coordinate system is defined as the direction from the starting point to the ending point of the tunnel design axis. of The positive axis and vertical upward form the global coordinate system. Positive axis, perpendicular to The direction is The coordinates of the starting point of the tunnel design axis are (0,0,0).

[0078] Step 2: The drone equipped with stereo vision hovers at positions 1 and 2 inside the tunnel, and calculates the coordinates from position 2 to the global coordinate system. The third pose transformation matrix .

[0079] Step 2 includes the following sub-steps:

[0080] Step 2.1: Manually determine four coordinates located near the tunnel starting point in the global coordinate system. Control points in And give the coordinates of these four control points in the global coordinate system. The coordinates below are respectively , , , .

[0081] Step 2.2: The drone equipped with stereo vision equipment flies to position 1 and hovers. A first local coordinate system is established with position 1 of the drone as the origin. .

[0082] In step 2.2, the first local coordinate system of The positive direction is to the right in its horizontal direction. The positive direction is along its directly forward direction. The positive direction is when the top of the vertical drone faces upwards.

[0083] In step 2.2, the selection of position 1 can be determined according to the actual working conditions, so that the stereo vision range of the UAV can cover all four control points at once.

[0084] Step 2.3: Obtain four control points First local coordinate system The position coordinates in the middle are respectively , , , .

[0085] Step 2.4: Establish from the first local coordinate system To the global coordinate system The pose transformation relationship, i.e., the first pose transformation matrix. , The following relationship must be satisfied:

[0086] ;

[0087] Furthermore, It can be expressed as follows:

[0088] .

[0089] Step 2.5: Set two measuring points on the central axis of the tunnel boring machine. ,in, Located near the head of the tunnel boring machine, Located on the cross-section of the cylinder end face of the propulsion system of the tunnel boring machine.

[0090] Step 2.6: After the UAV flies from position 1 to position 2, it hovers to allow the UAV's stereo vision equipment to observe both measurement points. A second local coordinate system is established based on the location 2 of the UAV. .

[0091] In step 2.6, the specific location of position 2 can be determined according to the actual working conditions, so that the UAV can simultaneously observe two measurement points at position 2. That's all.

[0092] Step 2.7: Relying on the UAV's own inertial navigation system, obtain the UAV's coordinates in the first local coordinate system from position 1 to position 2. Based on axis, Translation of direction , rotation angle Thus, the second local coordinate system is obtained. To the first local coordinate system The second pose transformation matrix , can be represented as:

[0093] .

[0094] Step 2.8: From the second local coordinate system To the global coordinate system The third pose transformation matrix It can be represented as:

[0095] .

[0096] in, It is a 3×3 attitude matrix. It is a 3×1 position matrix.

[0097] Step 3: Calculate the free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system. Position coordinates in .

[0098] Step 3 includes the following sub-steps:

[0099] Step 3.1: At location 2, the UAV acquires two measurement points using a stereo vision device. Second local coordinate system The position coordinates in the middle are respectively , .

[0100] Step 3.2: Based on the 3×3 attitude matrix and 3×1 position matrix Calculate the two measurement points In the global coordinate system The position coordinates in the middle are respectively , The calculation method is as follows:

[0101] ;

[0102] .

[0103] Step 3.3: Based on the two measurement points In the global coordinate system Position coordinates in and ,calculate unit vector The calculation formula is:

[0104] .

[0105] Step 3.4: Set the global coordinate system Lower unit vector Given (0,1,0), the unit vector Transformed by the first rotation matrix R as follows ,Right now:

[0106] ;

[0107] The first rotation matrix R can be expressed as:

[0108] ;

[0109] In the formula, It is a 3×3 identity matrix; ; ; It is by Construct an antisymmetric matrix.

[0110] Step 3.5: Arrange the cross-section of the end face of the propulsion cylinder of the tunnel boring machine's propulsion system in the global coordinate system. plane superior, Located at the center of the propulsion system, Located on the horizontal and vertical axes of symmetry of the propulsion system, respectively, the propulsion cylinder MN is in a plane The corresponding point on is denoted as According to the planar layout scheme of the propulsion cylinder, the vector In the global coordinate system The middle can be represented as .

[0111] Step 3.6: Vector Can be derived from vectors The first rotation matrix R is represented as follows:

[0112] .

[0113] 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 It can be represented as:

[0114] .

[0115] The stroke sensor is a conventional measuring device used in tunnel boring machines to collect the stroke amount of the propulsion cylinder. The stroke amount of each propulsion cylinder can be directly collected by its corresponding stroke sensor, which will not be elaborated here.

[0116] Step 3.8: Vector can be and Represented as:

[0117] .

[0118] Step 3.9: Based on the measurement points In the global coordinate system Position coordinates in sum vector It can calculate the free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system. Position coordinates in 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 In the global coordinate system Mid-position coordinates y coordinate The tunnel boring machine's control system automatically selects the measurement point after the tunnel boring machine has excavated a certain distance (m). Target location coordinates on the tunnel design axis tunneling distance And simultaneously provide the measurement points The target position coordinates of the point on the tunnel design axis .

[0123] After tunneling a distance of m, the measurement point 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. The target position coordinates of the point on the tunnel design axis are not described here in detail regarding the control system's control of the two points. 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 Deviation from the tunnel design axis in both horizontal and vertical directions (measurement point) The deviation in the horizontal direction from the tunnel's design axis is denoted as... Measurement points 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... It can calculate two measurement points. In the global coordinate system The target location below Coordinates of the measurement point In the global coordinate system The target location below The coordinates are as Measurement points In the global coordinate system Target position at 0 The coordinates are as .

[0126] Step 4.3: Based on the two measurement points In the global coordinate system The target location below and Coordinate calculation unit vector The calculation formula is:

[0127] .

[0128] Step 4.4: Set the global coordinate system Lower unit vector Given (0,1,0), the unit vector Through the second rotation matrix Transform into ,Right now:

[0129] .

[0130] Wherein, the second rotation matrix It can be represented 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 points In the global coordinate system The target location below coordinates The free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system Position coordinates in The vector can be calculated. The calculation formula is:

[0136] .

[0137] Step 4.7: Vector Can be derived from vectors sum vector Represented as:

[0138] .

[0139] Step 4.8: Calculate the target stroke of the propulsion cylinder MN The calculation formula is:

[0140] .

[0141] Step 4.9: Calculate the target stroke increment of the propulsion cylinder The calculation formula is:

[0142] .

[0143] Step 5: The tunnel boring machine's control system monitors the tunnel boring machine's advance distance (m) and the stroke increments of each propulsion cylinder. After dividing the cylinder into equal parts, the piston rod extension speed is adjusted by controlling the opening of the proportional flow valve corresponding to each propulsion cylinder, thereby controlling the stroke increment of each propulsion cylinder, which is also known as the shield tunneling autonomous tunneling attitude control.

[0144] The method of controlling the extension speed of the piston rod of the propulsion cylinder based on the stroke increment of the propulsion cylinder is a conventional processing method of the tunnel boring machine control system, and its control process will not be described in detail here.

[0145] Step 6: Return to step 3, and the drone will reacquire the two measurement points. Second local coordinate system The location coordinates are determined, and the next excavation distance is determined. The attitude control (i.e. shield autonomous tunneling attitude control) enables the shield machine's control system to achieve closed-loop control of the shield machine's propulsion cylinder stroke increment.

[0146] During the current tunnel boring machine (TBM) excavation process, because the formed tunnel is relatively stable, the free end N of the hydraulic cylinder piston rod is in the global coordinate system. Position coordinates in Only one calculation is needed. At the start of the next tunnel boring machine (TBM) cycle, the segment where the free end N of the hydraulic cylinder piston rod is located shifts. It needs to be recalculated, and the calculation process is the same as that in step 3, so it will not be repeated here.

[0147] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the invention. Therefore, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

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 based on the tunnel design axis. ; Step 2: The drone equipped with stereo vision hovers at positions 1 and 2 inside the tunnel, and calculates the coordinates from position 2 to the global coordinate system. The third pose transformation matrix ; Step 3: Calculate the free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system. Position coordinates in ; Step 4: Calculate the target stroke increment of the propulsion cylinder ; Step 4 includes the following sub-steps: Step 4.1: Based on the measurement points In the global coordinate system Mid-position coordinates In coordinate The tunnel boring machine's control system automatically selects a certain distance the tunnel boring machine has traveled. Post measurement point Target location coordinates on the tunnel design axis tunneling distance And simultaneously provide the measurement points 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... and The deviations from the tunnel's design axis in both horizontal and vertical directions are calculated at two measurement points. In the global coordinate system The target location below Coordinates of the measurement point In the global coordinate system The target location below The coordinates are as Measurement points In the global coordinate system The target location below The coordinates are as ; Step 4.3: Based on the two measurement points In the global coordinate system The target location below and Coordinate calculation unit vector The calculation formula is: ； Step 4.4: Set the global coordinate system Lower unit vector Given (0, -1, 0), the unit vector Transformed by the second rotation matrix R' ,Right now: ； Wherein, the second rotation matrix 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 In the global coordinate system The target position P below F ' coordinates And the free end N of the hydraulic cylinder piston rod of the tunnel boring machine in the global coordinate system Position coordinates in 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: ； 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 global coordinate system is defined as the direction from the starting point to the ending point of the tunnel design axis. of The positive axis and vertical upward form the global coordinate system. Positive axis, perpendicular to and The direction of the axis is 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 coordinates located near the tunnel starting point in the global coordinate system. Control points in And give the coordinates of these four control points in the global coordinate system. The coordinates below are respectively , , , ; Step 2.2: The drone equipped with stereo vision equipment flies to position 1 and hovers. A first local coordinate system is established with position 1 of the drone as the origin. ; Step 2.3: Obtain four control points First local coordinate system The position coordinates in the middle are respectively , , , ; Step 2.4: Establish from the first local coordinate system To the global coordinate system The pose transformation relationship, i.e., the first pose transformation matrix. , The following relationship must be satisfied: ； Furthermore, The following expression is used: ； Step 2.5: Set two measuring points on the central axis of the tunnel boring machine. ,in, Located on the head side of the tunnel boring machine, 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 to allow the UAV's stereo vision equipment to observe both measurement points. A second local coordinate system is established based on the location 2 of the UAV. ; Step 2.7: Relying on the UAV's own inertial navigation system, obtain the UAV's coordinates in the first local coordinate system from position 1 to position 2. Based on Translation of direction , And around rotation angle The second local coordinate system is obtained. To the first local coordinate system The second pose transformation matrix , is represented as: ； Step 2.8: From the second local coordinate system To the global coordinate system The third pose transformation matrix 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 first local coordinate system of The positive direction is to the right in its horizontal direction. The positive direction is along its directly forward direction. The positive direction is when the top of the vertical drone faces upwards.

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 using a stereo vision device. Second local coordinate system The position coordinates in the middle are respectively , ; Step 3.2: Based on the 3×3 attitude matrix and 3×1 position matrix Calculate the two measurement points In the global coordinate system The position coordinates in the middle are respectively , The calculation method is as follows: ； ； Step 3.3: Based on the two measurement points In the global coordinate system Position coordinates in and ,calculate unit vector The calculation formula is: ； Step 3.4: Set the global coordinate system Lower unit vector 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 end face of the propulsion cylinder of the tunnel boring machine's propulsion system in the global coordinate system. plane superior, Located at the center of the propulsion system, Located on the horizontal and vertical axes of symmetry of the propulsion system, respectively, the propulsion cylinder MN is in a plane The corresponding point on is denoted as According to the planar layout scheme of the propulsion cylinder, the vector In the global coordinate system The Chinese character 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 points In the global coordinate system Position coordinates in sum vector Calculate the free end of the hydraulic cylinder piston rod of the tunnel boring machine. In the global coordinate system Position coordinates in The calculation formula is as follows: 。

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