The invention discloses a linear
location model based
machine body
pose monocular-vision measurement method for a
tunnel boring machine. The method comprises the steps: acquiring
laser beam images bya camera, carrying out linear detection on acquired
laser beams by using Hough conversion, so as to separately obtain linear equations of parallel
laser beams and horizontal
laser beams; modeling a two-point-three-line-based
tunnel boring machine pose computing model, obtaining
pose information on the camera in a
location model coordinate
system according to the linear equations of the horizontallaser beams and the linear equations of the parallel
laser beams, and obtaining pose information on a
machine body of the
tunnel boring machine in the
location model coordinate
system in light of a conversion relationship between a
machine body coordinate
system of the tunnel boring machine and a coordinate system of the camera; finally, measuring absolute coordinates of laser orientation instruments by adopting a
total station to obtain coordinates of the laser orientation instruments in a tunnel coordinate system so as to obtain a conversion relationship between the location model coordinatesystem and the tunnel coordinate system, and finally obtaining a pitching angle, a
drift angle, a
rolling angle and location information of the machine body of the tunnel boring machine in the tunnelcoordinate system in light of the pose information on the machine body of the tunnel boring machine in the location model coordinate system.