CN113503856A - Tunnel trolley positioning measurement method and system - Google Patents
Tunnel trolley positioning measurement method and system Download PDFInfo
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Abstract
The invention provides a positioning and measuring method and system for a tunnel trolley, which are used for solving the technical problems that the existing positioning method for tunnel equipment is high in cost, the measuring precision is easily influenced by the operating environment, and real-time positioning cannot be carried out. The method comprises the following steps: at least two positioning devices are arranged on two sides of the trolley; fixed point groups with the same number as the positioning devices are arranged on the two sides of the tunnel, and each fixed point group comprises at least 3 fixed points; measuring the plane coordinates and elevations of each fixed point in a tunnel coordinate system, wherein the positioning device is connected with the fixed points through stay wire sensors; and uploading data measured by the pull wire sensor to an industrial personal computer in real time, and positioning the industrial personal computer through approximate positioning and adjustment calculation to obtain the plane coordinate and elevation of the positioning point in real time, so that the trolley is positioned. The invention has the advantages of dust interference resistance, high positioning precision, strong real-time property, high reliability and convenient use, and is very suitable for the positioning application requirement of the cantilever tunneling machine of the special tunnel equipment.
Description
Technical Field
The invention relates to the technical field of tunnel special equipment positioning, in particular to a method and a system for positioning and measuring a trolley for a tunnel.
Background
The automation and the intellectualization of special equipment for tunnel construction are one of the main trends of the development of tunnel construction machinery, the attitude measurement of the space position of the special equipment in a tunnel is a key step of the automatic tunnel construction, some special equipment for tunnels, such as a cantilever excavator, can move at any time in the operation process, the dust in the operation environment is large, some laser measurement methods are difficult to implement, and a space position real-time measurement means and method for resisting the dust interference are urgently needed. At present, the main problems of the existing tunnel special equipment positioning method in the market are as follows:
(1) the method has the advantages that the measuring instruments such as the total stations are adopted to measure the space positions of more than two prisms of the trolley to realize trolley positioning, the positioning precision is high, the real-time performance is poor, automatic tracking measurement is difficult to realize, time synchronization needs to be considered if a plurality of total stations are used for synchronous measurement, the system cost is high, and the system needs to be maintained when being in a dust environment for a long time.
(2) A multi-view vision measurement system is deployed outside the trolley, and the positioning accuracy of the multi-view vision imaging measurement mode of arranging the vision targets on the trolley is high, but the system arrangement is complex. After the multi-view vision system is deployed, the system can be applied only after being calibrated, the multi-view vision system needs to be unified with a tunnel measurement coordinate system, a multi-view camera needs to be used for synchronous imaging in dynamic measurement, and the system cost is high.
(3) The imaging sensors are arranged on the trolley for self-positioning, and the vision targets are required to be arranged outside the tunnel, so that synchronous pose measurement can be realized, and the pose precision is influenced by the imaging resolution and the imaging distance. The method can meet the requirement of positioning accuracy in static positioning, but certain vibration exists in the trolley during the working process of the trolley, so that imaging is easy to be blurred, and the vision measurement accuracy is seriously influenced.
Disclosure of Invention
The invention provides a method and a system for positioning and measuring a tunnel trolley, aiming at the technical problems that the existing method for positioning equipment for a tunnel is high in cost, the measurement precision is easily influenced by the operating environment and real-time positioning cannot be carried out.
In order to achieve the purpose, the technical scheme of the invention is realized as follows: a positioning and measuring method for a tunnel trolley comprises the following steps: at least two positioning devices are arranged on two sides of the trolley; fixed point groups with the same number as the positioning devices are arranged on the two sides of the tunnel, and each fixed point group comprises at least 3 fixed points; measuring the plane coordinate and elevation of each fixed point in a tunnel coordinate system, and connecting a pull rope of a pull line sensor in the positioning device with the fixed point; and uploading data measured by the pull wire sensor to an industrial personal computer in real time, and positioning the industrial personal computer through approximate positioning and adjustment calculation to obtain the coordinates of a positioning point in real time so as to position the trolley.
Preferably, the method for positioning by the industrial personal computer comprises the following steps: the approximate positioning is to calculate the approximate space coordinate of each positioning point by utilizing space coordinate operation; and taking the positioning point as a leveling point, taking the fixed point as a known fixed point, and taking data measured by the stay wire sensor as an observation value to form a space three-dimensional network indirect leveling relation, performing calculation by a space network leveling method to obtain a leveling coordinate of the positioning point, and positioning the trolley by using the leveling coordinate.
Preferably, the spatial coordinate operation is implemented by: in a fixed point group, the data measured by the pull line sensor is the distance from the corresponding locating point to the fixed point in the fixed point group, and a space geometric equation set is established by utilizing the coordinate of the fixed point and the relation between the coordinate of the locating point and the distance, so that the approximate space coordinate of the locating point is calculated.
Preferably, the plane distance from any one fixed point in the fixed point group to the rest fixed points is more than 0.3m, and any four points are not on one plane, so that the stable operation of the positioning device is realized.
The positioning device comprises a first positioning device and a second positioning device, wherein the first positioning device is provided with a positioning point p1The second positioning device is provided with a positioning point p2Point of positioning p 14 stay wire sensors are arranged on the tunnel wall, and the 4 stay wire sensors are respectively connected with fixing points d on the tunnel wall1、d2、d3、d4Connected, the lengths of the stay wires measured by the 4 stay wire sensors are respectively L1、L2、L3、L4Then, a space geometric equation set I is established:
wherein (X)p1,Yp1,Zp1) For an anchor point p1Coordinates in the Tunnel coordinate System, (X)d1,Yd1,Zd1) Is a fixed point d1Coordinates in the Tunnel coordinate System, (X)d2,Yd2,Zd2) Is a fixed point d2Coordinates in the Tunnel coordinate System, (X)d3,Yd3,Zd3) Is a fixed point d3Coordinates in the Tunnel coordinate System, (X)d4,Yd4,Zd4) Is a fixed point d4Coordinates in a tunnel coordinate system;
obtaining the positioning point p by solving the space geometric equation set I1Coordinates (X) in the Tunnel coordinate Systemp1,Yp1,Zp1) I.e. the anchor point p1Approximate spatial coordinates of (a);
wherein (X)p2,Yp2,Zp2) For an anchor point p2Coordinates in the Tunnel coordinate System, (X)d5,Yd5,Zd5) Is a fixed point d5Coordinates in the Tunnel coordinate System, (X)d6,Yd6,Zd6) Is a fixed point d6Coordinates in the Tunnel coordinate System, (X)d7,Yd7,Zd7) Is a fixed point d7Coordinates in a tunnel coordinate system;
obtaining the positioning point p by solving the space geometric equation set II2Coordinates (X) in the Tunnel coordinate Systemp2,Yp2,Zp2) I.e. the anchor point p2Approximate spatial coordinates of (a).
Two positioning devices are arranged on the same side of the tunnel, a common fixed point is arranged in a fixed point group corresponding to the positioning devices, any 4 fixed points are not on the same plane, and the distance from any point to the plane formed by the other three points is greater than 0.3 m.
Preferably, the positioning device comprises a first positioning device, a second positioning device and a third positioning device, and the first positioning device is provided with a positioning point p1The second positioning device is provided with a positioning point p2The third positioning device is provided with a positioning point p3Point of positioning p 14 stay wire sensors are arranged on the tunnel wall, and the 4 stay wire sensors are respectively connected with fixing points d on the tunnel wall1、d2、d3、d4Connected, the lengths of the stay wires measured by the 4 stay wire sensors are respectively L1、L2、L3、L4Establishing a space geometric equation set; location point p 23 stay wire sensors are arranged on the tunnel wall, and the 3 stay wire sensors are respectively connected with the fixed points d on the other side of the tunnel wall5、d6、d7Connected, the lengths of the stay wires measured by the 3 stay wire sensors are respectively L5、L6、L7At the same time, the point p is located2And an anchor point p1Distance L of0Is fixed, a space geometric equation set is established; location point p 33 stay wire sensors are arranged on the tunnel wall, and the 3 stay wire sensors are respectively connected with the fixed points d on the other side of the tunnel wall6、d7、d8Connected, the lengths of the stay wires measured by the 3 stay wire sensors are respectively L8、L9、L10Point of positioning p3And an anchor point p2Or anchor point p1The distance of (2) is fixed, and a space geometric equation set is established; respectively solving three space geometric equation sets to obtain positioning points p1Positioning point p2Positioning point p3Approximate spatial coordinates of (a).
Preferably, the adjustment calculation performed by the spatial network adjustment method includes a primary adjustment calculation and a secondary adjustment calculation, and when the median error obtained by the secondary adjustment calculation is smaller than the median error obtained by the primary adjustment calculation, the adjustment coordinates of the positioning points in the secondary adjustment calculation are used as the reference for positioning the trolley, and if not, the abnormal information is output.
Preferably, the spatial net adjustment method is implemented by: locate point p1、p2As a flat point, a fixed point d1、d2、d3、d4、d5、d6、d7As a known fixing point, the length L of the stay wire0、L1、L2、L3、L4、L5、L6、L7Forming a spatial three-dimensional network indirect adjustment relation as an observed value to perform integral one-time adjustment calculation to obtain a positioning point p1、p2Mean and mean error of
Then to the anchor point p1、p2Performing quadratic adjustment calculation to obtain the error
If it is not
Then locate point p1、p2The second adjustment coordinate of the step (b) is used as a trolley positioning reference.
The utility model provides a platform truck positioning measurement system for tunnel, includes two at least positioner, and positioner lays respectively in the both sides in tunnel, is equipped with the setpoint on the positioner, is equipped with 3 at least sensors of acting as go-between on the setpoint, and the sensor of acting as go-between is connected with the fixed point that sets up on the tunnel lateral wall, and the sensor of acting as go-between is connected with the industrial computer.
Preferably, the pull wire sensor is connected with the industrial personal computer through a concentrator, so that the measurement information can be conveniently acquired and processed in real time.
Preferably, the positioning point is provided with an outgoing line positioning plate, the outgoing line positioning plate is provided with a preformed hole, and the pull line sensor penetrates through the preformed hole. The pull wire sensor is convenient to fix and collect to the positioning point.
Preferably, the preformed holes on the outgoing line positioning plate provided with four preformed holes are arranged in a square shape, the preformed holes on the outgoing line positioning plate provided with three preformed holes are arranged in a regular triangle shape, and the distance between every two adjacent preformed holes is 2 times of the aperture of each preformed hole. Ensuring that the wires converge to a point as much as possible.
The invention has the beneficial effects that: 3 or 4 stay wire sensors form a positioning device which is arranged on two sides of a trolley to form a trolley positioning system, and a wire outlet structure of the positioning device adopts an arc chamfer to reduce the wear of stay wires and ensure that the stay wires are gathered at one point as far as possible; the method comprises the steps of reading measurement data of a plurality of stay wire measurement sensors onto an industrial personal computer, calculating approximate space coordinates of positioning points on a positioning device by the industrial personal computer through establishing a space geometric equation set by using the measurement data, and then performing adjustment calculation by using a space network adjustment method to obtain adjustment coordinates of the positioning points, so as to perform real-time positioning. Based on the positioning requirement of the high dust condition of the trolley of the special equipment for the tunnel, the invention designs the positioning and measuring system of the dust interference resistant trolley position and posture, has high positioning precision, strong real-time property, high reliability and convenient use, and is very suitable for the positioning application requirement of the cantilever heading machine of the special equipment for the tunnel. When the system needs to work, fixed points are arranged on two sides of a tunnel, tunnel coordinate measurement is carried out, and then the stay wire sensor is connected with the fixed points, so that real-time positioning can be realized; when the system does not work, the fixed point connection is released, and the stay wire sensor is automatically retracted into the positioning device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.
FIG. 2 is a flow chart of the spatial net adjustment method of the present invention.
FIG. 3 is a schematic structural diagram of embodiment 2 of the present invention
Fig. 4 is a schematic structural view of an outgoing line positioning plate according to embodiment 3 of the present invention.
Fig. 5 is a schematic structural diagram of circuit connection according to embodiment 3 of the present invention.
In the figure, 1 is a first positioning device, 2 is a second positioning device, 3 is a second positioning device, 4 is a tunnel rock wall, 5 is an outgoing line positioning plate, 6 is a reserved hole, 7 is a stay wire sensor, 8 is a concentrator, and 9 is an industrial personal computer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Preferably, the method for positioning by the industrial personal computer comprises the following steps: the approximate positioning is to calculate the approximate space coordinate of each positioning point by utilizing space coordinate operation; the space coordinate operation implementation method comprises the following steps: in a fixed point group, the data measured by the pull line sensor is the distance from the corresponding locating point to the fixed point in the fixed point group, and a space geometric equation set is established by utilizing the coordinate of the fixed point and the relation between the coordinate of the locating point and the distance, so that the approximate space coordinate of the locating point is calculated. The spatial point coordinates calculated directly by the distance intersection are not accurate and are therefore approximate spatial coordinates.
Preferably, the positioning point is used as a leveling point, the fixing point is used as a known fixing point, data measured by the pull line sensor is used as an observation value to form a space three-dimensional network indirect leveling relation, the calculation of a space network leveling method is carried out to obtain a leveling coordinate of the positioning point, the leveling coordinate is used as a trolley positioning result, and positioning accuracy can be improved after leveling.
Preferably, any 4 fixed points in the fixed point group are not on the same plane, and the distance from any point to the plane formed by the other three points is greater than 0.3m, so that the stable operation of the positioning device is ensured. If the 4 points locate two results on one plane, the calculation accuracy is very poor.
In a specific embodiment, the simplest trolley space positioning and attitude determination scheme is that, as shown in fig. 1, the positioning device includes a first positioning device 1 and a second positioning device 2, and a positioning point p is provided on the first positioning device 11The second positioning device 2 is provided with a positioning point p2Point of positioning p 14 stay wire sensors 7 are arranged on the tunnel rock wall 4, and the 4 stay wire sensors 7 are respectively fixed with the fixed points d on the tunnel rock wall 41、d2、d3、d4Connected to, fixed at points d1、d2、d3、d4Is four known coordinate points and is fixed in position, d1、d2、d3、d4The distance between any point of the four points and the plane formed by the other three points is more than 0.3m, and the 4 stay wire sensors 7 are converged and intersected at a positioning point p on the first positioning device1. The lengths of the stay wires measured by the 4 stay wire sensors 7 are respectively L1、L2、L3、L4I.e. the pull wire sensor measures the location point p1Respectively to a fixed point d1、d2、d3、d4The distance of (c). When the positioning device calculates, firstly, L is passed1、L2、L3、L4And establishing a space geometric equation set I by four edges:
wherein (X)p1,Yp1,Zp1) For an anchor point p1Coordinates in the Tunnel coordinate System, (X)d1,Yd1,Zd1) Is a fixed point d1Coordinates in the Tunnel coordinate System, (X)d2,Yd2,Zd2) Is a fixed point d2Coordinates in the Tunnel coordinate System, (X)d3,Yd3,Zd3) Is a fixed point d3Coordinates in the Tunnel coordinate System, (X)d4,Yd4,Zd4) Is a fixed point d4Coordinates in the tunnel coordinate system.
Obtaining the positioning point p by solving the space geometric equation set I1Coordinates (X) in the Tunnel coordinate Systemp1,Yp1,Zp1) I.e. the anchor point p1Approximate spatial coordinates of (a).
Location point p2Is provided with 3 stay wire sensors, and the 3 stay wire sensors are respectively connected with the fixed points d on the tunnel rock wall 4 at the other side5、d6、d7Are fixedly connected to each other, fixed point d5、d6、d7Three known coordinate points, 3 stay wire sensors are collected on the second positioning device 2 and intersect at a point positioning point p2. The lengths of the pull wires measured by the 3 pull wire sensors are respectively L5、L6、L7I.e. the pull wire sensor measures the location point p2Respectively to a fixed point d5、d6、d7While the location point p is known1、p2Setting a position point p at a position in a trolley coordinate system with two relatively fixed points1、p2Distance length in trolley coordinate system is L0. Location point p2And an anchor point p1Distance L of0Is stationary. Through L0、L5、L6、L7Four stripsEstablishing a space geometric equation set II:
wherein (X)p2,Yp2,Zp2) For an anchor point p2Coordinates in the Tunnel coordinate System, (X)d5,Yd5,Zd5) Is a fixed point d5Coordinates in the Tunnel coordinate System, (X)d6,Yd6,Zd6) Is a fixed point d6Coordinates in the Tunnel coordinate System, (X)d7,Yd7,Zd7) Is a fixed point d7Coordinates in a tunnel coordinate system;
obtaining the positioning point p by solving the space geometric equation set II2Coordinates (X) in the Tunnel coordinate Systemp2,Yp2,Zp2) I.e. the anchor point p2Approximate spatial coordinates of (a).
Completing anchor point p1、p2And after the approximate space coordinate is calculated, a space network adjustment method is applied, adjustment calculation is carried out by the space network adjustment method and comprises primary adjustment calculation and secondary adjustment calculation, when the median error obtained by the secondary adjustment calculation is smaller than the median error obtained by the primary adjustment calculation, the adjustment coordinate of the positioning point in the secondary adjustment calculation is used as the reference for positioning the trolley, and if the adjustment result is abnormal, the fact that the measurement possibly has gross errors is prompted. The second adjustment is to continue the adjustment by using the first adjustment as an approximate value, and generally, the second adjustment result has smaller error and higher and more reliable result precision.
As shown in fig. 2, the method for implementing the spatial net adjustment method includes: locate point p1、p2As a flat point, a fixed point d1、d2、d3、d4、d5、d6、d7As a known fixing point, the length L of the stay wire0、L1、L2、L3、L4、L5、L6、L7Forming a spatial three-dimensional network indirect adjustment relation as an observed value, and performing integral one-time adjustment calculation to obtainTo anchor point p1、p2Mean and mean error of
And the secondary adjustment is to adjust the coordinate of the positioning point by taking the result of the primary adjustment as an approximate value. Then to the anchor point p1、p2Performing quadratic adjustment calculation to obtain the error
If it is not
Then locate point p1、p2The second adjustment coordinate of the step (b) is used as a trolley positioning reference. The equation relationship between the secondary adjustment and the primary adjustment is consistent, namely, the primary adjustment result is used as an approximate coordinate to be calculated once again.
As shown in fig. 3, the positioning device includes a first positioning device 1, a second positioning device 2 and a third positioning device 3, wherein a positioning point p is disposed on the first positioning device 11The second positioning device 2 is provided with a positioning point p2The third positioning device 3 is provided with a positioning point p3Point of positioning p1、p2、p3The coordinates in the trolley coordinate system are known. Location point p14 stay wire sensors are arranged on the tunnel wall, and the 4 stay wire sensors are respectively connected with fixing points d on the tunnel wall1、d2、d3、d4Connected, the lengths of the stay wires measured by the 4 stay wire sensors are respectively L1、L2、L3、L4Establishing a space geometric equation set; location point p2Is provided with 3 stay wire sensors, and the 3 stay wire sensors are respectively connected with the other stay wire sensorsFixed point d on one side of tunnel wall5、d6、d7Connected, the lengths of the stay wires measured by the 3 stay wire sensors are respectively L5、L6、L7At the same time, the point p is located2And an anchor point p1Distance L of0Is fixed, a space geometric equation set is established; location point p33 stay wire sensors are arranged on the tunnel wall, and the 3 stay wire sensors are respectively connected with the fixed points d on the other side of the tunnel wall6、d7、d8Connected, the lengths of the stay wires measured by the 3 stay wire sensors are respectively L8、L9、L10Point of positioning p3And an anchor point p2Or anchor point p1The distance of (2) is fixed, and a space geometric equation set is established; respectively solving three space geometric equation sets to obtain positioning points p1Positioning point p2Positioning point p3Approximate spatial coordinates of (a). Point d in the tunnel wall 41、d2、d3、d4、d5、d6、d7、d8Coordinates in a tunnel measurement coordinate system are known, and a positioning point p on the trolley is located by ranging through three stay wire sensor positioning devices1、p2、p3And measuring the position of the tunnel measurement coordinate system. At 3 anchor points p1、p2、p3Under the condition that the coordinate system of the trolley is known, the spatial position and the attitude of the trolley in the tunnel coordinate system can be calculated. The two space coordinate systems can be subjected to coordinate system conversion through the three positioning points, and if the coordinates of the three positioning points on the trolley in the trolley coordinate system and the world coordinate system are obtained, the hollow position and the attitude of the trolley in the world coordinate system can be calculated through the three positioning points.
The three positioning devices can determine the space position of the trolley and the three-dimensional space attitude of the trolley, and the two devices can only determine the space position and the heading angle of the trolley.
The other structures and methods are the same as in example 1.
As shown in fig. 5, the pull sensor 7 is connected to an industrial personal computer 9 through a hub 8 to collect data of a plurality of pull sensors, the industrial personal computer 9 receives a distance measurement value of the pull sensor, and then calculates according to the trolley positioning process of embodiment 1 to obtain positioning points p on two sides of the trolley1、p2And (4) judging the position of the trolley in the tunnel and the deflection angle of the trolley relative to the tunnel according to the coordinate values in the tunnel coordinate system. Two points define a straight line, which is directional, the position of the trolley is known, specifically, the positioning point p is known1、p2Coordinates in the trolley coordinate system, and the locating point p1、p2And (3) performing plane coordinate system conversion on the coordinates in the tunnel coordinate system, wherein the plane position and deflection angle of the trolley in the tunnel coordinate system can be calculated by performing the plane coordinate system conversion, and the position and deflection angle of the trolley in the tunnel can be obtained.
Preferably, the positioning point is provided with an outgoing line positioning plate, the outgoing line positioning plate is provided with a preformed hole, and the pull line sensor penetrates through the preformed hole. The outgoing line positioning plate 5 is a regular hexagonal plate, the outgoing line positioning plate can collect a plurality of stay wire sensors to one point, as shown in fig. 4, the stay wire sensors penetrate through the preformed holes 6, the preformed holes in the outgoing line positioning plate 5 provided with the four preformed holes 6 are arranged into a square, the preformed holes in the outgoing line positioning plate provided with the three preformed holes are arranged into a regular triangle, the distance between the continuous preformed holes is 2 times of the aperture of the preformed holes, and the stay wires are guaranteed to be gathered at one point as much as possible.
The other structures and methods are the same as in example 1.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (13)
1. A positioning and measuring method for a tunnel trolley is characterized by comprising the following steps: at least two positioning devices are arranged on two sides of the trolley; fixed point groups with the same number as the positioning devices are arranged on the two sides of the tunnel, and each fixed point group comprises at least 3 fixed points; measuring the plane coordinate and elevation of each fixed point in a tunnel coordinate system, and connecting a pull line sensor in the positioning device with the fixed point through a pull rope; and uploading data measured by the pull wire sensor to an industrial personal computer in real time, and positioning the industrial personal computer through approximate positioning and adjustment calculation to obtain the coordinates of a positioning point in real time so as to position the trolley.
2. The method for positioning and measuring the trolley for the tunnel according to claim 1, wherein the method for positioning by the industrial personal computer comprises the following steps: the approximate positioning is to calculate the approximate space coordinate of each positioning point by utilizing space distance intersection; and taking the positioning point as a leveling point, taking the fixed point as a known point, and taking data measured by the stay wire sensor as an observed value to form a space three-dimensional network indirect leveling relation, performing space network leveling method calculation to obtain a leveling coordinate of the positioning point, and taking the leveling coordinate as a trolley positioning result.
3. The method for positioning and measuring the trolley for the tunnel according to claim 2, wherein the spatial coordinate operation is realized by: in a fixed point group, the data measured by the pull line sensor is the distance from the corresponding locating point to the fixed point in the fixed point group, and a space geometric equation set is established by utilizing the coordinate of the fixed point and the relation between the coordinate of the locating point and the distance, so that the approximate space coordinate of the locating point is calculated.
4. The method as claimed in claim 1 or 3, wherein the distance of any one of the fixed points from the other fixed points in the fixed point group is greater than 0.3m, and any four points are not on a plane.
5. According to the claimsThe method for positioning and measuring the tunnel trolley is characterized in that the positioning device comprises a first positioning device and a second positioning device, and a positioning point p is arranged on the first positioning device1The second positioning device is provided with a positioning point p2Point of positioning p14 stay wire sensors are arranged on the tunnel wall, and the 4 stay wire sensors are respectively connected with fixing points d on the tunnel wall1、d2、d3、d4Connected, the lengths of the stay wires measured by the 4 stay wire sensors are respectively L1、L2、L3、L4Then, a space geometric equation set I is established:
wherein (X)p1,Yp1,Zp1) For an anchor point p1Coordinates in the Tunnel coordinate System, (X)d1,Yd1,Zd1) Is a fixed point d1Coordinates in the Tunnel coordinate System, (X)d2,Yd2,Zd2) Is a fixed point d2Coordinates in the Tunnel coordinate System, (X)d3,Yd3,Zd3) Is a fixed point d3Coordinates in the Tunnel coordinate System, (X)d4,Yd4,Zd4) Is a fixed point d4Coordinates in a tunnel coordinate system;
obtaining the positioning point p by solving the space geometric equation set I1Coordinates (X) in the Tunnel coordinate Systemp1,Yp1,Zp1) I.e. the anchor point p1Approximate spatial coordinates of (a);
location point p23 stay wire sensors are arranged on the tunnel wall, and the 3 stay wire sensors are respectively connected with the fixed points d on the other side of the tunnel wall5、d6、d7Connected, the lengths of the stay wires measured by the 3 stay wire sensors are respectively L5、L6、L7(ii) a At the same time, the anchor point p2And an anchor point p1Distance L of0If fixed, then set up space geometry equation II:
wherein (X)p2,Yp2,Zp2) For an anchor point p2Coordinates in the Tunnel coordinate System, (X)d5,Yd5,Zd5) Is a fixed point d5Coordinates in the Tunnel coordinate System, (X)d6,Yd6,Zd6) Is a fixed point d6Coordinates in the Tunnel coordinate System, (X)d7,Yd7,Zd7) Is a fixed point d7Coordinates in a tunnel coordinate system;
obtaining the positioning point p by solving the space geometric equation set II2Coordinates (X) in the Tunnel coordinate Systemp2,Yp2,Zp2) I.e. the anchor point p2Approximate spatial coordinates of (a).
6. The method as claimed in claim 4, wherein two positioning devices are arranged on the same side of the tunnel, and the positioning devices have a common fixing point in the corresponding fixing point group.
7. The method as claimed in claim 6, wherein the positioning device comprises a first positioning device, a second positioning device and a third positioning device, the first positioning device is provided with a positioning point p1The second positioning device is provided with a positioning point p2The third positioning device is provided with a positioning point p3Point of positioning p14 stay wire sensors are arranged on the tunnel wall, and the 4 stay wire sensors are respectively connected with fixing points d on the tunnel wall1、d2、d3、d4Connected, the lengths of the stay wires measured by the 4 stay wire sensors are respectively L1、L2、L3、L4Establishing a space geometric equation set; location point p23 stay wire sensors are arranged on the tunnel wall, and the 3 stay wire sensors are respectively connected with the fixed points d on the other side of the tunnel wall5、d6、d7Connected, 3 stay wire sensors measuring stay wireEach length is L5、L6、L7At the same time, the point p is located2And an anchor point p1Distance L of0Is fixed, a space geometric equation set is established; location point p33 stay wire sensors are arranged on the tunnel wall, and the 3 stay wire sensors are respectively connected with the fixed points d on the other side of the tunnel wall6、d7、d8Connected, the lengths of the stay wires measured by the 3 stay wire sensors are respectively L8、L9、L10Point of positioning p3And an anchor point p2Or anchor point p1The distance of (2) is fixed, and a space geometric equation set is established; respectively solving three space geometric equation sets to obtain positioning points p1Positioning point p2Positioning point p3Approximate spatial coordinates of (a).
8. The method for positioning and measuring the trolley for the tunnel according to any one of claims 5 to 7, wherein the adjustment calculation by the spatial network adjustment method comprises a primary adjustment calculation and a secondary adjustment calculation, and when the median error obtained by the secondary adjustment calculation is smaller than the median error obtained by the primary adjustment calculation, the adjustment coordinates of the positioning points in the secondary adjustment calculation are used as the reference for positioning the trolley, and if not, abnormal information is output.
9. The method for positioning and measuring the trolley for the tunnel according to claim 8, wherein the space network adjustment method is realized by the following steps: locate point p1、p2As a flat point, a fixed point d1、d2、d3、d4、d5、d6、d7As a known fixing point, the length L of the stay wire0、L1、L2、L3、L4、L5、L6、L7Forming a spatial three-dimensional network indirect adjustment relation as an observed value to perform integral one-time adjustment calculation to obtain a positioning point p1、p2Mean and mean error of
Then to the anchor point p1、p2Performing quadratic adjustment calculation to obtain the error
If it is not
Then locate point p1、p2The second adjustment coordinate of the step (b) is used as a trolley positioning reference.
10. The measurement system of the positioning measurement method of the trolley for the tunnel according to any one of claims 1 to 3 and 8, comprising at least two positioning devices, wherein the positioning devices are respectively arranged at two sides of the tunnel, the positioning devices are provided with positioning points, the positioning points are provided with at least 3 stay wire sensors, the stay wire sensors are connected with fixing points arranged on the side wall of the tunnel, and the stay wire sensors are connected with an industrial personal computer.
11. The positioning and measuring system of the trolley for the tunnel according to claim 10, wherein the pull sensor is connected with an industrial personal computer through a hub.
12. The system of claim 11, wherein the positioning point is provided with a wire-outgoing positioning plate, the wire-outgoing positioning plate is provided with a reserved hole, and the wire-pulling sensor passes through the reserved hole.
13. The positioning and measuring system for the trolley for the tunnel according to claim 12, wherein the prepared holes on the outgoing-line positioning plate provided with four prepared holes are arranged in a square shape, the prepared holes on the outgoing-line positioning plate provided with three prepared holes are arranged in a regular triangle shape, and the distance between the prepared holes is 2 times the aperture of the prepared holes.
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