CN114492703B - Tunnel positioning method, device and punching method based on path planning navigation - Google Patents

Tunnel positioning method, device and punching method based on path planning navigation Download PDF

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CN114492703B
CN114492703B CN202210031240.2A CN202210031240A CN114492703B CN 114492703 B CN114492703 B CN 114492703B CN 202210031240 A CN202210031240 A CN 202210031240A CN 114492703 B CN114492703 B CN 114492703B
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module
coordinates
tunnel
positioning device
positioning
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CN114492703A (en
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陈浙泊
毕江海
胡泽新
王继军
王维锐
王振文
余建安
叶雪旺
熊秋龙
刘玖林
郭柱
李广平
王维镝
薛晓荣
简浩
徐亮安
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Research Institute of Zhejiang University Taizhou
China Railway Construction Electrification Bureau Group Co Ltd
South Engineering Co Ltd of China Railway Construction Electrification Bureau Group Co Ltd
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Research Institute of Zhejiang University Taizhou
China Railway Construction Electrification Bureau Group Co Ltd
South Engineering Co Ltd of China Railway Construction Electrification Bureau Group Co Ltd
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Priority to CN202311096486.9A priority Critical patent/CN117408288A/en
Priority to CN202311097718.2A priority patent/CN117408289A/en
Priority to CN202210031240.2A priority patent/CN114492703B/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/067—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components
    • G06K19/07—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips
    • G06K19/0723—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips the record carrier comprising an arrangement for non-contact communication, e.g. wireless communication circuits on transponder cards, non-contact smart cards or RFIDs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a tunnel positioning method, a tunnel positioning device and a tunnel punching method based on path planning navigation, wherein the positioning device comprises an automatic laser aiming module, an automatic leveling mechanism, a processing control module, an RFID read-write module, a power module, a fixed base and a position tag module; the power supply module is arranged between the processing control module and the fixed base; the upper side of the processing control module is also provided with an automatic leveling structure, and the automatic leveling mechanism is provided with an automatic laser aiming module; the RFID read-write modules are arranged at the left side and the right side of the processing control module; the position tag module is arranged at the inner side of the tunnel; the processing module is respectively connected with the automatic laser aiming module, the automatic leveling mechanism, the RFID read-write module and the power supply module; the angle and distance detection of the position tag module in the tunnel is completed by arranging the automatic laser aiming module, and the relative position is recorded and acquired according to the RFID reading and writing process of the position tag module.

Description

Tunnel positioning method, device and punching method based on path planning navigation
Technical Field
The present invention relates to the field of tunnel positioning, and in particular, to a tunnel positioning method, apparatus and punching method based on path planning navigation.
Background
Along with the promotion of urban traffic construction, the requirements on traffic convenience are also higher and higher. For road traffic, due to the limitation of road width and other factors, the development degree of road traffic is limited, so underground traffic and overhead traffic including subways, light rails and the like are increasingly popular.
Trains of subways usually run on totally enclosed lines, especially lines located in central urban areas, are built essentially in underground tunnels, and therefore great construction difficulties also exist. For road traffic, it is extremely important to obtain accurate road mileage data, which can facilitate the installation of markers, such as street lamps, milestones, etc. However, in the process of constructing an underground tunnel, due to closed environment and poor signal, the positioning and ranging in the tunnel are difficult to complete due to the difficulty of external communication facilities, and the construction of the tunnel is greatly hindered; on the other hand, due to the influence of frequent braking, starting and other factors, the counting of the odometer is inaccurate, and the acquired mileage data is difficult to ensure. There is a need for a tunnel locating device and method based on path planning navigation.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a tunnel positioning method, a tunnel positioning device and a tunnel punching method based on path planning navigation.
In order to solve the problems, the invention adopts the following technical scheme:
a tunnel positioning device based on path planning navigation comprises an automatic laser aiming module, an automatic leveling mechanism, a processing control module, an RFID read-write module, a power module, a fixed base and a position label module; the power supply module is arranged between the processing control module and the fixed base; the upper side of the processing control module is also provided with an automatic leveling structure, and the automatic leveling mechanism is provided with an automatic laser aiming module; the RFID read-write modules are arranged at the left side and the right side of the processing control module; the position tag module is arranged at the inner side of the tunnel; the processing module is respectively connected with the automatic laser aiming module, the automatic leveling mechanism, the RFID read-write module and the power supply module.
Further, the fixed base frame is arranged on a railway track or at a set position of the external rail large-sized flat car;
the position tag module is arranged in the tunnel and is of a transparent cube structure; reflective labels are arranged on two opposite surfaces of the position label module; the RFID is further arranged on one surface of the position tag module facing the track;
The processing control module comprises a microcomputer and an FPGA module, wherein the microcomputer is used for processing information acquired by the automatic laser aiming module and finishing distance calculation; the FPGA module is respectively connected with the microcomputer and the automatic leveling mechanism and is used for controlling the automatic leveling mechanism to realize leveling;
the automatic laser aiming module comprises a left rotating motor, a right rotating motor, an upper rotating motor, a lower rotating motor, a far vision standard module and a mounting frame; the far vision standard module is arranged on the mounting frame through a left rotating motor, a right rotating motor, an upper rotating motor and a lower rotating motor, and realizes left and right and up and down rotation through the left rotating motor, the right rotating motor, the upper rotating motor and the lower rotating motor respectively; the left rotating motor, the right rotating motor, the upper rotating motor and the lower rotating motor can also acquire respective rotation angles; the mounting frame is arranged on the automatic leveling structure; the far vision standard module comprises a laser ranging module and a machine vision module, wherein the laser ranging module is used for detecting the distance, and the machine vision module is used for acquiring images;
the automatic leveling mechanism comprises a biaxial angle rotating platform, an inclination sensor, a biaxial rotating motor and an FPGA control card; the FPGA control card is respectively connected with the biaxial angle rotating platform, the inclination sensor and the biaxial rotating motor, and is also connected with an FPGA module in the processing control module;
The RFID read-write module comprises an RFID read-write device and telescopic arms, wherein the RFID read-write device is arranged on the left side and the right side of the processing control module through the telescopic arms.
A tunnel positioning method based on path planning navigation comprises the following steps:
step 1: the positioning device acquires longitude and latitude coordinates of a first group of CP3 datum points C0 and C1, and a forward coordinate system is established;
step 2: the positioning device enters a tunnel and moves forward along the tunnel, and a position label module is arranged when mileage is set for each forward movement;
step 3: taking the set position tag module as a point to be measured, combining the coordinates of the datum points with the automatic laser aiming module, and sequentially detecting and obtaining detection coordinates of the point to be measured between the two groups of datum points through a coarse positioning process;
step 4: the positioning device obtains longitude and latitude coordinates of a second group of CP3 datum points C2 and C3 and brings the longitude and latitude coordinates into a positive coordinate system; comparing the converted coordinates of the actual longitude and latitude coordinates of the datum points C2 and C3 with the detection coordinates thereof to obtain a first error; wherein the detection coordinates represent measured values obtained by the positioning device through a coarse positioning process;
step 5: the positioning device continues to move forward until the device exits the tunnel, and longitude and latitude coordinates of a reference point group at the exit of the tunnel are acquired; according to the steps 1 to 4, a forward coordinate system between any two datum point groups is obtained;
Step 6: the positioning device returns a first group of datum points from the datum point group of the tunnel outlet, the automatic laser aiming module sequentially detects points to be detected between the two groups of datum points, a coarse positioning process is combined to obtain detection coordinates, the detection coordinates are revised according to a first error between every two adjacent datum points, revised coordinates are obtained, and a reverse coordinate system between any two datum point groups is obtained;
step 7: the positioning device obtains longitude and latitude coordinates of the reference point and brings the longitude and latitude coordinates into an inverse coordinate system; comparing the converted coordinates of the actual longitude and latitude coordinates of the reference point in each reverse coordinate system with the detected coordinates thereof to obtain a second error of each section of reverse coordinate system;
step 8: obtaining the ratio of the mileage between the second error of each section of reverse coordinate system and the corresponding reference point group, and comparing the ratio with a set threshold value; if the ratio exceeds the set threshold, the error of the revised coordinate is considered to be larger, the revised coordinate is needed to be revised again according to the second error, the second revised coordinate is obtained, and the step 9 is entered; otherwise, the revised coordinates are considered to accord with the error expectation, and the step is ended;
step 9: the positioning device returns to the tunnel outlet from the first group of datum points of the tunnel inlet, the corrected secondary revised coordinates are written into the RFID of the to-be-measured point, and the step is finished.
Further, in the step 1, C0 is set as the origin of coordinates, and the converted coordinates of the reference point C0 in the forward coordinate system are set to (0, 0); the latitude and longitude coordinates of the reference point C1 are taken into the coordinate system one to obtain converted coordinates (X1, Y1, Z1), as follows:
Z1＝H0-H1
the longitude and latitude coordinates of the obtained datum points C0 and C1 are (N0, E0, H0) and (N1, E1, H1) respectively; l is earth perimeter information, l=6381372×math.pi×2, and the ratio of the perimeter L to 360/60/60 is converted into an angular second, which represents the corresponding length per angular second, and the unit is meter.
Further, the process of setting the position tag module in the step 2 includes:
firstly, setting the diameter of a tunnel as D1 m, setting the projection distance of an automatic laser aiming module as L m, and obtaining a steering angle theta according to the projection distance and the diameter of the tunnel, wherein the steering angle theta is expressed as:
the positioning device controls a left rotating motor and a right rotating motor of the automatic laser aiming module to rotate left and right by an angle theta respectively, projects laser points into a tunnel, and sets a position label module at the laser points; after the setting of one position label module is completed, the position label module can advance forward for setting mileage L', and the process is repeated to complete the setting of all position label modules.
Further, the coarse positioning process in the step 3 needs to detect the point to be detected between two adjacent reference points, wherein each time the reference point group is passed, the coordinate of longitude and latitude of the reference point group is used as a detection reference of the point to be detected in the next section of tunnel according to the converted coordinate of the reference point group in the forward coordinate system; the coarse positioning process comprises the following steps:
step 31: the positioning device runs forward along the track from the tunnel entrance, reads longitude and latitude coordinates of the passing datum point group, and establishes a forward coordinate system;
step 32: obtaining driving mileage data through an encoder, obtaining a flow through unknown points, and obtaining detection coordinates of adjacent unknown points to be measured according to reference points;
step 33: and continuously and circularly obtaining the detection coordinates of the adjacent unknown points to be detected according to the detection coordinates of the known points to be detected until reaching the tunnel outlet, and ending the step.
Further, the unknown point obtaining process in the step 32 includes:
step 321: the positioning device starts the automatic aiming process of the telescopic system, coarsely positions the known point P1, and obtainsWherein delta represents the angle of rotation of the upper and lower motors in the automatic laser sighting module, < > >The rotation angles of the left motor and the right motor are represented, and dist represents a distance value obtained by a vision standard module for far vision; the known point P1 comprises a reference point and a point to be detected for completing coordinate detection;
step 322: converting delta-P1 into (delta X, delta Y, delta Z) according to a polar coordinate formula, and obtaining a coordinate-carp1 (X+delta X, Y+delta Y, Z+delta Z) of the positioning device by taking the coordinate (X, Y, Z) of a known point P1 in an inverse coordinate system as a reference;
step 323: the positioning device coarsely positions the known point P2 to obtainObtaining a coordinate dicarp 2 of the positioning device according to the delta-P2 and the coordinates of the known point P2 in the reverse coordinate system;
step 324: obtaining a weighted coordinate carP of the positioning device according to the weighted average of carP1 and carP2;
step 325: the positioning means aim at the unknown points p3 and p4, obtain the relative coordinates of the measurements, and obtain the p3 and p4 detection coordinates according to the weighted coordinates carP of the positioning means.
Further, the weighted coordinate carP in step 324 is first established with the space coordinate system, the coordinates of the positioning device are used as the origin, and the weighted coordinate carP is obtainedAnd-> The positions of P1 and P2 are obtained in a space coordinate system, and points P1 and P2 are connected in the space coordinate system to obtain line segments P1-P2; obtaining the coordinates of a positioning device, namely the origin, and the vertical line and the vertical point coordinates of the line segments P1-P2; and assigning weights w1 and w2 according to the distance ratio of the vertical point coordinates to the P1 and P2 coordinates in the space coordinate system, wherein the sum of the weights w1 and w2 is 1.
Further, after the step 3 sets the position tag module and completes coarse positioning, the coordinates of the coarse positioning need to be written into the RFID of the position tag module, which specifically includes the following steps:
when the telescopic arm of the RFID read-write module stretches, the minimum distance between the RFID read-write device and the central axis of the tunnel is set to be D2, wherein the central axis of the tunnel is coincident with the central axis of the track; setting the reading and writing range of the RFID reading and writing module to be L1 meters, and obtaining the perception length Lrfid of the RFID reading and writing module in the driving process of the positioning device is expressed as follows:
after the sensing length Lrfid is obtained, the RFID signal is received for the first time by the positioning device, the mileage of half of the sensing length Lrfid is continued, and then the RFID writing operation is carried out.
The punching method based on the positioning method comprises the following steps: step S1: fixing a positioning device on a base of a punching manipulator to obtain punching coordinates of punching points;
step S2: the base of the punching manipulator enters a tunnel along a track, and RFID record coordinates of a position tag module on a tunnel wall are obtained through an RFID read-write module of the positioning device;
step S3: the base continues to move, the positioning device performs angle and distance measurement according to the position tag module, and obtains car body coordinates (carx 1, cary1, carz 1) by combining the read RFID record coordinates;
Step S4: obtaining relative coordinates (deltax, deltay, deltaz) of the positioning device and the rotary head of the punching manipulator; the relative coordinates (Δx, Δy, Δz) will vary with the motion of the punch manipulator; the relative coordinates are used as compensation coordinates, and the compensation coordinates (delta x, delta y, delta z) are transmitted to punching positioning coordinates of the positioning device to obtain punching positioning coordinates (carx1+delta x, cary1+delta y, carz1+delta z);
step S5: controlling the base to move to enable the punching positioning coordinates to be equal to the set punching coordinates, completing the positioning of punching and completing the punching work;
step S6: and sequentially circulating until the whole tunnel is perforated.
The beneficial effects of the invention are as follows:
the method comprises the steps that an automatic laser aiming module is arranged, the detection of angles and distances of position tag modules in a tunnel is completed, and relative positions are recorded and obtained according to the RFID reading and writing process of the position tag modules;
the automatic laser aiming module is arranged on the automatic leveling mechanism, so that errors caused by uneven track on detection are avoided, and the position detection accuracy of the position tag module is ensured;
the coordinates of the position points are obtained through the coordinates of the known points, iteration is carried out, the positions of all the to-be-measured points are associated with the datum points, the to-be-measured points are corrected according to the errors compared with the datum points, and the detection coordinate errors of the to-be-measured points are reduced;
By obtaining the sensing length of the RFID read-write module, when the RFID is sensed, the sensing length is half of that of the RFID, so that the RFID read-write module is opposite to the RFID arranged on the position tag module as far as possible.
Drawings
FIG. 1 is a diagram showing the overall structure of a positioning device according to a first embodiment of the present invention;
FIG. 2 is a diagram showing a connection relationship of a positioning device according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a position tag module according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram of an automatic laser sight module and an automatic leveling mechanism according to a first embodiment of the present invention;
FIG. 5 is a diagram of a far vision standard module in an automatic laser sight module according to a first embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the operation of a positioning device according to a first embodiment of the present invention;
FIG. 7 is an exploded view of an RFID read/write module of a positioning device according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a positioning tag according to a first embodiment of the present invention;
FIG. 9 is a coarse positioning flowchart according to a first embodiment of the present invention;
FIG. 10 is a flowchart of obtaining unknown point coordinates from known point coordinates according to a first embodiment of the present invention;
FIG. 11 is a diagram of a first embodiment of the present invention for obtaining a known point from an unknown point;
FIG. 12 is a flowchart of a punching method according to a second embodiment of the present invention;
Fig. 13 is a schematic diagram of punching according to a second embodiment of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
Embodiment one:
as shown in fig. 1 and 2, a tunnel positioning device based on path planning navigation comprises an automatic laser aiming module, an automatic leveling mechanism, a processing control module, an RFID read-write module, a power module, a fixed base and a position tag module; the power supply module is arranged between the processing control module and the fixed base; the upper side of the processing control module is also provided with an automatic leveling structure, and the automatic leveling mechanism is provided with an automatic laser aiming module; the RFID read-write modules are arranged at the left side and the right side of the processing control module; the position tag module is arranged at the inner side of the tunnel; the processing module is respectively connected with the automatic laser aiming module, the automatic leveling mechanism, the RFID read-write module and the power supply module.
As shown in fig. 3, the fixed base can be erected on a railway track and move on the railway track; the fixed base can also be arranged at the set position of the external large-sized rail flat car, and the fixed-point punching operation and the like can be completed in the tunnel along with the large-sized rail flat car.
The position tag module is arranged in the tunnel and is of a transparent cube structure; reflective labels are arranged on two opposite surfaces of the position label module and used for reflecting laser to obtain reflective light spots. The two planes provided with the reflective labels are approximately perpendicular to the tunnel direction, so that the purpose is that laser emitted by the automatic laser aiming module can irradiate the reflective labels; and the RFID is further arranged on one surface of the position tag module, facing the track, so that the RFID reading and writing operation can be completed when the RFID reading and writing module passes along with the movement of the fixed base.
The processing control module comprises a microcomputer (RPi) and an FPGA module, wherein the microcomputer is used for processing information acquired by the automatic laser aiming module and finishing distance calculation; the FPGA module is respectively connected with the microcomputer and the automatic leveling mechanism and is used for controlling the automatic leveling mechanism to realize leveling. The processing control module also comprises an LCD module, wherein the LCD module is connected with the microcomputer and is used for displaying detection data, so that man-machine interaction is convenient to realize.
As shown in fig. 4-6, the automatic laser sighting module comprises a left-right rotating motor, an upper-lower rotating motor, a far vision standard module and a mounting frame; the far vision standard module is arranged on the mounting frame through a left rotating motor, a right rotating motor, an upper rotating motor and a lower rotating motor, and realizes left and right and up and down rotation through the left rotating motor, the right rotating motor, the upper rotating motor and the lower rotating motor respectively; the left rotating motor, the right rotating motor, the upper rotating motor and the lower rotating motor can also acquire respective rotation angles; the mounting frame is arranged on the automatic leveling structure. The far vision standard module comprises a laser ranging module and a machine vision module, wherein the laser ranging module is used for detecting the distance, and the machine vision module is used for acquiring the image.
The automatic leveling mechanism comprises a biaxial angle rotating platform, an inclination sensor, a biaxial rotating motor and an FPGA control card; the FPGA control card is respectively connected with the biaxial angle rotating platform, the inclination sensor and the biaxial rotating motor, and is also connected with an FPGA module in the processing control module; the inclination angle sensor is used for detecting the inclination angle of the biaxial angle rotating platform and leveling the platform through the biaxial rotating motor. In this example, the control method for the biaxial rotating motor by connecting the FPGA control card with the FPGA module is incremental PID control, which comprises obtaining PID increment through the detection value of the inclination sensor, converting the PID increment into unit time of output pulse, and controlling the adjustment speed of the platform by setting the lower limit of unit time to slow down the abrasion speed of the contact part of the platform.
As shown in fig. 7, the RFID read-write module includes an RFID read-write device and a telescopic arm, where the RFID read-write device is installed on the left and right sides of the processing control module through the telescopic arm; the RFID read-write device is used for writing or reading the coordinate position in the RFID of the position tag module; the telescopic arm is convenient for the RFID read-write device to approach to the position tag module, ensures that the RFID read-write device can read the RFID of the position tag module arranged on the inner wall of the tunnel, ensures the safety and stability of the driving process, and reduces the interference to the external environment.
As shown in fig. 8, a tunnel positioning method based on path planning navigation includes the following steps:
step 1: the positioning device acquires longitude and latitude coordinates of a first group of CP3 datum points C0 and C1, establishes a forward coordinate system and sets a coordinate origin; in this example, a first group of reference points encountered in the travelling direction, wherein the reference points positioned on the right side of the positioning device are used as the origin of a coordinate system, the forward direction is used as an X axis, and the forward direction is used as a Y axis; where C0 is the origin of coordinates of the forward coordinate system one; the longitude and latitude coordinates of the CP3 datum points C0 and C1 are obtained through external positioning equipment, and the longitude and latitude coordinates comprise GPS, beidou and the like; the first group of datum points C0 and C1 are CP3 datum points arranged at the entrance of the tunnel;
Step 2: the positioning device enters a tunnel and moves forward along the tunnel, and a position label module is arranged when mileage is set for each forward movement;
step 3: taking the set position tag module as a point to be measured, combining the coordinates of the datum points with the automatic laser aiming module, and sequentially detecting and obtaining detection coordinates of the point to be measured between the two groups of datum points through a coarse positioning process;
step 4: the positioning device obtains longitude and latitude coordinates of a second group of CP3 datum points C2 and C3 and brings the longitude and latitude coordinates into a positive coordinate system; comparing the converted coordinates of the actual longitude and latitude coordinates of the datum points C2 and C3 with the detection coordinates thereof to obtain a first error; wherein the detection coordinates represent measured values obtained by the positioning device through a coarse positioning process;
step 5: the positioning device continues to move forward until the device exits the tunnel, and longitude and latitude coordinates of a reference point group at the exit of the tunnel are acquired; according to the steps 1 to 4, a forward coordinate system between any two datum point groups is obtained; in this example, the origin of coordinates of a forward coordinate system and the like between any two reference point groups is the same, and in this example, C0 is used; in some other embodiments, the origin of coordinates of the forward coordinate system between different reference points may also be set separately;
Step 6: the positioning device returns to the first group of datum points from the datum point group of the tunnel outlet, the points to be detected between the two groups of datum points are sequentially detected through the automatic laser aiming module, and detection coordinates are obtained by combining a rough positioning process; revising the detection coordinates according to the first error between every two adjacent datum points to obtain revised coordinates, and writing the revised coordinates into the RFID of the to-be-measured point; obtaining an inverse coordinate system between any two datum point groups; in this example, the origin of coordinates of the reverse coordinate system between any two reference point groups is the same;
step 7: the positioning device obtains longitude and latitude coordinates of the reference point and brings the longitude and latitude coordinates into an inverse coordinate system; comparing the converted coordinates of the actual longitude and latitude coordinates of the reference point in each reverse coordinate system with the detected coordinates thereof to obtain a second error of each section of reverse coordinate system;
step 8: obtaining the ratio of the mileage between the second error of each section of reverse coordinate system and the corresponding reference point group, and comparing the ratio with a set threshold value; if the ratio exceeds the set threshold, the error of the revised coordinate is considered to be larger, the revised coordinate is needed to be revised again according to the second error, the second revised coordinate is obtained, and the step 9 is entered; otherwise, the revised coordinates are considered to accord with the error expectation, and the step is ended;
Step 9: the positioning device returns to the tunnel outlet from the first group of datum points of the tunnel inlet, the corrected secondary revised coordinates are written into the RFID of the to-be-measured point, and the step is finished.
It should be noted that in some other embodiments, a plurality of CP3 reference points are also disposed in the tunnel, and positioning of the position tag module disposed between the adjacent reference points can be completed according to the above steps.
In the step 1, longitude and latitude coordinates of the reference points C0 and C1 are (N0, E0, H0) and (N1, E1, H1), respectively; taking a reference point which is positioned at the right side of the positioning device and is positioned at the front in the travelling direction as an origin of a coordinate system in the example, wherein C0 in the first group of reference points at the front is positioned at the right side of the positioning device, so that the conversion coordinate of the reference point C0 in a positive coordinate system is set to be (0, 0); the latitude and longitude coordinates of the reference point C1 are taken into the coordinate system one to obtain converted coordinates (X1, Y1, Z1), as follows:
Z1＝H0-H1
wherein, C is earth circumference information, c=6381372 math.pi.2, and the unit is meter by converting the ratio of circumference C to 360/60/60 into an angular second, which represents the corresponding length per angular second; math.pi represents pi. Because CP3 reference points are generally disposed at opposite positions on both sides of the same distance length of the tunnel, two CP3 reference points are oppositely disposed as a set of reference points; in some other embodiments, in the case where only one CP3 reference point is set on one side of the tunnel or on the top of the tunnel at the set distance value, only one reference point is included in the set of reference points.
As shown in fig. 8, the process of setting the position tag module in the step 2 includes:
firstly, setting the diameter of a tunnel as D1 m, setting the projection distance of an automatic laser aiming module as L m, and obtaining a steering angle theta according to the projection distance and the diameter of the tunnel, wherein the steering angle theta is expressed as:
the positioning device controls a left rotating motor and a right rotating motor of the automatic laser aiming module to rotate left and right by an angle theta respectively, projects laser points into the tunnel, and sets a position label module at the laser points; after the setting of one position label module is completed, the position label module forwards advances for setting mileage L', and the process is repeated to complete the setting of all the position label modules; in this example, the travel distance L' =projection distance l=30m; the distance of travel L 'approximates the distance of the position label module, but the distance of the actual position label module is different from the distance of travel L' due to the influence of tunnel curvature. The travelling mileage L' needs to be less than half of the detection range of the automatic laser aiming module, so that at least two groups of position tag modules exist in the detection range of the automatic laser aiming module.
As shown in fig. 9, the coarse positioning process in the step 3 needs to detect the point to be detected between two adjacent reference points, wherein each time the reference point group is passed, the transformed coordinates of the reference point group in the coordinate system are obtained according to the longitude and latitude coordinates of the reference point group, the transformed coordinates of the reference point group are used as the detection reference of the point to be detected in the next tunnel, the tunnel is segmented according to the adjacent reference point group, the detection distance is reduced, and the accumulation of errors is avoided. The coarse positioning process comprises the following steps:
Step 31: the positioning device runs forward along the track from the tunnel entrance, reads longitude and latitude coordinates of the passing datum point group, and establishes a forward coordinate system;
step 32: obtaining driving mileage data through an encoder, obtaining a flow through unknown points, and obtaining detection coordinates of adjacent unknown points to be measured according to reference points;
step 33: and continuously and circularly obtaining the detection coordinates of the adjacent unknown points to be detected according to the detection coordinates of the known points to be detected until reaching the tunnel outlet, and ending the step.
The unknown point obtaining process in the step 32 includes:
step 321: the positioning device starts the automatic aiming process of the telescopic system, coarsely positions the known point P1, and obtainsWherein delta represents the angle of rotation of the upper and lower motors in the automatic laser sighting module, < >>The rotation angles of the left motor and the right motor are represented, and dist represents a distance value obtained by a vision standard module for far vision; the known point P1 comprises a reference point and a point to be detected for completing coordinate detection;
step 322: converting delta-P1 into (delta X, delta Y, delta Z) according to a polar coordinate formula, and obtaining a coordinate-carp1 (X+delta X, Y+delta Y, Z+delta Z) of the positioning device by taking the coordinate (X, Y, Z) of a known point P1 in an inverse coordinate system as a reference;
the polar equation is developed as:
Z＝rcosδ
Where delta represents the angle of rotation of the upper and lower motors in the automatic laser sight module,the rotation angles of the left motor and the right motor are represented, and r represents a distance value obtained by a far vision standard module, namely dist;
step 323: the positioning device coarsely positions the known point P2 to obtainObtaining a coordinate dicarp 2 of the positioning device according to the delta-P2 and the coordinates of the known point P2 in the reverse coordinate system;
step 324: obtaining a weighted coordinate carP of the positioning device according to the weighted average of carP1 and carP2;
step 325: the positioning means aim at the unknown points p3 and p4, obtain the relative coordinates of the measurements, and obtain the p3 and p4 detection coordinates according to the weighted coordinates carP of the positioning means.
Before the automatic aiming process of the telescopic system is started in step 321, the automatic leveling mechanism of the positioning device can finish leveling, so that the rotation angle of the detected telescopic vision standard module is ensured to be accurate.
The weighted coordinate carP in step 324 is first established by creating a spatial coordinate system with the coordinates of the positioning device as the origin, and then obtaining the weighted coordinate carP based on the obtained coordinatesAnd->The positions of P1 and P2 are obtained in a space coordinate system, and points P1 and P2 are connected in the space coordinate system to obtain line segments P1-P2; obtaining the coordinates of a positioning device, namely the origin, and the vertical line and the vertical point coordinates of the line segments P1-P2; according to the distance ratio of the vertical point coordinates to the coordinates of the points P1 and P2 in the space coordinate system, weight values w1 and w2 are distributed, wherein the sum of the weight values w1 and w2 is 1; for example, if the ratio of the distance from the vertical point coordinate to the coordinates of the known points P1 and P2 is 2, the weight w1 is 2/3, and the w2 is 1/3. The space coordinate system is different from the forward coordinate system and the reverse coordinate system.
After the installation and coarse positioning of the position tag module are completed, the coordinates obtained by the coarse positioning process are written into the RFID of the position tag module; in order to ensure accurate writing of the RFID, the RFID on the position tag module is guaranteed to be opposite to the position tag module as far as possible when the positioning device writes. When the telescopic arm of the RFID read-write module is set to extend, the minimum distance between the RFID read-write device and the central axis of the tunnel is set to be D2, wherein the central axis of the tunnel is coincident with the central axis of the track; setting the reading and writing range of the RFID reading and writing module to be L1 meters, and obtaining the perception length Lrfid of the RFID reading and writing module in the driving process of the positioning device is expressed as follows:
for example, when the L1 bit is 5m, the D1 is 5m, and the D2 is 0.8m, the perceived length Lrfid is 9.4m; after the sensing length Lrfid is obtained, the RFID signal is received for the first time by the positioning device, the mileage of half of the sensing length Lrfid is continued to be traveled, and then the RFID writing operation is carried out, so that the RFID reading and writing module of the positioning device is ensured to be opposite to the position tag module as far as possible, and the reading and writing effect is ensured. It should be noted that, in the reading of the RFID, the above manner is also adopted, and after the RFID signal is sensed, the mileage of half of the sensing length Lrfid is continued, so as to ensure the reading effect.
And a position label module is also arranged at the position near the datum point and is used for recording the RFID of the detection coordinates, so that the RFID can be conveniently compared with the position information of the datum point.
In the step 4, after the positioning device obtains the latitude and longitude coordinates of the second group of reference points C2 and C3, a coarse positioning process is further performed for installing a position tag module near the reference points, a detection coordinate is obtained according to the coarse positioning process, and the detection coordinate is compared with the conversion coordinate of the latitude and longitude coordinates to obtain a first error.
As shown in fig. 10 and 11, in step 6, the coarse positioning process is performed on the point to be measured between two adjacent reference points to obtain detection coordinates, and in this example, each time the reference point group passes, the detection error in the previous section of tunnel is obtained according to the transformed coordinates of the longitude and latitude coordinates of the reference point group in the reverse coordinate system, and the transformed coordinates of the reference point group in the reverse coordinate system are used as the detection references of the point to be measured in the next section of tunnel. The process of obtaining revised coordinates and writing the RFID comprises the following steps:
step 61: the positioning device reversely runs from the tunnel outlet, reads longitude and latitude coordinates of the passing datum point group, and establishes a reverse coordinate system; the reverse coordinate system takes a datum point which is positioned at the front and at the right side of the positioning device when returning as an origin of the coordinate system, the forward direction as an X axis and the forward direction as a Y axis;
Step 62: obtaining driving mileage data through an encoder, obtaining a flow through unknown points, and obtaining detection coordinates of adjacent unknown points to be measured according to reference points;
step 63: correcting the detection coordinates according to the first error, and writing the corrected detection coordinates into the RFID of the to-be-measured point; the first error is distributed according to the ratio of the distance between the corresponding two groups of adjacent datum points recorded in the forward driving process and the driving mileage data when the positioning device writes the RFID into the position tag module;
step 64: and continuously and circularly obtaining the detection coordinates of the adjacent unknown points to be detected according to the detection coordinates of the known points to be detected until the tunnel is returned to the entrance, and ending the step.
The unknown point determination process in step 62 is identical to that in step 32.
In the step 63, the process of correcting the detected coordinates according to the first error and writing the RFID includes:
step 631: after the positioning device obtains the absolute coordinates of the unknown points, the positioning device runs forwards, and continues to run a mileage of half of the perceived length Lrfid after the RFID signals are perceived;
step 632: obtaining mileage C of the positioning device after passing through a previous datum point on the right side according to the driving mileage data of the encoder; wherein the mileage number C represents the mileage from the unknown point to the previous reference point located on the right side of the positioning device;
Step 633: comparing the mileage C with the mileage between the corresponding datum point groups recorded during the first forward running to obtain a ratio Q; wherein the mileage meter of the datum point group represents the mileage between two adjacent datum points on the right side of the positioning device;
step 634: distributing the first error E according to the ratio Q to obtain a correction error value E, and substituting the correction error value E into the corresponding detection coordinates of the point to be detected; in this example, the correction error value e=the ratio Q is the first error E, for example, the ratio Q is 1/3, and the correction error value E is 1/3E;
step 635: writing the detection coordinates substituted into the correction error value e into the RFID of the corresponding detection point, and ending the step.
In step 634, the obtained correction error e is expressed as (dx, dy, dz); by solving partial derivatives of the distance and the angle, the distributed first error is converted into the polar coordinates corresponding to the to-be-measured point to obtain a polar coordinate correction value
dx＝sinδcosφdr+r cosδcosφdδ-r sinδsinφdφ
dy＝sinδsinφdr+r cosδsinφdδ+r sinδcosφdφ
dz＝cosδdr-r sin dδ
Wherein delta represents the rotation angle of an upper motor and a lower motor in the automatic laser sighting module,the rotation angles of the left motor and the right motor are represented, and r represents a distance value obtained by a vision standard module for far vision; dx represents a correction error in the X-axis direction in the reverse coordinate system; dy represents a correction error in the Y-axis direction in the reverse coordinate system; dz represents the correction error in the Z-axis direction in the reverse coordinate system.
Subsequently, the obtained polar coordinate correction valueSubstituting into polar coordinates obtained by detection of positioning deviceWherein dist is r, obtaining corrected anode coordinates +.> And (3) performing polar coordinate expansion on the corrected polar coordinates to obtain corrected detection coordinates.
In the step 8, the second error between any two groups of reference points needs to be separately determined, if all the second errors meet the threshold requirement, the error expectation is considered to be met, otherwise, the revised coordinates of the position tag modules between the corresponding reference point groups are revised again according to the second error, the positions of the corresponding position tag modules are returned in the step 9, and the RFID values of the points to be measured are rewritten.
In the step 9, the process of writing the secondary revised coordinates is identical to the process of revising the secondary revised coordinates by the first error in the step 6.
Embodiment two:
as shown in fig. 12 and 13, the method for punching a tunnel positioning method according to the first embodiment includes the following steps:
step S1: fixing a positioning device on a base of a punching manipulator to obtain punching coordinates of punching points;
step S2: the base of the punching manipulator enters a tunnel along a track, and RFID record coordinates of a position tag module on a tunnel wall are obtained through an RFID read-write module of the positioning device;
Step S3: the base continues to move, the positioning device performs angle and distance measurement according to the position tag module, and obtains car body coordinates (carx 1, cary1, carz 1) by combining the read RFID record coordinates;
step S4: obtaining relative coordinates (deltax, deltay, deltaz) of the positioning device and the rotary head of the punching manipulator; it should be noted that the relative coordinates (Δx, Δy, Δz) may change according to the motion of the punching robot; the relative coordinates are used as compensation coordinates, and the compensation coordinates (delta x, delta y, delta z) are transmitted to punching positioning coordinates of the positioning device to obtain punching positioning coordinates (carx1+delta x, cary1+delta y, carz1+delta z);
step S5: controlling the base to move to enable the punching positioning coordinates to be equal to the set punching coordinates, completing the positioning of punching and completing the punching work;
step S6: and sequentially circulating until the whole tunnel is perforated.
In the step S1, the direction of the positioning device is opposite to the travelling direction of the punching manipulator, so that the positioning device can use the passing position tag module as a vehicle body positioning reference after reading the RFID record coordinates in the position tag module, and the determination of the punching positioning coordinates is completed.
In this example, the odometer data L3 is corrected according to the horizontal distance L4 between the obtained vehicle body coordinates and the previous vehicle body coordinates, so as to ensure the accuracy of the odometer, and the manipulator is compensated to run forward or backward during construction.
The above description is only a specific example of the invention and is not to be construed as limiting the invention in any way. It will be apparent to those skilled in the art that various modifications and changes in form and details may be made without departing from the principles and construction of the invention, but these modifications and changes based on the inventive concept are still within the scope of the appended claims.

Claims (9)

1. The tunnel positioning device based on path planning navigation is characterized by comprising an automatic laser aiming module, an automatic leveling mechanism, a processing control module, an RFID read-write module, a power module, a fixed base and a position tag module; the power supply module is arranged between the processing control module and the fixed base; the upper side of the processing control module is also provided with an automatic leveling structure, and the automatic leveling mechanism is provided with an automatic laser aiming module; the RFID read-write modules are arranged at the left side and the right side of the processing control module; the position tag module is arranged at the inner side of the tunnel; the processing module is respectively connected with the automatic laser aiming module, the automatic leveling mechanism, the RFID read-write module and the power supply module, and the fixed base frame is arranged on a railway track or at a set position of an external rail large-sized flat car; the position tag module is arranged in the tunnel and is of a transparent cube structure; reflective labels are arranged on two opposite surfaces of the position label module; the RFID is further arranged on one surface of the position tag module facing the track;
The processing control module comprises a microcomputer and an FPGA module, wherein the microcomputer is used for processing information acquired by the automatic laser aiming module and finishing distance calculation; the FPGA module is respectively connected with the microcomputer and the automatic leveling mechanism and is used for controlling the automatic leveling mechanism to realize leveling;
the automatic laser aiming module comprises a left rotating motor, a right rotating motor, an upper rotating motor, a lower rotating motor, a far vision standard module and a mounting frame; the far vision standard module is arranged on the mounting frame through a left rotating motor, a right rotating motor, an upper rotating motor and a lower rotating motor, and realizes left and right and up and down rotation through the left rotating motor, the right rotating motor, the upper rotating motor and the lower rotating motor respectively; the left rotating motor, the right rotating motor, the upper rotating motor and the lower rotating motor can also acquire respective rotation angles; the mounting frame is arranged on the automatic leveling structure; the far vision standard module comprises a laser ranging module and a machine vision module, wherein the laser ranging module is used for detecting the distance, and the machine vision module is used for acquiring images;
the automatic leveling mechanism comprises a biaxial angle rotating platform, an inclination sensor, a biaxial rotating motor and an FPGA control card; the FPGA control card is respectively connected with the biaxial angle rotating platform, the inclination sensor and the biaxial rotating motor, and is also connected with an FPGA module in the processing control module;
The RFID read-write module comprises an RFID read-write device and telescopic arms, wherein the RFID read-write device is arranged on the left side and the right side of the processing control module through the telescopic arms.
2. A tunnel positioning method based on path planning navigation, which is characterized by comprising the following steps based on the tunnel positioning device based on path planning navigation as claimed in claim 1:
step 1: the positioning device acquires longitude and latitude coordinates of a first group of CP3 datum points C0 and C1, and a forward coordinate system is established;
step 2: the positioning device enters a tunnel and moves forward along the tunnel, and a position label module is arranged when mileage is set for each forward movement;
step 3: taking the set position tag module as a point to be measured, combining the coordinates of the datum points with the automatic laser aiming module, and sequentially detecting and obtaining detection coordinates of the point to be measured between the two groups of datum points through a coarse positioning process;
step 4: the positioning device obtains longitude and latitude coordinates of a second group of CP3 datum points C2 and C3 and brings the longitude and latitude coordinates into a positive coordinate system; comparing the converted coordinates of the actual longitude and latitude coordinates of the datum points C2 and C3 with the detection coordinates thereof to obtain a first error; wherein the detection coordinates represent measured values obtained by the positioning device through a coarse positioning process;
Step 5: the positioning device continues to move forward until the device exits the tunnel, and longitude and latitude coordinates of a reference point group at the exit of the tunnel are acquired; according to the steps 1 to 4, a forward coordinate system between any two datum point groups is obtained;
step 6: the positioning device returns a first group of datum points from the datum point group of the tunnel outlet, the automatic laser aiming module sequentially detects points to be detected between the two groups of datum points, a coarse positioning process is combined to obtain detection coordinates, the detection coordinates are revised according to a first error between every two adjacent datum points, revised coordinates are obtained, and a reverse coordinate system between any two datum point groups is obtained;
step 7: the positioning device obtains longitude and latitude coordinates of the reference point and brings the longitude and latitude coordinates into an inverse coordinate system; comparing the converted coordinates of the actual longitude and latitude coordinates of the reference point in each reverse coordinate system with the detected coordinates thereof to obtain a second error of each section of reverse coordinate system;
step 8: obtaining the ratio of the mileage between the second error of each section of reverse coordinate system and the corresponding reference point group, and comparing the ratio with a set threshold value; if the ratio exceeds the set threshold, the error of the revised coordinate is considered to be larger, the revised coordinate is needed to be revised again according to the second error, the second revised coordinate is obtained, and the step 9 is entered;
Otherwise, the revised coordinates are considered to accord with the error expectation, and the step is ended;
step 9: the positioning device returns to the tunnel outlet from the first group of datum points of the tunnel inlet, the corrected secondary revised coordinates are written into the RFID of the to-be-measured point, and the step is finished.
3. The tunnel positioning method based on path planning navigation according to claim 2, wherein in the step 1, C0 is set as a coordinate origin, and converted coordinates of the reference point C0 in a forward coordinate system are set to (0, 0); the latitude and longitude coordinates of the reference point C1 are taken into the forward coordinate system one to obtain converted coordinates (X1, Y1, Z1), as follows:
Z1＝H0-H1
the longitude and latitude coordinates of the obtained datum points C0 and C1 are (N0, E0, H0) and (N1, E1, H1) respectively; c is earth perimeter information, c=6381372×math.pi×2, and the corresponding length per one second is expressed in meters by converting the ratio of the perimeter C to 360/60/60 into one second.
4. The tunnel positioning method based on path planning navigation according to claim 2, wherein the step 2 of setting the position tag module includes:
firstly, setting the diameter of a tunnel as D1 m, setting the projection distance of an automatic laser aiming module as L m, and obtaining a steering angle theta according to the projection distance and the diameter of the tunnel, wherein the steering angle theta is expressed as:
The positioning device controls a left rotating motor and a right rotating motor of the automatic laser aiming module to rotate left and right by an angle theta respectively, projects laser points into a tunnel, and sets a position label module at the laser points; after the setting of one position label module is completed, the position label module can advance forward for setting mileage L', and the process is repeated to complete the setting of all position label modules.
5. The tunnel positioning method based on path planning navigation according to claim 2, wherein the coarse positioning process in the step 3 needs to detect the point to be detected between two adjacent groups of reference points, and each time the reference point group is passed, the coarse positioning process is used as a reference for detecting the point to be detected in the next section of tunnel according to the longitude and latitude coordinates of the reference point group and the transformed coordinates of the reference point group in a forward coordinate system; the coarse positioning process comprises the following steps:
step 31: the positioning device runs forward along the track from the tunnel entrance, reads longitude and latitude coordinates of the passing datum point group, and establishes a forward coordinate system;
step 32: obtaining driving mileage data through an encoder, obtaining a flow through unknown points, and obtaining detection coordinates of adjacent unknown points to be measured according to reference points;
Step 33: and continuously and circularly obtaining the detection coordinates of the adjacent unknown points to be detected according to the detection coordinates of the known points to be detected until reaching the tunnel outlet, and ending the step.
6. The tunnel positioning method based on path planning navigation according to claim 5, wherein the unknown point solving process in step 32 includes:
step 321: the positioning device starts the automatic aiming process of the telescopic system, coarsely positions the known point P1, and obtains Wherein delta represents the angle of rotation of the upper and lower motors in the automatic laser sighting module, < >>The rotation angles of the left motor and the right motor are represented, and dist represents a distance value obtained by a vision standard module for far vision; the known point P1 comprises a reference point and a point to be detected for completing coordinate detection;
step 322: converting delta-P1 into (delta X, delta Y, delta Z) according to a polar coordinate formula, and obtaining a coordinate-carp1 (X+delta X, Y+delta Y, Z+delta Z) of the positioning device by taking the coordinate (X, Y, Z) of a known point P1 in an inverse coordinate system as a reference;
step 323: the positioning device coarsely positions the known point P2 to obtainObtaining a coordinate dicarp 2 of the positioning device according to the delta-P2 and the coordinates of the known point P2 in the reverse coordinate system;
step 324: obtaining a weighted coordinate carP of the positioning device according to the weighted average of carP1 and carP2;
Step 325: the positioning means aim at the unknown points p3 and p4, obtain the relative coordinates of the measurements, and obtain the p3 and p4 detection coordinates according to the weighted coordinates carP of the positioning means.
7. The method as claimed in claim 6, wherein the weighted coordinate carps in step 324 are obtained by first establishing a space coordinate system with the coordinates of the positioning device as the originAnd->The positions of P1 and P2 are obtained in a space coordinate system, and points P1 and P2 are connected in the space coordinate system to obtain line segments P1-P2; obtaining the coordinates of a positioning device, namely the origin, and the vertical line and the vertical point coordinates of the line segments P1-P2; and assigning weights w1 and w2 according to the distance ratio of the vertical point coordinates to the P1 and P2 coordinates in the space coordinate system, wherein the sum of the weights w1 and w2 is 1.
8. The tunnel positioning method based on path planning navigation according to claim 2, wherein after the step 3 sets the position tag module and completes coarse positioning, the coordinates of the coarse positioning need to be written into the RFID of the position tag module, and the method specifically comprises the following steps:
when the telescopic arm of the RFID read-write module is set to extend, the minimum distance between the RFID read-write device and the central axis of the tunnel is set to be D2, the diameter of the tunnel is set to be D1, and the central axis of the tunnel is coincident with the central line of the track; setting the reading and writing range of the RFID reading and writing module to be L1 meters, and obtaining the perception length L of the RFID reading and writing module in the driving process of the positioning device rfid Expressed as:
obtaining a perceived length L rfid After the positioning device receives the RFID signal for the first time, the positioning device continues to travel for half of the sensing length L rfid And then performing the RFID write operation.
9. A method for punching, characterized in that the method for positioning a tunnel based on path planning navigation according to any one of claims 2-8 comprises the following steps:
step S1: fixing a positioning device on a base of a punching manipulator to obtain punching coordinates of punching points;
step S2: the base of the punching manipulator enters a tunnel along a track, and RFID record coordinates of a position tag module on a tunnel wall are obtained through an RFID read-write module of the positioning device;
step S3: the base continues to move, the positioning device performs angle and distance measurement according to the position tag module, and obtains car body coordinates (carx 1, cary1, carz 1) by combining the read RFID record coordinates;
step S4: obtaining relative coordinates (deltax, deltay, deltaz) of the positioning device and the rotary head of the punching manipulator; the relative coordinates (Δx, Δy, Δz) will vary with the motion of the punch manipulator; the relative coordinates are used as compensation coordinates, and the compensation coordinates (delta x, delta y, delta z) are transmitted to punching positioning coordinates of the positioning device to obtain punching positioning coordinates (carx1+delta x, cary1+delta y, carz1+delta z);
Step S5: controlling the base to move to enable the punching positioning coordinates to be equal to the set punching coordinates, completing the positioning of punching and completing the punching work;
step S6: and sequentially circulating until the whole tunnel is perforated.
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