CN113884067A - Tunnel positioning method and device, electronic equipment and readable storage medium - Google Patents
Tunnel positioning method and device, electronic equipment and readable storage medium Download PDFInfo
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Abstract
The application provides a tunnel positioning method, a tunnel positioning device, an electronic device and a readable storage medium, wherein the method comprises the following steps: acquiring a local spherical coordinate of a target unknown point through holder equipment, wherein the target unknown point is any point in a tunnel, and the local spherical coordinate is a local spherical coordinate system taking the holder equipment as an origin of coordinates; calculating to obtain the global coordinate of the target unknown point according to the local spherical coordinate of the target unknown point; the distances between the target unknown points are calculated through the global coordinates of the target unknown points, and the accurate sizes of the cracks in the image or video information can be calculated based on the distances. According to the method and the device, the distance between the target unknown point and the holder device and the angle of the holder device are obtained through the holder device so as to obtain the local spherical coordinates of the target unknown point, and the global coordinates of the target as the fulcrum are obtained after the local spherical coordinates are calculated and converted.
Description
Technical Field
The present application relates to the field of tunnel positioning, and in particular, to a tunnel positioning method, an apparatus, an electronic device, and a readable storage medium.
Background
The mountain tunnel is a key node for highway construction, and in the construction of the mountain tunnel, the characteristics of the integrity degree, the fracture development degree and the like of the surrounding rock are often determined or calculated, and the accuracy of the coordinates of each point in the tunnel directly influences the accuracy of the characteristics of the integrity degree, the fracture development degree and the like of the surrounding rock. The coordinates of unknown points in the tunnel can be accurately obtained, data of size dimensions can be added to the image data which are collected at present, and characteristics such as the integrity degree of surrounding rocks and the development degree of fractures can be better determined. Although some tunnel surrounding rock digitalization work progresses at present, specific coordinates of a certain point in a tunnel cannot be accurately located due to communication and the like.
Disclosure of Invention
In view of the above, embodiments of the present application provide a tunnel positioning method, a tunnel positioning apparatus, an electronic device, and a readable storage medium. The accurate coordinates of any unknown point in the tunnel can be obtained through the holder device and related calculation, and the accurate distance between the multiple unknown points can be obtained through the accurate coordinates of the multiple unknown points.
In a first aspect, an embodiment of the present application provides a tunnel positioning method, including: acquiring local spherical coordinates of a target unknown point through holder equipment, wherein the target unknown point is any point in a tunnel, and the local spherical coordinates are local coordinates formed by taking the holder equipment as an origin of coordinates; calculating to obtain a local rectangular coordinate of the target unknown point according to the local spherical coordinate of the target unknown point; and converting the local rectangular coordinate of the target unknown point into a global coordinate of the target unknown point, wherein the global coordinate of the target unknown point is a positioning coordinate of the target unknown point.
According to the embodiment of the application, the distance between the target unknown point and the holder equipment, the vertical plane pitch angle of the holder equipment with the holder equipment as the original point and the horizontal plane rotation angle of the holder equipment with the holder equipment as the original point can be obtained through the holder equipment, so that the local spherical coordinates of the target unknown point are obtained, and the global coordinates of the target unknown point are obtained by calculating and converting the local spherical coordinates. That is, the accurate and real coordinates of the target unknown point can be obtained by calculating and converting the local spherical coordinates of the unknown point. The accurate size of the crack in the image or video information can be calculated based on the accurate and real coordinates of the target unknown point, and further the accurate size can be used for calculating the rock body characteristics such as the integrity of the surrounding rock.
With reference to the first aspect, an embodiment of the present application provides a first possible implementation manner of the first aspect, where: the calculation formula for calculating the local rectangular coordinate of the target unknown point according to the local spherical coordinate of the target unknown point is as follows:
z′＝d×sinθ；
wherein (x ', y ', z ') is the local rectangular coordinate of the target unknown point,
is the local spherical coordinate of the target unknown point, theta is the vertical plane pitch angle of the holder equipment with the holder equipment as the origin,
the horizontal angle of the pan-tilt device with the pan-tilt device as the origin is provided,
with reference to the first possible implementation manner of the first aspect, an embodiment of the present application provides a second possible implementation manner of the first aspect, where the calculation formula for converting the local rectangular coordinate of the target unknown point into the global coordinate of the target unknown point is as follows:
wherein (x, y, z) is the global coordinate of the target unknown point, (x ', y ', z ') is the local rectangular coordinate of the target unknown point,
is a transformation matrix.
With reference to the second possible implementation manner of the first aspect, an embodiment of the present application provides a third possible implementation manner of the first aspect, where the transformation matrix is determined by: obtaining global coordinates of a plurality of initial unknown points, wherein the plurality of initial unknown points are at least three initial unknown points; acquiring local spherical coordinates of the plurality of initial unknown points; obtaining a conversion matrix according to the local spherical coordinates of the initial unknown points and the global coordinates of the initial unknown points; the calculating to obtain the global coordinate of the target unknown point according to the local spherical coordinate of the target unknown point includes: and calculating to obtain the global coordinate of the target unknown point according to the transformation matrix and the local spherical coordinate of the target unknown point.
According to the method and the device, the global coordinates and the local spherical coordinates of the initial unknown points are obtained, the calculation formula of the local rectangular coordinates and the calculation formula of the global coordinates of the target unknown points are used for performing reverse calculation, and the method and the device are used for determining the current conversion matrix when the holder device is at a certain position point for the first time. And then, the global coordinates of any other unknown points under the current position of the holder equipment can be calculated by utilizing the obtained conversion matrix so as to obtain the real and accurate coordinates of the target unknown points.
With reference to the third possible implementation manner of the first aspect, this application provides a fourth possible implementation manner of the first aspect, where the obtaining a transformation matrix according to the local spherical coordinates of the multiple initial unknown points and the global coordinates of the multiple initial unknown points includes: calculating local rectangular coordinates of the plurality of initial unknown points according to the local spherical coordinates of the plurality of initial unknown points; and obtaining a conversion matrix according to the local rectangular coordinates of the plurality of initial unknown points and the global coordinates of the plurality of initial unknown points.
According to the method and the device, the local rectangular coordinates of the unknown points are obtained by calculating the local spherical coordinates of the unknown points, the local rectangular coordinates of the unknown points and the global coordinates of the unknown points are substituted into a calculation formula, and reverse calculation is carried out to obtain the conversion matrix for calculating the global coordinates of the unknown points.
With reference to the fourth possible implementation manner of the first aspect, an embodiment of the present application provides a fifth possible implementation manner of the first aspect, where the pan-tilt apparatus is provided with a laser module, and the obtaining, by the pan-tilt apparatus, the local spherical coordinates of the target unknown point includes: obtaining the distance between the target unknown point and the holder equipment according to the laser module; and obtaining the vertical plane pitch angle of the holder equipment and the horizontal plane rotation angle of the holder equipment by taking the holder equipment as an original point according to the position of the holder equipment.
The laser module is arranged on the holder equipment, the laser module can be used for measuring the distance between a target unknown point and the holder equipment, meanwhile, the vertical plane pitch angle of the holder equipment and the horizontal plane corner of the holder equipment which take the holder equipment as an original point can be obtained according to the position of the holder equipment, the distance between the target unknown point and the holder equipment, the vertical plane pitch angle of the holder equipment which takes the holder equipment as the original point and the horizontal plane corner of the holder equipment form the local spherical coordinates of the target unknown point, and the global coordinates of the target unknown point are calculated.
In a second aspect, an embodiment of the present application further provides a tunnel positioning device, including: an acquisition module: the system comprises a cloud platform device, a target acquisition device and a control device, wherein the cloud platform device is used for acquiring local spherical coordinates of a target unknown point; a first calculation module: the global coordinate of the target unknown point is obtained through calculation according to the local spherical coordinate of the target unknown point; a second calculation module: for calculating the distance between a plurality of said target unknown points by their global coordinates.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory storing machine-readable instructions executable by the processor, the machine-readable instructions, when executed by the processor, performing the steps of the method of the first aspect described above, or any possible implementation of the first aspect, when the electronic device is run.
With reference to the third aspect, embodiments of the present application provide a first possible implementation manner of the third aspect, where: the electronic equipment is holder equipment; the holder equipment is provided with a laser unit and an image acquisition unit; the laser unit is used for measuring the distance between a target unknown point and the holder equipment; the image acquisition unit is used for acquiring images of the target position.
In a fourth aspect, this embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the tunnel location method in the foregoing first aspect, or any possible implementation manner of the first aspect.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic diagram of a tunnel positioning system according to an embodiment of the present application.
Fig. 2 is a cross-sectional view of a drill jumbo and a pan and tilt head apparatus provided in an embodiment of the present application.
Fig. 3 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Fig. 4 is a flowchart of a tunnel positioning method according to an embodiment of the present application.
Fig. 5 is a schematic functional block diagram of a tunnel positioning device according to an embodiment of the present application.
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
At present, each position point in a tunnel is measured in the field of tunnel positioning, and a professional surveying staff is required to position a trolley by using a total station and matching with the adjustment of a trolley operator. The automation degree of the positioning mode is low, and professional measuring personnel are needed for implementation, so that the dependence degree on human factors is high, and the existence of the human factors inevitably influences the final positioning precision and accuracy.
In many aspects such as tunnel support parameter calculation, surrounding rock integrity calculation and the like, coordinates of position points in a tunnel and distances among a plurality of position points are required, and positioning of the tunnel position points and calculation of real coordinate positions become more and more important.
Therefore, the inventor of the present application studies the current situation, and knows that the patent technology with publication number CN210738609U discloses a tunnel positioning device, which includes a positioning connection pipe and a positioning pipe, wherein one end of the positioning connection pipe is inserted into the side wall of the tunnel, the positioning pipe includes a first sub-section and a second sub-section which are connected in a bending manner, an included angle between the first sub-section and the second sub-section is greater than or equal to 170 degrees and less than or equal to 175 degrees, and a free end of the first sub-section is connected with the other end of the positioning connection pipe. The device mechanization degree is higher, and the field implementation feasibility is relatively poor, and this patent is used for improving the location slope, and the accurate location of the tunnel interior point of non-location.
Patent technology with publication number CN105407530A discloses a tunnel positioning method and device. The method comprises the following steps: if the positioning terminal enters a target tunnel, acquiring an environmental parameter measurement value of the positioning terminal; and positioning the tunnel of the positioning terminal according to the environmental parameter measured value and the corresponding relation between the environmental parameter value of the target tunnel and the position information of the target tunnel. Therefore, the positioning of the patent aims at the running vehicle in the tunnel instead of a certain point in the tunnel, the positioning precision is rough, and the requirement of positioning in engineering is not met.
Based on this, according to the tunnel positioning method, the tunnel positioning device, the electronic device and the readable storage medium, the laser module is arranged on the holder device to obtain the local spherical coordinates of the position points, then the global coordinates capable of reflecting the real coordinates of the position points are obtained by using a specific calculation formula and a conversion formula, the distances among the position points can be obtained by calculation according to the global coordinates of the position points, and finally the feature information of the surrounding rock such as the fracture size and the like can be obtained.
Example one
As shown in fig. 1 and fig. 2, a tunnel positioning system provided in an embodiment of the present application is schematically illustrated. The tunnel positioning system may include: pan-tilt apparatus 110, drill jumbo 120.
Wherein, the rock drilling jumbo 120 can be provided with the pan-tilt apparatus 110 thereon.
Optionally, a computing device may be disposed on the drill jumbo 120; the rock drilling jumbo 120 may also be provided with a pan-tilt device 110 and a computing device. The computing device may be used for tunnel location, the computing device may be a computer, a cell phone, a tablet computer, etc.
The drill jumbo 120 is optionally used for moving in tunnels and for drilling operations.
Alternatively, the pan/tilt apparatus 110 may be provided with a laser unit and an image acquisition unit. Wherein, the laser unit is used for measuring the distance between the target unknown point 130 and the holder device 110; the image acquisition unit is used for acquiring images of the target position.
To facilitate understanding of the present embodiment, a detailed description will be first given of the pan-tilt apparatus 110 for performing a tunnel positioning method disclosed in the embodiments of the present application.
As shown in fig. 3, is a block schematic diagram of the pan-tilt apparatus 110. The pan/tilt/zoom apparatus 110 may include a memory 111, a memory controller 112, a processor 113, a peripheral interface 114, an input/output unit 115, a display unit 116, an image acquisition unit 117, and a laser measurement unit 118. It will be understood by those of ordinary skill in the art that the configuration shown in fig. 3 is merely illustrative and is not intended to limit the configuration of pan and tilt head apparatus 110. For example, pan and tilt head apparatus 110 may also include more or fewer components than shown in fig. 3, or have a different configuration than shown in fig. 3.
The above-mentioned memory 111, the memory controller 112, the processor 113, the peripheral interface 114, the input/output unit 115, the display unit 116, the image acquisition unit 117 and the laser measurement unit 118 are electrically connected to each other directly or indirectly, so as to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 113 is used to execute the executable modules stored in the memory.
The Memory 111 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 111 is configured to store a program, and the processor 113 executes the program after receiving an execution instruction, and the method executed by the pan/tilt apparatus 110 defined by the process disclosed in any embodiment of the present application may be applied to the processor 113, or implemented by the processor 113.
The processor 113 may be an integrated circuit chip having signal processing capability. The Processor 113 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The peripheral interface 114 couples various input/output devices to the processor 113 and memory 111. In some embodiments, the peripheral interface 114, the processor 113, and the memory controller 112 may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.
The input/output unit 115 is used to provide input data to the user. The input/output unit 115 may be, but is not limited to, a mouse, a keyboard, and the like.
The display unit 116 described above provides an interactive interface (e.g., a user interface) between the pan and tilt head apparatus 110 and the user or for displaying image data to the user for reference. In this embodiment, the display unit may be a liquid crystal display or a touch display. In the case of a touch display, the display can be a capacitive touch screen or a resistive touch screen, which supports single-point and multi-point touch operations. The support of single-point and multi-point touch operations means that the touch display can sense touch operations simultaneously generated from one or more positions on the touch display, and the sensed touch operations are sent to the processor for calculation and processing.
Optionally, the pan-tilt apparatus 110 may further include: image acquisition unit 117, laser measuring unit 118. The image acquisition unit 117 includes: a camera, a video camera, a mobile phone, a tablet computer, etc., the laser measuring unit 118 may include a laser module.
The pan-tilt apparatus 110 in this embodiment may be configured to execute each step in each method provided in this embodiment. The following describes in detail the implementation of the tunnel location method by several embodiments.
Example two
Please refer to fig. 4, which is a flowchart illustrating a tunnel positioning method according to an embodiment of the present application. The specific flow shown in fig. 4 will be described in detail below.
The target unknown point is any point in the tunnel, and the local spherical coordinate is a local coordinate taking the holder device as a coordinate origin.
The local spherical coordinates include: the distance between the target unknown point and the holder equipment, the vertical plane pitch angle of the holder equipment with the holder equipment as an original point and the horizontal plane rotation angle of the holder equipment. The distance between the target unknown point and the holder equipment can be obtained by measuring a laser unit on the holder equipment, and the vertical plane pitch angle of the holder equipment and the horizontal plane rotation angle of the holder equipment which take the holder equipment as an original point are determined as the position of the holder equipment.
And step 202, calculating to obtain a local rectangular coordinate of the target unknown point according to the local spherical coordinate of the target unknown point.
The global coordinate of the target unknown point is an actual real and accurate coordinate point of the target unknown point.
Optionally, after the target unknown point is located, size information of the surrounding rock fracture inside the tunnel can be determined based on the position information of the target unknown point, and the size information of the surrounding rock fracture inside the tunnel can be used for evaluating characteristics such as the surrounding rock fracture development condition and the rock integrity degree.
Optionally, the target unknown point is a local dangerous point such as a falling, water seepage, and the like, and after the local dangerous point is positioned, the position information of the local dangerous point can be sent to a remote controller, so as to facilitate elimination of the dangerous point.
Optionally, if the target unknown point is a plurality of target unknown points, the distance between the plurality of target unknown points may be calculated by using the global coordinates of the plurality of target unknown points, so as to calculate the fracture size.
For example, if global coordinates of two target unknown points are obtained, the distance between the two target unknown points can be obtained by substituting the global coordinates of the two target unknown points into the calculation formula according to the tunnel location formula. The fracture size calculation may be performed after the distance between the two target unknown points is obtained.
Illustratively, if the size of the surrounding rock fracture needs to be calculated, a plurality of points on the edge of the surrounding rock fracture can be selected as target unknown points, local spherical coordinates of the plurality of target unknown points are obtained through holder equipment, global coordinates of the plurality of target unknown points are obtained through calculation, then distances between the plurality of target unknown points are obtained through calculation according to the global coordinates of the plurality of target unknown points, and the length and the width of the fracture are obtained according to the distances between the plurality of target unknown points.
Based on the above embodiment, in step 202, a calculation formula of obtaining the local rectangular coordinate of the target unknown point by calculating according to the local spherical coordinate of the target unknown point is as follows:
z′＝d×sinθ；
wherein (x ', y ', z ') is the local rectangular coordinate of the target unknown point,
is the local spherical coordinate of the target unknown point, theta is the vertical plane pitch angle of the holder equipment with the holder equipment as the origin,
the horizontal angle of the pan-tilt device with the pan-tilt device as the origin is provided,
the calculation formula for converting the local rectangular coordinate of the target unknown point into the global coordinate of the target unknown point is as follows:
wherein (x ', y', z ') is a local rectangular coordinate of the target unknown point, (x'0，y′0，z′0) Is the coordinate of the origin of the local coordinate system under the global coordinate system (epsilon)x，εy，εz) Is a coordinate rotation factor, and m is a size transformation factor between two coordinate systems.
Further, the calculation formula of the local rectangular coordinate is converted into the following form:
wherein (x, y, z) is the global coordinate of the target unknown point, (x ', y ', z ') is the local rectangular coordinate of the target unknown point,
is a transformation matrix.
For example, if three unknown target points are located, local spherical coordinates of the three unknown target points relative to the pan/tilt head device may be obtained, specifically, the values are (2, 0, 90), (2, 0, 270), (2.24, 26.6, and 90), and the three local spherical coordinates are substituted into the calculation formula of the coordinates between the local spherical coordinates and the local part, so as to obtain:
x1＝2×cos 0×cos 90＝0；
y1＝2×cos 0×sin 90＝2；
z1＝2×sin 0＝0；
x2＝2×cos 0×cos 270＝0；
y2＝2×cos 0×sin 270＝-2；
z2＝2×sin 0＝0；
x3＝2.24×cos 26.6×cos 90＝0；
y3＝2.24×cos 26.6×sin 90＝2；
z3＝2.24×sin 26.6＝1；
based on the calculation, the corresponding local rectangular coordinates of the three unknown points are respectively: (0, 2, 0), (0, -2, 0), (0, 2, 1).
If the matrix is now converted to
And then, substituting the local rectangular coordinates corresponding to the three unknown points into a global coordinate calculation formula to obtain:
the global coordinate of the target unknown point 1 is (1, 2, 2), and in the same way, the local rectangular coordinates of the target unknown point 2 and the target unknown point 3 are respectively substituted into the global coordinate calculation formula, so that the global coordinate of the target unknown point 2 is (1, -2, 2), and the global coordinate of the target unknown point 3 is (1, 2, 3).
Based on the above embodiment, the transformation matrix in the global coordinate calculation formula may change with the movement of the pan/tilt apparatus. That is, when the pan/tilt apparatus moves, its transformation matrix needs to be determined again.
Optionally, the transformation matrix is determined by: obtaining global coordinates of a plurality of initial unknown points, wherein the plurality of initial unknown points are at least three initial unknown points; acquiring local spherical coordinates of a plurality of initial unknown points; and obtaining a transformation matrix according to the local spherical coordinates of the initial unknown points and the global coordinates of the initial unknown points.
Alternatively, the global coordinates of the plurality of initial unknown points may be obtained by a total station, which is complicated in structure, heavy in weight, and complicated in use of the apparatus. Therefore, the total station is used for global coordinate calculation of the initial unknown point only if the conversion matrix needs to be obtained again after the pan-tilt equipment moves.
Optionally, obtaining a transformation matrix according to the local spherical coordinates of the plurality of initial unknown points and the global coordinates of the plurality of initial unknown points includes: calculating local rectangular coordinates of the initial unknown points according to the local spherical coordinates of the initial unknown points; and obtaining a transformation matrix according to the local rectangular coordinates of the plurality of initial unknown points and the global coordinates of the plurality of initial unknown points.
Illustratively, if the plurality of initial unknown points are three unknown points, and the global coordinates of the three unknown points are (1, 2, 2), (1, -2, 2), (1, 2, 3), the local spherical coordinates of the three unknown points are (2, 0, 90), (2, 0, 270), (2.24, 26.6, 90).
Substituting the local spherical coordinates of the three unknown points into a calculation formula of local rectangular coordinates to obtain:
x1＝2×cos 0×cos 90＝0；
y1＝2×cos 0×sin 90＝2；
z1＝2×sin 0＝0；
x2＝2×cos 0×cos 270＝0；
y2＝2×cos 0×sin 270＝-2；
z2＝2×sin 0＝0；
x3＝2.24×cos 26.6×cos 90＝0；
y3＝2.24×cos 26.6×sin 90＝2；
z3＝2.24×sin 26.6＝1；
based on the calculation, the corresponding local rectangular coordinates of the three unknown points are respectively: (0, 2, 0), (0, -2, 0), (0, 2, 1).
And then, substituting the local rectangular coordinates corresponding to the three unknown points into a global coordinate calculation formula to obtain:
based on which the conversion matrix at that time can be calculated as
According to the values of the transformation matrix, the origin of the local rectangular coordinate system is (1,0,2), the coordinate system only shifts, and the rationality of the result is easily determined through space set knowledge.
Optionally, after obtaining the transformation matrix, calculating a global coordinate of the target unknown point according to the local spherical coordinate of the target unknown point, including: and calculating to obtain the global coordinate of the target unknown point according to the transformation matrix and the local spherical coordinate of the target unknown point.
Based on above-mentioned embodiment, cloud platform equipment is provided with the laser module, obtains the local sphere coordinate of target unknown point through cloud platform equipment, includes: obtaining the distance between the target unknown point and the holder equipment according to the laser module; and obtaining the vertical plane pitch angle of the holder equipment and the horizontal plane rotation angle of the holder equipment by taking the holder equipment as an original point according to the position of the holder equipment.
According to the technical scheme, the local spherical coordinates of the target unknown points are obtained through the holder equipment, the local spherical coordinates of the target unknown points are calculated and converted to obtain the global coordinates with the target as the fulcrum, the global coordinates of the target unknown points can be calculated according to the method, the distance between the target unknown points is further calculated according to the global coordinates of the target unknown points, and the distance can be used for calculating the integrity of the surrounding rock. In addition, after the pan-tilt equipment moves, the local spherical coordinates and the global coordinates of the target unknown points can be obtained, reverse derivation calculation is carried out to obtain a conversion matrix, after the conversion matrix is obtained, the global coordinate calculation formula can be used for continuously calculating the positions of the changed pan-tilt equipment on the basis of the conversion matrix, the global coordinates of the target unknown points are calculated, the distances among the target unknown points are further calculated, and the distances are used for calculating the complete coefficients of the surrounding rocks.
EXAMPLE III
Based on the same application concept, a tunnel positioning device corresponding to the tunnel positioning method is further provided in the embodiments of the present application, and since the principle of solving the problem of the device in the embodiments of the present application is similar to that in the embodiments of the tunnel positioning method, the implementation of the device in the embodiments of the present application may refer to the description in the embodiments of the method, and repeated details are not repeated.
Please refer to fig. 5, which is a schematic diagram of a functional module of a tunnel positioning device according to an embodiment of the present application. Each module in the tunnel positioning device in this embodiment is configured to perform each step in the above method embodiment. The tunnel positioning device comprises an acquisition module 301, a first calculation module 302 and a second calculation module 303; wherein the content of the first and second substances,
an obtaining module 301, configured to obtain, by a pan-tilt apparatus, a local spherical coordinate of a target unknown point.
The first calculating module 302 is configured to calculate a local rectangular coordinate of the target unknown point according to the local spherical coordinate of the target unknown point.
The second calculating module 303 is configured to convert the local rectangular coordinate of the target unknown point into a global coordinate of the target unknown point, and locate the target unknown point according to the global coordinate of the target unknown point.
In a possible implementation manner, the first calculating module 302 is specifically configured to: obtaining global coordinates of a plurality of initial unknown points, wherein the plurality of initial unknown points are at least three initial unknown points; acquiring local spherical coordinates of the plurality of initial unknown points; and obtaining a conversion matrix according to the local spherical coordinates of the initial unknown points and the global coordinates of the initial unknown points.
In a possible implementation manner, the second calculating module 303 is further configured to calculate a global coordinate of the unknown target point according to the transformation matrix and the local spherical coordinate of the unknown target point.
In a possible implementation manner, the first calculating module 302 is specifically configured to: calculating local rectangular coordinates of the plurality of initial unknown points according to the local spherical coordinates of the plurality of initial unknown points; and obtaining a conversion matrix according to the local rectangular coordinates of the plurality of initial unknown points and the global coordinates of the plurality of initial unknown points.
In a possible implementation, the obtaining module 301 is further configured to: obtaining the distance between the target unknown point and the holder equipment according to the laser module; and obtaining the vertical plane pitch angle of the holder equipment and the horizontal plane rotation angle of the holder equipment by taking the holder equipment as an original point according to the position of the holder equipment.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the tunnel location method in the foregoing method embodiment.
The computer program product of the tunnel location method provided in the embodiment of the present application includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the steps of the tunnel location method described in the above method embodiment, which may be referred to specifically in the above method embodiment, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A tunnel positioning method is characterized by comprising the following steps:
acquiring local spherical coordinates of a target unknown point through holder equipment, wherein the target unknown point is any point in a tunnel, and the local spherical coordinates are local coordinates taking the holder equipment as an origin of coordinates;
calculating to obtain a local rectangular coordinate of the target unknown point according to the local spherical coordinate of the target unknown point;
and converting the local rectangular coordinate of the target unknown point into a global coordinate of the target unknown point, wherein the global coordinate of the target unknown point is a positioning coordinate of the target unknown point.
2. The method according to claim 1, wherein the calculation formula for obtaining the local rectangular coordinate of the target unknown point by calculating according to the local spherical coordinate of the target unknown point is as follows:
z′＝d×sinθ；
wherein (x ', y ', z ') is the local rectangular coordinate of the target unknown point,
is the local spherical coordinate of the target unknown point, theta is the vertical plane pitch angle of the holder equipment with the holder equipment as the origin,
the horizontal angle of the pan-tilt device with the pan-tilt device as the origin is provided,
3. the method of claim 1, wherein the calculation formula for converting the local rectangular coordinates of the target unknown point into the global coordinates of the target unknown point is:
wherein (x, y, z) is the global coordinate of the target unknown point, (x ', y ', z ') is the local rectangular coordinate of the target unknown point,
is a transformation matrix.
4. The method of claim 3, wherein the transformation matrix is determined by:
obtaining global coordinates of a plurality of initial unknown points, wherein the plurality of initial unknown points are at least three initial unknown points;
acquiring local spherical coordinates of the plurality of initial unknown points;
obtaining a conversion matrix according to the local spherical coordinates of the initial unknown points and the global coordinates of the initial unknown points;
the calculating to obtain the global coordinate of the target unknown point according to the local spherical coordinate of the target unknown point includes:
and calculating to obtain the global coordinate of the target unknown point according to the transformation matrix and the local spherical coordinate of the target unknown point.
5. The method of claim 4, wherein deriving a transformation matrix from the local spherical coordinates of the plurality of initial unknown points and the global coordinates of the plurality of initial unknown points comprises:
calculating local rectangular coordinates of the plurality of initial unknown points according to the local spherical coordinates of the plurality of initial unknown points;
and obtaining a conversion matrix according to the local rectangular coordinates of the plurality of initial unknown points and the global coordinates of the plurality of initial unknown points.
6. The method of claim 1, wherein the pan-tilt device is provided with a laser module, and the obtaining local spherical coordinates of the target unknown point by the pan-tilt device comprises:
obtaining the distance between the target unknown point and the holder equipment according to the laser module;
and obtaining the vertical plane pitch angle of the holder equipment and the horizontal plane rotation angle of the holder equipment by taking the holder equipment as an original point according to the position of the holder equipment.
7. A tunnel positioning device, comprising:
an acquisition module: the system comprises a cloud platform device, a target acquisition device and a control device, wherein the cloud platform device is used for acquiring local spherical coordinates of a target unknown point;
a first calculation module: the local rectangular coordinate of the target unknown point is obtained through calculation according to the local spherical coordinate of the target unknown point;
a second calculation module: and the system is used for converting the local rectangular coordinate of the target unknown point into the global coordinate of the target unknown point.
8. An electronic device, comprising: a processor, a memory storing machine-readable instructions executable by the processor, the machine-readable instructions when executed by the processor performing the steps of the method of any of claims 1 to 6 when the electronic device is run.
9. The electronic device of claim 8, wherein the electronic device is a pan-tilt device;
the holder equipment is provided with a laser unit and an image acquisition unit;
the laser unit is used for measuring the distance between a target unknown point and the holder equipment;
the image acquisition unit is used for acquiring images of the target position.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, is adapted to carry out the steps of the method according to any one of claims 1 to 6.
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