CN109736836B - Automatic shield tunneling machine segment assembling method based on Tag code visual measurement - Google Patents
Automatic shield tunneling machine segment assembling method based on Tag code visual measurement Download PDFInfo
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Abstract
The invention provides a shield machine segment automatic assembling method based on Tag code visual measurement, wherein a Tag code is marked on the surface of each segment provided with a fixed hole, a camera arranged at the bottom of a shield machine is used for collecting a Tag code image on a segment during segment assembling, a computer is used for calculating segment offset according to the collected Tag code position image, then the computer is used for controlling a lifting mechanism, a translation mechanism and a rotation mechanism of the shield machine according to the position offset to finish segment initial adjustment and positioning, and the computer is used for controlling the lifting mechanism, a deflection oil cylinder and a pitching oil cylinder according to the position angle offset to finish segment fine adjustment and positioning so as to finish automatic assembling of the segment. According to the invention, the pose of the duct piece is visually measured, the automatic assembly of the duct piece can be realized by controlling the six-degree-of-freedom of the duct piece through the computer, the assembly efficiency and the assembly precision of the duct piece can be improved, the assembly defects of duct piece dislocation, gaps and the like are reduced, the fund can be effectively saved, the labor cost is reduced, and the safety of constructors is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of shield tunneling machines, in particular to a shield tunneling machine segment automatic assembling method based on Tag code vision measurement.
[ background of the invention ]
The shield construction method is a construction method for underground excavation of tunnels under the ground, and is a main method for engineering construction of various tunnels such as subway tunnels, highway tunnels, railway tunnels, river-crossing tunnels and urban municipal administration at present. The segment erector is used as an important component of the shield and has the functions of supporting the excavated tunnel by using prefabricated concrete segments, preventing the influence of surface subsidence and groundwater permeation on the tunnel caused by excavation and directly influencing the tunneling speed of the whole shield tunneling machine by the segment assembling speed. At present, in tunnel construction of a domestic shield machine, an excavation system and a propulsion system of the shield machine basically realize full-process automatic control, automatic control is not realized in segment assembly, and most of shield machines are still manually assembled.
Segment assembly is used as one of the most key subsystems in shield construction, and the control for realizing automation control is significant: firstly, the efficiency of assembling the shield machine duct pieces can be greatly improved, and the construction period is shortened; secondly, can guarantee the assembly precision of shield structure machine section of jurisdiction, make the dislocation of shield structure section of jurisdiction, the defect of assembling such as gap reduce by a wide margin, lining cutting intensity reinforcing, tunnel life extension and more reliable. In the long run, the construction method adopting automatic control can effectively save capital, reduce labor cost and improve the safety of constructors. Therefore, the automatic assembling of the duct pieces is realized with great significance.
[ summary of the invention ]
The invention discloses a shield tunneling machine segment automatic assembling method based on Tag code vision measurement, which aims to obtain position and posture data of segments through vision measurement, adjust a positioning mechanism of a shield tunneling machine according to the data, align fixing holes of the segments and finish automatic assembling of the segments.
The technical scheme of the invention is as follows:
a shield tunneling machine segment automatic assembling method based on Tag code vision measurement comprises the following steps:
step one, marking a Tag code at the position where each duct piece to be assembled is provided with a fixing hole, aligning the center of the Tag code with a middle scribed line of the fixing hole, and enabling one side edge of the Tag code to be parallel to one side edge of the duct piece to ensure that the pose between the Tag code and the fixing hole is constant;
secondly, a camera is arranged at the connecting end of the segment grabbing device and the lifting mechanism, and can move in a translation and rotation mode along with the segment grabbing device and keep a fixed visual angle for a measuring plane;
step three, establishing a world coordinate system 0o-X by taking the center of the joist of the segment assembling system as an originoWoZoWhen the segment completes the initial annular rotation andafter radial lifting, acquiring images of the Tag codes of the duct pieces and the Tag codes of the adjacent duct pieces in the previous ring by using a camera;
step four, respectively calculating the coordinate positions X corresponding to the two Tag codes through the obtained imagesA1YA1ZA1And XA0YA0ZA0Calculating deviation amounts delta X, delta y and delta z of the two coordinates according to the vision measurement result, wherein the deviation amount delta X is XA1-XA0，Δy＝YA1-YA0，Δz＝ZA1-ZA0；
Fifthly, adjusting the lifting mechanism, the translation mechanism and the rotation mechanism according to the deviation values delta x, delta y and delta z, adjusting the deviation values to preset values, and performing initial adjustment and positioning on the segments;
acquiring an image of the Tag code in the actual posture after initial adjustment and positioning by the camera again to obtain a posture angle of the segment in the current state and a posture angle difference value relative to the segment in the previous ring;
seventhly, controlling a lifting mechanism, a deflection oil cylinder and a pitching oil cylinder on the shield tunneling machine to stretch and finely adjust the attitude angle of the segment according to the attitude angle difference, finely adjusting and positioning the segment, and aligning the segment with a fixing hole of the segment in the previous ring;
and step eight, screwing the connecting bolts among the segments to finish the automatic assembly of one segment, and repeating the step three-step seven until the automatic assembly of one ring of segments is finished.
Preferably, in the step one, the Tag code is punched on the upper surface of each segment to be assembled, which is provided with the fixing hole.
Preferably, in the second step, the camera is a USB single-board camera, the camera is connected to the computer through a data line, and the acquired image data is transmitted to the computer in real time.
Preferably, in step two, the lifting mechanism comprises a right lifting oil cylinder and a left lifting oil cylinder, the camera comprises a first camera and a second camera, the segment grabbing device is installed at the connecting end of the right lifting oil cylinder, and the segment grabbing device is installed at the connecting end of the left lifting oil cylinder.
Preferably, in step (ii)Sixthly, the attitude angle difference value comprises a roll angle delta α and a deflection angle
And a pitch angle Δ θ.
The invention has the beneficial effects that:
(1) the invention adopts the image based on the Tag code as the visual detection object, the Tag code consists of black and white, and is easy to be found by processing the threshold value of the image; the Tag code has directivity, so that the pose can be better solved in an auxiliary manner; the Tag code body is provided with information, and the directions of the two sides of the duct piece can be conveniently distinguished by analyzing the arrangement sequence of black and white blocks in the Tag code;
(2) after the Tag code image enters the camera range, measuring the pose difference value of the segment to be assembled and the previous adjacent segment in real time, wherein the measurement result is more reliable, and sending an instruction to adjust the positioning mechanism by a computer according to the related difference value;
(3) compared with the traditional assembling method, the method for automatically assembling the duct pieces by measuring the positions and the attitude angles of the duct pieces and controlling the six degrees of freedom of the duct pieces has the advantages of high precision, high speed and simple and reliable realization;
(4) compared with the existing segment manual assembly technology, the method improves segment assembly efficiency, has high assembly precision, reduces segment dislocation, gap and other assembly defects, can effectively save funds, reduces labor cost, and improves safety of constructors.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic flow chart of a shield tunneling machine segment automatic splicing method based on Tag code vision measurement in the invention;
FIG. 2 is a top view of the segments to be assembled in accordance with the present invention;
FIG. 3 is a block diagram of the shield segment erector of the present invention;
FIG. 4 is a schematic structural view of a shield segment erector of the present invention;
FIG. 5 is a schematic view of the initial alignment of the duct piece and the duct piece adjacent to the previous ring;
FIG. 6 is a schematic view of the segment before fine adjustment of the attitude angle of the segment according to the present invention;
fig. 7 is a schematic diagram of the duct piece after the attitude angle of the duct piece is finely adjusted.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the invention provides a shield machine segment automatic splicing method based on Tag code vision measurement, which comprises the following steps:
referring to fig. 2, in the first step, a Tag code 13 is marked at a position where a fixing hole 11 is formed in each segment 1 to be assembled, the center of the Tag code 13 is aligned with a middle scribed line of the fixing hole 11, and meanwhile, one side of the Tag code 13 is parallel to one side of the segment 1, so that the pose between the Tag code 13 and the fixing hole 11 is ensured to be constant;
specifically, each segment 1 is provided with a corresponding fixing hole 11, the fixing holes 11 are mainly used for mutually fixing the segments 1 and the segments 1 to realize the assembly of the segments 1, the fixing holes of the segment 1 to be assembled and the segment adjacent to the previous ring are aligned, namely, the assembly of each segment is completed, the Tag code 13 is marked on the upper surface of each segment 1 to be assembled, which is provided with the fixing hole 11, the Tag code 13 is square, the center of the Tag code 13 is aligned with the middle scribed line of the fixing hole 11, meanwhile, the outermost side of the Tag code 13 is parallel to the outer side of the duct piece 1, the distance is h, the position between the Tag code 13 and the fixing hole 11 is ensured to be constant, namely, the distance between the outermost side of the Tag code 13 and the outer side of the duct piece 1 is constant, and meanwhile, the Tag codes 13 are flat and smooth, each Tag code 13 is provided with corresponding information, by analyzing the arrangement order of black and white blocks inside the Tag code 13, the directions of both sides of the duct piece 1 can be distinguished.
Referring to fig. 3 and 4, in step two, a camera is installed at a connecting end of the segment gripping device 2 and the lifting mechanism of the segment erector 100 of the shield tunneling machine, and the camera can move in a translation and rotation manner along with the segment gripping device 2 and keep a fixed view angle for a measurement plane;
specifically, the lifting mechanism includes a right lifting cylinder 31 and a left lifting cylinder 32, the cameras include a first camera 41 and a second camera 42, the segment grasping device 2 is mounted to the connecting end of the right lifting cylinder 31 of the first camera 41, the segment grasping device 2 is mounted to the connecting end of the left lifting cylinder 32 of the second camera 42, the first camera 41 and the second camera 42 are USB single-board cameras, and the first camera 41 and the second camera 42 can follow the segment grasping device 2 to perform translation and rotation motions, so that a fixed visual angle is maintained for a measurement plane. The first camera 41 and the second camera 42 are connected to the computer 200 through data lines, and acquire image data in real time and transmit the image data to the computer 200.
And then, with reference to the figures 5-7, establishing a world coordinate system 0o-X by taking the center of the joist of the segment assembling system as an origin in the third stepoWoZoAfter the segment 1 completes initial annular rotation and radial lifting, images of the Tag code 13 of the segment 1 and the Tag code 14 of the adjacent segment a in the previous ring are obtained through the first camera 41;
specifically, a world coordinate system 0o-X is established by taking the center of a joist of a segment assembling system as an originoWoZoThat is, the central position of the translation mechanism 5 in fig. 4 is fixed in the assembling process of the duct piece 1, and the first camera 41 collects a pair of Tag code images of the corresponding fixing holes during the assembling work of the duct piece, as shown in fig. 5, the images of the Tag code 13 and the Tag code 14 within the small peripheral range can be collected in real time within the visual field range of the first camera 41 during the assembling work of the duct piece. Wherein 13 for the Tag sign indicating number of the section of jurisdiction 1 of waiting to assemble, 14 for waiting to assemble the Tag sign indicating number of an adjacent section of jurisdiction a of a ring on the section of jurisdiction 1.
Step four, obtainingRespectively calculating the coordinate positions X corresponding to the two Tag codesA1YA1ZA1And XA0YA0ZA0Calculating deviation amounts delta X, delta y and delta z of the two coordinates according to the vision measurement result, wherein the deviation amount delta X is XA1-XA0，Δy＝YA1-YA0，Δz＝ZA1-ZA0；
Specifically, the two Tag codes refer to the Tag code 13 of the duct piece 1 and the Tag code 14 of the adjacent duct piece a on the duct piece 1, the coordinate positions of the Tag code 13 of the duct piece 1 to be assembled and the Tag code 14 of the adjacent duct piece a on the previous ring are respectively calculated through images acquired by a camera, and two coordinate deviation amounts Δ x, Δ y and Δ z are calculated.
Fifthly, adjusting the lifting mechanism, the translation mechanism 5 and the rotation mechanism 6 according to the deviation values delta x, delta y and delta z, and adjusting the deviation values to preset values to finish the initial adjustment and positioning of the segment, as shown in fig. 6;
specifically, the deviation delta x is used for adjusting the movement of the translation mechanism 5 in the shield segment erector 100 in fig. 4, the deviation delta y is used for adjusting the movement of the rotation mechanism 6 in the shield segment erector 100 in fig. 4, and the deviation delta z is used for adjusting the simultaneous lifting movement of the right lifting oil cylinder 31 and the left lifting oil cylinder 32 in the shield segment erector 100 in fig. 4, so that the segment 1 to be assembled is close to an upper ring of adjacent segment a until the segment is initially adjusted and positioned, specifically as shown in fig. 6, at the moment, only the attitude angle of the two segments needs to be adjusted, and the distance does not need to be adjusted.
Step six, measuring images of a Tag code 13 of a segment 1 to be assembled and a Tag code 14 of an adjacent segment a in the previous ring in the actual posture after initial adjustment and positioning to obtain a posture angle of the segment 1 in the current state and a posture angle difference value relative to the segment in the previous ring;
specifically, the attitude angle difference includes a roll angle Δ α and a yaw angle
And a pitch angle Δ θ.
Seventhly, controlling the lifting mechanism, the deflection oil cylinder 22 and the pitching oil cylinder 23 on the shield tunneling machine to stretch and finely adjust the segment attitude angle according to the attitude angle difference value, finishing fine adjustment and positioning of the segment 1, and aligning the segment with a fixing hole of the segment a in the previous ring;
specifically, the computer 200 is used for controlling the corresponding oil cylinder in fig. 4 to stretch, the stroke difference between the left lifting oil cylinder 32 and the right lifting oil cylinder 31 is controlled by a roll angle delta α to realize the roll angle adjustment of the segment 1, and the roll angle is adjusted by the deflection angle
And the pitch angle delta theta controls the deflection cylinder 22 and the pitch cylinder 23 in the segment grabbing device 2 to adjust the deflection angle and the pitch angle of the segment, and as shown in fig. 7, after the fine adjustment and positioning of the segment are completed, two fixing holes can be aligned with each other.
Step eight, screwing the connecting bolts among the duct pieces 1 to finish the automatic assembly of one duct piece, and repeating the step three-step seven until the automatic assembly of one ring of duct pieces is finished.
The invention has the beneficial effects that:
(1) the invention adopts the image based on the Tag code as the visual detection object, the Tag code consists of black and white, and is easy to be found by processing the threshold value of the image; the Tag code has directivity, so that the pose can be better solved in an auxiliary manner; the Tag code body is provided with information, and the directions of the two sides of the duct piece can be conveniently distinguished by analyzing the arrangement sequence of black and white blocks in the Tag code;
(2) after the Tag code image enters the camera range, measuring the pose difference value of the segment to be assembled and the previous adjacent segment in real time, wherein the measurement result is more reliable, and sending an instruction to adjust the positioning mechanism by a computer according to the related difference value;
(3) compared with the traditional assembling method, the method for measuring the position and the attitude angle of the duct piece and controlling six degrees of freedom to complete automatic assembling of the duct piece has the advantages of high precision, high speed and simple and reliable realization;
(4) compared with the existing segment manual assembly technology, the method improves segment assembly efficiency, has high assembly precision, reduces segment dislocation, gap and other assembly defects, can effectively save funds, reduces labor cost, and improves safety of constructors.
While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the specification and the embodiments, which are fully applicable to various fields of endeavor for which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (5)
1. A shield tunneling machine segment automatic splicing method based on Tag code vision measurement is characterized by comprising the following steps:
step one, marking a Tag code at the position where each duct piece to be assembled is provided with a fixing hole, aligning the center of the Tag code with a middle scribed line of the fixing hole, and enabling one side edge of the Tag code to be parallel to one side edge of the duct piece to ensure that the pose between the Tag code and the fixing hole is constant;
secondly, a camera is arranged at the connecting end of the segment grabbing device and the lifting mechanism, and can move in a translation and rotation mode along with the segment grabbing device and keep a fixed visual angle for a measuring plane;
step three, establishing a world coordinate system 0 by taking the center of the joist of the segment assembling system as an origino-XoWoZoAfter the initial annular rotation and radial lifting of the duct piece are completed, images of the Tag codes of the duct piece and the Tag codes of the adjacent duct piece in the previous ring are obtained through a camera;
step four, respectively calculating the coordinate positions X corresponding to the two Tag codes through the obtained imagesA1YA1ZA1And XA0YA0ZA0Calculating deviation amounts delta X, delta y and delta z of the two coordinates according to the vision measurement result, wherein the deviation amount delta X is XA1-XA0，Δy＝YA1-YA0，Δz＝ZA1-ZA0；
Fifthly, adjusting the lifting mechanism, the translation mechanism and the rotation mechanism according to the deviation values delta x, delta y and delta z, adjusting the deviation values to preset values, and performing initial adjustment and positioning on the segments;
acquiring an image of the Tag code in the actual posture after initial adjustment and positioning by the camera again to obtain a posture angle of the segment in the current state and a posture angle difference value relative to the segment in the previous ring;
seventhly, controlling a lifting mechanism, a deflection oil cylinder and a pitching oil cylinder on the shield tunneling machine to stretch and finely adjust the attitude angle of the segment according to the attitude angle difference, finely adjusting and positioning the segment, and aligning the segment with a fixing hole of the segment in the previous ring;
step eight, screwing the connecting bolts among the duct pieces to finish the automatic assembly of one duct piece, and repeating the step three-step seven until the automatic assembly of one ring of duct pieces is finished;
the Tag code is square, consists of black and white, and has directionality.
2. The automatic shield tunneling machine segment assembling method based on the Tag code visual measurement as claimed in claim 1, wherein in the first step, the Tag code is punched on the upper surface of each segment to be assembled, which is provided with the fixing hole.
3. The automatic shield tunneling machine segment assembling method based on Tag code vision measurement according to claim 1 or 2, characterized in that in step two, the camera is a USB single-board camera, the camera is connected with a computer through a data line, and the acquired image data is transmitted to the computer in real time.
4. The automatic shield tunneling machine segment assembling method based on the Tag code visual measurement of claim 3, wherein in the second step, the lifting mechanism comprises a right lifting cylinder and a left lifting cylinder, the cameras comprise a first camera and a second camera, the first camera is installed at the connecting end of the segment gripping device and the right lifting cylinder, and the second camera is installed at the connecting end of the segment gripping device and the left lifting cylinder.
5. The automatic shield tunneling machine segment assembling method based on Tag code visual measurement as claimed in claim 1, wherein in step six, the attitude angle difference values include a roll angle Δ α and a deflection angle
And a pitch angle Δ θ.
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| CN110593916B (en) * | 2019-10-10 | 2021-02-05 | 中国铁建重工集团股份有限公司 | Arch adjusting device and arch adjusting method |
| CN111442942B (en) * | 2020-04-30 | 2021-06-25 | 中南大学 | Serial-type segment assembling robot test device and simulation assembling method |
| CN113137447B (en) * | 2020-06-23 | 2022-05-17 | 重庆工商大学 | Shield segment self-adaptive vibration-damping impact-resisting device and shield segment mounting structure |
| CN113137446B (en) * | 2020-06-23 | 2022-05-17 | 重庆工商大学 | Segment bolt self-adaptive damping device |
| CN112253168B (en) * | 2020-10-28 | 2022-04-22 | 中交天和机械设备制造有限公司 | Automatic assembling method and device for segments of shield tunneling machine |
| CN113863966B (en) * | 2021-09-18 | 2023-06-06 | 天津大学 | Segment grabbing pose detection device and method based on deep learning vision |
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