CN114183167A

CN114183167A - Automatic segment grabbing and positioning method and automatic segment assembling and positioning method

Info

Publication number: CN114183167A
Application number: CN202111573905.4A
Authority: CN
Inventors: 林福龙; 郭俊可; 魏晓龙; 周树亮; 周罘鑫; 郑康泰; 贺开伟; 高博; 张发亮; 胡鹏; 周邦栋; 路亚缇; 王宁; 黄震
Original assignee: China Railway Engineering Equipment Group Co Ltd CREG
Current assignee: China Railway Engineering Equipment Group Co Ltd CREG
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2022-03-15

Abstract

Provides an automatic segment grabbing and positioning method and an automatic segment assembling and positioning method. The automatic segment grabbing and positioning method comprises the following steps: conveying the segments to be assembled including the first mark points and the second mark points to a position to be grabbed; the segment erector moves to the position above the segment to be assembled; adjusting a moving part of the segment erector to enable a grabbing part of the segment erector to be located at a calibration position; at least three distance measurement sensing modules arranged on a gripping component of the segment erector are used for measuring distances to obtain the measurement distances between the gripping component and segments to be assembled, and a moving component of the segment erector is adjusted to enable the measurement distances to be equal; an image acquisition device arranged on a grabbing component of the segment erector acquires an image comprising a first mark point and a second mark point; and carrying out image processing, calculating the deviation between the current grabbing position and the calibrated grabbing position, and adjusting the moving parts of the segment erector to enable the deviation value to be smaller than or equal to a deviation threshold value so that the segment erector is adjusted to the standard grabbing position.

Description

Automatic segment grabbing and positioning method and automatic segment assembling and positioning method

Technical Field

The embodiment of the disclosure relates to a duct piece automatic grabbing and positioning method and a duct piece automatic assembling and positioning method.

Background

The segment erector is one of the key components of the shield machine and is responsible for splicing segments, the current segment splicing mainly adopts manual remote control splicing, and in the segment grabbing process, splicing operators need to perform operations such as rolling, pitching and deflecting through a remote controller to adjust the posture of the segments to realize accurate positioning, and the method is low in positioning accuracy and low in efficiency.

Disclosure of Invention

The embodiment of the disclosure provides a duct piece automatic grabbing and positioning method and a duct piece automatic assembling and positioning method.

The embodiment of the disclosure provides a method for automatically grabbing and positioning a pipe sheet, which comprises the following steps: conveying the segments to be assembled to a position to be grabbed, wherein the segments to be assembled comprise first mark points and second mark points; the segment erector moves to the position above the segment to be assembled; adjusting a moving part of the segment erector to enable a grabbing part of the segment erector to be located at a calibration position; at least three distance measurement sensing modules arranged on a gripping component of the segment erector are used for measuring distances to obtain the measurement distances between the gripping component and the segments to be assembled, and a moving component of the segment erector is adjusted to enable the measurement distances to be equal; an image acquisition device arranged on a grabbing component of the segment erector acquires images comprising the first mark point and the second mark point; and carrying out image processing, calculating the deviation between the current grabbing position and the calibrated grabbing position, and adjusting the moving parts of the segment erector to enable the deviation value to be smaller than or equal to the deviation threshold value so that the segment erector is adjusted to the standard grabbing position.

According to the automatic pipe piece grabbing and positioning method provided by the embodiment of the disclosure, calculating the deviation between the current grabbing position and the calibrated grabbing position comprises the following steps: and obtaining the angular deviation between the current grabbing posture and the calibrated grabbing position of the segment erector.

According to the automatic pipe piece grabbing and positioning method provided by the embodiment of the disclosure, the step of obtaining the angle deviation between the current grabbing posture and the calibrated grabbing position of the pipe piece erector comprises the following steps: and calculating the angle deviation between the connecting line of the first mark point and the second mark point in the current image and the connecting line of the first mark point and the second mark point in the calibration image.

According to the automatic pipe piece grabbing and positioning method provided by the embodiment of the disclosure, the step of adjusting the moving part of the pipe piece erector to enable the deviation value to be smaller than or equal to the deviation threshold value comprises the following steps: adjusting the angular deviation to be less than or equal to an angular deviation threshold; and adjusting a first distance deviation of a connecting line of the first mark point and the second mark point in the current image and a connecting line of the first mark point and the second mark point in the calibration image in a first direction and a second distance deviation in a second direction, so that the first distance deviation is smaller than a first distance threshold, the second distance deviation is smaller than a second distance threshold, and the first direction is perpendicular to the second direction.

According to the automatic pipe sheet grabbing and positioning method provided by the embodiment of the disclosure, the method further comprises the following steps: and calibrating the grabbing posture and the grabbing position of the segment erector, and collecting a calibration image comprising the first mark point and the second mark point.

According to the automatic pipe sheet grabbing and positioning method provided by the embodiment of the disclosure, the calibration comprises the following steps: causing the grasping members to grasp the segment; adjusting a moving part of the segment erector to enable the grabbing part to be separated from the segment and move upwards in a straight line, and stopping to obtain a calibration position; and acquiring an image by adopting an image acquisition device to obtain a calibration image comprising the first mark point and the second mark point.

According to the automatic pipe sheet grabbing and positioning method provided by the embodiment of the disclosure, the method further comprises the following steps: controlling a moving part of the segment erector to enable a grabbing part of the segment erector to move linearly and approach to a segment to be grabbed; and controlling the action of a contact switch from a moving part of the erector to the grabbing part, so that the grabbing and positioning of the segment of the erector are completed.

According to the automatic pipe sheet grabbing and positioning method provided by the embodiment of the disclosure, the at least three distance measurement sensing modules comprise three distance measurement sensing modules which are distributed in a triangular shape.

According to the automatic pipe sheet grabbing and positioning method provided by the embodiment of the disclosure, the three distance measurement sensing modules comprise two distance measurement modules which are arranged along the non-tunneling direction.

The embodiment of the disclosure also provides a duct piece assembling method, which comprises the automatic grabbing and positioning method for any duct piece.

According to the duct piece assembling method provided by the embodiment of the disclosure, the method further comprises an automatic duct piece assembling and positioning method, wherein the automatic duct piece assembling and positioning method comprises the following steps: the segment erector grabs the segment to be assembled and moves to the position near the point to be assembled; correcting the rotating posture of the duct piece; correcting the pitching attitude of the duct piece; and correcting the segment height difference and the gap.

According to the pipe piece assembling method provided by the embodiment of the disclosure, at least four profile measuring modules are erected on a connecting beam of a pipe piece assembling machine, each profile measuring module is configured to measure the profiles of a pipe piece to be assembled and an assembled pipe piece, the grabbing component is arranged on the pipe piece assembling machine through the connecting beam, and the at least four profile measuring modules comprise two first profile measuring modules located at two ends of the connecting beam and two second profile measuring modules located between the two first profile measuring modules and perpendicular to the extending direction of the connecting beam.

According to the duct piece assembling method provided by the embodiment of the disclosure, the centers of the two first profile measurement modules and the centers of the two second profile measurement modules are located on the same circle, and the circle where the duct piece to be assembled is located during grabbing are concentric circles.

According to the duct piece assembling method provided by the embodiment of the disclosure, the correction of the rotating posture of the duct piece comprises the following steps: and measuring the distance between the duct piece to be assembled and the assembled duct piece in the tunneling direction through the two second profile measuring modules, and adjusting a moving part of the duct piece assembling machine to enable the difference value of the measuring distances of the two second profile measuring modules to be smaller than a third distance threshold value.

According to the duct piece assembling method provided by the embodiment of the disclosure, the duct piece pitching attitude correction comprises the following steps: and measuring the slopes of the edges of the to-be-assembled duct pieces and the assembled duct pieces in the non-tunneling direction through the two first profile measuring modules, and adjusting a moving part of the duct piece assembling machine to enable the difference value of the slopes of the edges of the to-be-assembled duct pieces and the assembled duct pieces in the non-tunneling direction to be smaller than a slope threshold value.

According to the duct piece assembling method provided by the embodiment of the disclosure, duct piece height difference and clearance correction comprises the following steps: and measuring the radial height difference and the clearance in the non-tunneling direction of the segment to be assembled and the assembled segment through the two second profile measuring modules and one first profile measuring module in the two first profile measuring modules, and adjusting a moving part of the segment erector to ensure that the height difference is smaller than a height difference threshold value and the clearance is smaller than a clearance threshold value.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description relate only to some embodiments of the present disclosure and are not limiting to the present disclosure.

FIG. 1A is a schematic view of a segment erector grasping a segment.

FIG. 1B is a schematic view of a segment erector assembled from segments.

FIG. 1C is a partial schematic view of a pipe segment erector.

FIG. 1D is a schematic diagram of a controller and its control components of a pipe segment erector.

Fig. 2A is a schematic layout diagram of an image acquisition device of the segment erector and a schematic layout diagram of a distance measuring sensing module along a non-tunneling direction.

Fig. 2B is a schematic layout diagram of the ranging sensing modules of the segment erector in the tunneling direction.

Fig. 2C is a schematic diagram of a control unit of the segment erector and its controlled components.

FIG. 3 is a plan view of a ranging sensor module arrangement and image capture device on a grasping unit of a segment erector.

Fig. 4 is a plan view of the pin holes, first index points and second index points on the segment.

Fig. 5 is a flowchart of an automatic pipe segment grabbing and positioning method according to an embodiment of the present disclosure.

Fig. 6A to 6E are schematic views illustrating an automatic grasping and positioning process of the segment.

Fig. 7 is a schematic view of a grabbing posture correction process of a grabbing part of the pipe piece assembling machine according to the embodiment of the disclosure.

Fig. 8A is a schematic view illustrating a grasping member grasping a segment during calibration in an automatic segment grasping and positioning method according to an embodiment of the disclosure.

Fig. 8B is a schematic diagram of the grabbing component in the calibration process in the automatic pipe segment grabbing and positioning method provided by the embodiment of the disclosure leaving the pipe segment, ascending in a straight line, and stopping to determine the calibrated grabbing position.

Fig. 9 is a flowchart of an automatic positioning method for grasping a tube sheet according to an embodiment of the disclosure.

Fig. 10A and 10B are schematic diagrams illustrating mounting of the duct piece automatic assembling positioning measurement module.

Fig. 11 is a schematic diagram of a control unit and components controlled thereby.

Fig. 12 is a schematic view of the automatic duct piece assembling and positioning process.

Fig. 13 is a schematic view illustrating correction of the rotational posture of the segment.

Fig. 14 is a schematic view of segment pitch attitude correction.

FIG. 15 is a schematic view of segment step and gap correction.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.

Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Likewise, the word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

FIG. 1A is a schematic view of a segment erector grasping a segment. FIG. 1B is a schematic view of a segment erector assembled from segments. FIG. 1C is a partial schematic view of a pipe segment erector. FIG. 1D is a schematic diagram of a controller and its control components of a pipe segment erector. As shown in fig. 1A and 1B, the segment erector includes a joist 20, a moving member M0, and a gripping member 7. As shown in fig. 1A, the moving member M0 includes a translation member 11, a lift member 12, and a rotation member 13. As shown in fig. 1A, the translation section 11 includes a moving frame 111 and a translation drive 112. As shown in fig. 1A, the rotating member 13 includes a rotating frame 131 and a rotary drive 132. As shown in FIG. 1A, the lift assembly 12 includes a lift drive 120. Fig. 1A and 1B also show a tube sheet 10. Fig. 1B shows segment 1 to be assembled and assembled segment 100. Fig. 1A also shows a connecting beam 8. The coupling beam 8 is connected to the lifting drive 120, and the gripping elements 7 are arranged on the coupling beam 8. For example, the connecting beam 8 may also be referred to as a weight lifting clamp.

As shown in fig. 1A, the rotating frame 131 and the moving frame 111 constitute a stand 30. As shown in fig. 1A, the rotating frame 131 and the moving frame 111 are both annular, and the joist 20 may be located in the inner hole of the annular bracket 30. The rotating frame 131 is connected to the moving frame 111. The rotating frame 131 may rotate with respect to the moving frame 111.

Fig. 1A and 1B show a direction X, a direction Y, and a direction Z. As shown in fig. 1A and 1B, a translation drive 112 is provided on the joist 20, the translation drive 112 being connected to the moving frame 111 so as to be configured to drive the gripping members 7 to move in the direction X; the lifting drive 120 is connected with the rotating frame 131 to be configured to drive the gripping member 7 to move along the radial direction of the support 30; the rotation drive 132 is connected to the rotating frame 131 to be configured to drive the rotating frame 131 and rotate the grasping member 7 in the circumferential direction of the support 30. For example, the direction X may also be referred to as an axial direction.

For example, as shown in fig. 1A, moving in the direction X includes advancing or retreating, and moving in the direction Z includes ascending or descending, and the rotation of the gripping member 7 in the circumferential direction of the stent 30 may mean rotating about an axis extending in the direction X. Rotation of the gripping members 7 in the circumferential direction of the support 30 or rotation of the gripping members 7 about an axis extending in the direction X may refer to rotation of the rotating gantry 131 in an arc of arrow R2. It should be noted that, when the rotating frame 131 rotates along the axis extending in the direction X, 360-degree rotation can be realized, so as to facilitate the ring-by-ring assembly of the segments.

As shown in fig. 1A, the two translation drives 112 are provided, and the two translation drives 112 are movable at a constant speed, so that the moving frame 111 moves in a straight line.

As shown in fig. 1C, a fine actuator 140 and a fine actuator 150 are further provided between the gripping member 7 and the connecting beam 8. As shown in fig. 1C, both fine actuator 140 and fine actuator 150 are disposed on one side of the connecting beam 8. For example, in fig. 1A, two fine drives may be provided on the left side of the connecting beam 8. The fine adjustment drive 140 may be configured to fine-tune the gripping members 7 in the circumferential direction and the fine adjustment drive 150 may be configured to fine-tune the gripping members 7 in the radial direction. Fig. 1C illustrates an example where both the fine adjustment drive 140 and the fine adjustment drive 150 are cylinders.

For example, as shown in fig. 1B, the direction DR is a heading direction. For example, direction DR may be parallel to direction X, but is not limited thereto. For example, but not limited to, the non-heading direction is parallel to direction Y.

In the embodiment of the present disclosure, the segment erector can realize six-degree-of-freedom position adjustment of the gripping member 7.

As shown in fig. 1D, the control unit 81 is connected to the translation driver 112, the lift driver 120, the rotation driver 132, the fine adjustment driver 140 and the fine adjustment driver 150 respectively, so as to control the translation driver 112, the lift driver 120, the rotation driver 132, the fine adjustment driver 140 and the fine adjustment driver 150 respectively.

Fig. 1A illustrates an example in which the lift drive 120 is a lift cylinder, the translation drive 112 is a translation cylinder, and the rotation drive 132 includes a motor and a gear driven by the motor. The gear may be provided in the rotating frame 131.

For example, the positioning and the assembling of the duct pieces are realized through the expansion and contraction of an axial oil cylinder, the expansion and contraction of a radial oil cylinder, the rotation of a rotary support and the fine adjustment of a fine adjustment oil cylinder, and then the duct pieces and the duct pieces adjacent to the duct pieces are fixed by bolts.

Fig. 2A is a schematic layout diagram of an image acquisition device of the segment erector and a schematic layout diagram of a distance measuring sensing module along a non-tunneling direction. Fig. 2B is a schematic layout diagram of the ranging sensing modules of the segment erector in the tunneling direction. Fig. 2C is a schematic diagram of a control unit of the segment erector and its controlled components. FIG. 3 is a plan view of a ranging sensor module arrangement and image capture device on a grasping unit of a segment erector. Fig. 4 is a plan view of the pin holes, first index points and second index points on the segment.

As shown in fig. 2A, 2B, 3, and 4, an image pickup device 5 is arranged on the grasping member 7 of the segment erector. For example, the image capture device 5 is fixed to the non-heading side of the gripper 7 by a bracket, for example, provided in the middle of the non-heading side of the gripper 7. The image acquisition device 5 is used for acquiring images containing the upper first mark points 3 and the second mark points 4 of the segment 1 to be assembled, then transmitting the images or image information to the control unit 82 for image processing, and identifying the position of the segment 1 to be assembled relative to the grabbing part 7 of the segment erector; segment 1 is set up at non-direction of drivage and is surveyed range sensing module, includes three range sensing module with segment erector in the picture: the distance measurement sensing module 2, the distance measurement sensing module 6, and the distance measurement sensing module 9 are described as examples. For example, the distance measuring and sensing module is used for measuring the distance between the grasping component 7 of the segment erector and the segment 1 to be grasped in real time. The distance between the gripping member 7 and the segment 1 to be gripped may be the vertical height between the gripping member 7 and the segment 1 to be gripped. For example, the ranging sensing module includes a ranging sensor. For example, the distance measuring sensor may employ a commonly used distance measuring sensor, such as a laser distance measuring sensor, or an ultrasonic distance measuring sensor, but is not limited thereto. For example, the image capture device 5 includes a camera, and a 3D camera or a binocular camera may be employed, but is not limited thereto.

As shown in fig. 2C, the control unit 82 is connected to the image capturing device 5, and the control unit 82 is configured to receive the image or the image information and perform image processing. For example, as shown in fig. 2C, the control unit 82 includes an upper computer, but is not limited thereto.

For example, as shown in fig. 3, three ranging sensing modules (ranging sensing module 2, ranging sensing module 6 and ranging sensing module 9) are distributed in a triangle, and a cambered surface can be determined, for example, the ranging sensing module 2 and ranging sensing module 6 are arranged in a non-tunneling direction, and the ranging sensing module 9 is arranged in a tunneling direction.

For example, as shown in fig. 2A and 3, the image capturing device 5 is located between the ranging sensing module 2 and the ranging sensing module 6. For example, the distance between the range-finding sensing module 2 and the image pickup device 5 is equal to the distance between the range-finding sensing module 6 and the image pickup device 5. In some embodiments, the distance between the ranging sensing module 9 and the ranging sensing module 2 is equal to the distance between the ranging sensing module 9 and the ranging sensing module 6, and the ranging sensing module 2, the ranging sensing module 6 and the ranging sensing module 9 form an isosceles triangle, but is not limited thereto.

For example, as shown in fig. 4, in order to facilitate the image acquisition device 5 to acquire an image including the first marker points 3 and the second marker points 4, the first marker points 3 and the second marker points 4 may be disposed at edge positions of the upper surface of the duct piece 10. The first index points 3 and the second index points 4 can be pre-fabricated on the tube sheet 10. For example, the first marking point 3 and the second marking point 4 may be both grooves, but are not limited thereto, and the first marking point 3 and the second marking point 4 may take other forms. Fig. 4 illustrates an example in which the first marker point 3 and the second marker point 4 are both rectangular, but the first marker point 3 and the second marker point 4 may take other suitable shapes.

In the embodiment of the present disclosure, the gripping member 7 is exemplified as a vacuum chuck, but the present disclosure is not limited thereto, and other types of gripping members, such as a mechanical type gripping member, may be adopted. In the case where the gripping means employs vacuum cups, the segment erector may be referred to as a vacuum cup segment erector. The automatic segment grabbing and positioning method provided by the embodiment of the disclosure comprises a vacuum chuck type segment erector segment grabbing and automatic positioning method.

Fig. 4 also shows pin holes 1001 in the tube sheet 10. Fig. 4 shows two pin holes 1001. For example, as shown in fig. 4, a first index point 3 and a second index point 4 are located at the edge of the tube sheet and between two pin holes 1001. For example, the shape of the marker point may be different from the shape of the pinhole 1001. The shape of the pin hole 1001 is not limited to that shown in the drawing. The shape of the marker point is not limited to that shown in the figure.

In the automatic positioning process of the segment erector for grasping segments, the pin holes 1001 can accommodate positioning pins on the vacuum chucks. Of course, in other embodiments, the pin holes 1001 may not be provided in the tube sheet 10, and the positioning pins may not be provided on the vacuum chuck.

For example, as shown in fig. 4, the size of the first index point 3 is smaller than the size of the pin hole 1001, and the size of the second index point 4 is smaller than the size of the pin hole 1001. For example, the size of the first marking point 3 may be equal to or substantially equal to the size of the second marking point 4, but is not limited thereto. For example, the two pin holes 1001 may be equal or substantially equal in size, but are not limited thereto.

In order to improve the segment splicing efficiency and improve the construction efficiency of the shield machine, a segment automatic grabbing and positioning technology is necessary to be adopted, the automatic positioning in the segment grabbing process is realized, and then the coordinated automatic operation of the segment splicing machine and the shield machine is realized.

For example, the embodiment of the disclosure provides a segment grabbing automatic positioning method of a segment erector by depending on a segment erector of a full-face tunnel boring machine and a segment structural form.

Fig. 5 is a flowchart of an automatic pipe segment grabbing and positioning method according to an embodiment of the present disclosure. Fig. 6A to 6D are schematic views illustrating an automatic grasping and positioning process of the segment.

As shown in fig. 3 to 5 and fig. 6A to 6E, an embodiment of the present disclosure provides an automatic tube sheet grabbing and positioning method, including the following steps.

Step S101, as shown in fig. 4, 5 and 6A, conveying the segment 1 to be assembled to the position P1 to be grabbed, where the segment 1 to be assembled includes a first index point 3 and a second index point 4.

Step S102, as shown in fig. 5 and 6B, the segment erector is moved above the segment to be assembled, and fig. 6B shows a grasping position P2 above the segment to be assembled. For example, the grabbing position P2 may be a fixed position, and may be referred to as a fixed grabbing position, but is not limited thereto.

Step S103, as shown in fig. 5 and 6C, adjusts the moving parts of the segment erector so that the grasping parts of the segment erector are located at the indexing position P3. For example, the grasping member of the segment erector can be brought to the nominal position P3 by adjusting the moving member of the segment erector to a nominal grasping attitude.

And step S104, as shown in fig. 3 and 5, at least three distance measuring sensing modules arranged on the gripping component of the segment erector measure distances to obtain the measuring distances between the gripping component 7 and the segment 1 to be assembled, and adjusting the moving component of the segment erector to ensure that the measuring distances are equal.

Step S105, as shown in fig. 5, an image capturing device provided on the grasping unit of the segment erector captures an image including the first index point 3 and the second index point 4.

And S106, as shown in FIG. 5, performing image processing, calculating the deviation between the current grabbing position and the calibrated grabbing position, and adjusting the moving parts of the segment erector to enable the deviation value to be smaller than or equal to a deviation threshold value, so that the segment erector is adjusted to the standard grabbing position.

For example, the nominal position P3 is a fixed position. The segment erector can be caused to drop to the fixed indexing position P3 each time. For example, the segment erector is lowered linearly from the gripping position P2 to the fixed nominal position P3 each time.

As shown in fig. 6B, the grip position P2 is located directly above the position to be gripped P1. As shown in fig. 6C, the nominal position P3 may be located directly below the grabbed position P2. For example, the position to be grasped P1, the grasping position P2, and the calibration position P3 may be located on a straight line. For example, the position to be grasped P1, the grasping position P2, and the nominal position P3 may be located on a vertical line.

Because the conveyed segment may deviate from the position of the segment during calibration, the grasping members need to be adjusted so that the grasping members can accurately and smoothly grasp the segment.

In the automatic positioning process that snatchs of section of jurisdiction, because the section of jurisdiction of carrying probably has the deviation with the position of the section of jurisdiction when the calibration, in calibration position P3 department, gripping means 7 and the relative position of waiting to assemble between section of jurisdiction 1 probably have the deviation with the relative position between the section of jurisdiction when the calibration and gripping means 7, thereby, need adopt ranging module to measure a distance, and adjust gripping means 7 and the relative position of waiting to assemble between section of jurisdiction 1 according to ranging module's measurement result, make each ranging module's measurement result the same, so that gripping means 7 and the relative position of waiting to assemble between the section of jurisdiction 1 equals the relative position between the section of jurisdiction when the calibration and gripping means 7. The position of the gripping elements 7 at which the measurement results of the individual distance measuring modules are identical can be referred to as the relative nominal gripping position. The nominal position P3 may be referred to as a fixed nominal grab position. I.e. so that the gripping members 7 reach a fixed nominal gripping position and so that the gripping members 7 reach the opposite nominal gripping position.

For example, each time the tube sheet is grasped, the grasping member may be brought to the reaching position P3, and each time the tube sheet is grasped, the grasping member may be brought to the nominal position P3, that is, the nominal position P3 is a fixed position and is the same position, but the invention is not limited thereto. In other embodiments, when different tube sheets are grabbed, the grabbing component can reach the calibration positions P3 which are not the same, the calibration positions P3 are located at the same height, and the connecting lines of the calibration positions P3 are straight lines.

The automatic segment grabbing and positioning method provided by the embodiment of the disclosure can improve segment assembling efficiency and improve the construction efficiency of a shield machine.

According to the automatic pipe piece grabbing and positioning method provided by the embodiment of the disclosure, the pipe piece assembling machine comprises at least three distance measurement sensing modules, the at least three distance measurement sensing modules comprise three distance measurement sensing modules which are distributed in a triangular manner, and the three distance measurement sensing modules which are distributed in the triangular manner can refer to the previous description and are not repeated herein.

According to the automatic pipe slice grabbing and positioning method provided by the embodiment of the disclosure, the three distance measurement sensing modules comprise two distance measurement modules arranged along the non-tunneling direction, and the two distance measurement modules arranged along the non-tunneling direction can refer to the previous description and are not repeated herein.

According to the automatic pipe sheet grabbing and positioning method provided by the embodiment of the disclosure, the method further comprises the step S100: and calibrating the grabbing posture and the grabbing position of the segment erector, and acquiring a calibration image comprising a first mark point and a second mark point.

As shown in fig. 6D, according to an embodiment of the present disclosure, there is provided an automatic tube sheet grabbing and positioning method, which further includes: and controlling a moving part of the segment erector to make a grabbing part of the segment erector move linearly and approach to a segment to be grabbed.

As shown in fig. 6E, according to an embodiment of the present disclosure, there is provided an automatic tube sheet grabbing and positioning method, which further includes: and controlling the action of a contact switch from a moving part of the erector to a grabbing part, so that the grabbing and positioning of the segment of the erector are completed. When the sucking disc type grabbing component is adopted, vacuum pumping is carried out, so that the grabbing component grabs the duct piece 1 to be assembled.

Fig. 7 is a schematic view of a grabbing posture correction process of a grabbing part of the pipe piece assembling machine according to the embodiment of the disclosure. Fig. 7 shows the correction of the angular deviation and the correction of the distance deviation between the current grabbing attitude and the calibrated grabbing position of the segment erector.

As shown in fig. 7, according to the automatic tube sheet grabbing and positioning method provided by the embodiment of the present disclosure, calculating the deviation between the current grabbing position and the calibrated grabbing position includes: and obtaining the angular deviation theta between the current grabbing posture and the calibrated grabbing position of the segment erector.

As shown in fig. 7, according to the automatic tube piece grabbing and positioning method provided by the embodiment of the present disclosure, obtaining the angular deviation θ between the current grabbing attitude and the calibrated grabbing position of the tube piece erector includes: the angular deviation of the line A1B1 connecting the first marker point and the second marker point in the current image from the line AB connecting the first marker point and the second marker point in the calibration image is calculated. The calculation of the angular deviation may be performed, for example, by a processor in the control unit 82.

As shown in fig. 7, according to the automatic pipe gripping and positioning method provided by the embodiment of the disclosure, adjusting the moving part of the pipe segment erector so that the deviation value is less than or equal to the deviation threshold value includes: adjusting the angular deviation to be less than or equal to an angular deviation threshold; and adjusting a first distance deviation delta Y in the direction X and a second distance deviation delta X in the direction Y of a connecting line A1B1 of the first and second marker points in the current image and a connecting line AB of the first and second marker points in the calibration image, such that the first distance deviation delta Y is smaller than a first distance threshold, the second distance deviation delta X is smaller than a second distance threshold, and the direction X is perpendicular to the direction Y.

Fig. 8A is a schematic view illustrating a grasping member grasping a segment during calibration in an automatic segment grasping and positioning method according to an embodiment of the disclosure. Fig. 8B is a schematic diagram of the grabbing component in the calibration process in the automatic pipe segment grabbing and positioning method provided by the embodiment of the disclosure leaving the pipe segment, ascending in a straight line, and stopping to determine the calibrated grabbing position.

For example, during calibration, the operation may be reversed. For example, as shown in fig. 8A, the calibration process includes: firstly, the grasping component 7 is made to grasp the segment 10, then the moving component of the segment erector is adjusted, as shown in fig. 8B, the grasping component 7 is made to break away from the segment 10 and move linearly in the direction Z, the operation is stopped, a calibration position P0 is obtained, parameters (including the position of the moving component) of the moving component of the segment erector at the calibration position can be obtained while the calibration position is obtained, and an image acquisition device 5 is adopted to acquire an image to obtain a calibration image including the first marking point 3 and the second marking point 4. For example, a linear movement of the gripping elements 7 in the direction Z can be obtained by adjusting the lifting drive 120 (see fig. 1A). Of course, the calibration process is not limited to the above-described process, and other steps may be adopted for calibration. For example, the nominal position P0 may be referred to as a nominal grab position. For example, the nominal position P3 and the nominal position P0 may be at the same elevation. In the grabbing and positioning process, the distance measurement of each distance measurement module is adjusted to be within the range of a threshold value, and after the angle deviation and the distance deviation are adjusted through the comparison between the current image and the calibration image, the grabbing component is located at the calibration grabbing position relative to the segment to be assembled.

For example, the distance measurement of each ranging module can be made equal by adjusting at least one of the two fine tuning drives. That is, in the process of equalizing the measurement distances of the respective ranging modules, the position of the center of the grasping member 7 is not changed.

For example, the calibration process for obtaining the calibration image and calibrating the grabbing position can be performed once to obtain the calibration result, and the subsequent automatic grabbing and positioning process of the duct piece is performed by using the calibration result. Of course, the tube sheet can be calibrated for multiple times, the later calibration result covers the former calibration result, and the latest calibration result is used for automatically grabbing and positioning the tube sheet. For example, in some embodiments, calibration is performed, a calibration result is obtained, and multiple times of automatic segment grabbing and positioning are performed according to the calibration result. For example, in other embodiments, calibration is performed to obtain a calibration result, multiple times of automatic grasping and positioning of the segment are performed according to the calibration result, calibration is performed again to obtain a re-calibration result, and multiple times of automatic grasping and positioning of the segment are performed according to the calibration result.

According to the automatic segment grabbing and positioning method provided by the embodiment of the disclosure, the segment is accurately positioned in the segment grabbing process through image acquisition processing and distance measurement sensing technologies. The method does not change the structure of the existing segment erector, has the advantages of simple sensor installation, low cost and easy realization, and lays a technical foundation for realizing segment automatic assembly of the full-face tunnel boring machine.

For example, an image acquisition device is arranged on a grabbing part of the segment erector, the image acquisition device is fixed in the middle of the side face of the grabbing part through a support, and the image acquisition device is used for acquiring image information containing mark points on the segment and then transmitting the image information to a control unit 82 (for example, an upper computer) for image processing to identify the position of the segment; at least three distance measurement sensing modules are erected on the duct piece in the non-tunneling direction and the tunneling direction and used for measuring the vertical height of the duct piece to be grabbed by the grabbing part distance of the duct piece erector in real time, wherein the three distance measurement sensing modules are distributed in a triangular mode, an arc surface can be determined, the two distance measurement modules are erected in the non-tunneling direction, and the third distance measurement module is erected in the tunneling direction.

Fig. 9 is a flowchart of an automatic positioning method for grasping a tube sheet according to an embodiment of the disclosure. Taking the grasping component of the segment erector as a sucker, the translation driver 112, the lifting driver 120, the fine adjustment driver 140, and the fine adjustment driver 150 are all cylinders, and the rotation driver 132 comprises a motor and a gear driven by the motor as an example. As shown in fig. 9, the segment grasping automatic positioning method includes the following steps.

Step S0: and calibrating the posture of the segment erector at the grabbing position and storing a segment calibration image. Before the segment erector carries out formal operation, the grabbing attitude and the grabbing position of the segment erector are calibrated, and the stroke positions and the calibration images of the cylinders of the segment erector in the state can be stored in the control unit 82, for example, in a server or a database of the control unit 82.

Step S1: the segment feeder transports the segments to a designated position. The segment feeding machine conveys segments to be assembled to a specified position.

Step S2: the segment erector moves to a fixed gripping position. The segment erector is moved to the indexing position in step S0 each time.

Step S3: and adjusting the stroke of each oil cylinder of the segment erector to a calibration posture. And adjusting the stroke of each oil cylinder of the segment erector to the calibration posture in the step S0. At this time, the gripping member is located at the calibration position.

Step S4: the distance measuring and sensing module measures the distance of each position, so that the sucker of the erector is parallel to the inner surface of the segment. And each ranging module measures the distance between the current position sucker and the inner surface of the segment, namely H1, H2 and H3, and the stroke of each oil cylinder of the splicing machine is adjusted to enable H1 to be H2 to be H3, namely the bottom cambered surface of the sucker of the splicing machine is parallel to the cambered surface of the inner surface of the segment. For example, referring to fig. 2A to 2B, three distance measurement sensing modules, namely, the distance measurement sensing module 2, the distance measurement sensing module 6 and the distance measurement sensing module 9, respectively measure the distances of the respective positions, and according to the collected data, the controller adjusts the displacement of the oil cylinder to make the sucker of the erector parallel to the inner surface of the segment.

Step S5: and image acquisition processing, namely calculating the deviation between the current grabbing position and the calibration position to enable the deviation value to be smaller than or equal to a threshold value.

Step S6: and (5) extending a lifting oil cylinder of the assembling machine. And after the step S5 is finished, extending the lifting oil cylinders at the two sides of the erector at a constant speed to enable the suction cups to be close to the pipe pieces to be grabbed.

Step S7: the contact switch on the suction cup is actuated. And the lifting oil cylinder of the segment erector extends to the contact switch on the sucker to act, so that the sucker of the segment erector is in contact with the segment in place.

Step S8: and finishing the grabbing and positioning of the segments of the erector.

Step S9: the erector snatchs the part operation, adsorbs the section of jurisdiction, accomplishes and waits to assemble the section of jurisdiction and snatchs.

Through the process, the accurate positioning of the segment in the segment grabbing process of the segment erector can be realized, and the automatic positioning and grabbing process of the segment is realized.

For example, the image is captured by the image capturing device 5 and uploaded to the control unit 82 (shown in fig. 2C) for image processing.

For example, the process of making the deviation value equal to or smaller than the threshold value includes the following steps.

As shown in fig. 7, a first landmark point in the calibration image is a, a second landmark point is B, a first landmark point in the currently acquired image is a1, and a second landmark point is B1.

Step 1: and calculating the angular deviation between the straight line AB and the A1B1, namely the angular deviation theta between the current grabbing attitude and the calibrated grabbing position of the segment erector by using an image processing technology.

Step 2: adjusting the stroke of a pose adjusting oil cylinder on the sucker to enable AB to be parallel to A1B1, and judging that theta is equal to or less than epsilon under the condition that theta is equal to or more than epsilon, wherein epsilon is a threshold value set in a program, and when the included angle between AB and A1B1 is smaller than epsilon, AB is considered to be parallel to A1B 1;

and step 3: and calculating the deviation delta X and the deviation delta Y of the AB and the A1B1 in the direction Y and the direction X under the current posture of the segment erector by an image processing technology.

And 4, step 4: and (3) adjusting the stroke positions and the rotating mechanisms of all oil cylinders on the segment erector to enable the deviation delta x and the deviation delta y in the step (3) to be smaller than the threshold value set in the program, and determining that AB is superposed with A1B1, namely the segment erector is adjusted to the standard grabbing position.

The measuring distances of the distance measuring modules are equal, and correction of the deviation delta x and the deviation delta y is facilitated.

In order to solve the technical problem of accurate positioning of the pipe piece grabbing of the full-face tunnel boring machine, the automatic positioning method for the pipe piece grabbing is provided based on the current structure and the working process of the pipe piece erector.

Through image acquisition processing and range finding sensing technology, realize that the section of jurisdiction snatchs the correction of part treating the section of jurisdiction gesture relatively, and then realize treating the accurate positioning who snatchs the section of jurisdiction.

Through image acquisition processing and distance measurement sensing technology, the accurate positioning of the segment to be grabbed by the segment erector is realized. The positioning method has good realizability and economy, and provides a technical basis for realizing the automatic flow of segment assembly.

The embodiment of the disclosure provides a grasping part type automatic grasping and positioning method for a segment of a segment erector, which comprises the steps of acquiring and calculating the deviation between the current grasping position and the calibration position of the segment erector in real time through an image acquisition device and a distance measuring module erected on the segment erector, feeding the deviation back to a control unit, adjusting each moving part of the segment erector by the control unit to enable the segment erector to move to the grasping position, positioning accurately and quickly, and completing the automatic grasping process of the segment. The automatic segment grabbing and positioning method provided by the embodiment of the disclosure lays a foundation for realizing automatic segment assembly and improving segment assembly quality of a full-face tunnel boring machine.

Fig. 10A and 10B are schematic diagrams illustrating mounting of the duct piece automatic assembling positioning measurement module. Fig. 11 is a schematic diagram of a control unit and components controlled thereby. Fig. 12 is a schematic view of the automatic duct piece assembling and positioning process. Fig. 13 is a schematic view illustrating correction of the rotational posture of the segment. Fig. 14 is a schematic view of segment pitch attitude correction. FIG. 15 is a schematic view of segment step and gap correction. Fig. 13 is a plan view of a tube sheet. Fig. 14 and 15 are side or cross-sectional views of a tube sheet.

As shown in fig. 10A and 10B, at least four profile measuring modules are erected on the connecting beams 8 of the segment erector. Fig. 10A and 10B illustrate an example in which four profile measurement modules, that is, a profile measurement module 51, a profile measurement module 52, a profile measurement module 53, and a profile measurement module 54, are mounted on the connection beam 8 of the segment erector.

For example, as shown in fig. 10A and 10B, the center of the profile measuring module 51, the center of the profile measuring module 52, the center of the profile measuring module 53, and the center of the profile measuring module 54 are located on the same circle. For example, the center of the profile measuring module 51, the center of the profile measuring module 52, the center of the profile measuring module 53 and the center of the profile measuring module 54 are connected by an arc. For example, as shown in fig. 10A and 10B, the circle in which the center of the profile measuring module 51, the center of the profile measuring module 52, the center of the profile measuring module 53, and the center of the profile measuring module 54 are located is concentric with the circle in which the segment 10 is located, to facilitate profile measurement. The segments 10 are circular arcs and are part of a circle, and a plurality of segments 10 can form a circle, namely a segment ring. For example, as shown in fig. 11, the control unit 82 is connected to the profile measurement module 51, the profile measurement module 52, the profile measurement module 53, and the profile measurement module 54, respectively, to facilitate data acquisition and processing.

For example, as shown in fig. 12 to 15, the segment assembling method provided in the embodiment of the present disclosure further includes an automatic segment assembling and positioning method, and the automatic segment assembling and positioning method includes the following steps.

Step S200: the segment erector grabs to treat that the segment to be assembled moves to near the point position to be assembled.

Step S201: as shown in fig. 12 and 13, the segment rotational posture is corrected.

Step S202: as shown in fig. 12 and 14, the segment pitch attitude correction is performed.

Step S203: as shown in fig. 12 and 15, the segment height difference and the gap correction are performed.

For example, in the tube sheet splicing method provided in the embodiment of the present disclosure, as shown in fig. 10A and 10B, at least four profile measurement modules are erected on a connection beam 8 of a tube sheet splicing machine, each profile measurement module is configured to measure the profiles of a tube sheet to be spliced and a spliced tube sheet, a grasping member is provided on the tube sheet splicing machine through the connection beam, and the at least four profile measurement modules include two first profile measurement modules located at both ends of the connection beam and two second profile measurement modules located between the two first profile measurement modules and arranged perpendicular to the extending direction of the connection beam. For example, the profile measuring module may be used to measure the profile of an object, and a conventional profile measuring instrument, for example, a laser profile measuring instrument, may be used.

For example, each profile measurement module comprises a laser capable of projecting a laser line onto the object (in this case, the segment to be assembled and at least part of the paved area, including a previously paved segment and/or a previously paved segment ring) and means for acquiring the object profile. The lines of each profile-measuring module are projected so as to determine the portion of the segment and the portions of its surroundings that are separated from each other, in order to deduce therefrom the position of the segment in space. For example, four profile measurement modules are used simultaneously during the holding of a new segment to be spliced and for laying the last segment of a ring. Two profile measurement modules facing previously laid tube sheet loops allow the determination of deviations in the position and orientation of the placed tube sheet relative to the previous tube sheet loop. One of the two profile measurement modules facing the ring being laid allows for precise adjustment of the position and orientation of the segments to be spliced to form the segment ring.

For example, as shown in fig. 13, in the segment assembling method provided in the embodiment of the present disclosure, the performing of the segment rotational posture correction includes: the distance between the segments to be spliced and the spliced segments in the tunneling direction DR is measured by the two profile measuring modules (the profile measuring module 52 and the profile measuring module 53), and the moving parts of the segment splicing machine are adjusted so that the difference value of the measuring distances of the two profile measuring modules is smaller than a third distance threshold value. For example, the pose of the segment may be adjusted by adjusting the fine actuator 140 shown in fig. 1C, or by adjusting the fine actuator 140 and the fine actuator 150 shown in fig. 1C.

For example, as shown in fig. 14, in the segment splicing method provided in the embodiment of the present disclosure, the performing of the segment pitch attitude correction includes: the slope of the edges of the segments to be spliced and the spliced segments in the non-heading direction is measured by two profile measuring modules (a profile measuring module 51 and a profile measuring module 54), and the moving parts of the segment splicing machine are adjusted so that the difference value of the slopes of the edges of the segments to be spliced and the spliced segments in the non-heading direction is smaller than a slope threshold value.

For example, as shown in fig. 15, in the segment splicing method provided in the embodiment of the present disclosure, the performing of segment height difference and gap correction includes: measuring the height difference of the segment to be spliced and the spliced segment in the radial direction and the gap in the non-tunneling direction through at least one of two profile measuring modules (the profile measuring module 52 and the profile measuring module 53) and two profile measuring modules (the profile measuring module 51 and the profile measuring module 54), and adjusting the moving parts of the segment splicing machine to enable the height difference to be smaller than a height difference threshold value and the gap to be smaller than a gap threshold value.

At least four contour measurement modules are erected on a connecting beam of the segment erector and used for measuring pose information of segments to be assembled relative to a plurality of assembled segments, wherein two contour measurement modules can be erected perpendicular to the connecting beam, the other two contour measurement modules can be erected at two ends of the connecting beam respectively, and the contour measurement modules are fixedly installed on the connecting beam through supports.

For example, as shown in fig. 12, the automatic segment splicing positioning includes the following steps.

Step S200: the segment erector grabs segments and moves to the position near the splicing point. The laying of full section tunnel boring machine section of jurisdiction, each section of jurisdiction of each ring has confirmed the mounted position according to setting up data such as axis and shield structure machine gesture deviation rectifying, consequently, to a certain section of jurisdiction of waiting to assemble, can directly snatch and remove to waiting to assemble near the position by section of jurisdiction erector.

Step S201: and correcting the rotating posture of the segment to be assembled. The schematic diagram of the segment rotation posture correction process is shown in fig. 13, and it is assumed that four edge points between the segment to be assembled and the assembled segment measured by the profile measurement module are A, B, C, D, wherein a and B are one group, C and D are one group, and distances a, B, C and D are calculated respectively, if AB is not equal to CD, the displacement of the corresponding cylinder of the segment assembling machine is adjusted, and finally AB is equal to CD or AB-CD is less than or equal to a, wherein α is a threshold value set in the program, that is, the correction of the segment to be assembled relative to the rotation posture of the assembled segment is realized.

Step S202: correcting the pitching attitude of the segment to be assembled.The schematic diagram of the segment pitching attitude correction process is shown in fig. 14, straight lines formed by segments to be assembled and data queues on the assembled segments collected by the profile measurement module are respectively set as EF and GH, the slope of the straight line where the EF and the GH are located is calculated according to collected data, and finally EF// GH or K is enabled by adjusting the displacement of the corresponding oil cylinder of the segment erector_EF-K_GHBeta is not more than beta, wherein, K_EFRepresents the slope of the line EF, K_GHAnd the slope of a straight line GH is represented, and beta represents a threshold value set in a program, so that the correction of the pitching attitude of the segment to be assembled relative to the assembled segment is realized.

Step S203: and correcting the height difference and the clearance of the segments to be assembled. Duct piece discrepancy in elevation and clearance correction process sketch map is as shown in fig. 15, it is JK and MN respectively to establish the straight line that waits to assemble the duct piece and the data queue on assembling the duct piece that gathers through profile measurement module, can acquire discrepancy in elevation V and clearance H between JK and the MN through calculating, the corresponding hydro-cylinder displacement volume is assembled to the adjustment duct piece, finally make V be 0, H be 0, or, V be gamma, H be epsilon, wherein gamma and epsilon are the program setting threshold value, the correction of assembling the duct piece relative assembling duct piece discrepancy in elevation and clearance is realized promptly this moment.

Step S204: and (5) assembling and positioning the duct pieces.

Through the process, the automatic accurate positioning of the duct pieces to be assembled can be realized, and a technical foundation is laid for the full-face tunnel boring machine to realize the automatic assembling of the duct pieces.

For example, the control unit 81 is connected to the control unit 82.

For example, in some embodiments, the control unit 81 and the control unit 82 may be the same control unit, but are not limited thereto.

For example, the control unit 81 includes a Programmable Logic Controller (PLC), but is not limited thereto, and for example, the control unit 82 includes a controller, a display screen, but is not limited thereto. For example, the control unit 82 includes a computer, but is not limited thereto.

The segment erector of embodiments of the present application may further comprise one or more processors and one or more memories. The processor may process data signals and may include various computing architectures such as a Complex Instruction Set Computer (CISC) architecture, a Reduced Instruction Set Computer (RISC) architecture, or an architecture that implements a combination of instruction sets. The memory may hold instructions and/or data for execution by the processor. The instructions and/or data may include code for performing some or all of the functions of one or more of the devices described in embodiments of the present application. For example, the memory includes Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), flash memory (flash memory), optical memory (optical memory), or other memories known to those skilled in the art.

In some embodiments of the present application, the control unit 81 and/or the control unit 82 comprise code and programs stored in a memory; the processor may execute the code and programs to implement some or all of the functions of control unit 81 and/or control unit 82 as described above.

In some embodiments of the present application, the control unit 81 and/or the control unit 82 may be hardware devices for implementing some or all of the functions of the control unit 81 and/or the control unit 82 as described above. For example, the control unit 81 and/or the control unit 82 may be one circuit board or a combination of a plurality of circuit boards for implementing the functions as described above. In the embodiment of the present application, the one or a combination of a plurality of circuit boards may include: (1) one or more processors; (2) one or more non-transitory computer-readable memories connected to the processor; and (3) firmware stored in the memory executable by the processor.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure 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 disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. An automatic pipe sheet grabbing and positioning method comprises the following steps:

conveying the segments to be assembled to a position to be grabbed, wherein the segments to be assembled comprise first mark points and second mark points;

the segment erector moves to the position above the segment to be assembled;

adjusting a moving part of the segment erector to enable a grabbing part of the segment erector to be located at a calibration position;

at least three distance measurement sensing modules arranged on a gripping component of the segment erector are used for measuring distances to obtain the measurement distances between the gripping component and the segments to be assembled, and a moving component of the segment erector is adjusted to enable the measurement distances to be equal;

an image acquisition device arranged on a grabbing component of the segment erector acquires images comprising the first mark point and the second mark point; and

and carrying out image processing, calculating the deviation between the current grabbing position and the calibrated grabbing position, and adjusting the moving parts of the segment erector to enable the deviation value to be smaller than or equal to a deviation threshold value so that the segment erector is adjusted to the standard grabbing position.

2. The automatic segment grabbing and positioning method of claim 1, wherein calculating the deviation between the current grabbing position and the calibrated grabbing position comprises:

and obtaining the angular deviation between the current grabbing posture and the calibrated grabbing position of the segment erector.

3. The automatic segment grabbing and positioning method of claim 2, wherein the obtaining of the angular deviation between the current grabbing attitude and the calibrated grabbing position of the segment erector comprises:

and calculating the angle deviation between the connecting line of the first mark point and the second mark point in the current image and the connecting line of the first mark point and the second mark point in the calibration image.

4. The automatic segment grabbing and positioning method of claim 3, wherein the adjusting of the moving parts of the segment erector to make the deviation value less than or equal to the deviation threshold value comprises:

adjusting the angular deviation to be less than or equal to an angular deviation threshold; and

and adjusting a first distance deviation in a first direction and a second distance deviation in a second direction between a connecting line of a first mark point and a second mark point in the current image and a connecting line of the first mark point and the second mark point in the calibration image, so that the first distance deviation is smaller than a first distance threshold, the second distance deviation is smaller than a second distance threshold, and the first direction is perpendicular to the second direction.

5. The automatic segment grabbing and positioning method according to claim 1, further comprising: and calibrating the grabbing posture and the grabbing position of the segment erector, and collecting a calibration image comprising the first mark point and the second mark point.

6. The automatic segment grabbing and positioning method according to any one of claims 1 to 5, wherein the calibrating comprises:

causing the grasping members to grasp the segment;

adjusting a moving part of the segment erector to enable the grabbing part to be separated from the segment and move upwards in a straight line, and stopping to obtain a calibration position; and

and acquiring an image by adopting an image acquisition device to obtain a calibration image comprising a first mark point and a second mark point.

7. The automatic segment grabbing and positioning method according to any one of claims 1 to 5, further comprising:

controlling a moving part of the segment erector to enable a grabbing part of the segment erector to move linearly and approach to a segment to be grabbed; and

and controlling the action of a contact switch from a moving part of the erector to a grabbing part, so that the grabbing and positioning of the segment of the erector are completed.

8. The automatic segment grabbing and positioning method according to any one of claims 1 to 5, wherein the at least three distance measurement sensing modules comprise three distance measurement sensing modules distributed in a triangular shape.

9. The automatic segment grabbing and positioning method according to claim 8, wherein the three distance measurement sensing modules comprise two distance measurement modules arranged in a non-tunneling direction.

10. A segment assembling method comprising the segment automatic grabbing and positioning method according to any one of claims 1 to 9.

11. The duct piece assembling method according to claim 10, further comprising an automatic duct piece assembling and positioning method, wherein the automatic duct piece assembling and positioning method comprises:

the segment erector grabs the segment to be assembled and moves to the position near the point to be assembled;

correcting the rotating posture of the duct piece;

correcting the pitching attitude of the duct piece; and

and (5) correcting the height difference and the clearance of the pipe piece.

12. The segment assembling method according to claim 11, wherein at least four profile measuring modules are erected on a tie beam of the segment erector, each of the profile measuring modules being configured to measure a profile of a segment to be assembled and an assembled segment, the grasping means being provided on the segment erector through the tie beam, the at least four profile measuring modules including two first profile measuring modules located at both ends of the tie beam and two second profile measuring modules located between the two first profile measuring modules and arranged perpendicular to an extending direction of the tie beam.

13. The segment assembling method according to claim 12, wherein centers of the two first profile measuring modules and centers of the two second profile measuring modules are located on a same circle, and the circle is concentric with a circle on which the segment to be assembled is located when being grasped.

14. The segment assembling method according to claim 12 or 13, wherein the segment rotational posture correction includes:

and measuring the distance between the duct piece to be assembled and the assembled duct piece in the tunneling direction through the two second profile measuring modules, and adjusting a moving part of the duct piece assembling machine to enable the difference value of the measuring distances of the two second profile measuring modules to be smaller than a third distance threshold value.

15. The segment splicing method according to claim 12 or 13, wherein the segment pitch attitude correction includes:

and measuring the slopes of the edges of the to-be-assembled duct pieces and the assembled duct pieces in the non-tunneling direction through the two first profile measuring modules, and adjusting a moving part of the duct piece assembling machine to enable the difference value of the slopes of the edges of the to-be-assembled duct pieces and the assembled duct pieces in the non-tunneling direction to be smaller than a slope threshold value.

16. The segment assembling method according to claim 12 or 13, wherein the segment level difference and gap correction includes:

and measuring the radial height difference and the clearance in the non-tunneling direction of the segment to be assembled and the assembled segment through the two second profile measuring modules and one first profile measuring module in the two first profile measuring modules, and adjusting a moving part of the segment erector to ensure that the height difference is smaller than a height difference threshold value and the clearance is smaller than a clearance threshold value.