An automatic assembly method of shield machine segments based on tag code visual measurement
A technology of visual measurement and shield machine, applied in the field of shield machine, can solve the problem that the segment assembly has not yet realized automatic control, and achieve the effect of simple and reliable, cost saving and high assembly accuracy.
Active Publication Date: 2020-08-28
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology
At present, in the tunnel construction of the domestic shield machine, its excavation system and propulsion system have basically realized the whole process of automatic control, but the segment assembly has not yet achieved automatic control, and most of them still use manual assembly
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[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0033] see figure 1 As shown, the present invention provides a shield machine segment automatic assembling method based on Tag code visual measurement, comprising the following steps:
[0034] see figure 2 As shown, step 1. Put Tag code 13 on the position where each segment 1 to be assembled is provided with fixing hole 11. The center of Tag code 13 is aligned with the middle engraved line of fixing hole 11. At the same time, one side of Tag code 13 is align...
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The invention provides a shield tunneling machine duct piece automatic splicing method based on Tag code visual measurement. A Tag code is printed on the surface, provided with A fixing hole, of eachduct piece, when duct pieces are spliced, Tag code images on the duct pieces are collected through a camera mounted at the bottom of a shield tunneling machine, the offset of the duct pieces is calculated through a computer according to the collected Tag code pose images; the computer controls a lifting mechanism, a translation mechanism and a swing mechanism of the shield tunneling machine according to the position offset, to complete initial adjustment and positioning of the duct pieces, and controls the lifting mechanism, a deflection oil cylinder and a pitching oil cylinder according to the attitude angle offset to complete fine adjustment and positioning of the duct pieces to complete automatic assembly of the duct pieces. The poses of the duct pieces are visually measured, automaticassembly of the duct pieces can be achieved by controlling the six degrees of freedom of the duct pieces through the computer, the duct piece assembly efficiency and precision can be improved throughthe method, the assembly defects of duct piece dislocation, gaps and the like are reduced, funds can be effectively saved, the labor cost is reduced, and the safety of constructors is improved.
Description
【Technical field】 [0001] The invention relates to the technical field of shield machines, in particular to an automatic assembling method for shield machine segments based on Tag code visual measurement. 【Background technique】 [0002] The shield construction method refers to the construction method of digging tunnels underground, and has become the main method for the construction of subway tunnels, highway tunnels, railway tunnels, river-crossing tunnels and various urban and municipal tunnel projects. As an important part of the shield machine, the segment assembly machine is used to support the excavated tunnel with prefabricated concrete segments, and to prevent the impact of surface settlement and groundwater penetration caused by excavation on the tunnel. The segment assembly speed directly affects the tunneling speed of the entire shield machine. At present, in the tunnel construction of domestic shield machines, the excavation system and propulsion system have basi...
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IPC IPC(8): E21D11/08E21D11/40
Inventor 张辉李平钟杭刘理厉洪浩韦玉海
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY