Binocular segment assembly recognition system and assembly identification method thereof

Abstract

The invention discloses a binocular segment assembly recognition system and an assembly identification method thereof. The system comprises a assembly machine mechanical body, a first binocular identification module for identifying a current segment position to be grabbed and a three-dimensional coordinate of a first bolt hole on a current segment and guiding the assembly machine mechanical body to grasp the segment and a second binocular identification module for identifying a previous assembled segment position to be aligned and a three-dimensional coordinate of a second bolt hole on the previous assembled segment and guiding the assembly machine mechanical body to align the current segment with the previous assembled segment to complete the assembly of the current segment. Through the first binocular identification module and the second binocular identification module, the position of the segment and the three-dimensional coordinates of the bolt holes on the segment are calculated,thereby providing guidance information for the assembly and grabbing of the assembly machine and completing the working task of the grabbing and assembly of the segment, and the system has high work efficiency and high accuracy.

Description

technical field [0001] The invention relates to the technical field of mechanical engineering, in particular to a binocular segment assembly identification system and an assembly identification method thereof. Background technique [0002] With the continuous development of subway construction technology, shield construction has become a common subway construction method. The degree of automation of the shield machine is related to the safety, economy and construction efficiency of the entire construction project. [0003] At present, in the construction of shield tunneling, the main process of segment assembly is as follows: First, the segment is hoisted by the segment crane to the special segment trolley, and when the shield machine completes the excavation task of the first ring, the cutter head stops Work. At this time, the segment assembly workers use the remote control to operate the segment assembly machine to move above the segment trolley, and use manual visual in...

AI Technical Summary

Problems solved by technology

In the above process, since the position and posture of the segments are all judged manually, the traditional manual operation method is used to grab and assemble the segments, so the automation of the entire assembly process cannot be realized.

At the same time, the operation process also has certain operational risks for workers, the degree of automation is low, the work efficiency is low, and the labor cost is high.

Therefore, it has seriously hindered the shield machine from entering the pace of automatic and intelligent construction

Images