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Segment assembly measuring and control system and method based on machine vision

A technology of segment assembly and machine vision, applied in the direction of measuring devices, instruments, shaft equipment, etc., can solve the problems of low efficiency and precision, improve precision and efficiency, avoid low measurement accuracy and efficiency, and overcome high manpower requirements Effect

Inactive Publication Date: 2019-07-16
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] According to the technical problem that the efficiency and accuracy of the existing manual measurement and manual operation segment assembly machine system and method are not high, a machine vision-based segment assembly measurement and control system and method are provided

Method used

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  • Segment assembly measuring and control system and method based on machine vision
  • Segment assembly measuring and control system and method based on machine vision
  • Segment assembly measuring and control system and method based on machine vision

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Embodiment 1

[0042] Such as figure 1 As shown, the present invention provides a segment assembly measurement and control system based on machine vision, including:

[0043] The industrial camera is used to collect images of the segment to be assembled and the end effector of the segment assembly machine and transmit the image to the segment assembly measurement system;

[0044] The segment assembly measurement system is used to identify the coordinates of the marked feature points corresponding to the end effector in the image and the segment to be assembled, and use the P4P pose measurement algorithm to measure the position and position of the end effector and the segment to be assembled in real time according to the recognition result Attitude, which realizes the non-contact measurement of the position and orientation of the end effector and the segment to be assembled based on vision measurement, to replace the traditional human measurement; the segment assembly measurement system is al...

Embodiment 2

[0116] Such as Figure 5 As shown, the present invention also provides a machine vision-based segment assembly measurement and control method, using the machine vision-based segment assembly measurement and control system described in Embodiment 1, comprising the following steps:

[0117] S1: Collect the images of the end effector of the segment assembly machine and the segments to be assembled through the camera, and transmit the images to the segment assembly measurement system of the industrial computer;

[0118] S2: The segment assembly measurement system recognizes the coordinates of the marked feature points corresponding to the end effector in the image and the segment to be assembled, and calculates the positions and attitudes of the end effector and the segment to be assembled respectively according to the recognition results;

[0119] S3: Calculate the deviation value between the position and attitude of the end effector and the position and attitude of the segment t...

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Abstract

The invention provides a segment assembly measuring and control system and method based on machine vision. The segment assembly measuring and control system comprises an industrial camera, a segment assembly measuring system, a segment assembly control system and a motion control card, wherein the industrial camera is used for collecting images of to-be-assembled segments and an image of an end executor of a segment assembly machine; the segment assembly measuring system is used for measuring the positions and the attitudes of the end executor and the to-be-assembled segments in real time andcalculating the deviation value between the positions and the attitudes of the end executor and the to-be-assembled segments; the segment assembly control system compares the deviation values with a precision value; if the deviation value is less than or equal to the precision value, the segment assembly machine assemblies the segments; if the deviation value is greater than the precision value, the control quantity is calculated and transmitted to the motion control card; and the motion control card is used for converting the control quantity into the analog quantity and outputting the analogquantity to the segment assembly machine so as to adjust the position and the attitude of the end executor. The problem that the efficiency and precision of manual measuring and manual operating of asegment assembly machine system and method are low in the prior art is solved.

Description

technical field [0001] The invention relates to the technical field of segment assembly system automation, in particular to a machine vision-based segment assembly measurement and control system and method. Background technique [0002] Segment assembly machine is a kind of equipment used in laying segments during tunnel excavation. The segment assembly system is widely used in the construction of tunnel projects such as rail transit and water diversion. [0003] During the process of tunnel excavation, the propulsion cylinder is propelled forward, and at the same time, the cutterhead hangs rocks and soil. After advancing to a certain stroke, the cutterhead stops rotating, and the propulsion cylinder shrinks forward. Concrete segments are spliced ​​inside the newly excavated tunnel to reinforce it. After the assembly is completed, the cutter head can continue to advance. Therefore, the efficiency of segment assembly directly affects the efficiency of tunnel excavation. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01N21/84G06T7/00G06T7/13G06T7/73E21D11/08
CPCE21D11/08G01N21/84G06T7/0004G06T2207/10004G06T2207/30164G06T7/13G06T7/73
Inventor 王林涛李济朱凯源
Owner DALIAN UNIV OF TECH
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