Automatic shield segment assembling method based on machine vision

Abstract

The invention discloses an automatic shield segment assembling method based on machine vision, belongs to the technical field of automatic shield construction segment assembling, and relates to the automatic shield segment assembling method based on the machine vision. The method includes the steps that firstly, an industrial camera is installed and calibrated, and a target ArUco code is arranged on a segment; then, four feature angular points of the target ArUco code are detected, and an expected position point of the segment to be assembled is predicted; a deviation between a to-be-assembled point and the expected position point is calculated, and an error value between current speed and expected speed of a translation, lifting and rotation mechanism is calculated; and the expected speed of each mechanism of a segment erector is obtained by adopting a visual servo strategy based on an image, and finally the control quantity of each execution mechanism is obtained through joint speed closed-loop control, so that the automatic assembly of the segments is realized. According to the automatic shield segment assembling method based on the machine vision, a machine vision technology is introduced to replace a manual control handle to complete segment splicing, and the efficiency is high. The real-time prediction of a pose of the segment is indirectly realized based on a target, and the assembly precision and the assembly efficiency of the segment are effectively improved.

Description

technical field

[0001] The invention belongs to the technical field of automatic assembly of shield construction segments, and relates to an automatic assembly method of shield tunnel segments based on machine vision. Background technique

[0002] Shield machines are widely used in tunnel construction projects such as rail transit and water diversion. The segment assembly machine is a relatively important subsystem in the shield machine. The segment assembly machine is used to lay segments during tunnel construction.

[0003] The construction process of shield tunneling can be divided into several steps: first, the shield tunneling machine is pushed forward under the action of the propulsion cylinder. During the pushing process, the cutter head system will scrape off underground materials such as soil and rocks. The scraped soil etc. will be transferred from underground to the ground along with the screw conveyor system. When the shield machine digs forward for a certain di...

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