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An automatic assembly method of shield segment based on machine vision

A shield segment and machine vision technology, which is applied in the field of automatic assembly of shield construction segments, can solve problems such as misoperation and low assembly efficiency, and achieve the effect of easy image recognition

Active Publication Date: 2022-04-12
DALIAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Such an assembly process is easy to cause misoperation, and the assembly efficiency is not high

Method used

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  • An automatic assembly method of shield segment based on machine vision
  • An automatic assembly method of shield segment based on machine vision
  • An automatic assembly method of shield segment based on machine vision

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Embodiment Construction

[0059] The specific implementation of the present invention will be described in detail below in conjunction with the accompanying drawings and technical solutions.

[0060] attached figure 1 It is a method flowchart of a shield segment automatic assembling method based on machine vision of the present invention, and the specific steps of the method are as follows:

[0061] Step 1. Industrial camera installation and calibration,

[0062] figure 2 It is a schematic diagram of the structure of the segment assembly machine and the installation of the industrial camera in this embodiment. In the figure, the lifting mechanism of the segment assembly machine is composed of a left lifting hydraulic cylinder 4 and a right lifting hydraulic cylinder 8 . A monocular vision industrial camera is used, and the industrial camera 7 is installed and fixed on the lower end of the right lifting hydraulic cylinder 8. The optical center axis of the industrial camera 7 is parallel to the axis o...

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Abstract

The invention relates to an automatic assembling method for shield tunneling segments based on machine vision, which belongs to the technical field of automatic assembling of shield tunneling segments, and relates to an automatic assembling method for shield tunneling segments based on machine vision. In this method, the industrial camera is first installed and calibrated, and the target ArUco code is arranged on the segment. Then, the four characteristic corner points of the target ArUco code are detected to predict the expected position of the segments to be assembled. Calculate the deviation between the point to be assembled and the expected position, and calculate the error value between the current speed and the expected speed of the translation, lifting and slewing mechanisms. The expected speed of each mechanism of the segment assembly machine is obtained by using the image-based visual servo strategy, and finally the control amount of each actuator is obtained by the closed-loop control of the joint speed, so as to realize the automatic assembly of segments. The present invention introduces machine vision technology to replace manual operating handles to complete segment assembling with high efficiency. Based on the target, the real-time prediction of the segment pose is indirectly realized, which effectively improves the assembly accuracy and efficiency of the segment.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q50/02E21D11/40E21D11/08
CPCE21D11/40E21D11/08
Inventor 王林涛赵磊
Owner DALIAN UNIV OF TECH
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