Real-time visualization method and system for working process of full-automatic segment erector

Abstract

The invention discloses a real-time visualization method and system for the working process of a full-automatic segment erector, and belongs to the technical field of shield construction control. The method comprises the steps that a Three.js development library in WebGL application is used for loading three-dimensional models of FBX of the full-automatic segment erector and segments to be assembled into initial models of the full-automatic segment erector and the segments to be assembled; adjusting the pose information of the two initial models in real time by using multi-source data related to a segment assembling task, and simulating and displaying the whole segment assembling process, the execution state parameters of the full-automatic segment assembling machine and the forming state parameters of segments to be assembled in real time; furthermore, by obtaining the pose data of the tail end of the erector and the pose data of the duct piece in real time and driving the real-time dynamic updating of the oil cylinder of the erector, the tail end of the erector and the duct piece model, the constructors can check the whole duct piece assembling task process from a larger scale, and therefore the quality of the whole duct piece assembling operation and the safety of the workers are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of shield construction control, and more specifically, relates to a real-time visualization method and system for the working process of a full-automatic segment assembly machine. Background Art

[0002] The shield tunneling machine is a large-scale underground engineering construction equipment that integrates mechanical, electrical, hydraulic, optical and computer technologies. Its technical level is an important indicator of a country's underground construction equipment manufacturing level. The segment assembly machine is one of the important components of the shield tunneling machine. It installs prefabricated segments on the excavated tunnel as permanent support, and the efficiency of segment assembly directly affects the quality and safety of the entire tunnel construction.

[0003] At present, with the increase in the diameter of shield tunnels, larger and heavier segments need to be transported to higher places for assembly, which means that people need to climb to higher places to observe the posture relationship between the segments, and then control the assembly machine to move over a large range through a remote control to complete the segment assembly work. This puts workers at extremely high safety risks, including but not limited to potential danger sources such as falling from high altitude and accidental collision of heavy machinery, which undoubtedly pose a serious threat to the life safety of workers. In addition, frequent up and down movement to check the posture relationship between the segments makes it difficult to ensure the quality of manual segment assembly operations and the safety of workers, which has become the main bottleneck restricting the efficiency of shield construction. Therefore, exploring and applying new technologies to assist in the safer and more efficient assembly of segments has become an urgent need to ensure the life safety of construction workers and promote the sustainable development of the shield tunnel construction industry. Summary of the invention

[0004] In response to the above defects or improvement needs of the prior art, the present invention provides a real-time visualization method and system for the working process of a fully automatic segment assembly machine, which aims to solve the technical problem that the existing segment assembly process is difficult to view, resulting in difficulty in ensuring the quality of the segment assembly operation and the safety of workers.

[0005] To achieve the above object, according to one aspect of the present invention, a real-time visualization method for the working process of a fully automatic segment assembly machine is provided, comprising: S1: Obtain a 3D model of the fully automatic segment assembly machine and a 3D model of the segment to be assembled in FBX file format; S2: using the Three.js development library in the WebGL application, the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in FBX file format are loaded into the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled respectively; S3: Acquire multi-source data related to the segment assembly task from various data platforms, wherein the multi-source data includes: relevant data of the segment to be assembled, operating status data of the fully automatic segment assembly machine, and power system status data of the fully automatic segment assembly machine; S4: Utilize the multi-source data related to the segment assembly task to adjust the corresponding posture information of the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled in real time, and simulate and display the entire segment assembly process, the execution state parameters of the fully automatic segment assembly machine and the forming state parameters of the segment to be assembled in real time.

[0006] In one embodiment, the S1 includes: S11: constructing a three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in a stereolithography format; S12: Lightweighting the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format respectively to obtain the three-dimensional model of the fully automatic segment assembly machine and the three-dimensional model of the segment to be assembled in the FBX file format.

[0007] In one of the embodiments, S12 includes: using the optimization modifier in the 3ds MAX software to lightweight the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format, so as to reduce the number of vertices in the object while maintaining the appearance of the object, and obtain the three-dimensional model of the fully automatic segment assembly machine and the three-dimensional model of the segment to be assembled in the FBX file format.

[0008] In one of the embodiments, the lightweight optimization mode includes: crushing boundaries, protecting boundaries, and excluding boundaries.

[0009] In one of the embodiments, S12 includes: importing the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format into 3ds MAX software for processing, reducing the number of vertices in the object by using the ProOptimizer modifier while maintaining the appearance of the object, and obtaining the three-dimensional model of the fully automatic segment assembly machine and the three-dimensional model of the segment to be assembled in the FBX file format.

[0010] In one of the embodiments, S3 includes: using the WebSocket communication protocol to obtain multi-source data related to the segment assembly task from various data platforms.

[0011] In one embodiment, the step S3 includes: Using multiple surface structured light cameras to collect relevant data of the segments to be assembled, and transmit the data to the data platform; Using a stroke sensor, a pressure sensor and a vacuum sensor to collect the operating status data of the fully automatic segment assembly machine, and transmit the data to the data platform; The shield machine platform is used to collect the power system status data of the fully automatic segment assembling machine and transmit it to the data platform.

[0012] According to another aspect of the present invention, a real-time and visible working process of a fully automatic segment assembly machine is provided. A modeling module is used to obtain the 3D model of the fully automatic segment assembly machine and the 3D model of the segment to be assembled in the FBX file format; An optimization module, for using the Three.js development library in the WebGL application to load the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in FBX file format into the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled respectively; A transmission module, used for acquiring multi-source data related to the segment assembly task from various data platforms, wherein the multi-source data includes: relevant data of the segments to be assembled, operating status data of the fully automatic segment assembly machine, and power system status data of the fully automatic segment assembly machine; A display module is used to use the multi-source data related to the segment assembly task to adjust the corresponding posture information of the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled in real time, and to simulate and display the entire segment assembly process, the execution state parameters of the fully automatic segment assembly machine and the forming state parameters of the segment to be assembled in real time.

[0013] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art: (1) The present invention provides a real-time visualization method for the working process of a fully automatic segment assembly machine, which utilizes the Three.js development library in a WebGL application to load the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in the FBX file format into the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled; then, the multi-source data related to the segment assembly task is used to adjust the posture information of the two initial models in real time, and the whole segment assembly process, the execution state parameters of the fully automatic segment assembly machine, and the forming state parameters of the segment to be assembled are simulated and displayed in real time; further, by acquiring the posture of the assembling machine terminal and the segment posture data in real time, the assembling machine cylinder, the assembling machine terminal and the segment model are driven to be dynamically updated in real time, so that construction personnel can conveniently view the entire segment assembly task process through the screen, thereby improving the quality of the entire segment assembly operation and the safety of workers.

[0014] (2) This scheme first constructs the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format, and then performs lightweighting and format conversion. This method is simple to operate.

[0015] (3) This solution utilizes the optimization modifier in 3ds MAX software to lighten the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format. The advantage of this method is that the number of vertices in the object (the number of faces) is reduced by using the ProOptimizer modifier while maintaining the appearance of the object.

[0016] (4) The lightweight optimization modes in this scheme include: crushing boundaries, protecting boundaries and excluding boundaries. The advantage of such a design is that it reduces unnecessary geometric details, reduces the number of polygons in the model, and reduces the resource consumption during computer graphics rendering and calculation, thereby improving the calculation speed of simulation and analysis. In actual engineering applications, lightweight models can speed up real-time data updates and processing speeds, enhance the responsiveness of the system, and improve the overall operational smoothness, especially in the case of multi-tasking or parallel operations.

[0017] (5) In this solution, the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format is imported into 3ds MAX software for processing. The advantage of this method is that 3ds MAX can process and optimize STL format data, which is convenient for further modification and detail optimization.

[0018] (6) This solution uses the WebSocket communication protocol to obtain multi-source data related to the segment assembly task from various data platforms. The advantage of this method is that low-latency data transmission is achieved through the WebSocket communication protocol. WebSocket is a network communication protocol that aims to achieve two-way interaction between the client and the server through a single persistent connection. Unlike the traditional HTTP request-response model, WebSocket allows real-time data transmission between the client and the server, allowing the application to respond to user operations more quickly. The advantages of the WebSocket protocol, such as two-way communication, persistent connection, and low latency, make it an ideal choice for data sharing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of the real-time visualization method of the working process of the fully automatic segment assembly machine provided in Example 1 of the present invention.

[0020] Figure 2 It is a schematic diagram of the multi-source data acquisition process in the real-time visualization method of the working process of the fully automatic segment assembly machine provided in Example 1 of the present invention.

[0021] Figure 3 It is a schematic diagram of the real-time display process of the three-dimensional model driven by core data in the real-time visualization method of the working process of the fully automatic segment assembly machine provided in Example 1 of the present invention.

[0022] Figure 4 It is a schematic diagram of the abstract relationship between the target posture and actual posture of the segment in the real-time visualization method of the working process of the fully automatic segment assembly machine provided in Example 1 of the present invention.

[0023] Figure 5 It is a structural schematic diagram of a real-time visualization system for the working process of a fully automatic segment assembly machine provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0025] In one embodiment, if Figure 1 As shown, a real-time visualization method for the working process of a fully automatic segment assembly machine is provided, including: S1-S4. S1: Obtain the three-dimensional model of the fully automatic segment assembly machine and the three-dimensional model of the segment to be assembled in the FBX file format; S2: Use the Three.js development library in the WebGL application to load the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in the FBX file format into the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled respectively; S3: Obtain multi-source data related to the segment assembly task from various data platforms, and the multi-source data includes: relevant data of the segment to be assembled, the operating status data of the fully automatic segment assembly machine, and the power system status data of the fully automatic segment assembly machine; S4: Use the multi-source data related to the segment assembly task to adjust the corresponding posture information of the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled in real time, and simulate and display the entire segment assembly process, the execution status parameters of the fully automatic segment assembly machine, and the forming status parameters of the segment to be assembled in real time.

[0026] Specifically: Use SolidWorks software to build the 3D model of the fully automatic segment assembly machine and the 3D model of the segment, and export them in the format of stereolithography (STL) file; lightweight the two 3D models in STL format and convert them into 3D models in FBX file format; use the WebSocket communication protocol to obtain multi-source data related to the segment assembly task from the existing data platform; use the Three.js development library in the WebGL application to load the two FBX format models into the loading model of the fully automatic segment assembly machine and the loading model of the segment, and use the multi-source data related to the segment assembly task obtained through the WebSocket communication protocol to adjust the position and posture information of the two loading models in real time, and display the entire process of simulated segment assembly, the execution status parameters of the assembly machine, and the forming status parameters of the segment in real time to assist operators in construction.

[0027] Among them, S1 is the modeling process, using SolidWorks software to draw the segment model and the assembly machine model. The exported format is STL file, but the STL file model cannot be directly imported into WebGL, so the STL file needs to be converted into an FBX file.

[0028] Furthermore, step S2 is the process of format conversion and model lightweighting. The STL file exported from SolidWorks is imported into 3ds MAX. To ensure efficient display and interaction in the WebGL environment, the above model needs to be lightweighted. The structural model of the shield machine is processed to hide unnecessary structural parts that are neither critical nor easy to block important views in the current construction process, thereby significantly improving its clarity and practicality while maintaining the functional integrity of the model.

[0029] Further, step S3 is a data transmission process, such as Figure 2 As shown, the WebSocket communication protocol is used to achieve continuous communication between the client and the server and low-latency transmission of data.

[0030] Furthermore, step S4 is a real-time display process of 3D models and core data. The Three.js library (a popular JavaScript library) is used to import, modify and display complex three-dimensional models. At the same time, it is linked to the data platform data to realize the binding and updating of data and models, and dynamically display the real-time changes of the core data and three-dimensional models in the segment assembly process.

[0031] Among them, Figure 3As shown in the figure, the real-time display process of core data is divided into global strategy display and local strategy display. The global strategy display focuses on observing the assembly process from a large-scale perspective. The global strategy focuses on displaying the dynamic changes of the assembly machine actuator cylinder, the assembly machine terminal, and the segment model. The display content includes: segment K block selection schematic diagram, shield tail gap schematic diagram, and three-ring ellipticity schematic diagram (segment planning circle, previous ring actual assembly circle, current circle based on global strategy). Through the real-time acquisition of multi-source data on the data platform, the optimal position of the segment K block is determined by calculation and analysis, and the positional geometric relationship between the segment and the shield tail is displayed, and the axis position relationship is reflected. The platform focuses on displaying the actual stroke of the assembly machine actuator and the target stroke (grasping scanning point, grasping calculation point, assembly scanning point and assembly calculation point, etc.) in the form of text or table, including the rotation angle, large translation position, red and blue cylinder position, and suction cup status. In addition, by acquiring the real-time posture data of the assembly machine terminal and the pipe segment posture data, the assembly machine cylinder, the assembly machine terminal and the pipe segment model are driven to be updated in real time and dynamically, allowing construction personnel to view the entire pipe segment assembly task process from a larger scale.

[0032] In terms of local strategies, the focus is on displaying the local details of the segment assembly business process, mainly showing the interaction between the assembly machine terminal and the segment model. At this level, the irrelevant assembly machine actuator model is hidden. Similar to the global interface, the actual stroke of the assembly machine actuator and the target posture stroke (grasping scanning point, grasping calculation point, assembly scanning point and assembly calculation point) in the assembly machine grabbing, transporting and assembling segments will also be displayed in the form of text or tables. The relationship and other data, including the rotation angle, large translation position, red and blue cylinder position and suction cup status, are used to assist construction personnel in understanding the execution status of the assembly machine. In addition, the grasping stage mainly shows the process of the assembly machine grasping terminal from the initial position to the rough positioning and then to the fine positioning to complete the segment grasping, obtains data from the data platform in real time, and updates the real-time posture of the assembly machine grasping terminal model and the initial posture of the segment to be grasped, showing the posture relationship between the assembly machine terminal and the segment to be grasped, and assisting construction personnel in making decisions. The transportation stage mainly shows the process of the assembly machine being transported from the successful segment grabbing point to the segment assembly rough positioning point, focusing on the path planning control points and path execution progress. Finally, the assembly stage mainly shows the assembly process from the segment assembly rough positioning point to the segment assembly end point at the grabbing end of the assembly machine, focusing on the dynamic position relationship between the assembled segment and the segment to be assembled, including monitoring of misalignment, annular longitudinal joints, etc., to help construction personnel grasp key parameters in real time, make precise adjustments, and improve the safety and stability of construction.

[0033] The 3D model display process is implemented through the THREE.js library in WebGL, which is a popular JavaScript library for efficient 3D graphics rendering in web pages. THREE.js supports a variety of 3D model file formats, including the FBX format, which enables us to directly import and display complex three-dimensional models in web pages. Through JavaScript, the imported models can be dynamically modified and configured. In the WebGL environment, first create a dedicated rendering area to display the 3D model. The size and range of this area are defined according to actual needs and precisely laid out on the page. Secondly, through the THREE.js library, various 3D scene elements are added to the area, including but not limited to cameras and light sources. These elements together constitute the basic environment for 3D model display. Next, according to the name of the model returned by the data platform, use THREE.js's FBXLoader to load the locally built FBX model file, and configure the simplified model according to your needs. The coordinate origin of the model should be defined as required, otherwise it will cause the model to shift. When loading the model, you can adjust the position and posture information of the segment and assembly machine model. Finally, you can dynamically adjust the model's posture according to the real-time data transmitted from the data platform, and dynamically simulate the entire segment assembly process.

[0034] In one of the embodiments, S1 includes: S11: constructing a three-dimensional model of a fully automatic segment assembly machine and a segment to be assembled in a stereolithography (STL) file format; S12: lightweighting the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the STL file format respectively to obtain a three-dimensional model of the fully automatic segment assembly machine and a three-dimensional model of the segment to be assembled in a FBX file format.

[0035] In one of the embodiments, S12 includes: using the optimization modifier in the 3ds MAX software to lightweight the three-dimensional models of the fully automatic segment assembly machine and the segments to be assembled in the STL file format, so as to reduce the number of vertices in the object while maintaining the appearance of the object, and obtain the three-dimensional model of the fully automatic segment assembly machine and the three-dimensional model of the segments to be assembled in the flexible body exchange format.

[0036] Among them, in order to improve the safety of viewport display and shorten rendering time, the ProOptimizer modifier is used to reduce the number of vertices in the object (and therefore the number of faces) while maintaining the appearance of the object. Specifically, after the model is added, click the "Calculate" button in the ProOptimizer modifier to get the relevant number of vertices, which is controlled by the vertex percentage parameter item. The optimization mode can be selected from three modes: crush border, protect border, and exclude border. Finally, through the export function of 3dsMAX, users can save the optimized model as an FBX file for efficient display and interaction in the WebGL environment.

[0037] In one embodiment, the lightweight optimization mode includes: crushing boundaries, protecting boundaries, and excluding boundaries.

[0038] In one of the embodiments, S3 includes: using the WebSocket communication protocol to obtain multi-source data related to the segment assembly task from various data platforms.

[0039] In one of the embodiments, before S3, it includes: using multiple surface structured light cameras to collect relevant data of the segments to be assembled, and transmitting it to the data platform; using travel sensors, pressure sensors and vacuum sensors to collect the operating status data of the fully automatic segment assembly machine, and transmitting it to the data platform; using the shield machine platform to collect the power system status data of the fully automatic segment assembly machine, and transmitting it to the data platform.

[0040] In order to guide the assembly process more effectively, THREE.js is used to visualize the movement path of the assembler. Specifically, by obtaining the target position of the assembler in the data platform and a series of path points for grabbing, transporting and assembling process control, THREE.js then converts these path points into an intuitive path line, which not only clearly shows the expected movement direction of the assembler, but also enhances the readability of the information through color coding technology: red marks represent path points that have not yet been visited by the assembler, symbolizing future tasks; while green marks indicate path points that the assembler has completed traversal, marking the completed work stage. This visual distinction not only allows users to grasp the real-time position and progress of the assembler at a glance, but also greatly promotes the transparency and controllability of the construction process.

[0041] The configurable core data is similar to the aforementioned 3D model display process. A dedicated rendering area is created to display the core data of the assembly process in real time in the form of numerical values ​​or charts. The size and range of this area are defined according to actual needs and precisely laid out on the page.

[0042] The configurable core data is sorted out, and the displayed data includes those shown in Table 1 and Table 2; ; .

[0043] like Figure 4 As shown, a schematic diagram of the abstract relationship between the target pose and actual pose of the segment during the 3D model display process is provided for detailed explanation.

[0044] The actual position 41 of each segment to be assembled is simplified into a spatial point and its three accompanying direction vectors, and is intuitively expressed by combining position coordinates with Euler angles. Similarly, the target position 42 of the segment is also presented in this way to ensure the consistency and comparability of the expression of the two. By integrating an efficient data platform, this module can capture and process relevant data in real time, and then dynamically display the motion state of the segment in the form of a point plus a direction vector. This design cleverly removes unnecessary details of the segment structure, effectively avoids visual redundancy, and makes the relative relationship between the actual position 41 of the segment and the target position 42 more clear and intuitive. This not only greatly improves the accuracy and efficiency of construction monitoring, but also facilitates construction personnel to instantly and accurately grasp the real-time status of the segment assembly process, thereby ensuring high-quality segment assembly.

[0045] In one embodiment, a real-time visualization system for the working process of a fully automatic segment assembly machine is provided, including: a modeling module, an optimization module, a transmission module, and a display module. Figure 5 As shown, a modeling module is used to obtain the three-dimensional model of the fully automatic segment assembly machine and the three-dimensional model of the segment to be assembled in the FBX file format; an optimization module is used to use the Three.js development library in the WebGL application to load the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in the FBX file format into the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled respectively; a transmission module is used to obtain multi-source data related to the segment assembly task from various data platforms, and the multi-source data includes: relevant data of the segment to be assembled, the operating status data of the fully automatic segment assembly machine and the power system status data of the fully automatic segment assembly machine; a display module is used to use the multi-source data related to the segment assembly task to adjust the corresponding posture information of the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled in real time, and simulate and display the entire segment assembly process, the execution status parameters of the fully automatic segment assembly machine and the forming status parameters of the segment to be assembled in real time.

[0046] Furthermore, the modeling module is used to construct the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format; and then the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format are lightweighted respectively to obtain the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the FBX file format. Furthermore, the optimization modifier in the 3ds MAX software can be used to lightweight the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format to reduce the number of vertices in the object while maintaining the appearance of the object, and obtain the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the FBX file format.

[0047] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A real-time visualization method for the working process of a fully automatic segment assembly machine, characterized in that: include: S1: Obtain a 3D model of the fully automatic segment assembly machine and a 3D model of the segment to be assembled in FBX file format; S2: using the Three.js development library in the WebGL application, the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in FBX file format are loaded into the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled respectively; S3: Acquire multi-source data related to the segment assembly task from various data platforms, wherein the multi-source data includes: relevant data of the segment to be assembled, operating status data of the fully automatic segment assembly machine, and power system status data of the fully automatic segment assembly machine; S4: Utilize the multi-source data related to the segment assembly task to adjust the corresponding posture information of the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled in real time, and simulate and display the entire segment assembly process, the execution state parameters of the fully automatic segment assembly machine and the forming state parameters of the segment to be assembled in real time.

2. The real-time visualization method for the working process of the fully automatic segment assembly machine according to claim 1, characterized in that: The S1 includes: S11: constructing a three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in a stereolithography file format; S12: Lightweighting the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format respectively to obtain the three-dimensional model of the fully automatic segment assembly machine and the three-dimensional model of the segment to be assembled in the FBX file format.

3. The real-time visualization method for the working process of the fully automatic segment assembly machine according to claim 2, characterized in that: The S12 includes: The three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format are lightweighted respectively by using the optimization modifier in the 3ds MAX software to reduce the number of vertices in the object while maintaining the appearance of the object, thereby obtaining the three-dimensional model of the fully automatic segment assembly machine and the three-dimensional model of the segment to be assembled in the FBX file format.

4. The real-time visualization method for the working process of the fully automatic segment assembly machine according to claim 3, characterized in that: The lightweight optimization modes include: crushing boundaries, protecting boundaries, and excluding boundaries.

5. The real-time visualization method for the working process of the fully automatic segment assembly machine according to claim 3, characterized in that: The S12 includes: The three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format are imported into 3ds MAX software for processing, including deleting unnecessary details, merging polygons and optimizing mesh structure, to obtain the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in the FBX file format.

6. The real-time visualization method of the working process of the fully automatic segment assembly machine according to claim 1, characterized in that: The S3 includes: using the WebSocket communication protocol to obtain multi-source data related to the segment assembly task from a unified data platform.

7. The real-time visualization method for the working process of the fully automatic segment assembly machine according to claim 6, characterized in that: The S3 previously included: Using multiple surface structured light cameras to collect relevant data of the segments to be assembled, and transmit the data to the data platform; Using a stroke sensor, a pressure sensor and a vacuum sensor to collect the operating status data of the fully automatic segment assembly machine, and transmit the data to the data platform; The shield machine platform is used to collect the power system status data of the fully automatic segment assembling machine and transmit it to the data platform.

8. A real-time visualization system for the working process of a fully automatic segment assembly machine, characterized in that: include: A modeling module is used to obtain the 3D model of the fully automatic segment assembly machine and the 3D model of the segment to be assembled in the FBX file format; An optimization module, for using the Three.js development library in the WebGL application to load the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in FBX file format into the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled respectively; A transmission module, used for acquiring multi-source data related to the segment assembly task from various data platforms, wherein the multi-source data includes: relevant data of the segments to be assembled, operating status data of the fully automatic segment assembly machine, and power system status data of the fully automatic segment assembly machine; A display module is used to use the multi-source data related to the segment assembly task to adjust the corresponding posture information of the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled in real time, and to simulate and display the entire segment assembly process, the execution state parameters of the fully automatic segment assembly machine and the forming state parameters of the segment to be assembled in real time.

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