Segment Automatic Grabbing and Positioning Method and Segment Automatic Assembly and Positioning Method

Abstract

Provide a method for automatically grasping and positioning segment and a method for automatically assembling and positioning segment. The method for automatically grasping and positioning segment includes: conveying a segment to be assembled including a first marking point and a second marking point to a position to be grasped; moving a segment erector above the segment to be assembled; adjusting a moving part of the segment erector to make a grasping part of the segment erector located at a calibrated position; at least three ranging sensor modules arranged on the grasping part of the segment erector perform ranging to obtain a measured distance between the grasping part and the segment to be assembled, and adjusting the moving part of the segment erector to make each measured distance equal; an image acquisition device arranged on the grasping part of the segment erector acquires an image including the first marking point and the second marking point; perform image processing, and calculate a deviation between a current grasping position and a calibrated grasping position, and adjust the moving part of the segment erector to make the deviation value less than or equal to a deviation threshold, so as to adjust the segment erector to a standard grasping position.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a method for automatically grasping and positioning segments and a method for automatically assembling and positioning segments. Background Art

[0002] The segment erector is one of the key components of a shield machine and is responsible for segment erection. Currently, segment erection is mainly carried out by manual remote control. During the segment grasping process, the erector operator needs to perform operations such as roll, pitch, and yaw through a remote controller to adjust the segment attitude for precise positioning. This method has low positioning accuracy and low efficiency. Summary of the Invention

[0003] Embodiments of the present disclosure provide a method for automatically grasping and positioning segments and a method for automatically assembling and positioning segments.

[0004] Embodiments of the present disclosure provide a method for automatically grasping and positioning segments, including: conveying a segment to be assembled to a position to be grasped, where the segment to be assembled includes a first marking point and a second marking point; moving the segment erector above the segment to be assembled; adjusting the moving components of the segment erector so that the grasping component of the segment erector is at a calibrated position; at least three ranging sensor modules provided on the grasping component of the segment erector perform ranging to obtain the measured distances between the grasping component and the segment to be assembled, and adjust the moving components of the segment erector so that the measured distances are equal; an image acquisition device provided on the grasping component of the segment erector acquires an image including the first marking point and the second marking point; and performing image processing, calculating the deviation between the current grasping position and the calibrated grasping position, and adjusting the moving components of the segment erector so that the deviation value is less than or equal to a deviation threshold, so that the segment erector is adjusted to a standard grasping position.

[0005] According to the method for automatically grasping and positioning segments provided by the embodiments of the present disclosure, calculating the deviation between the current grasping position and the calibrated grasping position includes: obtaining the angular deviation between the current grasping attitude of the segment erector and the calibrated grasping position.

[0006] According to the method for automatically grasping and positioning segments provided by the embodiments of the present disclosure, obtaining the angular deviation between the current grasping attitude of the segment erector and the calibrated grasping position includes: calculating the angular deviation between the line connecting the first marking point and the second marking point in the current image and the line connecting the first marking point and the second marking point in the calibrated image.

[0007] According to the segment automatic grasping and positioning method provided by an embodiment of the present disclosure, adjusting the moving parts of the segment erector to make the deviation value less than or equal to the deviation threshold includes: adjusting the angular deviation to be less than or equal to the angular deviation threshold; and adjusting the first distance deviation in the first direction and the second distance deviation in the second direction between the connection line of the first and second fiducial points in the current image and the connection line of the first and second fiducial points in the calibrated image, such that the first distance deviation is less than the first distance threshold, the second distance deviation is less than the second distance threshold, and the first direction is perpendicular to the second direction.

[0008] According to the segment automatic grasping and positioning method provided by an embodiment of the present disclosure, the method further includes: calibrating the grasping posture and the grasping position of the segment erector, and collecting a calibrated image including the first fiducial point and the second fiducial point.

[0009] According to the segment automatic grasping and positioning method provided by an embodiment of the present disclosure, the calibration includes: making the grasping component grasp the segment; adjusting the moving parts of the segment erector such that the grasping component disengages from the segment and moves upward in a straight line and stops to obtain a calibrated position; and using an image acquisition device to perform image acquisition to obtain a calibrated image including the first fiducial point and the second fiducial point.

[0010] According to the segment automatic grasping and positioning method provided by an embodiment of the present disclosure, the method further includes: controlling the moving parts of the erector to make the grasping component of the segment erector move in a straight line and approach the segment to be grasped; and controlling the moving parts of the erector until the contact switch on the grasping component operates, such that the segment grasping and positioning of the erector is completed.

[0011] According to the segment automatic grasping and positioning method provided by an embodiment of the present disclosure, the at least three ranging sensor modules include three ranging sensor modules distributed in a triangular shape.

[0012] According to the segment automatic grasping and positioning method provided by an embodiment of the present disclosure, the three ranging sensor modules include two ranging modules arranged along the non - tunneling direction.

[0013] An embodiment of the present disclosure further provides a segment erection method, including any of the above - mentioned segment automatic grasping and positioning methods.

[0014] According to the segment erection method provided by an embodiment of the present disclosure, the method further includes a segment automatic erection and positioning method, wherein the segment automatic erection and positioning method includes: the segment erector grasps the segment to be erected and moves it near the point to be erected; performs correction of the rotation posture of the segment; performs correction of the pitching posture of the segment; and performs correction of the elevation difference and clearance of the segment.

[0015] According to the segment assembling method provided by the embodiments of the present disclosure, at least four contour measurement modules are arranged on the connecting beam of the segment erector. Each contour measurement module is configured to measure the contours of the segment to be assembled and the assembled segments. The grasping member is arranged on the segment erector through the connecting beam. The at least four contour measurement modules include two first contour measurement modules located at both ends of the connecting beam and two second contour measurement modules located between the two first contour measurement modules and arranged perpendicular to the extending direction of the connecting beam.

[0016] According to the segment assembling method provided by the embodiments of the present disclosure, the centers of the two first contour measurement modules and the centers of the two second contour measurement modules are located on the same circle, and this circle is concentric with the circle where the segment to be assembled is located during grasping.

[0017] According to the segment assembling method provided by the embodiments of the present disclosure, performing segment rotation attitude correction includes: measuring the distance between the segment to be assembled and the assembled segments in the tunneling direction through the two second contour measurement modules, and adjusting the moving parts of the segment erector so that the difference in the measured distances of the two second contour measurement modules is less than a third distance threshold.

[0018] According to the segment assembling method provided by the embodiments of the present disclosure, performing segment pitching attitude correction includes: measuring the slope of the edges of the segment to be assembled and the assembled segments in the non-tunneling direction through the two first contour measurement modules, and adjusting the moving parts of the segment erector so that the difference in the slopes of the edges of the segment to be assembled and the assembled segments in the non-tunneling direction is less than a slope threshold.

[0019] According to the segment assembling method provided by the embodiments of the present disclosure, performing segment elevation difference and gap correction includes: measuring the elevation difference in the radial direction and the gap in the non-tunneling direction between the segment to be assembled and the assembled segments through one of the two second contour measurement modules and one of the two first contour measurement modules, and adjusting the moving parts of the segment erector so that the elevation difference is less than an elevation difference threshold and the gap is less than a gap threshold. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings described below only relate to some embodiments of the present disclosure and do not limit the present disclosure.

[0021] Figure 1A It is a schematic diagram of a segment erector grasping a segment.

[0022] Figure 1B It is a schematic diagram of a segment erector assembling a segment.

[0023] Figure 1C It is a partial schematic diagram of a segment erector.

[0024] Figure 1D It is a schematic diagram of a controller of a segment erector and its control components.

[0025] Figure 2A It is a schematic diagram of the layout of an image acquisition device of a segment erector and the layout of a ranging sensing module along a non - tunneling direction.

[0026] Figure 2B It is a schematic diagram of the layout of a ranging sensing module of a segment erector along the tunneling direction.

[0027] Figure 2C It is a schematic diagram of a control unit of a segment erector and the components it controls.

[0028] Figure 3 It is a plan view of the layout of a ranging sensing module on a grasping component of a segment erector and an image acquisition device.

[0029] Figure 4 It is a plan view of pin holes, a first marking point and a second marking point on a segment.

[0030] Figure 5 It is a flowchart of a method for automatically grasping and positioning segments provided by an embodiment of the present disclosure.

[0031] Figures 6A to 6E It is a schematic diagram of the process of automatically grasping and positioning segments.

[0032] Figure 7 It is a schematic diagram of the process of correcting the grasping posture of a grasping component of a segment erector provided by an embodiment of the present disclosure.

[0033] Figure 8A It is a schematic diagram of a grasping component grasping a segment during the calibration process in a method for automatically grasping and positioning segments provided by an embodiment of the present disclosure.

[0034] Figure 8B It is a schematic diagram of a grasping component leaving the segment and rising in a straight line and then stopping to determine the calibrated grasping position during the calibration process in a method for automatically grasping and positioning segments provided by an embodiment of the present disclosure.

[0035] Figure 9 It is a flowchart of a method for automatically positioning the grasping of segments provided by an embodiment of the present disclosure.

[0036] Figure 10A and Figure 10B It is a schematic diagram of the installation of an automatic segment assembly and positioning measurement module.

[0037] Figure 11 It is a schematic diagram of a control unit and the components it controls.

[0038] Figure 12 It is a schematic diagram of the automatic assembly and positioning process of segment rings.

[0039] Figure 13 It is a schematic diagram of correcting the rotation attitude of segment rings.

[0040] Figure 14 It is a schematic diagram of correcting the pitching attitude of segment rings.

[0041] Figure 15 It is a schematic diagram of correcting the elevation difference and clearance of segment rings. Specific embodiments

[0042] To make the objectives, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0043] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure shall have the ordinary meanings understood by those of ordinary skill in the art belonging to the field of the present disclosure. The "first", "second" and similar terms used in the present disclosure do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "including" or "comprising" mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. The terms "connected" or "coupled" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right" etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0044] Figure 1A It is a schematic diagram of a segment erector grasping a segment ring. Figure 1B It is a schematic diagram of a segment erector assembling a segment ring. Figure 1C It is a partial schematic diagram of a segment erector. Figure 1D It is a schematic diagram of a controller of a segment erector and its control components. As Figure 1A and Figure 1B shown, the segment erector includes a support beam 20, a moving member M0, and a grasping member 7. As Figure 1A shown, the moving member M0 includes a translation member 11, a lifting member 12, and a rotating member 13. As Figure 1AAs shown, the translation component 11 includes a moving frame 111 and a translation drive 112. As Figure 1A As shown, the rotation component 13 includes a rotating frame 131 and a rotation drive 132. As Figure 1A As shown, the lifting component 12 includes a lifting drive 120. Figure 1A And Figure 1B The segment 10 is also shown. Figure 1B The segment 1 to be assembled and the assembled segment 100 are shown. Figure 1A The connecting beam 8 is also shown. The connecting beam 8 is connected to the lifting drive 120, and the grasping component 7 is arranged on the connecting beam 8. For example, the connecting beam 8 can also be called a lifting tong.

[0045] As Figure 1A As shown, the rotating frame 131 and the moving frame 111 form a bracket 30. As Figure 1A As shown, both the rotating frame 131 and the moving frame 111 are annular, and the supporting beam 20 can be located in the inner hole of the annular bracket 30. The rotating frame 131 is connected to the moving frame 111. The rotating frame 131 can rotate relative to the moving frame 111.

[0046] Figure 1A And Figure 1B The directions X, Y, and Z are shown. As Figure 1A And Figure 1B As shown, the translation drive 112 is arranged on the supporting beam 20, and the translation drive 112 is connected to the moving frame 111 to be configured to drive the grasping component 7 to move in the direction X; the lifting drive 120 is connected to the rotating frame 131 to be configured to drive the grasping component 7 to move radially along the bracket 30; the rotation drive 132 is connected to the rotating frame 131 to be configured to drive the rotating frame 131 and make the grasping component 7 rotate circumferentially along the bracket 30. For example, the direction X can also be called the axial direction.

[0047] For example, as Figure 1A shown, moving in the direction X includes moving forward or backward, moving in the direction Z includes rising or falling, and the circumferential rotation of the grasping component 7 along the bracket 30 can refer to rotating around the axis extending in the direction X. The circumferential rotation of the grasping component 7 along the bracket 30 or the rotation of the grasping component 7 around the axis extending in the direction X can refer to the rotation of the rotating frame 131 along the arc of the arrow R2. It should be noted that when the rotating frame 131 rotates around the axis extending in the direction X, a 360-degree rotation can be achieved to facilitate the ring-by-ring assembly of the segments.

[0048] As Figure 1A shown, two translation drives 112 are arranged, and the two translation drives 112 can move at the same speed, so that the moving frame 111 moves in a straight line.

[0049] As Figure 1CAs shown, a fine adjustment drive 140 and a fine adjustment drive 150 are also provided between the grasping member 7 and the connecting beam 8. As Figure 1C shown, both the fine adjustment drive 140 and the fine adjustment drive 150 are provided on one side of the connecting beam 8. For example, in Figure 1A , the two fine adjustment drives can be provided on the left side of the connecting beam 8. The fine adjustment drive 140 can be configured to finely adjust the grasping member 7 in the circumferential direction, and the fine adjustment drive 150 can be configured to finely adjust the grasping member 7 in the radial direction. Figure 1C Taking the fine adjustment drive 140 and the fine adjustment drive 150 both being oil cylinders as an example for illustration.

[0050] For example, as Figure 1B shown, the direction DR is the tunneling direction. For example, the direction DR can be parallel to the direction X, but is not limited thereto. For example, the non-tunneling direction is parallel to the direction Y, but is not limited thereto.

[0051] In the embodiments of the present disclosure, the segment erector can realize the position adjustment of six degrees of freedom of the grasping member 7.

[0052] As Figure 1D shown, the control unit 81 is respectively connected to the translation drive 112, the lifting drive 120, the rotation drive 132, the fine adjustment drive 140, and the fine adjustment drive 150 to respectively control the translation drive 112, the lifting drive 120, the rotation drive 132, the fine adjustment drive 140, and the fine adjustment drive 150.

[0053] Figure 1A Taking the lifting drive 120 being a lifting oil cylinder, the translation drive 112 being a translation oil cylinder, and the rotation drive 132 including a motor and a gear driven by the motor as an example for illustration. The gear can be provided in the rotating frame 131.

[0054] For example, the positioning and assembling of the segment are realized by the telescoping of the axial oil cylinder, the telescoping of the radial oil cylinder, the rotation of the slewing support, and the fine adjustment of the fine adjustment oil cylinder, and then the segment and the segment adjacent to the segment are fixed with bolts.

[0055] Figure 2A is a layout diagram of the image acquisition device of the segment erector and a layout diagram of the ranging sensor module along the non-tunneling direction. Figure 2B is a layout diagram of the ranging sensor module of the segment erector along the tunneling direction. Figure 2C is a schematic diagram of the control unit of the segment erector and the components it controls. Figure 3 is a plan view of the ranging sensor module arrangement and the image acquisition device on the grasping member of the segment erector. Figure 4 is a plan view of the pin holes, the first marking points, and the second marking points on the segment.

[0056] As Figure 2A , Figure 2B ,Figure 3 and Figure 4 As shown, an image acquisition device 5 is arranged on the grasping component 7 of the segment erector. For example, the image acquisition device 5 is fixed to the non-excavation side of the grasping component 7 through a bracket, such as being arranged in the middle of the non-excavation side of the grasping component 7. The image acquisition device 5 is used to acquire an image containing the first fiducial point 3 and the second fiducial point 4 on the segment 1 to be assembled, and then transmit the image or image information to the control unit 82 for image processing to identify the position of the segment 1 to be assembled relative to the grasping component 7 of the segment erector; the segment 1 is provided with ranging sensor modules in the non-excavation direction and the excavation direction. In the figure, it is illustrated by taking the segment erector including three ranging sensor modules: the ranging sensor module 2, the ranging sensor module 6, and the ranging sensor module 9 as an example. For example, the ranging sensor module is used to measure the distance between the grasping component 7 of the segment erector and the segment 1 to be grasped in real time. The distance between the grasping component 7 and the segment 1 to be grasped can be the vertical height between the grasping component 7 and the segment 1 to be grasped. For example, the ranging sensor module includes a ranging sensor. For example, the ranging sensor can adopt common ranging sensors, such as a laser ranging sensor or an ultrasonic ranging sensor, but is not limited thereto. For example, the image acquisition device 5 includes a camera, and a 3D camera or a binocular camera can be adopted, but is not limited thereto.

[0057] As Figure 2C shown, the control unit 82 is connected to the image acquisition device 5, and the control unit 82 is configured to receive the image or image information and perform image processing. For example, as Figure 2C shown, the control unit 82 includes a host computer, but is not limited thereto.

[0058] For example, as Figure 3 shown, the three ranging sensor modules (the ranging sensor module 2, the ranging sensor module 6, and the ranging sensor module 9) are distributed in a triangle, and an arc surface can be determined. For example, the ranging sensor module 2 and the ranging sensor module 6 are arranged in the non-excavation direction, and the ranging sensor module 9 is arranged in the excavation direction.

[0059] For example, as Figure 2A and Figure 3 shown, the image acquisition device 5 is located between the ranging sensor module 2 and the ranging sensor module 6. For example, the distance between the ranging sensor module 2 and the image acquisition device 5 is equal to the distance between the ranging sensor module 6 and the image acquisition device 5. In some embodiments, the distance between the ranging sensor module 9 and the ranging sensor module 2 is equal to the distance between the ranging sensor module 9 and the ranging sensor module 6, and the ranging sensor module 2, the ranging sensor module 6, and the ranging sensor module 9 form an isosceles triangle, but is not limited thereto.

[0060] For example, as Figure 4As shown, in order to facilitate the image acquisition device 5 to acquire images including the first fiducial point 3 and the second fiducial point 4, the first fiducial point 3 and the second fiducial point 4 can be set at the edge positions of the upper surface of the segment 10. The first fiducial point 3 and the second fiducial point 4 can be prefabricated on the segment 10. For example, both the first fiducial point 3 and the second fiducial point 4 can be grooves, but are not limited thereto, and the first fiducial point 3 and the second fiducial point 4 can also be in other forms. Figure 4 Taking the case where both the first fiducial point 3 and the second fiducial point 4 are rectangles as an example, but the first fiducial point 3 and the second fiducial point 4 can also be in other suitable shapes.

[0061] In the embodiments of the present disclosure, taking the grasping member 7 as a vacuum chuck as an example for illustration, but not limited thereto, other forms of grasping members such as mechanical grasping members can also be used. When the grasping member uses a vacuum chuck, the segment erector can be called a vacuum chuck type segment erector. The segment automatic grasping and positioning method provided by the embodiments of the present disclosure includes a segment grasping and automatic positioning method for a vacuum chuck type segment erector.

[0062] Figure 4 The pin holes 1001 in the segment 10 are also shown. Figure 4 Two pin holes 1001 are shown. For example, as Figure 4 shown, the first fiducial point 3 and the second fiducial point 4 are located at the edge of the segment and are located between the two pin holes 1001. For example, the shape of the fiducial point can be different from the shape of the pin hole 1001. The shape of the pin hole 1001 is not limited to that shown in the figure. The shape of the fiducial point is not limited to that shown in the figure.

[0063] During the automatic positioning process of the segment erector grasping the segment, the pin holes 1001 can accommodate the positioning pins on the vacuum chuck. Of course, in other embodiments, the segment 10 may not be provided with pin holes 1001, and the vacuum chuck may not be provided with positioning pins either.

[0064] For example, as Figure 4 shown, the size of the first fiducial point 3 is smaller than the size of the pin hole 1001, and the size of the second fiducial point 4 is smaller than the size of the pin hole 1001. For example, the size of the first fiducial point 3 can be equal to or approximately equal to the size of the second fiducial point 4, but is not limited thereto. For example, the sizes of the two pin holes 1001 are equal to or approximately equal, but are not limited thereto.

[0065] To improve the segment erection efficiency and at the same time improve the construction efficiency of the shield machine, it is necessary to adopt the segment automatic grasping and positioning technology to achieve automatic positioning during the segment grasping process, and then achieve the collaborative automation operation of the segment erector and the shield machine.

[0066] For example, the embodiments of the present disclosure rely on the segment erector and the segment structure form of the full-face tunnel boring machine to provide a segment erector segment grasping and automatic positioning method.

[0067] Figure 5 Flow chart of a method for automatically grasping and positioning segment provided by an embodiment of the present disclosure. Figures 6A to 6D Schematic diagram of the process of automatically grasping and positioning segment.

[0068] As Figures 3 to 5 、 Figures 6A to 6E shown, the method for automatically grasping and positioning segment provided by the embodiment of the present disclosure includes the following steps.

[0069] Step S101: As Figure 4 、 Figure 5 and Figure 6A shown, convey the segment 1 to be assembled to the position P1 to be grasped. The segment 1 to be assembled includes a first fiducial point 3 and a second fiducial point 4.

[0070] Step S102: As Figure 5 and Figure 6B shown, the segment assembling machine moves above the segment to be assembled, Figure 6B shows the grasping position P2 above the segment to be assembled. For example, the grasping position P2 can be a fixed position, which can be called a fixed grasping position, but is not limited thereto.

[0071] Step S103: As Figure 5 and Figure 6C shown, adjust the moving parts of the segment assembling machine so that the grasping part of the segment assembling machine is located at the calibrated position P3. For example, the moving parts of the segment assembling machine can be adjusted to the calibrated grasping posture so that the grasping part of the segment assembling machine is located at the calibrated position P3.

[0072] Step S104: As Figure 3 and Figure 5 shown, at least three ranging sensor modules arranged on the grasping part of the segment assembling machine perform ranging to obtain the measured distance between the grasping part 7 and the segment to be assembled, and adjust the moving parts of the segment assembling machine so that each measured distance is equal.

[0073] Step S105: As Figure 5 shown, the image acquisition device arranged on the grasping part of the segment assembling machine acquires an image including the first fiducial point 3 and the second fiducial point 4.

[0074] Step S106: As Figure 5 shown, perform image processing, calculate the deviation between the current grasping position and the calibrated grasping position, and adjust the moving parts of the segment assembling machine so that the deviation value is less than or equal to the deviation threshold, so that the segment assembling machine is adjusted to the standard grasping position.

[0075] For example, the calibration position P3 is a fixed position. The segment erector can be made to drop to this fixed calibration position P3 each time. For example, the segment erector drops in a straight line from the grasping position P2 to this fixed calibration position P3 each time.

[0076] As Figure 6B shown, the grasping position P2 is directly above the position P1 to be grasped. As Figure 6C shown, the calibration position P3 can be directly below the grasping position P2. For example, the position P1 to be grasped, the grasping position P2, and the calibration position P3 can be on a straight line. For example, the position P1 to be grasped, the grasping position P2, and the calibration position P3 can be on a vertical line.

[0077] Because the segments being transported may deviate from the position of the segments during calibration, it is necessary to adjust the grasping component so that the grasping component can accurately and smoothly grasp the segments.

[0078] During the automatic grasping and positioning process of the segments, because the segments being transported may deviate from the position of the segments during calibration, at the calibration position P3, the relative position between the grasping component 7 and the segment 1 to be assembled may deviate from the relative position between the segment and the grasping component 7 during calibration. Therefore, it is necessary to use a ranging module to measure the distance, and adjust the relative position between the grasping component 7 and the segment 1 to be assembled according to the measurement result of the ranging module, so that the measurement results of each ranging module are the same, so that the relative position between the grasping component 7 and the segment 1 to be assembled is equal to the relative position between the segment and the grasping component 7 during calibration. The position of the grasping component 7 when the measurement results of each ranging module are the same can be called the relative calibration grasping position. The calibration position P3 can be called the fixed calibration grasping position. That is, make the grasping component 7 reach the fixed calibration grasping position, and then make the grasping component 7 reach the relative calibration grasping position.

[0079] For example, each time a segment is grasped, the grasping component can first reach the calibration position P3. When grasping each segment, the grasping component first reaches this calibration position P3, that is, the calibration position P3 is a fixed position, the same position, but not limited to this. In other embodiments, when grasping different segments, the calibration positions P3 reached by the grasping component may not be the same position. These calibration positions P3 are at the same height, and the connection lines of these calibration positions P3 are straight lines.

[0080] An automatic segment grasping and positioning method provided by an embodiment of the present disclosure can improve the segment assembly efficiency and at the same time improve the construction efficiency of the shield machine.

[0081] According to the segment automatic grasping and positioning method provided by the embodiments of the present disclosure, the segment erector includes at least three ranging sensor modules. The at least three ranging sensor modules include three ranging sensor modules distributed in a triangle. The three ranging sensor modules distributed in a triangle can be referred to the previous description and will not be elaborated here.

[0082] According to the segment automatic grasping and positioning method provided by the embodiments of the present disclosure, the three ranging sensor modules include two ranging modules arranged along the non-excavation direction. The two ranging modules arranged along the non-excavation direction can be referred to the previous description and will not be elaborated here.

[0083] According to the segment automatic grasping and positioning method provided by the embodiments of the present disclosure, the method further includes step S100: calibrating the grasping posture and grasping position of the segment erector, and collecting a calibration image including a first fiducial point and a second fiducial point.

[0084] As Figure 6D shown, according to the segment automatic grasping and positioning method provided by the embodiments of the present disclosure, the method further includes: controlling the moving parts of the erector to make the grasping part of the segment erector move linearly and approach the segment to be grasped.

[0085] As Figure 6E shown, according to the segment automatic grasping and positioning method provided by the embodiments of the present disclosure, the method further includes: controlling the moving parts of the erector until the contact switch on the grasping part acts, so that the segment grasping and positioning of the erector is completed. When using a suction cup type grasping part, evacuate the air to make the grasping part grasp the segment 1 to be assembled.

[0086] Figure 7 It is a schematic diagram of the grasping posture correction process of the grasping part of the segment erector provided by the embodiments of the present disclosure. Figure 7 It shows the angular deviation correction and distance deviation correction between the current grasping posture of the segment erector and the calibrated grasping position.

[0087] As Figure 7 shown, according to the segment automatic grasping and positioning method provided by the embodiments of the present disclosure, calculating the deviation between the current grasping position and the calibrated grasping position includes: obtaining the angular deviation θ between the current grasping posture of the segment erector and the calibrated grasping position.

[0088] As Figure 7 shown, according to the segment automatic grasping and positioning method provided by the embodiments of the present disclosure, obtaining the angular deviation θ between the current grasping posture of the segment erector and the calibrated grasping position includes: calculating the angular deviation between the line A1B1 connecting the first fiducial point and the second fiducial point in the current image and the line AB connecting the first fiducial point and the second fiducial point in the calibration image. For example, the calculation of the angular deviation can be performed by the processor in the control unit 82.

[0089] AsFigure 7 As shown, for the segment automatic grasping and positioning method provided by an embodiment of the present disclosure, adjusting the moving components of the segment erector to make the deviation value less than or equal to the deviation threshold includes: adjusting the angular deviation to be less than or equal to the angular deviation threshold; and adjusting the first distance deviation Δy in the X direction and the second distance deviation Δx in the Y direction between the connection line A1B1 of the first and second fiducial points in the current image and the connection line AB of the first and second fiducial points in the calibrated image, such that the first distance deviation Δy is less than the first distance threshold and the second distance deviation Δx is less than the second distance threshold, where the X direction is perpendicular to the Y direction.

[0090] Figure 8A It is a schematic diagram of the grasping component grasping the segment during the calibration process in the segment automatic grasping and positioning method provided by an embodiment of the present disclosure. Figure 8B It is a schematic diagram of the grasping component leaving the segment and rising linearly, then stopping to determine the calibrated grasping position during the calibration process in the segment automatic grasping and positioning method provided by an embodiment of the present disclosure.

[0091] For example, during the calibration process, reverse operation can be performed. For example, as Figure 8A shown, the calibration process includes: first making the grasping component 7 grasp the segment 10, and then adjusting the moving components of the segment erector. As Figure 8B shown, making the grasping component 7 disengage from the segment 10 and move linearly upward along the Z direction, stop, to obtain the calibrated position P0. While obtaining the calibrated position, the parameters of the moving components of the segment erector at the calibrated position (including the position of the moving components) can also be obtained. An image acquisition device 5 is used for image acquisition to obtain a calibrated image including the first fiducial point 3 and the second fiducial point 4. For example, the linear upward movement of the grasping component 7 along the Z direction can be obtained by adjusting the lifting drive 120 (see Figure 1A ). Of course, the calibration process is not limited to the above-described process, and other steps can also be used for calibration. For example, the calibrated position P0 can be referred to as the calibrated grasping position. For example, the calibrated position P3 and the calibrated position P0 can be at the same height. During the grasping and positioning process, after adjusting the measurement distances of each ranging module within the threshold range and adjusting the angular deviation and distance deviation through the comparison of the current image and the calibrated image, the grasping component is located at the calibrated grasping position relative to the segment to be assembled.

[0092] For example, by adjusting at least one of the above two fine-tuning drives, the measurement distances of each ranging module can be made equal. That is, during the process of making the measurement distances of each ranging module equal, the position where the center of the grasping component 7 is located remains unchanged.

[0093] For example, the calibration process of obtaining the calibrated image and the calibrated grasping position can be performed once to obtain the calibration result, and the subsequent segment automatic grasping and positioning processes all use the above calibration result. Of course, calibration can also be performed multiple times, and the subsequent calibration results overwrite the previous calibration results, and the latest calibration result is used for the segment automatic grasping and positioning. For example, in some embodiments, calibration is performed to obtain the calibration result, and based on this calibration result, the segment is automatically grasped and positioned multiple times. For example, in some other embodiments, calibration is performed to obtain the calibration result, and based on this calibration result, the segment is automatically grasped and positioned multiple times, and then re-calibration is performed to obtain the re-calibration result, and based on this calibration result, the segment is automatically grasped and positioned multiple times.

[0094] The segment automatic grasping and positioning method provided by the embodiments of the present disclosure realizes the accurate positioning of the segment during the segment grasping process through image acquisition and processing and ranging sensing technologies. This method does not change the structure of the existing segment erector, the sensor installation is simple, the cost is low, and it is easy to implement, laying a technical foundation for the automatic segment assembly of the full-face tunnel boring machine.

[0095] For example, an image acquisition device is arranged on the grasping component of the segment erector. The image acquisition device is fixed to the middle of the side of the grasping component through a bracket. The image acquisition device is used to acquire the image information containing the marking points on the segment, and then transmit it to the control unit 82 (for example, the upper computer) for image processing to identify the position of the segment; at least three ranging sensing modules are arranged on the segment in the non-driving direction and the driving direction, which are used to measure the vertical height between the grasping component of the segment erector and the segment to be grasped in real time. Among them, the three ranging sensing modules are distributed in a triangle, and an arc surface can be determined. Two ranging modules are arranged in the non-driving direction, and the third ranging module is arranged in the driving direction.

[0096] Figure 9 It is a flowchart of the segment grasping and automatic positioning method provided by an embodiment of the present disclosure. Taking the grasping component of the segment erector as a suction cup, and the translation drive 112, the lifting drive 120, the fine-tuning drive 140, the fine-tuning drive 150 are all oil cylinders, and the rotation drive 132 includes a motor and a gear driven by the motor as an example. As Figure 9 shown, the segment grasping and automatic positioning method includes the following steps.

[0097] Step S0: Calibrate the posture of the segment erector at the grasping position and store the segment calibration image. Before the segment erector performs formal operations, first calibrate the grasping posture and grasping position of the segment erector. The stroke positions of each oil cylinder of the segment erector and the calibration image in this state can be stored in the control unit 82, for example, stored in the server or database of the control unit 82.

[0098] Step S1: The segment feeder transports the segment to the designated position. The segment feeder conveys the segment to be assembled to the designated position.

[0099] Step S2: The segment erector moves to the fixed grasping position. Each time, the segment erector first moves to the calibrated position in Step S0.

[0100] Step S3: The strokes of the cylinders of the segment erector are adjusted to the calibrated posture. The strokes of the cylinders of the segment erector are adjusted to the calibrated posture in Step S0. At this time, the grasping component is located at the calibrated position.

[0101] Step S4: The ranging sensor module measures the distances at each position to make the suction cups of the erector parallel to the inner surface of the segment. Each ranging module measures the distance between the suction cup at the current position and the inner surface of the segment, which are H1, H2, and H3 respectively. Adjust the strokes of the cylinders of the erector to make H1 = H2 = H3, that is, the bottom arc surface of the suction cup of the erector is parallel to the arc surface of the inner surface of the segment. For example, referring to Figures 2A to 2B , three ranging sensor modules, namely, ranging sensor module 2, ranging sensor module 6, and ranging sensor module 9, measure the distances at each position respectively. According to the collected data, the controller adjusts the displacement of the cylinder to make the suction cups of the erector parallel to the inner surface of the segment.

[0102] Step S5: Image acquisition and processing are performed to calculate the deviation between the current grasping position and the calibrated position, and make the deviation value less than or equal to the threshold.

[0103] Step S6: The lifting cylinders of the erector extend. After completing Step S5, the lifting cylinders on both sides of the erector extend at a constant speed to make the suction cups approach the segment to be grasped.

[0104] Step S7: The contact switch on the suction cup acts. The lifting cylinders of the erector extend until the contact switch on the suction cup acts, indicating that the suction cups of the segment erector are in place in contact with the segment.

[0105] Step S8: The segment grasping and positioning of the erector is completed.

[0106] Step S9: The grasping component of the erector operates to adsorb the segment and complete the grasping of the segment to be assembled.

[0107] Through the above process, the accurate positioning of the segment during the grasping process by the segment erector can be realized, and the automatic positioning and grasping process of the segment can be achieved.

[0108] For example, the image acquisition device 5 is used for image acquisition and uploaded to the control unit 82 (as Figure 2C shown) for image processing.

[0109] For example, the process of making the deviation value less than or equal to the threshold includes the following steps.

[0110] As Figure 7 shown, let the first fiducial point in the calibrated image be A, the second fiducial point be B, the first fiducial point in the currently acquired image be A1, and the second fiducial point be B1.

[0111] Step 1: Calculate the angular deviation between line AB and A1B1 through image processing technology, that is, the angular deviation θ between the current grasping posture of the segment erector and the calibrated grasping position.

[0112] Step 2: Adjust the stroke of the pose adjustment cylinder on the suction cup to make AB parallel to A1B1. The judgment condition is θ ≤ ε, where ε is the threshold set in the program. When the included angle between AB and A1B1 is less than ε, it is considered that AB is parallel to A1B1.

[0113] Step 3: Calculate the deviations Δx and Δy of AB and A1B1 in the Y direction and X direction in the current posture of the segment erector through image processing technology.

[0114] Step 4: Adjust the stroke positions of each cylinder and the rotation mechanism on the segment erector to make the deviations Δx and Δy in Step 3 less than the threshold set in the program, which is considered that AB coincides with A1B1, that is, the segment erector is adjusted to the standard grasping position.

[0115] Make the measurement distances of the ranging module equal, which is conducive to the correction of the deviations Δx and Δy.

[0116] In order to solve the technical problem of precise positioning of segment grasping by a full-face tunnel boring machine, based on the current structure and working process of the segment erector, a method for automatic positioning of segment grasping is provided.

[0117] Through image acquisition and processing and ranging sensing technology, the posture of the segment grasping component relative to the segment to be grasped is corrected, and then the accurate positioning of the segment to be grasped is realized.

[0118] Through image acquisition and processing and ranging sensing technology, the precise positioning of the segment erector to the segment to be grasped is realized. This positioning method has good feasibility and economy, and provides a technical basis for realizing the automatic process of segment assembly.

[0119] An automatic segment grasping and positioning method for a segment erector with a grasping component provided by an embodiment of the present disclosure, through an image acquisition device and a ranging module installed on the segment erector, real-time collects and calculates the deviation between the current grasping position and the calibrated position of the segment erector, and feeds it back to the control unit. The control unit adjusts each moving component of the segment erector to make the segment erector move to the grasping position, with accurate and fast positioning, and completes the automatic segment grasping process. The automatic segment grasping and positioning method provided by the embodiment of the present disclosure lays a foundation for realizing automatic segment assembly of a full-face tunnel boring machine and improving the quality of segment assembly.

[0120] Figure 10A and Figure 10B It is a schematic diagram of the installation of the positioning measurement module for automatic segment assembly. Figure 11Schematic diagram of a control unit and the components it controls. Figure 12 Schematic diagram of the automatic segment assembly and positioning process. Figure 13 Schematic diagram of segment rotation attitude correction. Figure 14 Schematic diagram of segment pitch attitude correction. Figure 15 Schematic diagram of segment elevation difference and clearance correction. Figure 13 Plan view of the segment. Figure 14 and Figure 15 Side view or cross-sectional view of the segment.

[0121] Such as Figure 10A and Figure 10B As shown, at least four profile measurement modules are installed on the connecting beam 8 of the segment erector. Figure 10A and Figure 10B Taking the installation of four profile measurement modules, namely profile measurement module 51, profile measurement module 52, profile measurement module 53, and profile measurement module 54, on the connecting beam 8 of the segment erector as an example for illustration.

[0122] For example, as Figure 10A and Figure 10B shown, the centers of profile measurement module 51, profile measurement module 52, profile measurement module 53, and profile measurement module 54 are located on the same circle. For example, the connection lines of the centers of profile measurement module 51, profile measurement module 52, profile measurement module 53, and profile measurement module 54 form an arc. For example, as Figure 10A and Figure 10B shown, the circle where the centers of profile measurement module 51, profile measurement module 52, profile measurement module 53, and profile measurement module 54 are located is concentric with the circle where the segment 10 is located, which is beneficial for profile measurement. The segment 10 is an arc and is part of a circle. Multiple segments 10 can form a circle, that is, form a segment ring. For example, as Figure 11 shown, the control unit 82 is respectively connected to profile measurement module 51, profile measurement module 52, profile measurement module 53, and profile measurement module 54 to facilitate data acquisition and processing.

[0123] The embodiments of the present disclosure also provide a segment assembly method, including any of the above segment automatic grasping and positioning methods.

[0124] For example, as Figures 12 to 15 shown, in the segment assembly method provided by the embodiments of the present disclosure, the segment assembly method further includes a segment automatic assembly and positioning method, and the segment automatic assembly and positioning method includes the following steps.

[0125] Step S200: The segment erector grasps the segment to be assembled and moves it near the point to be assembled.

[0126] Step S201: As shown in Figure 12 and Figure 13 , perform the correction of the segment rotation attitude.

[0127] Step S202: As shown in Figure 12 and Figure 14 , perform the correction of the segment pitching attitude.

[0128] Step S203: As shown in Figure 12 and Figure 15 , perform the correction of the segment elevation difference and clearance.

[0129] For example, in the segment erection method provided by the embodiment of the present disclosure, as shown in Figure 10A and Figure 10B , at least four profile measurement modules are erected on the connecting beam 8 of the segment erector. Each profile measurement module is configured to measure the profiles of the segment to be erected and the erected segments. The gripping member is arranged on the segment erector through the connecting beam. The at least four profile measurement modules include two first profile measurement modules located at both ends of the connecting beam and two second profile measurement modules located between the two first profile measurement modules and arranged perpendicular to the extension direction of the connecting beam. For example, the profile measurement module can be used to measure the profile of an object, and a common profile measuring instrument can be used. For example, a laser profile measuring instrument can be used.

[0130] For example, each profile measurement module includes a laser that can project a laser line onto an object (in this case, at least a part of the segment to be erected and the laying area, including the previously laid segments and / or the previously laid segment ring) and a device for obtaining the profile of the object. The line projections of the respective profile measurement modules are made so as to determine the part of the segment and the part of its surrounding environment separated from each other, so as to infer the position of the segment in space. For example, the four profile measurement modules are used simultaneously during the gripping of the new segment to be erected and when laying the last segment of the ring. The two profile measurement modules facing the previously laid segment ring allow determining the deviation of the position and orientation of the segment placed relative to the previous segment ring. One of the two profile measurement modules facing the ring being laid allows precisely adjusting the position and orientation of the segment to be erected to form a segment ring.

[0131] For example, as shown in Figure 13 , in the segment erection method provided by the embodiment of the present disclosure, performing the correction of the segment rotation attitude includes: measuring the distance between the segment to be erected and the erected segment in the tunneling direction DR through two profile measurement modules (profile measurement module 52 and profile measurement module 53), and adjusting the moving parts of the segment erector so that the difference in the measured distances of the two profile measurement modules is less than a third distance threshold. For example, the pose of the segment can be adjusted by adjusting the Figure 1C shown fine adjustment drive 140, or by adjustingFigure 1C Adjust the position and attitude of the segment by means of the fine adjustment drives 140 and 150 shown in the figure.

[0132] For example, as Figure 14 shown, in the segment assembly method provided by the embodiment of the present disclosure, the correction of the pitching attitude of the segment includes: measuring the slopes of the edges of the segment to be assembled and the assembled segment in the non-driving direction through two profile measurement modules (profile measurement module 51 and profile measurement module 54), and adjusting the moving parts of the segment erector so that the difference in the slopes of the edges of the segment to be assembled and the assembled segment in the non-driving direction is less than the slope threshold.

[0133] For example, as Figure 15 shown, in the segment assembly method provided by the embodiment of the present disclosure, the correction of the elevation difference and clearance of the segment includes: measuring the elevation difference in the radial direction and the clearance in the non-driving direction between the segment to be assembled and the assembled segment through at least one of two profile measurement modules (profile measurement module 52 and profile measurement module 53) and two profile measurement modules (profile measurement module 51 and profile measurement module 54), and adjusting the moving parts of the segment erector so that the elevation difference is less than the elevation difference threshold and the clearance is less than the clearance threshold.

[0134] Install at least four profile measurement modules on the connecting beam of the segment erector for measuring the position and attitude information of the segment to be assembled relative to the assembled segment in multiple orientations. Among them, two profile measurement modules can be installed perpendicular to the connecting beam, and the other two can be installed at both ends of the connecting beam respectively. The profile measurement modules are all fixedly installed on the connecting beam through brackets.

[0135] For example, as Figure 12 shown, the automatic positioning of segment assembly includes the following steps.

[0136] Step S200: The segment erector grabs the segment and moves it near the position to be assembled. For the laying of segments of a full-face tunnel boring machine, the installation position of each segment of each ring has been determined according to data such as the set axis and the attitude correction of the shield machine. Therefore, for a certain segment to be assembled, it can be directly grabbed by the segment erector and moved near the position to be assembled.

[0137] Step S201: Correction of the rotation attitude of the segment to be assembled. The schematic diagram of the process of correcting the rotation attitude of the segment is as Figure 13 shown. Let the four edge points between the segment to be assembled and the assembled segment measured by the profile measurement module be A, B, C, and D respectively, where A and B are a group, and C and D are a group. Calculate the distances between A and B, and C and D respectively. If AB≠CD, then adjust the displacement of the corresponding cylinder of the segment erector until AB = CD or AB - CD ≤ α, where α is the threshold set in the program, that is, the correction of the rotation attitude of the segment to be assembled relative to the assembled segment is realized.

[0138] Step S202: Correct the pitching attitude of the segment to be assembled. The schematic diagram of the process of correcting the pitching attitude of the segment is as shown in Figure 14 . Suppose the straight lines formed by the data queues on the segment to be assembled and the assembled segment collected by the contour measurement module are EF and GH respectively. Calculate the slopes of the straight lines where EF and GH are located according to the collected data. By adjusting the displacement of the corresponding cylinders of the segment erector, finally make EF / / GH, or K EF -K GH ≤β, where K EF represents the slope of the straight line EF, K GH represents the slope of the straight line GH, and β represents the threshold value set in the program, that is, the pitching attitude of the segment to be assembled relative to the assembled segment is corrected.

[0139] Step S203: Correct the elevation difference and clearance of the segment to be assembled. The schematic diagram of the process of correcting the elevation difference and clearance of the segment is as shown in Figure 15 . Suppose the straight lines formed by the data queues on the segment to be assembled and the assembled segment collected by the contour measurement module are JK and MN respectively. The elevation difference V and clearance H between JK and MN can be obtained through calculation. Adjust the displacement of the corresponding cylinders of the segment assembly, and finally make V = 0, H = 0, or V < γ, H < ε, where both γ and ε are the threshold values set in the program. At this time, the elevation difference and clearance of the segment to be assembled relative to the assembled segment are corrected.

[0140] Step S204: Complete the positioning of the segment assembly.

[0141] Through the above process, the automatic precise positioning of the segment to be assembled can be realized, laying a technical foundation for the segment automatic assembly of the full-face tunnel boring machine.

[0142] For example, the control unit 81 is connected to the control unit 82.

[0143] For example, in some embodiments, the control unit 81 and the control unit 82 can be the same control unit, but not limited to this.

[0144] For example, the control unit 81 includes a programmable logic controller (PLC), but not limited to this. For example, the control unit 82 includes a controller and a display screen, but not limited to this. For example, the control unit 82 includes a computer, but not limited to this.

[0145] The segment erector according to the embodiments of the present application may further include one or more processors and one or more memories. The processor can process data signals and can include various computing architectures, such as a complex instruction set computer (CISC) architecture, a reduced instruction set computer (RISC) architecture, or an architecture that implements a combination of multiple instruction sets. The memory can store the instructions and / or data executed by the processor. These instructions and / or data can include code for implementing some or all of the functions of one or more devices described in the embodiments of the present application. For example, the memory includes dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, optical memory, or other memories well known to those skilled in the art.

[0146] In some embodiments of the present application, the control unit 81 and / or the control unit 82 include code and programs stored in the memory; the processor can execute the code and programs to implement some or all of the functions of the control unit 81 and / or the control unit 82 as described above.

[0147] In some embodiments of the present application, the control unit 81 and / or the control unit 82 can be hardware devices for implementing some or all of the functions of the control unit 81 and / or the control unit 82 as described above. For example, the control unit 81 and / or the control unit 82 can be a circuit board or a combination of multiple circuit boards for implementing the functions as described above. In the embodiments of the present application, the combination of the one circuit board or multiple circuit boards can include: (1) one or more processors; (2) one or more non-transitory computer-readable memories connected to the processor; and (3) firmware stored in the memory that can be executed by the processor.

[0148] As described above, the above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present disclosure can easily think of changes or substitutions, which should all be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. An automatic segment grasping and positioning method, including: Convey the segment to be assembled to the position to be grasped. The segment to be assembled includes a first marking point and a second marking point, and the first marking point and the second marking point are located at the same edge of the segment to be assembled extending along the non - tunneling direction; The segment erector moves above the segment to be assembled; Adjust the moving parts of the segment erector so that the grasping part of the segment erector is at the calibration position, and the calibration position is above the segment to be assembled; At least three ranging sensor modules arranged on the grasping part of the segment erector measure distances to obtain the measured distances between the grasping part and the segment to be assembled, and adjust the moving parts of the segment erector to make each measured distance equal; An image acquisition device arranged on the grasping part of the segment erector acquires an image including the first marking point and the second marking point; and Perform image processing, calculate the deviation between the current grasping position and the calibrated grasping position, and adjust the moving parts of the segment erector to make the deviation value less than or equal to the deviation threshold, so that the segment erector is adjusted to the standard grasping position, The automatic segment grasping and positioning method further includes: calibrating the grasping posture and grasping position of the segment erector, and acquiring a calibration image including the first marking point and the second marking point; The calibration includes: Making the grasping part hold the segment; Adjusting the moving parts of the segment erector so that the grasping part disengages from the segment and moves upward in a straight line and stops to obtain the calibration position; and Using the image acquisition device to acquire an image to obtain a calibration image including the first marking point and the second marking point; The method obtains a calibration result through the above - mentioned calibration and performs automatic segment grasping and positioning multiple times according to this calibration result.

2. The automatic segment grasping and positioning method according to claim 1, wherein, Calculating the deviation between the current grasping position and the calibrated grasping position includes: Obtaining the angular deviation between the current grasping posture of the segment erector and the calibrated grasping position.

3. The automatic segment grasping and positioning method according to claim 2, wherein, Obtaining the angular deviation between the current grasping posture of the segment erector and the calibrated grasping position includes: Calculating the angular deviation between the line connecting the first marking point and the second marking point in the current image and the line connecting the first marking point and the second marking point in the calibration image.

4. The automatic segment grasping and positioning method according to claim 3, wherein, Adjusting the moving parts of the segment erector to make the deviation value less than or equal to the deviation threshold includes: Adjusting the angular deviation to be less than or equal to the angular deviation threshold; and Adjusting the first distance deviation in the first direction and the second distance deviation in the second direction between the line connecting the first marking point and the second marking point in the current image and the line connecting the first marking point and the second marking point in the calibration image, so that the first distance deviation is less than the first distance threshold, the second distance deviation is less than the second distance threshold, and the first direction is perpendicular to the second direction.

5. The automatic segment grasping and positioning method according to claim 1, wherein, Perform multiple calibrations, and the subsequent calibration results overwrite the previous calibration results, and use the latest calibration result for automatic segment grasping and positioning.

6. The segment automatic grasping and positioning method according to any one of claims 1-5 further comprises: Controlling the moving parts of the segment erector to make the grasping part of the segment erector move linearly and approach the segment to be grasped; and Controlling the moving parts of the segment erector until the contact switch on the grasping part operates, so that the segment grasping and positioning of the segment erector is completed.

7. The segment automatic grasping and positioning method according to any one of claims 1-5, wherein, The at least three ranging sensor modules include three ranging sensor modules distributed in a triangle.

8. The segment automatic grasping and positioning method according to claim 7, wherein, The three ranging sensor modules include two ranging modules arranged along the non-driving direction.

9. The segment automatic grasping and positioning method according to any one of claims 1-5, wherein, The segment to be assembled has two pin holes, and the first marking point and the second marking point are located between the two pin holes in the non-driving direction.

10. The segment automatic grasping and positioning method according to claim 9, wherein, The size of the first marking point is smaller than the size of each of the two pin holes, and the size of the second marking point is smaller than the size of each of the two pin holes.

11. The segment automatic grasping and positioning method according to any one of claims 1-5, wherein, Both the first marking point and the second marking point are grooves.

12. A segment assembling method, comprising the segment automatic grasping and positioning method according to any one of claims 1-11.

13. The segment assembling method according to claim 12 further comprises a segment automatic assembling and positioning method, wherein, The segment automatic assembling and positioning method comprises: The segment erector grasps the segment to be assembled and moves it near the point to be assembled; Performing correction of the rotation attitude of the segment; Performing correction of the pitching attitude of the segment; and Performing correction of the elevation difference and clearance of the segment.

14. The segment assembling method according to claim 13, wherein, At least four profile measurement modules are arranged on the connecting beam of the segment erector, and each profile measurement module is configured to measure the profiles of the segment to be assembled and the assembled segment. The grasping part is arranged on the segment erector through the connecting beam. The at least four profile measurement modules include two first profile measurement modules located at both ends of the connecting beam and two second profile measurement modules located between the two first profile measurement modules and arranged perpendicular to the extending direction of the connecting beam.

15. The segment assembling method according to claim 14, wherein, The centers of the two first profile measurement modules and the centers of the two second profile measurement modules are located on the same circle, and this circle is concentric with the circle where the segment to be assembled is located during grasping.

16. The segment assembling method according to claim 14 or 15, wherein, Performing correction of the rotation attitude of the segment includes: Measuring the distance in the driving direction between the segment to be assembled and the assembled segment through the two second profile measurement modules, and adjusting the moving parts of the segment erector so that the difference between the measured distances of the two second profile measurement modules is less than a third distance threshold.

17. The segment assembling method according to claim 14 or 15, wherein, The segment pitching attitude correction includes: Measuring the slope of the edges of the segment to be assembled and the assembled segment in the non-heading direction through the two first profile measurement modules, and adjusting the moving parts of the segment erector so that the difference in the slope of the edges of the segment to be assembled and the assembled segment in the non-heading direction is less than the slope threshold.

18. The segment assembly method according to claim 14 or 15, wherein, The segment elevation difference and clearance correction includes: Measuring the elevation difference in the radial direction and the clearance in the non-heading direction between the segment to be assembled and the assembled segment through one of the two second profile measurement modules and one of the two first profile measurement modules, and adjusting the moving parts of the segment erector so that the elevation difference is less than the elevation difference threshold and the clearance is less than the clearance threshold.

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