Method and device for segment hoisting and sleeper cleaning

Abstract

The present invention relates to a method and device for segment hoisting and sleeper cleaning. The method includes the following steps: according to the number of segments currently present feedback by the distance detection module, move the detection and cleaning execution device to the segment unloading area, and adjust the detection and cleaning execution device so that the point cloud acquisition device moves to a first fixed vertical distance from the topmost segment in a stack of segments; the point cloud acquisition device performs information acquisition, and analyzes from the acquired point cloud information whether there are sleepers to be cleaned, the poses of the sleepers, and the pose of the segment to be hoisted currently; if there are sleepers, the detection and cleaning execution device first cleans the sleepers on the segment according to the poses of the sleepers, otherwise the segment crane hoists the segment according to the pose of the segment to be hoisted; repeat the above steps until the segment hoisting operation of the first layer of segments is completed. The present invention can achieve high-precision automatic positioning of segments and sleepers, and can achieve automatic hoisting of segments and automatic cleaning of sleepers, with relatively high positioning accuracy and stability.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and particularly relates to a method and device for segment hoisting and sleeper cleaning. Background Art

[0002] With the annual expansion of the construction scale of underground projects such as urban subways and cross-river and cross-sea tunnels, the shield construction method has been applied to more and more projects due to its characteristics such as high efficiency, high safety, and environmental friendliness. The automation level of shield construction is constantly improving. Most of the segment hoisting and transporting systems of tunnel boring machines rely on operators to control through wireless remote controllers. During the process of the segment crane grasping the segments, the operators need to continuously observe the relative positions of the crane and the segments to timely adjust the position and attitude of the segment lifting tool. The segment hoisting and transporting operation highly depends on the experience and on-site judgment of the operators, which is highly subjective and affects the quality and efficiency of the segment hoisting and transporting operation to a certain extent; the cleaning of segment sleepers (sleepers can also be called cross-ties) in tunnel construction is mostly carried out manually, which poses a certain potential safety hazard to the operators. Or the use of fixed 3D vision / industrial cameras has the problem that the detection distance changes too much, which greatly affects the detection and positioning accuracy. Taking a stack of three layers of segments as an example, the minimum vertical distance between the top layer and the bottom layer of segments is about 1000 mm.

[0003] The utility model patent with the publication number of CN215057467U discloses a segment hoisting and transporting system. A driving device for driving a manipulator is arranged on the trailer walking beam to remove the segment sleepers. A conventional and mature visual recognition system is not very suitable for the complex shield construction environment. For example, dust, water vapor, equipment vibration, etc. in the tunnel are not applicable to the existing recognition systems and recognition methods.

[0004] The invention patent with the publication number of CN113443556A discloses a segment intelligent automatic recognition and transportation system and a transportation method. A visual recognition system is installed on the lifting beam. Although a radar and a distance sensor are installed, there is no corresponding vibration damping device for the complex shield construction environment, the quality of the collected data is inconsistent, and the visual recognition system is fixedly installed and cannot meet the problem of high-precision positioning of large-span and multi-layer segments.

[0005] The invention patent with the publication number CN111706369A discloses a wooden block grabbing device and its control method. By setting an axial walking unit and a wooden block grabbing unit in the segment unloading area. The axial walking unit moves back and forth and drives the grabbing unit to move synchronously. The grabbing unit can grab the wooden blocks in the segment unloading area and, driven by the axial walking unit, convey the wooden blocks to a specific position, where the operators standing on both sides of the trailer remove the wooden blocks from the grabbing unit. However, the following problems exist in the wooden block grabbing method mentioned in this patent. Since the placement position of the wooden blocks is different each time, it is necessary to manually drive the axial walking unit to adjust the position of the grabbing unit back and forth with the help of a remote control or other means; if the placement position of the wooden blocks is inclined or the vibration causes the sleepers to tilt, there will be a serious problem that the double grabbing hands on both sides of the balance beam cannot firmly grab the wooden blocks at the same time; because there is a phenomenon of grabbing the segment sleepers with more than two layers, this patent uses the lowering of the lifting rope to drive the grabbing unit to complete the grabbing operation of the wooden blocks, and does not mention how to judge whether the lifting rope reaches the wooden block grabbing position; the most important thing is that the removal operation of the wooden blocks requires multiple manual judgments, such as judging whether to remove the wooden blocks; it may be manually determined whether the lifting rope reaches the wooden block grabbing position, and it is necessary to manually adjust the axial movement back and forth when grabbing the sleepers to ensure that the grabbing hands can accurately grab, etc.

[0006] The above methods do not involve a high-precision positioning technology for large-span and multi-layer segments. Therefore, in the face of complex shield construction operation conditions and the operation requirements of efficient and safe construction, it is urgent to design a precise positioning method suitable for shield construction for automatic hoisting of segments and automatic cleaning of segment wooden blocks.

[0007] Therefore, based on years of experience and practice in the relevant industry, the inventor proposes a method and device for segment hoisting and wooden block cleaning to overcome the defects of the prior art. Summary of the Invention

[0008] The purpose of the present invention is to provide a method and device for segment hoisting and wooden block cleaning, which can achieve high-precision automatic positioning of segments and wooden blocks, and can realize automatic hoisting of segments and automatic cleaning of wooden blocks, with relatively high positioning accuracy and stability.

[0009] The above object of the present invention can be achieved by the following technical solutions:

[0010] The present invention provides a method for segment hoisting and wooden block cleaning, including the following steps:

[0011] Move the detection and cleaning execution device to the segment unloading area, and adjust the detection and cleaning execution device so that the point cloud acquisition device in the detection and cleaning execution device moves to a vertical distance of a first fixed value from the current top segment in a stack of segments;

[0012] Analyze the information collected by the point cloud acquisition device;

[0013] If the analysis result includes the pose of the current top segment and the pose of the soleplate on the current top segment, then after the detection and removal execution device performs the soleplate removal operation on the soleplate on the current top segment according to the pose of the soleplate on the current top segment, completes the soleplate removal operation and moves the detection and removal execution device to a safe standby position, the segment crane performs the segment lifting operation on the current top segment according to the pose of the current top segment;

[0014] If the analysis result only includes the pose of the current top segment, then after adjusting the detection and removal execution device and moving it to a safe standby position, the segment crane performs the lifting operation on the current top segment according to the pose of the current top segment;

[0015] Repeat the above steps until the segment lifting operation of the first layer of segments is completed.

[0016] In a preferred embodiment of the present invention, a distance detection module is provided in the segment unloading area;

[0017] Before moving the detection and removal execution device to the segment unloading area, the following steps are further included:

[0018] According to the detection result of the distance detection module, judge the total number of segments currently present in a stack of segments in the segment unloading area, and denote it as m, and the m-th layer of segments is the current top segment;

[0019] Wherein, 0 ≤ m ≤ N, both m and N are integers, and N represents the total number of segments in a stack of segments on the segment transportation device.

[0020] In a preferred embodiment of the present invention, the distance detection module includes multiple layers of detectors arranged at intervals from top to bottom. Each layer of detector includes a pair of sensors or at least two pairs of sensors arranged at intervals along the tunneling axis direction. Each pair of sensors includes two distance sensors symmetrically arranged with respect to the tunneling axis direction;

[0021] Judging the total number of segments currently present in a stack of segments in the segment unloading area according to the detection result of the distance detection module includes the following steps:

[0022] According to the lateral distances detected by each distance sensor, calculate the average value of the sum of the lateral distances detected by the two distance sensors in each pair of sensors in each layer of detectors. The number of the average values of the sums of the lateral distances that are equal to the second fixed value is the total number of segments currently present in a stack of segments;

[0023] Wherein, the second fixed value is less than the lateral spacing between the two distance sensors in a pair of sensors.

[0024] In a preferred embodiment of the present invention, the lateral spacing between two distance sensors in a pair of sensors is denoted as X;

[0025] When the average value of the sum of the lateral distances detected by the two distance sensors in each pair of sensors in each layer detector changes from 2X to a second fixed value and remains so for a preset time, then the total number of segments currently present in a stack of segments within the segment unloading area is determined according to the detection results of the distance detection module. Therefore, by using the distance sensors on both sides, it can be automatically determined according to the distance detection module that the segments are in the segment unloading area and in a state to be lifted.

[0026] In a preferred embodiment of the present invention, the distance detection module includes a group of sensors located at the top of the segment unloading area, and this group of sensors includes one distance sensor or at least two distance sensors arranged at intervals along the tunneling vertical direction;

[0027] Determining the total number of segments currently present in a stack of segments within the segment unloading area according to the detection results of the distance detection module includes the following steps:

[0028] According to the vertical distances detected by each distance sensor, calculate the average value of the vertical distances detected by each distance sensor in this group of sensors, and denote it as h;

[0029] When h = h N + ax, then m = a;

[0030] where, h N represents the average value of the sum of the vertical distances from each distance sensor in this group of sensors to the Nth layer of segments, 0 ≤ a ≤ N - 1, and a is a positive number, and x represents the vertical height difference between the upper surfaces of two adjacent segments.

[0031] In a preferred embodiment of the present invention, after moving the point cloud acquisition device to a vertical distance of a first fixed value from the current top layer of segments in a stack of segments, first clean the surface of the current top layer of segments, and then use the point cloud acquisition device to perform information acquisition and parsing.

[0032] In a preferred embodiment of the present invention, a monitoring camera and a buzzer are also provided in the segment unloading area. The monitoring camera can conduct all-round monitoring of the segment unloading area, and the buzzer can emit an alarm sound during the process of detecting the movement of the cleaning and removal execution device, performing the removal operation of the cushion wood, and performing the segment lifting operation.

[0033] The present invention also provides a device for segment lifting and cushion wood removal, including:

[0034] A detection and removal execution device, which includes a removal execution mechanism and a point cloud acquisition device provided on the removal execution mechanism. The removal execution mechanism can reciprocate along the tunneling direction and can be used to grab wooden pads;

[0035] A segment crane, which can reciprocate along the tunneling axis direction and can be used to grab segments;

[0036] A control device, which is electrically connected to the removal execution mechanism, the point cloud acquisition device and the segment crane. It can move the removal execution mechanism to the segment unloading area and, by adjusting the removal execution mechanism, make the point cloud acquisition device move to a first fixed vertical distance from the current top segment in a stack of segments. It can also analyze the information collected by the point cloud acquisition device to control the removal execution mechanism to perform the operation of removing wooden pads or control the segment crane to perform the operation of hoisting segments.

[0037] In a preferred embodiment of the present invention, the device for segment hoisting and wooden pad removal further includes a distance detection module provided in the segment unloading area. The control device is electrically connected to the distance detection module and can judge whether there are segments to be hoisted in the segment unloading area and the total number of segments currently existing in a stack of segments according to the detection result of the distance detection module.

[0038] In a preferred embodiment of the present invention, the distance detection module includes multiple layers of detectors arranged at intervals from top to bottom. Each layer of detector includes a pair of sensors or at least two pairs of sensors arranged at intervals along the tunneling axis direction. Each pair of sensors includes two distance sensors symmetrically arranged with respect to the tunneling axis direction; or the distance detection module includes a group of sensors located at the top of the segment unloading area. This group of sensors includes a distance sensor or at least two distance sensors arranged at intervals along the direction perpendicular to the tunneling.

[0039] In a preferred embodiment of the present invention, the removal execution mechanism includes a track beam, a mounting member, a six-degree-of-freedom robotic arm and an end grasping mechanism. The track beam is used to be fixedly arranged on the top of the trailer, and the length direction of the track beam is parallel to the tunneling axis direction; the mounting member can be slidably suspended on the track beam. The upper and lower ends of the six-degree-of-freedom robotic arm are respectively fixedly connected to the mounting member and the end grasping mechanism, and the point cloud acquisition device is arranged on the end grasping mechanism.

[0040] In a preferred embodiment of the present invention, the end grasping mechanism is a vacuum suction cup; or the end grasping mechanism includes a fixing plate, a guide rail, a cylinder, a first clamping jaw and a second clamping jaw. The cylinder is electrically connected to the control device through a corresponding electric control valve; the upper surface of the fixing plate is connected to the lower end of the six-degree-of-freedom robotic arm, and the guide rail, the cylinder and the first clamping jaw are all fixedly arranged on the lower surface of the fixing plate; the second clamping jaw is slidably connected to the guide rail through a slider, and the output shaft of the cylinder is connected to the second clamping jaw and can drive the second clamping jaw to move along the guide rail in a direction close to or away from the first clamping jaw; the point cloud acquisition device is arranged on the fixing plate.

[0041] In a preferred embodiment of the present invention, a vibration damping device is provided on the end grasping mechanism, and the point cloud acquisition device is connected to the vibration damping device through a connecting member; a high-pressure air cleaning device is also provided on the end grasping mechanism, which can be used to jet air for cleaning the corresponding segment.

[0042] In a preferred embodiment of the present invention, the device for segment hoisting and cushion wood cleaning further includes a monitoring camera and a buzzer. The monitoring camera is used for omnidirectional monitoring of the segment unloading area; both the monitoring camera and the buzzer are electrically connected to the control device. The control device can control the buzzer to emit an alarm sound during the process of detecting the movement of the cleaning execution device, performing the cushion wood cleaning operation, and performing the segment hoisting operation, and can control the detection cleaning execution device to stop and the buzzer to emit an alarm sound when the monitoring camera detects that there is someone in the segment unloading area.

[0043] As described above, in the method and device of the present invention, after moving the detection cleaning execution device to the segment unloading area, each time the point cloud acquisition device is moved to a position at a first fixed value from the current top layer segment, which is a theoretically fixed distance, and the first fixed value is determined according to the best acquisition interval of the point cloud acquisition device; in this way, each time the point cloud acquisition device acquires data of the current top layer segment, it is acquired at a fixed height relative to the segment to be detected, ensuring that the acquisition height of each layer is at the unified best acquisition height of the point cloud acquisition device, thereby effectively solving the high-precision problem under large-span (multi-layer) and wide-field of view, avoiding problems such as inconsistent detection accuracy of existing fixed point cloud acquisition devices at different distances, high environmental sensitivity of machine vision detection, and large sample parameters of deep learning detection. According to the detection data of the point cloud acquisition device, the cushion wood cleaning operation or the segment hoisting operation is then performed, realizing the automatic hoisting of segments and the automatic cleaning of cushion wood. The method is relatively simple, with high positioning accuracy and stability, good applicability to the construction site environment, and improved safety of tunnel construction operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The following drawings are only intended to illustrate and explain the present invention schematically and do not limit the scope of the present invention. Among them:

[0045] Figure 1: Schematic diagram of the structure of the rear support area of the shield machine provided by the present invention.

[0046] Figure 2 : is Figure 1 Cross-sectional schematic diagram at the detection and cleaning execution device in

[0047] Figure 3 : Schematic diagram of the structure of the detection and cleaning execution device provided by the present invention.

[0048] Figure 4 : Structure of the cooperation between the end grasping mechanism and the point cloud acquisition device provided by the present invention Figure 1 .

[0049] Figure 5 : Structure of the cooperation between the end grasping mechanism and the point cloud acquisition device provided by the present invention Figure 2 .

[0050] Figure 6 : Actual acquisition schematic diagram of the unilateral distance sensor provided by the present invention.

[0051] Figure 7 : Schematic diagram when six distance sensors are used for detection in the presence of three layers of segments provided by the present invention.

[0052] Figure 8 : Schematic diagram when six distance sensors are used for detection in the absence of segments in the third layer provided by the present invention.

[0053] Figure 9 : Schematic diagram of data acquisition by the point cloud acquisition device in the presence of three layers of segments provided by the present invention.

[0054] Figure 10 : Schematic diagram of data acquisition by the point cloud acquisition device when there are two layers of segments after the third layer of segments is hoisted provided by the present invention.

[0055] Figure 11 : Schematic diagram of data acquisition by the point cloud acquisition device when there is one layer of segments after the second layer of segments is hoisted provided by the present invention.

[0056] Figure 12 : Another schematic diagram of the structure of the rear support area of the shield machine provided by the present invention.

[0057] Figure 13 : is Figure 12 Cross-sectional schematic diagram at the detection and cleaning execution device in

[0058] Figure 14 : Schematic diagram of the structure when the distance sensor is arranged at the top provided by the present invention.

[0059] Explanation of the reference numerals in the drawings:

[0060] 1. Trailer;

[0061] 2. Segment crane;

[0062] 3. Segment; 31. Wooden spacer;

[0063] 4. Quick segment unloading device; 41. Support base;

[0064] 5. Formation train;

[0065] 6. Distance sensor;

[0066] 7. Cleaning and removal execution mechanism;

[0067] 71. Track beam;

[0068] 72. Mounting part; 721. Mounting plate; 722. Pulley pair; 723. Motor; 724. Coupling;

[0069] 73. Six - degree - of - freedom robotic arm; 731. Connecting plate;

[0070] 74. End grasping mechanism; 741. Fixed plate; 742. Guide rail; 7421. Slide block; 743. Cylinder; 744. First jaw; 745. Second jaw;

[0071] 75. Vibration damping device; 751. Connecting part;

[0072] 76. High - pressure air cleaning device;

[0073] 8. Point cloud acquisition device;

[0074] 91. Monitoring camera;

[0075] 92. Buzzer. Detailed implementation manners

[0076] For a clearer understanding of the technical features, objectives, and effects of the present invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings.

[0077] Implementation manner 1

[0078] As Figures 1 to 14 shown, the present application provides a method for segment hoisting and wooden spacer cleaning and removal, including the following steps:

[0079] Move the detection and cleaning and removal execution device to the segment unloading area, and adjust the detection and cleaning and removal execution device so that the point cloud acquisition device 8 in the detection and cleaning and removal execution device moves to a vertical distance of a first fixed value from the current top - layer segment in a stack of segments, so as to ensure that the acquisition height of each layer is at the unified optimal acquisition height of the point cloud acquisition device 8;

[0080] Analyze the information collected by the point cloud acquisition device 8;

[0081] If the analysis result includes the pose of the current top segment and the pose of the sleeper 31 on the current top segment, then the inspection and removal execution device performs the sleeper removal operation on the sleeper 31 on the current top segment according to the pose of the sleeper 31 on the current top segment. After completing the sleeper removal operation and moving the inspection and removal execution device to the safe standby position, the segment crane 2 performs the segment hoisting operation on the current top segment according to the pose of the current top segment;

[0082] If the analysis result only includes the pose of the current top segment (that is, there is no sleeper 31 on the current top segment), then after adjusting the inspection and removal execution device and moving it to the safe standby position, the segment crane 2 performs the hoisting operation on the current top segment according to the pose of the current top segment;

[0083] Repeat the above steps until the segment hoisting operation of the first layer of segments is completed.

[0084] Among them, when adjusting the inspection and removal execution device, it is preferable to make the probe of the point cloud acquisition device 8 vertically downward and directly facing the theoretical center position of the segment 3. The theoretical center position refers to the center position of the segment 3 when the segment transport device has no offset and the segment 3 has no offset. In this way, the point cloud acquisition device 8 is basically directly facing the center of the current top segment. The poses of the segment 3 and the sleeper 31 on the segment transport device are different each time during transportation. According to the positioning pose results of the segment 3 and the sleeper 31 fed back by the point cloud acquisition device 8, the segment crane 2 and the inspection and removal execution device adjust the poses of each joint to perform accurate hoisting and removal operations. The above-mentioned first fixed value should be determined according to the specific structural dimensions and spatial layout dimensions of the equipment, and by selecting a reasonable model specification of the point cloud acquisition device 8. Specifically, it is the optimal acquisition distance of the point cloud acquisition device 8, and this optimal acquisition distance can be an interval range to ensure the best acquisition effect of the data.

[0085] It can be understood that the poses of the current top segment and the spacer 31 specifically refer to the coordinate values and angular values of the segment 3 and the spacer 31 in a three-dimensional space coordinate system. Denote the total number of segments 3 in a stack of segments on the segment transportation device as N. When N = 0, that is, there is no segment to be lifted, it is not necessary to detect and clean the execution device to carry the point cloud acquisition device 8 to collect the information of the segments and spacers, nor is it necessary to perform the spacer cleaning operation and segment lifting operation. When N≥1, the detection and cleaning execution device moves to a stack of segments relative to the top layer (i.e., the current top layer) for information collection, and the point cloud acquisition device 8 performs point cloud information collection on the current top segment and the spacer and performs information analysis through the PC; if there is no information of the spacer 31 on the current top layer, at this time, after the detection and cleaning execution device carries the point cloud acquisition device 8 to adjust its own pose and moves to the safe standby position, the segment crane 2 hoists the segment 3; if there is information of the spacer to be cleaned, first, the detection and cleaning execution device performs the cleaning operation on the spacers 31 on both sides of the current top segment and transports them to the designated position (generally referring to the spacer placement box), and then the cleaning operation of the spacers 31 on the current top segment is completed; after that, the segment crane 2 hoists the segment 3 according to the point cloud pose of the segment. The above-mentioned safe standby area can be the area where the spacer placement box is located, or other designated areas, which are set according to needs.

[0086] Thus, in the method of this embodiment, after moving the detection and cleaning execution device to the segment unloading area, each time the point cloud acquisition device 8 is moved to a position at a first fixed value H from the current top segment, which is a theoretical fixed distance, and the first fixed value is determined according to the optimal acquisition range of the point cloud acquisition device 8; in this way, each time the point cloud acquisition device 8 collects data of the current top segment, it is collected at a fixed height (i.e., the first fixed value H) relative to the segment 3 to be detected, ensuring that the acquisition height of each layer is within the unified optimal acquisition height of the point cloud acquisition device 8, thereby effectively solving the high-precision problem under large spans (multiple layers) and wide fields of view, avoiding problems such as inconsistent detection accuracies of existing fixed point cloud acquisition devices at different distances, high environmental sensitivity of machine vision detection, and large sample parameters of deep learning detection. According to the detection data of the point cloud acquisition device 8, the spacer cleaning operation or segment lifting operation is performed, realizing the automatic lifting of the segment 3 and the automatic cleaning of the spacer 31. The method is relatively simple, with high positioning accuracy and stability, good applicability to the construction site environment, and improved safety of tunnel construction operations.

[0087] In the specific implementation manner, according to the corresponding detection data feedback, it is judged which layer of segment the current top segment is, so as to accurately adjust the distance between the point cloud acquisition device 8 and the segment 3 of this layer. Specifically:

[0088] A distance detection module is provided in the segment unloading area;

[0089] Before moving the detection and cleaning execution device to the segment unloading area, the following steps are also included:

[0090] According to the detection result of the distance detection module, judge the total number of layers of the segments 3 currently present in a stack of segments in the segment unloading area, and record it as m. The m-th layer of segments is the current top layer of segments;

[0091] Among them, 0 ≤ m ≤ N, both m and N are integers, and N represents the total number of layers of segments 3 in a stack of segments on the segment transportation device. When N = 0 (m = 0), it means that there are no segments to be lifted in the segment unloading area, and there is no need to perform segment lifting and sleeper cleaning. When N ≥ 1 (m ≥ 1), relevant point cloud collection, cleaning, and lifting are carried out. The detection and cleaning execution device moves to a position at a first fixed value H from the relatively top layer of segments in the current stack according to the number of layers of segments to be lifted currently fed back by the distance detection module for collection, and the positioning is more accurate.

[0092] Furthermore, according to the different structures of the distance detection module, there are also the following two detection methods for the total number of layers of the segments 3 currently present:

[0093] The first one: Refer to Figure 1 、 Figure 2 and Figure 6 The distance detection module includes multiple layers of detectors arranged at intervals from top to bottom. Each layer of detector includes a pair of sensors or at least two pairs of sensors arranged at intervals along the tunneling axis direction. Each pair of sensors includes two distance sensors 6 symmetrically arranged with respect to the tunneling axis direction;

[0094] Judging the total number of layers of the segments 3 currently present in a stack of segments in the segment unloading area according to the detection result of the distance detection module includes the following steps:

[0095] According to the lateral distances detected by each distance sensor 6 (that is, the distance from the probe of the distance sensor 6 to the side surface of the corresponding segment), calculate the average value of the sum of the lateral distances detected by the two distance sensors 6 in each pair of sensors in each layer of detector. The number of the average values of the sums of the lateral distances equal to the second fixed value is the total number of layers of the segments 3 currently present in a stack of segments;

[0096] Among them, the second fixed value is less than the lateral spacing between the two distance sensors 6 in a pair of sensors.

[0097] It can be understood that the number of layers of the detector should be the same as the total number of layers of a stack of segments that the segment rapid unloading device 4 or the formation train 5 can actually bear at most (during use, if the total number of layers of a stack of segments changes, the number of layers of the detector can be increased or decreased accordingly, and then the point cloud acquisition device 8 moves to the same optimal position in sequence according to the feedback results of the distance sensors 6 for data acquisition). Moreover, the interval between the upper and lower adjacent pairs of sensors should match the vertical height difference between the upper and lower adjacent segments 3, and the sensors at the bottom layer can be directly opposite the side surface of the first layer of segments to ensure that each layer of the detector can detect each layer of segments 3 in a stack of segments respectively. When each layer of the detector includes a pair of sensors, the average value of the sum of the lateral distances detected by the two distance sensors 6 in each pair of sensors in each layer of the detector mentioned above, that is, the sum of the data of the two distance sensors 6 in each pair of sensors. When the number of pairs of sensors included in each layer of the detector is greater than or equal to two pairs, the interval between each pair of sensors should ensure that each distance sensor 6 can detect the side surface of the corresponding layer of segments 3; at this time, if there are two pairs of sensors in a certain layer of the detector, the data detected by the two distance sensors 6 in the first pair of sensors are c1 and c2, and the data detected by the other pair of sensors are c1' and c2', then the average value of the sum of the lateral distances detected by the two distance sensors 6 in each pair of sensors in this layer of the detector = (c1 + c2 + c1' + c2') / 2.

[0098] In this way, the probes of the two distance sensors 6 in each pair of sensors should be arranged directly opposite each other to detect the lateral distance between the two side surfaces of the corresponding layer of segments 3. Install each distance sensor 6 in the distance detection module at a position directly opposite the side surface of each layer of segments 3. Each distance sensor 6 can always be in a real-time detection state, and even if there are operators in the segment unloading area or other interference factors, it will basically not affect the judgment of the detection results of this distance detection module, and the judgment of the total number of layers of the existing segments 3 is more stable and reliable.

[0099] Specific analysis is as follows. In the trailing section area of the shield machine, there will be a trailer 1 and a segment crane 2. The segment crane 2 is installed on the trailer 1 and can move back and forth along the tunneling axis direction (that is, the tunnel axis direction) to grab segments 3. There is a segment unloading area below the trailer 1. The segment transportation device can transport stacks of segments to the segment unloading area, and two pieces of spacer timbers 31 are placed between adjacent segments 3 in a stack of segments. The segment transportation device can either adopt a segment transport vehicle or a formation train 5.

[0100] The structural form with a segment rapid unloading device 4: Refer to Figure 1 and Figure 2, a segment quick unloading device 4 is provided in the segment unloading area. A segment quick unloading device 4 includes two unloading devices symmetrically arranged about the axis of the trailer 1. Each unloading device has two support seats 41. The segment quick unloading device 4 is installed on the trailer 1. The four support seats 41 can be used to temporarily lift the stacked segments 3 on the segment transport vehicle together (after the segments 3 are lifted, the segment transport vehicle can leave the segment unloading area), which is convenient for the segment crane 2 to grab the segments 3. In this case, the two distance sensors 6 in each pair of sensors are symmetrically installed on both sides of the segment quick unloading device 4 and on the same horizontal plane, that is, symmetrically installed on the two unloading devices.

[0101] Structural form without the segment quick unloading device 4: Refer to Figure 12 and Figure 13 , the segment crane 2 directly hoists the segments 3 on the formation train 5. Since there are two support areas on the formation train 5 similar to the sides of the sleeper 31 and the structure of this area is symmetric, when the segments 3 are placed on the formation train 5, the support structure of this support area can be used to support the segments 3. Before all the segments 3 on the formation train 5 are hoisted away, the formation train 5 will not leave the segment unloading area. In this case, the two distance sensors 6 in each pair of sensors can be directly symmetrically installed at the corresponding positions on both sides of the segment unloading area. When the formation train 5 carries the stacked segments 3 to the segment unloading area and reaches the standard docking position, it is convenient for the distance sensors 6 on both sides to collect data.

[0102] During construction, first, the segment transport vehicle transports the segments 3 to the segment unloading area. The segment quick unloading device 4 lifts the segments 3 from the segment transport vehicle, and the segment crane 2 grabs and hoists the segments 3 from the segment quick unloading device 4 to the assembly area; or the formation train 5 transports the segments 3 to the segment unloading area, and the segment crane 2 directly hoists the segments 3 from the formation train 5.

[0103] Taking the segment transport device using a segment transport vehicle and a segment quick unloading device 4 being provided in the segment unloading area as an example for analysis, since the segment quick unloading device 4 is relatively fixed relative to other structures of the shield machine, and the track laid by the segment transport vehicle is also basically consistent with the relative position in the space of the shield machine, the position where the segment transport vehicle reaches the segment unloading area is basically the same each time. The segment quick unloading device 4 will also lift the stacked segments 3 to the same height each time for the segment transport vehicle to evacuate. The distance sensors 6 on both sides of the segment quick unloading device 4 are respectively triggered to detect the distance of the segments 3. The segments 3 are layered by sleepers 31 of a certain standard specification. Even if the positions of the segments 3 and / or the sleepers 31 are slightly different each time, the overall height of the segments 3 in the same layer is basically the same. For specific tunnel construction, the segments 3 used are standard segments 3 of a certain specification, so it can be ensured that the side distances from the distance sensors 6 to each layer of segments 3 are basically the same and the error is not too large.

[0104] The segment quick unloading device 4 synchronously lifts a stack of segments 3 from the segment transport vehicle with four support seats 41 respectively. At the same time, the segments 3 used in the shield are part of a standard ring structure. In the same construction tunnel, the radius of the outer arc surface of the segments 3 used is the standard R, and the inner diameter is the standard r. Since it is manual hoisting and placing of each layer of segments 3 and the spacer blocks 31 between each layer, when the segments 3 are placed on the segment transport vehicle, the placement positions are different each time. After the segment transport vehicle arrives at the segment unloading area each time and is lifted by the segment quick unloading device 4, the segments 3 will have four states relative to the standard position (the standard position is that the segments 3 are lifted by the segment quick unloading device 4 or are at the central position on the segment transport vehicle, that is, the theoretical design position without any deviation): the segment transport vehicle is offset forward and backward along the tunneling axis direction, the segments 3 are parallelly offset in the direction perpendicular to the tunneling, the segments 3 are arc-offset, and the combined offset along the tunneling axis direction, the direction perpendicular to the tunneling, and the arc direction of the segments 3; and normally, the segments 3 only have a slight deviation.

[0105] Taking a stack of segments as three layers of segments 3 (that is, three layers of segments 3 are unloaded on the segment quick unloading device 4, that is, N = 3) and a total of two layers of spacer blocks 31 (each layer of spacer blocks 31 includes two spacer blocks 31) as an example, different pairs of sensors are set according to the heights of the segments 3 and the spacer blocks 31. In this example, three layers of detectors should be set, taking each layer of detectors as including a pair of sensors as an example. The detection directions of the two distance sensors 6 in each pair of sensors are perpendicular to the two side surfaces of the segments 3, that is, perpendicular to the tunneling axis direction. Refer to Figure 6 , which is a schematic diagram of the actual acquisition by three distance sensors 6 on one side. Refer to Figure 7 , which is a schematic diagram of the detection by three pairs of sensors.

[0106] When the segments 3 are in the standard position, according to the orientation shown in Figure 7 , the data detected by the three distance sensors 6 on the left side from the topmost layer to the bottommost layer (that is, from the third layer to the first layer) are respectively denoted as L1, L2, and L3, and the data detected by the three distance sensors 6 on the right side are respectively denoted as L4, L5, and L6. When there are three layers of segments 3, refer to Figure 7 , then L1 = L2 = L3 = L4 = L5 = L6, and L1 + L4 = L2 + L5 = L3 + L6 = L; when there is no segment 3 in a certain layer, for example, when there is no segment 3 in the third layer (the topmost layer), refer to Figure 8 , then L1 = L4 = X, L1 + L4 = 2X, L2 + L5 = L, L3 + L6 = L.

[0107] (1) There is a slight forward and backward micro-offset of the segment transport vehicle relative to the standard set position along the tunneling axis direction:

[0108] Since the thickness dimension of the segment 3 is relatively large and the length that the distance sensor 6 can detect the side of the segment 3 is long, therefore, for the situation of the front-back offset of the segment 3, the distance sensor 6 can also stably collect the data of each layer of the segment 3.

[0109] (2) The segment 3 has an arcwise offset:

[0110] Since the radius of the outer arc surface of the segment 3 is the standard R and the radius of the inner arc surface is the standard r, even if the segment 3 has an arcwise offset resulting in different placements each time, the segment 3 still rotates around the fixed circular ring axis, which does not affect the stable collection of the two side distance sensors 6.

[0111] (3) There is a parallel offset of the segment 3 in the vertical direction of tunneling:

[0112] When the segment 3 has a lateral offset, it only affects that the values of the two side distance sensors 6 may have a large difference (this difference refers to the value relative to the stable collection without error, that is, relative to the value collected when the segment 3 is in the standard position), but the results collected by the two side distance sensors 6 basically remain unchanged; Denote the data detected by these six distance sensors 6 as L 11 、L 21 、L 31 、L 41 、L 51 、L 61 , when there are three layers of segments 3, then L 11 +L 41 =L1+L4, L 21 +L 51 =L2+L5, L 31 +L 61 =L3+L6.

[0113] (4) The mixed offset along the tunneling axis direction, the vertical direction of tunneling, and the arc direction of the segment 33:

[0114] This state is the superposition of the above three states. From the above analysis, it can be seen that the results collected by the two side distance sensors 6 in this state basically remain unchanged; Denote the data detected by these six distance sensors 6 as L 12 、L 22 、L 32 、L 42 、L 52 、L 62 , when there are three layers of segments 3, then L 12 +L 42 ≈L, L 22 +L 52 ≈L, L 32 +L 62 ≈L.

[0115] Based on the above analysis, for the same construction tunnel, the segment transporter is fixed and the segment 3 is fixed. Even though the position where the segment 3 is placed each time is different, for the segments 3 on the same layer, there are only the above four states relative to the standard position, and the data of the segments 3 on the same layer collected by the distance sensors 6 is consistent. No matter what state the segment 3 is in above, after the segment 3 is lifted by the segment quick unloading device 4, for the position of the segments on the same layer, the sum of the data collected by the two distance sensors 6 in each pair of sensors is equal to L when there is a segment 3 at this layer position, and is equal to 2X when there is no segment 3, and there are only these two states. Similarly, when the segment transport device uses a formation train 5, the state of the segment 3 on the formation train 5 also has the above four offset states. Since its support structure is similar to that of the segment quick unloading device 4, similarly, the detection results of the distance sensors 6 on both sides remain unchanged, and the results of the corresponding layers are basically the same. Then, the detection and cleaning execution device collects point cloud data at the best detection distance for the relatively highest layer (i.e., the current top segment) in a stack of segments according to the feedback results of the distance sensors 6 on both sides of the trailer 1.

[0116] Furthermore, during use, each distance sensor 6 can detect in real time and is less interfered with; for the position of the segments 3 on the same layer, if there is a segment 3 at this layer, the sum of the detection data of the two distance sensors 6 in this pair of sensors is equal to L; if there is no segment 3 at this layer, the sum of the detection data of the two distance sensors 6 in this pair of sensors is equal to 2X; according to how many values of the sum of the detection data of the two sensors in each pair of sensors are equal to L (i.e., the above-mentioned second fixed value), it can be judged how many layers of segments 3 there are currently, and the judgment is more accurate.

[0117] Taking N = 3 and the structure form of the segment quick unloading device 4 supporting the segments as an example, analyze the data collected by the above six distance sensors 6. Two key thresholds L and 2X are set in the detection scheme, and the meanings of these two thresholds are as follows:

[0118] L is the above-mentioned second fixed value, which represents the sum of the lateral distances detected by the two distance sensors 6 in a pair of sensors when there is a segment 3. Specifically, the size of this value is determined according to the device parameters design;

[0119] 2X represents twice the lateral spacing between the probes of the two distance sensors 6 in a pair of sensors.

[0120] Then, when the sum of the data detected by the two distance sensors 6 in a certain pair of sensors is equal to L, it means that there is a segment 3 at this layer position; when the sum of the data detected by the two distance sensors 6 in a certain pair of sensors is equal to 2X, it means that there is no segment 3 at this layer position.

[0121] Compare the data detected by the six distance sensors 6 in real time with these two thresholds to determine the number of segments 3 currently existing on the segment rapid unloading device 4 and whether it is necessary to move the detection, cleaning, and execution device to use the point cloud acquisition device 8 to perform point cloud acquisition. The feedback results are shown in Table 1 below:

[0122] Table 1 Feedback Results of Distance Sensor 6

[0123]

[0124] Of course, by analogy, when there are more layers of segments 3, only these two threshold parameters, L and 2X, need to be set, and the corresponding threshold intervals are increased. The method principle remains the same. Specifically, according to the number of pairs of sensors in which the sum of the detection data of the two distance sensors 6 is equal to L, the number of layers of segments 3 currently existing can be judged. As long as there is at least one layer of segments 3, the detection, cleaning, and execution device will be moved to perform positioning detection at a fixed distance from the segments 3 and the spacer blocks 31. In addition, when each layer of detectors includes at least two pairs of sensors, the judgment can be made according to the average value of the sum of the lateral distances detected by the two distance sensors 6 in each pair of sensors in each layer of detectors.

[0125] It can be understood that in actual use, after it is determined that the segments 3 have entered the segment unloading area and are in place, the total number of segments 3 currently present is judged according to the detection results of the distance detection module. In the first method, the specific determination method is as follows:

[0126] Record the lateral distance between the two distance sensors 6 in a pair of sensors as X;

[0127] When the average value of the sum of the lateral distances detected by the two distance sensors 6 in each pair of sensors in each layer of detectors changes from 2X to the second fixed value and remains for a preset time, then judge the total number of segments 3 currently existing in a stack of segments in the segment unloading area according to the detection results of the distance detection module.

[0128] Before the segment transport device transports a stack of segments to the segment unloading area, there are no segments 3 in the segment unloading area. At this time, the average value of the sum of the detection data of the two distance sensors 6 in each pair of sensors in each layer of detectors is 2X; when the segment transport device is transporting the segments 3 to the segment unloading area but not in place yet, but the distance sensor 6 can already detect the side of the segments 3, at this time, the average value of the sum of the detection data of the two distance sensors 6 in each pair of sensors in each layer of detectors will become L; after a certain period of time, when the segment transport device is in place, the average value of this sum of data is still L. Therefore, when the average value of this sum of data changes from 2X to L and remains stable for a period of time, it indicates that the segments 3 are in place, and the number of segments 3 currently present can be judged according to the data detected by the distance sensor 6, which is more reasonable and reliable.

[0129] The second type: Refer to Figure 14 , the distance detection module includes a set of sensors located at the top of the segment unloading area, and this set of sensors includes a distance sensor 6 or at least two distance sensors 6 arranged at intervals along the tunneling vertical direction (i.e., the direction perpendicular to the tunneling axis);

[0130] Judging the total number of current segments 3 in a stack of segments in the segment unloading area according to the detection result of the distance detection module includes the following steps:

[0131] According to the vertical distances detected by each distance sensor 6, calculate the average value of the vertical distances detected by each distance sensor 6 in this set of sensors, and record it as h;

[0132] When h = h N + ax, then m = a;

[0133] Among them, h N represents the average value of the sum of the vertical distances from each distance sensor 6 in this set of sensors to the Nth layer of segments, 0 ≤ a ≤ N - 1, and a is a positive number, and x represents the vertical height difference between the upper surfaces of two adjacent segments 3.

[0134] It can be understood that the probes of each distance sensor 6 are all arranged vertically downward, and the probes of each distance sensor 6 are located in the same horizontal plane. In this way, generally, the distance sensor 6 does not perform real-time detection, and it is necessary to trigger the distance sensor 6 to collect data when it is determined that the segment 3 has reached the position and needs to be detected. The method of determining whether the segment 3 has reached the position can be judged and triggered by humans for the distance sensor 6, or other detection devices can be used for automatic detection and determination. According to the result collected by the distance sensor 6 and compared with the set judgment parameters, the number of layers of segments 3 currently existing is judged, so as to facilitate subsequent triggering of the detection and cleaning execution device to collect point cloud data of the corresponding layer.

[0135] Compared with the arrangement of setting the distance sensor 6 on the side of the segment 3 in the above first method, the arrangement of setting the distance sensor 6 above the segment 3 in the second method is less interfered with during judgment, and the judgment is more stable and reliable.

[0136] Adopting any one of the above two methods, according to the detection results of each distance sensor 6, when positioning detection at a fixed distance of the segment 3 and the spacer 31 is required, the detection and cleaning execution device automatically performs path planning and moves the point cloud acquisition device 8 to the relatively top layer in a stack of segments and collects point cloud information at the fixed position of the corresponding layer of segments 3; Refer to Figure 9 , when there are three layers of segments 3 currently, the point cloud acquisition device 8 moves to a position at a distance of the first fixed value H from the bottom upper surface of the third layer of segments 3 and then performs information acquisition; Refer to Figure 10When there are two layers of segments 3 currently, the point cloud acquisition device 8 moves to a position where the distance from the bottom upper surface of the second layer of segments 3 is the first fixed value H before information acquisition; referring to Figure 11 , when there is one layer of segments 3 currently, the point cloud acquisition device 8 moves to a position where the distance from the bottom upper surface of the first layer of segments 3 is the first fixed value H before information acquisition. Each time the detection and cleaning execution device carries the point cloud acquisition device 8 to move to different positions respectively, but they are all at a position where the distance from the bottom upper surface of the current top layer of segments is the first fixed value H, so as to use the point cloud acquisition device 8 to collect point cloud data at a fixed distance, thereby ensuring the acquisition accuracy of the information of each layer of segments 3, realizing the high-precision automatic positioning of the segments 3 and the bearing blocks 31, solving the problem of the decline of point cloud accuracy caused by large-span changes, and further ensuring the problem of high-precision positioning required for the hoisting of the segments 3. This first fixed value H is the theoretical design value. When actually collecting, the point cloud acquisition device 8 moves to the position of the theoretical design value of the relative top layer of a stack of segments.

[0137] Next, the PC analyzes the pose of the segment 3 to be hoisted and the pose of the bearing block 31 to be grabbed according to the collected point cloud. If there is a bearing block 31, first the detection and cleaning execution device directly conducts path planning according to the pose of the bearing block 31, automatically clears the bearing block 31 and places it at a specified position (generally referring to the bearing block placement box), without returning to the detection standby position; after two bearing blocks 31 are cleared, the segment crane 2 hoists according to the pose information of the segment 3 to be hoisted, and the two execution processes are interlocked, that is, the bearing block cleaning operation and the segment hoisting operation in the segment unloading area should be staggered. Only one of the segment crane 2 and the detection and cleaning execution device can enter the area above the segment quick unloading device 4 for operation, and the other is in the standby state. If there is no bearing block 31, the detection and cleaning execution device directly returns to the standby position and only executes the segment hoisting operation. It can be understood that since two bearing blocks 31 will be placed on the segment 3, when performing the bearing block cleaning operation on the bearing blocks 31 on the segment 3, it is necessary to completely remove one layer of bearing blocks 31 (that is, two bearing blocks 31) on this layer of segments 3 before the bearing block cleaning operation is completed.

[0138] After the segment 3 is hoisted, according to the detection results of the two side distance sensors 6, the detection and cleaning execution device automatically conducts path planning and moves to the next layer of acquisition position for data acquisition.

[0139] The segment crane 2 and the detection and cleaning execution device need to be calibrated in combination with the point cloud acquisition device 8, so as to complete the pose adjustment of the segment crane 2 and the detection and cleaning execution device according to the data processed by the point cloud for segment 3 hoisting and bearing block 31 removal.

[0140] Preferably, after moving the point cloud acquisition device 8 to a first fixed vertical distance from the current top segment of a stack of segments, the surface of the current top segment is first cleaned, and then the point cloud acquisition device 8 is used for information acquisition and analysis.

[0141] The cleaning method can be determined according to needs. For example, before the point cloud acquisition device 8 in this embodiment performs acquisition, the high-pressure gas cleaning device 76 is used to blow and clean the segment 3 of the data layer to be acquired, further ensuring the accuracy and stability of the acquired data.

[0142] Further, a monitoring camera 91 and a buzzer 92 are also provided in the segment unloading area. The monitoring camera 91 can monitor the segment unloading area in all directions, and the buzzer 92 can emit an alarm sound during the process of detecting the movement of the cleaning and removal execution device, performing the operation of removing the cushion wood, and performing the operation of hoisting the segment. The use of the monitoring camera 91 and the buzzer 92 further ensures the safety of the machine construction operation.

[0143] Further, the cleaning and removal execution device further includes a vibration damping device 75. The point cloud acquisition device 8 is connected to the vibration damping device 75 through a connecting member 751. The vibration damping device 75 can be used to damp the point cloud acquisition device 8, effectively ensuring that the data acquired by the point cloud acquisition device 8 is more stable and accurate.

[0144] Embodiment 2

[0145] As Figures 1 to 14 shown, the present application further provides a device for hoisting segments and removing cushion wood, including:

[0146] A cleaning and removal execution device, which includes a cleaning and removal execution mechanism 7 and a point cloud acquisition device 8 provided on the cleaning and removal execution mechanism 7. The cleaning and removal execution mechanism 7 can reciprocate along the tunneling direction and can be used to grab the cushion wood 31;

[0147] A segment crane 2, which can reciprocate along the tunneling axis direction and can be used to grab the segment 3;

[0148] A control device, which is electrically connected to the cleaning and removal execution mechanism 7, the point cloud acquisition device 8, and the segment crane 2. It can move the cleaning and removal execution mechanism 7 to the segment unloading area and, by adjusting the cleaning and removal execution mechanism 7, move the point cloud acquisition device 8 to a first fixed vertical distance from the current top segment of a stack of segments; it can also analyze the information collected by the point cloud acquisition device 8 to control the cleaning and removal execution mechanism 7 to perform the operation of removing the cushion wood or control the segment crane 2 to perform the operation of hoisting the segment.

[0149] The working principle and beneficial effects of the entire device are the same as those of the method in Embodiment 1, and will not be elaborated here.

[0150] Further, in order to facilitate determining the total number of segments 3 currently present in a stack of segments to determine the layer position of the current top segment, which is more conducive to accurately adjusting the distance between the point cloud acquisition device 8 and the segments of this layer, the device for segment hoisting and sleeper cleaning further includes a distance detection module arranged in the segment unloading area; the control device is electrically connected to the distance detection module and can judge whether there are segments to be hoisted in the segment unloading area and the total number of segments 3 currently present in a stack of segments according to the detection result of the distance detection module.

[0151] In some embodiments, the distance detection module includes multiple layers of detectors arranged at intervals from top to bottom. Each layer of detector includes a pair of sensors or at least two pairs of sensors arranged at intervals along the tunneling axis direction. Each pair of sensors includes two distance sensors 6 symmetrically arranged with respect to the tunneling axis direction.

[0152] In other embodiments, the distance detection module includes a group of sensors located at the top of the segment unloading area. This group of sensors includes one distance sensor 6 or at least two distance sensors 6 arranged at intervals along the tunneling vertical direction (i.e., the direction perpendicular to the tunneling axis).

[0153] This distance sensor 6 is electrically connected to the control device. The detection methods of these two specific structures of the distance detection module have been introduced in detail in the above Embodiment 1 and will not be elaborated here.

[0154] To more facilitate the cleaning and transporting actuator 7 to grasp the sleeper 31, as Figures 2 to 5 shown, the cleaning and transporting actuator 7 includes a track beam 71, a mounting member 72, a six-degree-of-freedom robotic arm 73, and a terminal grasping mechanism 74. The track beam 71 is used to be fixedly arranged on the top of the trailer 1, and the length direction of the track beam 71 is parallel to the tunneling axis direction; the mounting member 72 is slidably suspended on the track beam 71. The upper end and the lower end of the six-degree-of-freedom robotic arm 73 are respectively fixedly connected to the mounting member 72 and the terminal grasping mechanism 74, and the point cloud acquisition device 8 is arranged on the terminal grasping mechanism 74.

[0155] According to the information collected by the point cloud acquisition device 8, it is determined whether there is a sleeper 31 on the current top segment, and after obtaining the pose of the sleeper 31, the terminal actuator can be accurately moved to the position where the corresponding sleeper 31 is located through the corresponding actions of the six-degree-of-freedom robotic arm 73, and the sleeper 31 is grasped with accurate positioning. Any existing structure can be adopted for the structure of the six-degree-of-freedom robotic arm 73, and the present invention does not limit this. After the sleeper cleaning and transporting work is completed, the six-degree-of-freedom robotic arm 73 returns to the initial safe area and pose, waiting for the detection and positioning command of the next cleaning and transporting execution device.

[0156] More specifically, in order to facilitate the terminal grasping mechanism 74 to grasp the sleeper 31, the following two methods can be adopted:

[0157] The first type: The end grasping mechanism 74 is a vacuum suction cup, and the point cloud acquisition device 8 is arranged on the vacuum suction cup.

[0158] The second type: Refer to Figures 3 to 5 , the end grasping mechanism 74 includes a fixing plate 741, a guide rail 742, a cylinder 743, a first jaw 744 and a second jaw 745. The cylinder 743 is electrically connected to the control device through a corresponding electric control valve; the upper surface of the fixing plate 741 is connected to the lower end of the six-degree-of-freedom robotic arm 73, and the guide rail 742, the cylinder 743 and the first jaw 744 are all fixedly arranged on the lower surface of the fixing plate 741; the second jaw 745 is slidably connected to the guide rail 742 through a slider 7421, and the output shaft of the cylinder 743 is connected to the second jaw 745 and can drive the second jaw 745 to move along the guide rail 742 in a direction close to or away from the first jaw 744; the point cloud acquisition device 8 is arranged on the fixing plate 741.

[0159] Among them, the guide rail 742 includes two parallel and spaced slide rails. The second jaw 745 is fixedly connected to two sliders 7421 and the output shaft of the cylinder 743. These two sliders 7421 are slidably connected to the two slide rails. By extending and retracting the output shaft of the cylinder 743, the second jaw 745 can be made to slide along the guide rail 742. When the six-degree-of-freedom robotic arm 73 carries the end grasping mechanism 74 to move to the position of the corresponding sleeper 31, first use the cylinder 743 to drive the second jaw 745 to move to open the two jaws, then use the six-degree-of-freedom robotic arm 73 to move the end grasping mechanism 74 down a certain distance, and then use the cylinder 743 to drive the second jaw 745 to move in a direction close to the first jaw 744 to grasp the sleeper 31, realizing the grasping of the sleeper 31, and the operation is simple.

[0160] For the shapes of the two jaws, they can be determined according to actual needs to meet sleepers 31 of different specifications and have sufficient clamping surfaces; for example, in this embodiment, both jaws are flat plate structures, the plate surfaces of the two jaws are perpendicular to the plate surface of the mounting plate 721, and the length directions of the two jaws are parallel to the length direction of the sleeper when grasping; when grasping the sleeper 31, the two jaws and the sleeper 31 are in surface contact, and the grasping is more stable and reliable.

[0161] To facilitate the stable sliding of the installation member 72 along the track beam 71, the track beam 71 includes two single beams arranged in parallel at intervals. The installation member 72 includes an installation plate 721 and two sets of pulley pairs 722 arranged in parallel at intervals on the installation plate 721. Each set of pulley pairs 722 includes two pulleys arranged oppositely, and the two pulleys in each set of pulley pairs 722 can be slidably clamped on the corresponding single beam. A motor 723 is also provided on the installation plate 721. The motor 723 is electrically connected to the control device. The motor 723 is connected to one of the pulleys through a coupling 724 and can drive the pulley to rotate. The motor 723 can be fixed to the upper surface of the installation plate 721 by bolts. The cooperation between the motor 723 and the coupling 724 can drive one set of pulley pairs 722 to rotate, thereby realizing the forward and backward movement of the installation member 72 on the track beam 71 along the tunnel axis (i.e., the tunneling axis direction). The upper end of the above-mentioned six-degree-of-freedom robotic arm 73 can be connected to the installation plate 721 through a connecting plate 731.

[0162] In a preferred embodiment, as Figure 5 shown, a vibration damping device 75 is provided on the end grasping mechanism 74. The point cloud acquisition device 8 is connected to the vibration damping device 75 through a connecting member 751. The vibration damping device 75 is specifically provided on the fixing plate 741, and its specific structure is an existing structure. Due to strong vibrations during the tunnel construction process, through the setting of the vibration damping device 75, it can effectively ensure that the data collected by the point cloud acquisition device 8 is more stable and accurate.

[0163] Further preferably, as Figure 5 shown, a high-pressure gas cleaning device 76 is also provided on the end grasping mechanism 74, which can be used to jet air and clean the corresponding segment 3 to ensure the surface cleanliness of the segment 3 of the data layer to be collected, and further ensure the accuracy and stability of the collected data. The high-pressure gas cleaning device 76 can also adopt any existing structure, and the present invention does not limit this.

[0164] Furthermore, as Figure 2 shown, the device for segment hoisting and sleeper cleaning also includes a monitoring camera 91 and a buzzer 92. The monitoring camera 91 is used for omnidirectional monitoring of the segment unloading area; both the monitoring camera 91 and the buzzer 92 are electrically connected to the control device. The control device can control the buzzer 92 to emit an alarm sound during the process of detecting the movement of the cleaning execution device, performing the sleeper cleaning operation, and performing the segment hoisting operation, and can control the detection cleaning execution device to stop and the buzzer 92 to emit an alarm sound when the monitoring camera 91 detects that there is no one in the segment unloading area.

[0165] Generally, the monitoring camera is installed on the trailer 1, and the buzzer 92 can be installed on the waste cleaning actuator 7, for example, on the bottom surface of the above-mentioned mounting plate 721. The monitoring camera is equipped with pedestrian detection. When there are people during the waste cleaning operation and / or the segment hoisting operation and / or in the segment unloading area, the buzzer 92 can give an alarm prompt. Moreover, when there are people in the segment unloading area, the entire device will stop, making the construction safer.

[0166] It should be noted that the method in Embodiment 1 can be specifically implemented by using the device in Embodiment 2, and the device in Embodiment 2 can also be operated by using the method in Embodiment 1.

[0167] In summary, the method and device of the present application are mainly used for high-precision automatic positioning of segments 3 and packing blocks 31, automatic hoisting of segments, and automatic cleaning of packing blocks during the construction of a shield machine for multi-layer segment hoisting and packing block cleaning. During the complex shield machine construction operation, a stable and efficient method and device for segment hoisting and packing block cleaning can be proposed, realizing the collection and positioning of feature points of the segment 3 in the segment unloading area of the shield machine for automatic hoisting and the cleaning operation of the packing block 31, replacing manual operation with machines, reducing the labor intensity of the operators, improving the tunnel construction operation efficiency, and more importantly, ensuring the safety and reliability of the construction operation. It effectively solves the problems that the existing segment hoisting and transporting operation seriously relies on the experience of the operators, with great subjectivity; or the fixed segment detection system has a large influence on the positioning accuracy due to the detection distance in the aspect of large-span and multi-layer segment positioning detection.

[0168] The whole method includes the following steps: The distance detection module on the segment quick unloading device 4 or the trailer 1 determines whether there are segments and packing blocks to be hoisted in the segment unloading area; according to the feedback result of the distance detection module, the detection and cleaning actuator is moved to the segment unloading area and its end pose is adjusted, so that the point cloud acquisition device 8 in the detection and cleaning actuator is moved to a vertical distance of a first fixed value H from the current top segment in a stack of segments; the point cloud acquisition device 8 performs information acquisition, and analyzes whether there are packing blocks to be cleaned and the pose of the packing blocks and the pose of the current segment to be hoisted according to the acquired point cloud information; if there are packing blocks, the detection and cleaning actuator first cleans the packing blocks on the segment according to the pose of the packing blocks, otherwise the segment crane 2 hoists according to the pose of the segment to be hoisted; the above steps are repeated until the segment hoisting operation of the first layer of segments is completed. The present invention can realize the acquisition of relative fixed distance information of the relative top segment and packing block information according to the distance detection module on the segment quick unloading device 4 or the trailer 1. The vibration damping device 75 and the high-pressure air cleaning device 76 further ensure the accuracy of the point cloud information acquisition, thereby realizing the high-precision automatic positioning of the segments and packing blocks, and being able to realize the automatic hoisting of the segments and the automatic cleaning of the packing blocks, with relatively high positioning accuracy and robustness.

[0169] Using each distance sensor 6 and the point cloud acquisition device 8, the feedback result indicates whether the segment to be lifted is available in the segment unloading area, which segment layer needs to be lifted, and the removal of the wooden pads. The distance sensor 6 has stable data acquisition and strong environmental adaptability. The segment crane 2 performs the lifting operation on the segment 3 according to the pose of the segment to be lifted feedback by the detection device. The removal execution mechanism 7 removes the wooden pads 31 and transfers them to the wooden pad placement box under the combined action of its various components. The monitoring camera 91 monitors the real-time picture of the segment unloading area and has a buzzer alarm reminder to further ensure the safety of the construction operation.

[0170] Each distance sensor 6 is located in the segment unloading area. Its installation position is preferably opposite to the side of each layer of segments. By analyzing the data collected by the distance sensors 6 corresponding to each layer of segments, it can be determined whether the segment 3 is in place and analyzed relative to the topmost layer of segments, and then fed back to the point cloud acquisition device 8 and moved to a relatively fixed position relative to the topmost layer of segments for information acquisition. The collected information is transmitted to the PC system, and the PC analyzes the collected point cloud information to obtain the pose coordinates of the segment to be lifted and the pose of the segment wooden pads. Specifically, according to the feedback result of the distance sensor 6, the six-degree-of-freedom robotic arm 73 drives the high-pressure air cleaning device 76 and the point cloud acquisition device 8 to move above the segment to be detected. First, the high-pressure air cleaning device 76 blows high-pressure air on the segment to be detected to clean the surface of the segment, further ensuring the accuracy of the acquisition of segment feature points and wooden pad information. At the same time, the surface-cleaned segment is beneficial to the lifting of the segment, so that the point cloud acquisition device can accurately acquire information and the segment can be better lifted. Then, the point cloud acquisition device 8 respectively acquires information in a certain area for each layer of segments to be lifted and transported relative to a certain relative segment fixed position (the segment fixed position is the theoretical center position of the segment 3), and respectively analyzes the pose of the wooden pad 31 and the pose of the lifting position of the segment 3. According to the distance feedback result of each layer, each time the point cloud acquisition device 8 acquires data relative to the topmost layer (each layer), it acquires at a fixed height H relative to the bottommost layer of the segment to be detected, ensuring that the acquisition height of each layer is at the unified best acquisition height of the point cloud acquisition device 8, thus solving the problem of high precision under large span (multiple layers) and wide field of view.

[0171] The point cloud acquisition device 8 acquires data relative to the fixed position of the segment, reducing the amount of data of excessive invalid interference point clouds in terms of hardware data acquisition. At the same time, it can maintain data acquisition at the optimal detection distance each time, ensuring high-precision positioning detection of multiple layers of segments. It avoids problems such as different detection accuracies of fixed-point cloud acquisition devices at different distances, high environmental sensitivity of machine vision detection, and large sample parameters of deep learning detection. According to the feedback results of point cloud analysis, the segment crane 2 automatically hoists according to the feedback segment pose; the cleaning and transportation execution mechanism 7 automatically performs path planning to complete the cleaning operation of the wooden pad 31; the point cloud acquisition device 8 is installed on the vibration damping device 75 at the end of the detection and cleaning and transportation device, ensuring the stability of the data acquired by the point cloud; the monitoring device installed in the segment unloading area can more intuitively display the real-time picture of this area on the host computer and is equipped with a buzzer alarm reminder.

[0172] The entire automatic segment hoisting and wooden pad cleaning and transportation system method is relatively simple, has high positioning accuracy and stability, is more adaptable to the construction site environment, and can safely and efficiently achieve high-precision positioning of segment hoisting feature points, so that the segment crane can hoist and the wooden pad can be automatically cleaned and transported, improving the safety of tunnel construction operations. It solves the problems in current shield construction operations at home and abroad that most segment hoisting systems rely on operators to control through wireless remote controls, and operators need to continuously observe the relative positions of the crane and the segment to adjust the position and attitude of the segment lifting tool in a timely manner; or when using a fixed segment detection system for large-span and multi-layer segment positioning detection, there are problems such as a greater impact of the detection distance on the positioning accuracy. It solves problems such as the need for manual subjective judgment or the inconsistent accuracy and poor robustness of using a fixed-point cloud acquisition device for large-span and multi-layer segment hoisting, and the need for manual cleaning of segments. Moreover, machine substitution for human operations improves the efficiency of tunnel construction and reduces labor intensity.

[0173] The above is only a schematic specific embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A method for segment hoisting and sleeper cleaning, characterized in that, A distance detection module is provided within the segment unloading area; the method includes the following steps: Judge the total number of segments currently present in a stack of segments within the segment unloading area according to the detection result of the distance detection module, and denote it as m. The m-th segment is the current top segment; where 0 ≤ m ≤ N, both m and N are integers, and N represents the total number of segments in a stack of segments on the segment transportation device; Move the detection and cleaning execution device to the segment unloading area, and adjust the detection and cleaning execution device according to the total number of segments currently present feedback by the distance detection module, so that the point cloud acquisition device in the detection and cleaning execution device moves to a vertical distance of a first fixed value from the current top segment in a stack of segments; Analyze the information collected by the point cloud acquisition device; If the analysis result includes the pose of the current top segment and the pose of the spacer on the current top segment, the detection and cleaning execution device performs a spacer cleaning operation on the spacer on the current top segment according to the pose of the spacer on the current top segment. After completing the spacer cleaning operation and moving the detection and cleaning execution device to a safe standby position, the segment crane performs a segment hoisting operation on the current top segment according to the pose of the current top segment; If the analysis result only includes the pose of the current top segment, after adjusting the detection and cleaning execution device and moving it to a safe standby position, the segment crane performs a hoisting operation on the current top segment according to the pose of the current top segment; Repeat the above steps until the segment hoisting operation of the first layer of segments is completed.

2. The method for segment hoisting and spacer cleaning according to claim 1, characterized in that The distance detection module includes multiple layers of detectors arranged at intervals from top to bottom. Each layer of the detector includes a pair of sensors or at least two pairs of sensors arranged at intervals along the tunneling axis direction. Each pair of the sensors includes two distance sensors symmetrically arranged with respect to the tunneling axis direction; Judging the total number of segments currently present in a stack of segments within the segment unloading area according to the detection result of the distance detection module includes the following steps: According to the lateral distances detected by each of the distance sensors, calculate the average value of the sum of the lateral distances detected by the two distance sensors in each pair of sensors in each layer of the detector. The number of the average values of the sums of the lateral distances that are equal to a second fixed value is the total number of segments currently present in a stack of segments; Wherein, the second fixed value is less than the lateral spacing between the two distance sensors in a pair of sensors.

3. The method for segment hoisting and spacer cleaning according to claim 2, characterized in that Denote the lateral spacing between the two distance sensors in a pair of sensors as X; When the average value of the sum of the lateral distances detected by the two distance sensors in each pair of sensors in each layer of the detector changes from 2X to the second fixed value and remains for a preset time, then judge the total number of segments currently present in a stack of segments within the segment unloading area according to the detection result of the distance detection module.

4. The method for segment hoisting and spacer cleaning according to claim 1, characterized in that The distance detection module includes a set of sensors located at the top of the segment unloading area. This set of sensors includes a distance sensor or at least two distance sensors spaced apart along the vertical direction of tunneling. Judging the total number of segments currently present in a stack of segments in the segment unloading area according to the detection result of the distance detection module includes the following steps: According to the vertical distances detected by each of the distance sensors, calculate the average value of the vertical distances detected by each of the distance sensors in this set of sensors, and denote it as h. When h = h N + ax, then m = a; where h N represents the average value of the sum of the vertical distances from each of the distance sensors in the group to the Nth segment ring, 0 ≤ a ≤ N - 1, and a is a positive number, and x represents the vertical height difference between the upper surfaces of two adjacent segments rings above and below.

5. The method for segment hoisting and wooden block cleaning as claimed in claim 1, wherein After moving the point cloud acquisition device to a vertical distance of a first fixed value from the currently top layer segment in a stack of segments, first clean the surface of the currently top layer segment, and then use the point cloud acquisition device to perform information acquisition and parsing.

6. The method for segment hoisting and wooden block cleaning as claimed in claim 1, wherein A monitoring camera and a buzzer are further provided in the segment unloading area. The monitoring camera can perform omnidirectional monitoring on the segment unloading area, and the buzzer can emit an alarm sound during the process of the detection and cleaning execution device moving, performing the wooden block cleaning operation, and performing the segment hoisting operation.

7. A device for segment hoisting and sleeper cleaning, characterized in that, Including: A detection and cleaning execution device, which includes a cleaning execution mechanism and a point cloud acquisition device arranged on the cleaning execution mechanism. The cleaning execution mechanism can reciprocate along the tunneling direction and can be used to grab wooden blocks. A segment crane, which can reciprocate along the tunneling axis direction and can be used to grab segments. A distance detection module, which is used to be arranged in the segment unloading area. A control device, which is electrically connected to the cleaning execution mechanism, the point cloud acquisition device, the segment crane and the distance detection module. It can judge whether there are segments to be hoisted in the segment unloading area and the total number of segments currently present in a stack of segments according to the detection result of the distance detection module; it can also move the cleaning execution mechanism to the segment unloading area, and adjust the cleaning execution mechanism according to the total number of segments currently present feedback by the distance detection module, so that the point cloud acquisition device moves to a vertical distance of a first fixed value from the currently top layer segment in a stack of segments; it can also parse the information collected by the point cloud acquisition device to control the cleaning execution mechanism to perform the wooden block cleaning operation or control the segment crane to perform the segment hoisting operation.

8. The device for segment hoisting and wooden block cleaning as claimed in claim 7, wherein The distance detection module includes multiple layers of detectors arranged at intervals from top to bottom. Each layer of detectors includes a pair of sensors or at least two pairs of sensors spaced apart along the tunneling axis direction. Each pair of sensors includes two distance sensors symmetrically arranged with respect to the tunneling axis direction; or The distance detection module includes a set of sensors located at the top of the segment unloading area. This set of sensors includes a distance sensor or at least two distance sensors spaced apart along the vertical direction of tunneling.

9. The device for segment hoisting and wooden block cleaning as claimed in claim 7, wherein The waste removal execution mechanism includes a track beam, a mounting member, a six-degree-of-freedom robotic arm, and an end grasping mechanism. The track beam is used to be fixedly installed on the top of the trailer, and the length direction of the track beam is parallel to the tunneling axis direction; the mounting member is slidably suspended on the track beam, the upper end and the lower end of the six-degree-of-freedom robotic arm are respectively fixedly connected to the mounting member and the end grasping mechanism, and the point cloud acquisition device is arranged on the end grasping mechanism.

10. The device for segment hoisting and sleeper waste removal according to claim 9, wherein the end grasping mechanism is a vacuum suction cup; or the end grasping mechanism includes a fixing plate, a guide rail, a cylinder, a first clamping jaw, and a second clamping jaw. The cylinder is electrically connected to the control device through a corresponding electric control valve; the upper surface of the fixing plate is connected to the lower end of the six-degree-of-freedom robotic arm, and the guide rail, the cylinder, and the first clamping jaw are all fixedly arranged on the lower surface of the fixing plate; the second clamping jaw is slidably connected to the guide rail through a slider, and the output shaft of the cylinder is connected to the second clamping jaw and can drive the second clamping jaw to move along the guide rail in a direction close to or away from the first clamping jaw; the point cloud acquisition device is arranged on the fixing plate.

11. The device for segment hoisting and sleeper waste removal according to claim 9, wherein a vibration damping device is arranged on the end grasping mechanism, and the point cloud acquisition device is connected to the vibration damping device through a connecting member; a high-pressure air cleaning device is further arranged on the end grasping mechanism and can be used to blow air and clean the corresponding segment.

12. The device for segment hoisting and sleeper waste removal according to claim 9, wherein the device for segment hoisting and sleeper waste removal further includes a monitoring camera and a buzzer. The monitoring camera is used to conduct all-round monitoring of the segment unloading area; both the monitoring camera and the buzzer are electrically connected to the control device. The control device can control the buzzer to emit an alarm sound during the process of detecting the movement of the waste removal execution device, performing the sleeper waste removal operation, and performing the segment hoisting operation, and can control the waste removal execution device to stop and the buzzer to emit an alarm sound when the monitoring camera detects that there is someone in the segment unloading area.

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