Segmental pipe assembling method, device, system and storage medium

Abstract

The present disclosure provides a segment assembling method, device, system and storage medium, and relates to the technical field of tunnel construction. The method comprises: acquiring first pose information of a segment to be assembled, positioning information of a position to be assembled, and angular velocity information of the segment to be assembled; determining second pose information of the segment to be assembled according to the angular velocity information of the segment to be assembled; adjusting the pose of the segment to be assembled according to the first pose information and the second pose information of the segment to be assembled, and the positioning information of the position to be assembled and the pose information of an assembled segment, so as to hoist and transport the segment to be assembled to the position to be assembled; and in the case that axial installation precision and radial installation precision between the segment to be assembled and the assembled segment do not meet corresponding precision requirements, adjusting the pose of the segment to be assembled so that the axial installation precision and the radial installation precision between the segment to be assembled and the assembled segment meet the corresponding precision requirements. The present disclosure can improve the precision and efficiency of segment assembly.

Description

Technical Field

[0001] This disclosure relates to the field of tunnel construction technology, and in particular to a method, apparatus, system and storage medium for assembling tunnel segments. Background Technology

[0002] With the increase in the world's population and economic growth, the pressure on surface transportation is increasing, necessitating the development of a comprehensive underground and surface transportation network. Shield tunneling is a fully mechanized tunnel excavation method, mainly consisting of two parts: tunnel excavation and segment assembly. The accuracy and efficiency of segment assembly directly affect the final quality of the tunnel; therefore, improving the quality and efficiency of segment assembly is crucial.

[0003] In related technologies, the assembly accuracy and efficiency of tunnel segments are relatively low, resulting in poor quality after tunnel formation and certain safety hazards. Summary of the Invention

[0004] One technical problem this disclosure aims to solve is to provide a segment assembly method, apparatus, system, and storage medium that can improve the accuracy and efficiency of segment assembly.

[0005] According to one aspect of this disclosure, a segment assembly method is proposed, comprising: acquiring first pose information of the segment to be assembled, positioning information of the assembly position, and angular velocity information of the segment to be assembled; determining second pose information of the segment to be assembled based on the angular velocity information; adjusting the pose of the segment to be assembled based on the first pose information, the second pose information, the positioning information of the assembly position, and the pose information of the assembled segments, so as to hoist the segment to be assembled to the assembly position; and adjusting the pose of the segment to be assembled so that the axial installation accuracy and radial installation accuracy between the segment to be assembled and the assembled segments do not meet the corresponding accuracy requirements, so as to make the axial installation accuracy and radial installation accuracy between the segment to be assembled and the assembled segments meet the corresponding accuracy requirements.

[0006] In some embodiments, displacement information and acceleration information of the segment to be assembled are obtained; a first velocity information of the segment to be assembled is determined based on the displacement information; a second velocity information of the segment to be assembled is determined based on the acceleration information; and the first velocity information and the second velocity information are fused together, and the fused velocity information is used to control the movement speed of the segment to be assembled.

[0007] In some embodiments, pressure information between the segments to be assembled and the segments already assembled is obtained axially; and based on the comparison result of the pressure information and the pressure threshold, it is determined whether the axial installation accuracy between the segments to be assembled and the segments already assembled meets the axial installation accuracy requirements.

[0008] In some embodiments, the laser propagation time between the segments to be assembled and the assembled segments in the radial direction is obtained; and based on the comparison result of the laser propagation time and the time threshold, it is determined whether the radial installation accuracy between the segments to be assembled and the assembled segments meets the radial installation accuracy requirements.

[0009] In some embodiments, adjusting the pose of the segment to be assembled based on the first pose information and the second pose information of the segment to be assembled, as well as the positioning information of the position to be assembled and the pose information of the assembled segment, to hoist the segment to be assembled to the position to be assembled includes: determining a first angular deviation of the segment to be assembled relative to the position to be assembled based on the first pose information and the pose information of the assembled segment, so as to control the movement of the segment to be assembled; determining a second angular deviation of the segment to be assembled relative to the position to be assembled based on the second pose information of the segment to be assembled and the positioning information of the position to be assembled; and fusing the first angular deviation and the second angular deviation, and determining whether the segment to be assembled matches the positioning information of the position to be assembled based on the fused angular deviation.

[0010] In some embodiments, the first pose information includes a first coordinate system established based on the target points of the segment to be assembled, and the pose information of the assembled segment includes a second coordinate system established based on one or more target points of the assembled segment. Determining the first angular deviation of the segment to be assembled relative to the assembly position based on the first pose information of the segment to be assembled and the pose information of the assembled segment includes: determining the angle that the segment to be assembled needs to adjust along each coordinate axis when the directions of each coordinate axis in the first coordinate system coincide with the corresponding coordinate axis directions in the second coordinate system, based on the coordinates of each of the one or more target points of the assembled segment in the second coordinate system and the coordinates of each target point of the assembled segment projected into the first coordinate system.

[0011] In some embodiments, the target point for the segment to be assembled includes the lifting bolt hole of the segment to be assembled; and one or more target points for assembled segments include: at least one of the lifting bolt holes of one or more assembled segments, and / or at least one of the connecting bolt holes of one or more assembled segments.

[0012] In some embodiments, the time corresponding to the second pose information is the moment preceding the time corresponding to the first pose information. The process of fusing the first angle deviation and the second angle deviation, and determining whether the segment to be assembled matches the positioning information of the position to be assembled based on the fused angle deviation, includes: using the difference between the first angle deviation and the second angle deviation as the segment angle deviation value, and determining whether the segment angle deviation value is zero; and if the segment angle deviation value is zero, determining that the segment to be assembled matches the positioning information of the position to be assembled; otherwise, determining that the segment to be assembled does not match the positioning information of the position to be assembled.

[0013] In some embodiments, determining whether the segment angle deviation value is zero includes: determining whether the calculated angle deviation values ​​of multiple consecutive segments are zero.

[0014] In some embodiments, the first pose information and the positioning information of the assembly position are determined by fusing image information acquired by a moving binocular camera and a fixed binocular camera in the image detection device. If the speed of the segment to be assembled is greater than or equal to a speed threshold when the image detection device acquires the image, the weight of the first pose information and the positioning information of the assembly position determined based on the image information acquired by the moving binocular camera is reduced.

[0015] In some embodiments, the axial deviation between the segments to be assembled and the segments already assembled is determined based on image information between them; the comparison results of pressure information and pressure threshold are fused with the axial deviation to determine whether the axial installation accuracy between the segments to be assembled and the segments already assembled meets the axial installation accuracy requirements.

[0016] In some embodiments, the radial deviation between the segment to be assembled and the segment already assembled is determined based on the image information between them; the comparison result of the laser propagation time and the time threshold is fused with the radial deviation to determine whether the radial installation accuracy between the segment to be assembled and the segment already assembled meets the radial installation accuracy requirements.

[0017] According to another aspect of this disclosure, a segment assembly device is also proposed, comprising: an information fusion subsystem configured to acquire first pose information of the segment to be assembled, positioning information of the assembly position, and angular velocity information of the segment to be assembled, and to determine second pose information of the segment to be assembled based on the angular velocity information of the segment to be assembled; and a segment control module configured to adjust the pose of the segment to be assembled based on the first pose information, the second pose information, the positioning information of the assembly position, and the pose information of the assembled segment, so as to hoist the segment to be assembled to the assembly position, and to adjust the pose of the segment to be assembled when the axial installation accuracy and radial installation accuracy between the segment to be assembled and the assembled segment do not meet the corresponding accuracy requirements, so as to make the axial installation accuracy and radial installation accuracy between the segment to be assembled and the assembled segment meet the corresponding accuracy requirements.

[0018] In some embodiments, the information fusion subsystem is further configured to acquire displacement information and acceleration information of the segment to be assembled, determine first velocity information of the segment to be assembled based on the displacement information, determine second velocity information of the segment to be assembled based on the acceleration information, and fuse the first velocity information and the second velocity information; and the segment control module is further configured to control the movement speed of the segment to be assembled using the fused velocity information.

[0019] In some embodiments, the information fusion subsystem is further configured to acquire axial pressure information between the segments to be assembled and the assembled segments, and to determine whether the axial installation accuracy between the segments to be assembled and the assembled segments meets the axial installation accuracy requirements based on the comparison result of the pressure information and the pressure threshold.

[0020] In some embodiments, the information fusion subsystem is further configured to acquire the laser propagation time between the segments to be assembled and the assembled segments in the radial direction, and to determine whether the radial installation accuracy between the segments to be assembled and the assembled segments meets the radial installation accuracy requirements based on the comparison result of the laser propagation time and the time threshold.

[0021] According to another aspect of this disclosure, a segment assembly apparatus is also proposed, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the segment assembly method as described above based on instructions stored in the memory.

[0022] According to another aspect of this disclosure, a segment assembly system is also proposed, comprising: the aforementioned segment assembly device; and an information detection subsystem configured to detect information on the segments to be assembled, the positions to be assembled, and the segments already assembled.

[0023] In some embodiments, the segment assembly system further includes a segment motion mechanism configured to move according to information output by the segment assembly device to adjust the orientation of the segments to be assembled.

[0024] In some embodiments, the information detection subsystem includes: an image detection device configured to detect the first pose information of the segment to be assembled and the positioning information of the position to be assembled; and an IMU inertial measurement unit configured to detect the angular velocity information and acceleration information of the segment to be assembled.

[0025] In some embodiments, the information detection subsystem further includes one or more of a displacement sensor, a pressure sensor, and a laser sensor, wherein the displacement sensor is configured to detect displacement information of the segment to be assembled; the pressure sensor is configured to detect pressure information between the segment to be assembled and the assembled segment along the axial direction; and the laser sensor is configured to detect laser propagation time between the segment to be assembled and the assembled segment in the radial direction.

[0026] In some embodiments, the image detection device includes an image sensor and an image processing unit, wherein the image sensor is mounted on the segment motion mechanism and the assembled segment; and the IMU is mounted on a fine-tuning platform in the segment motion mechanism.

[0027] In some embodiments, a displacement sensor is installed inside the hydraulic cylinder of the segment movement mechanism; and a pressure sensor and a laser sensor are disposed between the segment to be assembled and the assembled segment.

[0028] In some embodiments, when the segment to be assembled is the first segment of the ring to be assembled, the assembled segment is the complete ring segment that is axially adjacent to the segment to be assembled; and when the segment to be assembled is not the first segment of the ring to be assembled, the assembled segment is the complete ring segment that is axially adjacent to the segment to be assembled and the circumferentially adjacent assembled segment.

[0029] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is also proposed, on which computer program instructions are stored, which, when executed by a processor, implement the above-described segment assembly method.

[0030] In this embodiment of the present disclosure, by using the first pose information and second pose information of the segment to be assembled, as well as the positioning information of the position to be assembled and the pose information of the assembled segment, the segment to be assembled can be adjusted so that the segment to be assembled matches the position to be assembled, and the axial installation accuracy and radial installation accuracy between the segment to be assembled and the assembled segment meet the corresponding accuracy requirements, thereby improving the accuracy and efficiency of segment assembly.

[0031] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0032] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0033] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0034] Figure 1 This is a schematic flowchart illustrating some embodiments of the segment assembly method disclosed herein;

[0035] Figure 2 The following are schematic flowcharts illustrating other embodiments of the segment assembly method disclosed herein;

[0036] Figure 3 The following are schematic flowcharts illustrating other embodiments of the segment assembly method disclosed herein;

[0037] Figure 4 This is a schematic diagram of the structure of some embodiments of the assembled tube segments disclosed herein;

[0038] Figure 5 The following are schematic flowcharts illustrating other embodiments of the segment assembly method disclosed herein;

[0039] Figure 6 The following are schematic flowcharts illustrating other embodiments of the segment assembly method disclosed herein;

[0040] Figure 7 The following are schematic flowcharts illustrating other embodiments of the segment assembly method disclosed herein;

[0041] Figure 8 The diagram shows the structure of some embodiments of the segment assembly device disclosed herein;

[0042] Figure 9 The diagram shows the structure of some other embodiments of the segment assembly apparatus disclosed herein;

[0043] Figure 10 The diagram shows the structure of some embodiments of the segment assembly system disclosed herein;

[0044] Figure 11 Schematic diagrams of other embodiments of the segment assembly system disclosed herein; and

[0045] Figure 12 The diagram shows the structure of some other embodiments of the segment assembly system disclosed herein. Detailed Implementation

[0046] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0047] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0048] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0049] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0050] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0051] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0052] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0053] Figure 1 This is a flowchart illustrating some embodiments of the segment assembly method disclosed herein.

[0054] In step 110, the first pose information of the segment to be assembled, the positioning information of the position to be assembled, and the angular velocity information of the segment to be assembled are obtained.

[0055] In some embodiments, during the process of the segment assembly machine hoisting the segment to be assembled to the assembly position, the image information of the segment to be assembled and the image information of the assembly position are detected by the image detection device. After the image information is processed, the pose information of the segment to be assembled and the positioning information of the assembly position are obtained.

[0056] The image inspection device includes an image sensor and an image processing unit. The image sensor is mounted on the segment motion mechanism and the assembled segment. The image sensor is, for example, multiple binocular cameras, which can be fixed or moving cameras. The moving camera is mounted on the segment motion mechanism and moves with the segment motion mechanism. The fixed camera is mounted on the assembled segment via a tripod and consists of two binocular cameras with intersecting viewing angles.

[0057] In some embodiments, the first pose information and the positioning information of the assembly position are determined by fusing image information acquired by a moving binocular camera and a fixed binocular camera in an image detection device. If the speed of the segment to be assembled is greater than or equal to a speed threshold when the image detection device acquires the image, the weight of the first pose information and the positioning information of the assembly position determined based on the image information acquired by the moving binocular camera is reduced. Since the accuracy of the results detected by the moving binocular camera is low if the segment's moving speed is too high during the segment's movement, reducing the weight of the moving binocular camera measurement can improve the accuracy of pose and positioning calculations.

[0058] For example, if the speed of the segment to be assembled at the time corresponding to the first pose information is less than the speed threshold, then the weight of the first pose information and the positioning information of the position to be assembled, determined based on the image information collected by the moving binocular camera, is the first weight; if the speed of the segment to be assembled at the time corresponding to the first pose information is greater than or equal to the speed threshold, then the weight of the first pose information and the positioning information of the position to be assembled, determined based on the image information collected by the moving binocular camera, is the second weight, wherein the first weight is greater than the second weight.

[0059] In some embodiments, the first weight is 1, and the second weight is the ratio of the speed of the segment to be assembled to the speed threshold.

[0060] For example, the maximum permissible speed of the segment assembly machine during movement is δ0, and the speed of the segment motion mechanism during the acquisition of the k-th frame image by the image detection device is δ. k Then the weight value

[0061] For example, the pose information determined by the moving binocular camera is G. k The pose information determined by the fixed binocular camera is G' k Then, the first pose information of the segment to be assembled output by the image detection device is the weighted average of the pose information determined by the moving binocular camera and the pose information determined by the fixed binocular camera, i.e., 1 / 2(G k *ω k +G' k ).

[0062] In some embodiments, to avoid data drift caused by inaccurate sensor data due to vibration during the operation of the segment motion mechanism, the key frame image acquisition is provided by a fixed binocular camera in the image detection device.

[0063] In some embodiments, the IMU (Inertial Measurement Unit) is installed on the fine-tuning platform in the segment motion mechanism. The angular velocity information of the segment to be assembled is obtained by detecting the angular velocity information of the fine-tuning platform on which the segment to be assembled is located.

[0064] In step 120, the second pose information of the segment to be assembled is determined based on the angular velocity information of the segment to be assembled.

[0065] In some embodiments, the angular velocity of the segment to be assembled is integrated to obtain the second pose information of the segment to be assembled.

[0066] In step 130, the position of the segment to be assembled is adjusted according to the first position information, the second position information, the positioning information of the position to be assembled, and the position information of the assembled segment, so as to hoist the segment to be assembled to the position to be assembled.

[0067] In this embodiment, during the process of the segment assembly machine hoisting the segment to be assembled to the assembly position, the image detection equipment and the IMU work together to measure the pose change of the segment as it approaches the assembly position.

[0068] In some embodiments, the position of the segment to be assembled is adjusted by controlling the movement of the segment motion mechanism, so as to eliminate the angular deviation between the segment to be assembled and the assembly position.

[0069] In step 140, if the axial and radial installation accuracy between the segments to be assembled and the segments already assembled does not meet the corresponding accuracy requirements, the position of the segments to be assembled is adjusted so that the axial and radial installation accuracy between the segments to be assembled and the segments already assembled meets the corresponding accuracy requirements.

[0070] For example, by using a pressure sensor to detect the axial pressure information between the segment to be assembled and the segment already assembled, if the pressure information meets the pressure threshold range, it indicates that the axial installation accuracy between the segment to be assembled and the segment already assembled meets the installation requirements.

[0071] For example, by using a laser sensor to detect the laser propagation time between the segments to be assembled and the segments already assembled radially, if the laser propagation time meets the time threshold range, it indicates that the radial installation accuracy between the segments to be assembled and the segments already assembled meets the installation requirements.

[0072] In the above embodiments, by using the first pose information and second pose information of the segment to be assembled, as well as the positioning information of the position to be assembled and the pose information of the assembled segment, the segment to be assembled can be adjusted so that the segment to be assembled matches the position to be assembled, and the axial installation accuracy and radial installation accuracy between the segment to be assembled and the assembled segment meet the corresponding accuracy requirements, thereby improving the accuracy and efficiency of segment assembly.

[0073] Figure 2 This is a flowchart illustrating some other embodiments of the segment assembly method disclosed herein.

[0074] In step 210, the displacement and acceleration information of the segments to be assembled are obtained.

[0075] In some embodiments, the displacement information of the segment to be assembled is detected by a displacement sensor, wherein the displacement sensor is built into the hydraulic cylinder of the segment movement mechanism, and the displacement information of the segment to be assembled can be determined by detecting the displacement data of the hydraulic cylinder.

[0076] In some embodiments, the acceleration information of the fine-tuning platform of the segment motion mechanism is detected by an IMU, thereby enabling the determination of the acceleration information of the segment to be assembled.

[0077] In step 220, the first velocity information of the segment to be assembled is determined based on the displacement information of the segment to be assembled.

[0078] In some embodiments, the displacement information of the segment to be assembled is differentially calculated to obtain the first velocity information of the segment to be assembled.

[0079] In step 230, the second velocity information of the segment to be assembled is determined based on the acceleration information of the segment to be assembled.

[0080] In some embodiments, the acceleration information of the segment to be assembled is integrated to obtain the second velocity information of the segment to be assembled.

[0081] In step 240, the first speed information and the second speed information are fused together, and the fused speed information is used to control the movement speed of the segments to be assembled.

[0082] In some embodiments, a weighted average of the first speed information and the second speed information is calculated to obtain average speed information. If the average speed information is greater than a preset speed threshold, the speed of the segment motion mechanism is controlled to ensure that the speed of the segment to be assembled meets the speed requirements.

[0083] In some embodiments, weights are assigned to the first speed information and the second speed information respectively, and a weighted average value is calculated for the first speed information and the second speed information.

[0084] In the above embodiments, the velocity information of the segment to be assembled is calculated by using the displacement and acceleration information of the segment to be assembled. After velocity fusion, the accuracy of velocity detection is improved, thereby enabling control of the velocity of the segment to be assembled and avoiding large motion impacts on the segment to be assembled.

[0085] Figure 3 This is a flowchart illustrating some other embodiments of the segment assembly method disclosed herein.

[0086] In step 310, based on the first pose information of the segment to be assembled and the pose information of the assembled segment, the angle information that the segment to be assembled needs to be adjusted is determined in order to control the movement of the segment to be assembled.

[0087] In some embodiments, when the segment to be assembled is the first segment of the ring to be assembled, the assembled segments are the completed ring segments that are axially adjacent to the segment to be assembled; when the segment to be assembled is not the first segment of the ring to be assembled, the assembled segments are the completed ring segments that are axially adjacent to the segment to be assembled, as well as the circumferentially adjacent completed segments. The segments are respectively composed of standard blocks, adjacent blocks, and capping blocks, wherein the standard blocks, adjacent blocks, and capping blocks together form a complete ring segment, and each ring segment is spliced ​​with staggered joints.

[0088] In some embodiments, the first pose information includes a first coordinate system established based on the target points of the segment to be assembled, and the pose information of the assembled segment includes a second coordinate system established based on one or more target points of the assembled segment. Based on the coordinates of each assembled segment target point in the second coordinate system and the coordinates of each assembled segment target point projected into the first coordinate system, the angle that the segment to be assembled needs to be adjusted along each coordinate axis is determined when the directions of each coordinate axis in the first coordinate system coincide with the corresponding coordinate axis directions in the second coordinate system.

[0089] like Figure 4As shown, the target points for the segments to be assembled include the lifting bolt holes of the segments to be assembled, and the target points for the assembled segments include the lifting bolt holes or connecting bolt holes of the assembled segments. One or more lifting bolt holes can be taken as target points, one or more connecting bolt holes can be taken as target points, or both lifting bolt holes and connecting bolt holes can be taken as target points.

[0090] In some embodiments, when scanning the positioning information of the assembly location and the pose of the segment to be assembled by the image detection device, the lifting bolt hole of the segment to be assembled is used as the target point to establish a first coordinate system. The lifting bolt hole is used as the origin of the first coordinate system, and the lifting screw hole and connecting bolt hole of the assembled segment are used as the image scanning target points of the visual detection module. A second coordinate system is established based on the target points.

[0091] For example, the first and second coordinate systems are three-dimensional coordinate systems, with the first coordinate system being O-XYZ and the second coordinate system being T-XYZ. The definition strategies for the directions of the X, Y, and Z axes in the first and second coordinate systems are the same. For example, the X-axis of the segment is parallel to the axial direction of the segment, the Y-axis is parallel to the radial direction of the segment, and the Z-axis is perpendicular to the plane formed by the X and Y axes.

[0092] If i target points are selected from the assembled tunnel segments, then the coordinates of each target point in the second coordinate system are (Xi, Yi, Zi), the coordinates of each target point projected onto the first coordinate system are (Xii, Yii, Zii), and the angle difference between each target point and the origin in the first coordinate system is (θ). xi θ Yi θ zi ), That is, for each assembled segment target point, the angle that the segment to be assembled needs to be adjusted along each coordinate axis.

[0093] The weighted average of the rotation angles of the segments to be assembled along the X, Y, and Z axes is calculated. When the X-axis of the first coordinate system coincides with the X-axis of the second coordinate system, the Y-axis of the first coordinate system coincides with the Y-axis of the second coordinate system, and the Z-axis of the first coordinate system coincides with the Z-axis of the second coordinate system, the angles that the segments to be assembled need to be adjusted along the X-axis, Y-axis, and Z-axis, respectively. By adjusting the angles of the segments to be assembled, the segments are moved to the assembly position. Through weighted calculation, the accuracy of the required angle adjustments for the segments to be assembled can be improved.

[0094] In step 320, based on the angle information that the segments to be assembled need to be adjusted, the first angular deviation of the segments to be assembled relative to the assembly position is determined.

[0095] The angle information that needs to be adjusted for the segments to be assembled, calculated in step 310, is the first angle deviation.

[0096] In some embodiments, the image detection device acquires image data frame by frame, and for each frame, a first angular deviation can be obtained. For example, (θ) x θ y θ z t k ) represents the t-th k The first angular deviation value between the segment to be assembled and the position to be assembled is obtained at frame time.

[0097] In step 330, based on the second pose information of the segment to be assembled and the positioning information of the position to be assembled, the second angular deviation of the segment to be assembled relative to the position to be assembled is determined.

[0098] In some embodiments, the second pose information includes the pose and attitude information of the segment to be assembled, and the second angle deviation can be obtained by comparing it with the positioning information of the position to be assembled.

[0099] In some embodiments, the time corresponding to the second pose information is the moment preceding the time corresponding to the first pose information. The IMU acquires the angular velocity of the segment to be assembled earlier than the image detection device acquires the image of the segment to be assembled, for example, (α x α y α z t k-1 ) indicates that the image detection device is acquiring the image at time t. k-1 The second pose information is calculated based on the angle information of the tube segment to be assembled, obtained from the IMU during frame image processing.

[0100] In step 340, the first angle deviation and the second angle deviation are fused together, and the fused angle deviation is used to determine whether the segment to be assembled matches the positioning information of the position to be assembled.

[0101] In some embodiments, the difference between the first angle deviation and the second angle deviation is used as the segment angle deviation value, and it is determined whether the segment angle deviation value is zero; if it is zero, it is determined that the positioning information of the segment to be assembled matches the positioning information of the position to be assembled; otherwise, it is determined that the positioning information of the segment to be assembled does not match the positioning information of the position to be assembled.

[0102] For example, according to formula (β) x β y β z t)=|(θ x θ y θ z t k )-(α x α yα z t k-1 )|, calculate the segment angle deviation value (β) x β y β z If the difference is zero, it means the position of the segment to be assembled has been adjusted, and the segment will no longer move, indicating that the positioning information of the segment to be assembled matches the positioning information of the assembly location. If the difference is not zero, it means the position of the segment to be assembled is still being adjusted.

[0103] In some embodiments, it is determined whether the angle deviation values ​​of the tube segments corresponding to multiple consecutive frames are all 0. If so, it indicates that the positioning information of the tube segment to be assembled matches the positioning information of the position to be assembled, thereby improving the accuracy of detection and avoiding occasional detection errors.

[0104] For example, if the calculation is performed in sets of 60 frames, and if the angle deviation value of each segment in the last set remains unchanged (i.e., all are zero), it means that the positioning information of the segment to be assembled matches the positioning information of the position to be assembled. Otherwise, the pose of the segment to be assembled is adjusted to match the positioning information of the position to be assembled.

[0105] In the above embodiment, the image detection device and IMU jointly measure the pose change of the segment to be assembled when it approaches the assembly position, and control the segment motion mechanism according to the pose change to adjust the pose of the segment to be assembled, so that the segment to be assembled matches the assembly position, eliminating the angular deviation between the segment to be assembled and the assembly position, and making the calculation results more accurate.

[0106] Figure 5 This is a flowchart illustrating some other embodiments of the segment assembly method disclosed herein.

[0107] In step 510, the pressure information between the segments to be assembled and the assembled segments along the axis is obtained.

[0108] In some embodiments, a pressure sensor detects the axial pressure information between the segment to be assembled and the already assembled segment; for example, the detected pressure value is P. 测 The set pressure threshold is P 设 .

[0109] In step 520, based on the comparison results between the pressure information and the pressure threshold, it is determined whether the axial installation accuracy between the segments to be assembled and the already assembled segments meets the axial installation accuracy requirements.

[0110] For example, if the detected pressure value P 测 With the set pressure threshold P 设 The ratio is greater than or equal to 0.99 times the set pressure threshold P. 设 And less than or equal to 1.01 times the set pressure threshold P设 If the axial installation accuracy between the segments to be assembled and those already assembled is satisfactory, it indicates that the axial installation accuracy between them meets the requirements. Otherwise, it indicates that the axial installation accuracy between the segments to be assembled and those already assembled does not meet the requirements. Those skilled in the art should understand that multiples can be set according to actual conditions; 0.99 and 1.01 here are merely examples.

[0111] In some embodiments, a set pressure threshold P 设 This was obtained through training by measuring the pressure readings between the installed pipe segments.

[0112] In step 530, if the axial installation accuracy between the segment to be assembled and the already assembled segment does not meet the axial installation accuracy requirements, the position of the segment to be assembled is adjusted.

[0113] In this step, the pose of the segment to be assembled is adjusted based on the first pose information, the second pose information, the positioning information of the position to be assembled, and the pose information of the assembled segments.

[0114] In some embodiments, the axial deviation between the segments to be assembled and the segments already assembled is determined based on image information between them; the comparison results of pressure information and pressure threshold are fused with the axial deviation to determine whether the axial installation accuracy between the segments to be assembled and the segments already assembled meets the axial installation accuracy requirements.

[0115] In this embodiment, the data measured by the pressure sensor is fused with the data detected by the image detection device to adjust the pose of the segment to be assembled, which can ensure the axial assembly accuracy requirements between the segment to be assembled and the already assembled segment.

[0116] Figure 6 This is a flowchart illustrating some other embodiments of the segment assembly method disclosed herein.

[0117] In step 610, the laser propagation time between the radial distance between the segment to be assembled and the already assembled segment is obtained.

[0118] In some embodiments, the laser propagation time between the segments to be assembled and the assembled segments in the radial direction is detected by a laser sensor. For example, the detected laser propagation time is V. 测 The set time threshold is V 设 .

[0119] In step 620, based on the comparison between the laser propagation time and the time threshold, it is determined whether the radial installation accuracy between the segment to be assembled and the already assembled segment meets the radial installation accuracy requirements.

[0120] For example, if the detected laser propagation time V 测 With the set time threshold V设 The ratio is greater than or equal to 0.99 times the time threshold V 设 And less than or equal to 1.01 times the set time threshold V 设 If the radial installation accuracy between the segments to be assembled and the segments already assembled meets the requirements, then the radial installation accuracy between the segments to be assembled and the segments already assembled does not meet the requirements.

[0121] In some embodiments, a set time threshold V 设 This was obtained through training by measuring the propagation time readings between installed pipe segments.

[0122] In step 630, if the radial installation accuracy between the segment to be assembled and the already assembled segment does not meet the radial installation accuracy requirements, the position of the segment to be assembled is adjusted.

[0123] In this step, the pose of the segment to be assembled is adjusted based on the first pose information, the second pose information, the positioning information of the position to be assembled, and the pose information of the assembled segments.

[0124] In some embodiments, the radial deviation between the segment to be assembled and the segment already assembled is determined based on the image information between them; the comparison result of the laser propagation time and the time threshold is fused with the radial deviation to determine whether the radial installation accuracy between the segment to be assembled and the segment already assembled meets the radial installation accuracy requirements.

[0125] In this embodiment, the data measured by the laser sensor is fused with the data detected by the image detection device to adjust the pose of the segment to be assembled, which can ensure the radial assembly accuracy requirements between the segment to be assembled and the already assembled segment.

[0126] Figure 7 The diagram shows a flow chart of some other embodiments of the segment assembly method disclosed herein.

[0127] In step 710, the pose information of the segment to be assembled and the three-dimensional positioning information of the assembly position are scanned by the image detection device, the end acceleration and angular velocity information of the segment to be assembled are measured by the IMU, and the displacement information of the segment to be assembled is detected by the displacement sensor.

[0128] In step 720, the data detected by the IMU and the data detected by the displacement sensor are fused to obtain the speed information of the segment to be assembled. The data scanned by the image detection device and the data detected by the IMU are fused to obtain the angle information that the segment to be assembled needs to be adjusted.

[0129] In step 730, the speed and angle of the segments to be assembled are adjusted according to the fusion result, and the segments to be assembled are hoisted to the assembly position.

[0130] This step avoids excessive movement speed of the tunnel segments, which could cause significant impact, and enables the lifting and movement of the tunnel segments, thus completing the coarse positioning.

[0131] In step 740, the axial pressure and radial laser propagation time of the segments to be assembled and the assembled segments are detected by pressure sensors and laser sensors, respectively.

[0132] When both the pressure sensor reading and the laser sensor detection time meet the requirements, the speed of the segment motion mechanism, fused by the IMU and displacement sensor, is zero. This step achieves precise positioning.

[0133] In step 750, it is determined whether the segments to be assembled and the segments already assembled meet the axial and radial installation accuracy requirements. If so, step 760 is executed; otherwise, step 770 is executed.

[0134] In step 760, the assembly is complete.

[0135] In step 770, the position of the segment to be assembled is adjusted, and then step 740 is executed.

[0136] In the above embodiments, by fusing multiple types of information, automatic assembly of tunnel segments can be achieved, which can save the time of manually locating the tunnel segment assembly position and improve the accuracy and efficiency of tunnel segment assembly.

[0137] Figure 8 The diagram below shows some embodiments of the segment assembly device disclosed herein, which includes an information fusion subsystem 810 and a segment control module 820.

[0138] The information fusion subsystem 810 is configured to acquire the first pose information of the segment to be assembled, the positioning information of the position to be assembled, and the angular velocity information of the segment to be assembled, and determine the second pose information of the segment to be assembled based on the angular velocity information of the segment to be assembled.

[0139] In some embodiments, the time corresponding to the second pose information is the moment preceding the time corresponding to the first pose information.

[0140] In some embodiments, the information fusion subsystem 810 includes an information transmission module and an information fusion module, wherein the information transmission module is configured to acquire and transmit various types of information, and the information fusion module is configured to perform information fusion processing.

[0141] In some embodiments, the first pose information and the positioning information of the assembly position are determined by fusing image information acquired by a moving binocular camera and a fixed binocular camera in the image detection device. If the speed of the segment to be assembled is greater than or equal to a speed threshold when the image detection device acquires the image, the weight of the first pose information and the positioning information of the assembly position determined based on the image information acquired by the moving binocular camera is reduced.

[0142] The segment control module 820 is configured to adjust the position of the segment to be assembled based on the first and second position information of the segment to be assembled, the positioning information of the position to be assembled, and the position information of the assembled segment, so as to hoist the segment to be assembled to the position to be assembled. It is also configured to adjust the position of the segment to be assembled if the axial and radial installation accuracy between the segment to be assembled and the assembled segment do not meet the corresponding accuracy requirements, so as to make the axial and radial installation accuracy between the segment to be assembled and the assembled segment meet the corresponding accuracy requirements.

[0143] In some embodiments, the information fusion subsystem 810 is configured to: determine the angle information that the segment to be assembled needs to be adjusted based on the first pose information of the segment to be assembled and the pose information of the assembled segment; determine the first angular deviation of the segment to be assembled relative to the assembly position based on the angle information that the segment to be assembled needs to be adjusted; determine the second angular deviation of the segment to be assembled relative to the assembly position based on the second pose information of the segment to be assembled and the positioning information of the assembly position; and fuse the first angular deviation and the second angular deviation, and determine whether the segment to be assembled matches the positioning information of the assembly position based on the fused angular deviation. The segment control module 820 controls the motion mechanism of the assembly machine where the segment to be assembled is located based on the results output by the information fusion subsystem 810.

[0144] The first pose information includes a first coordinate system established based on the target points of the segments to be assembled, and the pose information of the assembled segments includes a second coordinate system established based on one or more target points of the assembled segments. The target points of the segments to be assembled include the lifting bolt holes of the segments to be assembled; and the one or more target points of the assembled segments include at least one of the one or more lifting bolt holes of the assembled segments, and / or at least one of the one or more connecting bolt holes.

[0145] In some embodiments, the information fusion subsystem 810 determines the angle that the segment to be assembled needs to be adjusted along each coordinate axis when the coordinates of each assembled segment target point in the second coordinate system and the coordinates of each assembled segment target point projected into the first coordinate system coincide with the corresponding coordinate axis direction of the second coordinate system, based on the coordinates of each assembled segment target point in the second coordinate system and the coordinates of each assembled segment target point projected into the first coordinate system.

[0146] In some embodiments, the information fusion subsystem 810 is configured to use the difference between the first angle deviation and the second angle deviation as the segment angle deviation value, and to determine whether the segment angle deviation value is zero. If the segment angle deviation value is zero, it is determined that the positioning information of the segment to be assembled matches the positioning information of the position to be assembled; otherwise, it is determined that the segment to be assembled does not match the positioning information of the position to be assembled. For example, it is determined whether the calculated angle deviation values ​​of multiple consecutive segments are zero; if they are zero, it is determined that the segment to be assembled matches the positioning information of the position to be assembled.

[0147] In some other embodiments of this disclosure, the information fusion subsystem 810 is further configured to acquire displacement information and acceleration information of the segment to be assembled, determine the first velocity information of the segment to be assembled based on the displacement information, determine the second velocity information of the segment to be assembled based on the acceleration information, and fuse the first velocity information and the second velocity information; the segment control module 820 is further configured to control the movement speed of the segment to be assembled using the fused velocity information.

[0148] In this embodiment, by controlling the movement speed of the segments to be assembled, it is possible to avoid large movement impacts caused by excessive speed.

[0149] In some other embodiments of this disclosure, the information fusion subsystem 810 is further configured to acquire axial pressure information between the segment to be assembled and the segment already assembled, and to determine whether the axial installation accuracy between the segment to be assembled and the segment already assembled meets the axial installation accuracy requirements based on the comparison result of the pressure information and the pressure threshold.

[0150] In some embodiments, the information fusion subsystem 810 determines the axial deviation between the segment to be assembled and the segment already assembled based on the image information between them; it then fuses the pressure information with the pressure threshold with the axial deviation to determine whether the axial installation accuracy between the segment to be assembled and the segment already assembled meets the axial installation accuracy requirements.

[0151] In some other embodiments of this disclosure, the information fusion subsystem 810 is further configured to acquire the laser propagation time between the segments to be assembled and the assembled segments in the radial direction, and to determine whether the radial installation accuracy between the segments to be assembled and the assembled segments meets the radial installation accuracy requirements based on the comparison result of the laser propagation time and the time threshold.

[0152] In some embodiments, the information fusion subsystem 810 determines the radial deviation between the tube segment to be assembled and the assembled tube segment based on the image information between them; it then fuses the comparison result of the laser propagation time and the time threshold with the radial deviation to determine whether the radial installation accuracy between the tube segment to be assembled and the assembled tube segment meets the radial installation accuracy requirements.

[0153] In the above embodiments, the accuracy of segment assembly can be adjusted by judging the axial and radial installation accuracy between the segments to be assembled and the segments already assembled.

[0154] Figure 9 The diagram below illustrates the structure of another embodiment of the segment assembly apparatus 900 disclosed herein. The segment assembly apparatus 900 includes a memory 910 and a processor 920. The memory 910 can be a disk, flash memory, or any other non-volatile storage medium. The memory 910 is used to store instructions from the above embodiments. The processor 920 is coupled to the memory 910 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 920 is used to execute the instructions stored in the memory.

[0155] In some embodiments, the processor 920 is coupled to the memory 910 via a BUS bus 930. The device 900 can also be connected to an external storage system 950 via a storage interface 940 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 960. Further details are omitted here.

[0156] In this embodiment, storing data instructions in a memory and then processing the instructions with a processor can improve the efficiency and accuracy of automatic segment assembly.

[0157] Figure 10 This is a schematic diagram of the structure of some embodiments of the segment assembly system disclosed herein. The segment assembly system includes an information detection subsystem 1010 and a segment assembly device 1020. The segment assembly device 1020 includes an information fusion subsystem 1021 and a segment control module 1022. The segment assembly device 1020 has been described in detail in the above embodiments and will not be further elaborated here. The information detection subsystem 1010 is configured to detect information about the segments to be assembled, the positions to be assembled, and the segments already assembled.

[0158] In some embodiments, such as Figure 11 As shown, the segment assembly system also includes a segment motion mechanism 1030, which is configured to move according to the information output by the segment assembly device 1020 to adjust the position of the segment to be assembled.

[0159] In some embodiments, such as Figure 11 As shown, the information detection subsystem 1010 includes an image detection device 1011 and an IMU 1012.

[0160] The image inspection device 1011 is configured to detect the first pose information of the segment to be assembled and the positioning information of the assembly position.

[0161] In some embodiments, the image detection device 1011 includes an image sensor and an image processing unit. The image sensor is configured to acquire images, and the image processing unit is configured to calculate the first pose information of the segment to be assembled and the positioning information of the position to be assembled.

[0162] Image sensors are mounted on the segment movement mechanism and the assembled segments. For example, the image sensor may include multiple binocular cameras, which can be fixed or moving cameras, such as... Figure 12 As shown, the mobile camera 1011 is mounted on the segment motion mechanism and moves with the segment motion mechanism. The fixed camera is mounted on the assembled segment via a tripod. The fixed camera consists of two binocular cameras with intersecting angles.

[0163] The IMU 1012 is configured to detect the angular velocity and acceleration information of the segments to be assembled. For example... Figure 12 As shown, the IMU 1012 is installed on the fine-tuning platform in the segment motion mechanism. By detecting the angular velocity and acceleration data of the fine-tuning platform, the angular velocity and acceleration information of the segment to be assembled are determined.

[0164] In some embodiments, the information detection subsystem 1010 further includes a displacement sensor 1013, configured to detect the displacement information of the segment to be assembled. The displacement sensor 1013 is installed in the hydraulic cylinder of the segment movement mechanism, and the displacement information of the segment to be assembled is determined by detecting the displacement information of the hydraulic cylinder.

[0165] In some embodiments, the information detection subsystem 1010 further includes a pressure sensor 1014 configured to detect axial pressure information between the segment to be assembled and the assembled segment. The pressure sensor 1014 is disposed between the segment to be assembled and the assembled segment.

[0166] In some embodiments, the information detection subsystem 1010 further includes a laser sensor 1015, configured to detect the laser propagation time radially between the segment to be assembled and the assembled segment. The laser sensor 1015 is disposed between the segment to be assembled and the assembled segment.

[0167] In the above embodiments, the information detection subsystem detects the information of the segment to be assembled and the assembly position, and the information fusion subsystem fuses and processes the information detected by the information detection subsystem and inputs it to the segment control module. The segment control module controls the movement of the segment motion mechanism. While eliminating the angular deviation between the segment to be assembled and the assembly position, it can avoid generating large movement impacts and improve the efficiency and accuracy of segment assembly.

[0168] In other embodiments, a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the methods described above. Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0169] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0170] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0171] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0172] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0173] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for assembling tunnel segments, comprising: The first pose information of the segment to be assembled, the positioning information of the position to be assembled, and the angular velocity information, displacement information and acceleration information of the segment to be assembled are obtained. Based on the angular velocity information of the segment to be assembled, the second pose information of the segment to be assembled is determined; Based on the first pose information of the segment to be assembled and the pose information of the assembled segment, the first angular deviation of the segment to be assembled relative to the position to be assembled is determined. Based on the second pose information of the segment to be assembled and the positioning information of the position to be assembled, the second angular deviation of the segment to be assembled relative to the position to be assembled is determined; Based on the displacement information of the segment to be assembled, the first velocity information of the segment to be assembled is determined, and based on the acceleration information of the segment to be assembled, the second velocity information of the segment to be assembled is determined. The first velocity information and the second velocity information are then fused together. The first angular deviation and the second angular deviation are fused together. Based on the fused angular deviation, it is determined whether the segment to be assembled matches the positioning information of the assembly position. By adjusting the pose of the segment to be assembled and using the fused speed information, the movement speed of the segment to be assembled is controlled to hoist the segment to the assembly position. If the axial and radial installation accuracy between the segment to be assembled and the segment already assembled does not meet the corresponding accuracy requirements, the position of the segment to be assembled is adjusted so that the axial and radial installation accuracy between the segment to be assembled and the segment already assembled meets the corresponding accuracy requirements.

2. The segment assembly method according to claim 1 further includes: Obtain the axial pressure information between the segment to be assembled and the assembled segment; as well as Based on the comparison results between the pressure information and the pressure threshold, it is determined whether the axial installation accuracy between the segment to be assembled and the segment already assembled meets the axial installation accuracy requirements.

3. The segment assembly method according to claim 1 further includes: The laser propagation time between the radial distance between the segment to be assembled and the assembled segment is obtained; as well as Based on the comparison between the laser propagation time and the time threshold, it is determined whether the radial installation accuracy between the segment to be assembled and the already assembled segment meets the radial installation accuracy requirements.

4. A segmental pipe assembling method according to any one of claims 1 to 3, wherein The first pose information includes a first coordinate system established based on the target point of the segment to be assembled, and the pose information of the assembled segment includes a second coordinate system established based on one or more target points of the assembled segment. Determining the first angular deviation of the segment to be assembled relative to the assembly position based on the first pose information of the segment to be assembled and the pose information of the assembled segment includes: Based on the coordinates of each assembled segment target point in the second coordinate system and the coordinates of each assembled segment target point projected into the first coordinate system, the angle that the segment to be assembled needs to be adjusted along each coordinate axis is determined when the directions of each coordinate axis in the first coordinate system coincide with the corresponding coordinate axis directions in the second coordinate system.

5. The segmental pipe assembling method according to claim 4, wherein The target points for the segments to be assembled include the lifting bolt holes of the segments to be assembled; as well as The one or more assembled segment target points include: at least one of one or more lifting bolt holes of the assembled segment, and / or at least one of one or more connecting bolt holes.

6. The segmental pipe assembling method according to claim 3, wherein The time corresponding to the second pose information is the moment preceding the time corresponding to the first pose information. The process of fusing the first angle deviation and the second angle deviation, and determining whether the segment to be assembled matches the positioning information of the position to be assembled based on the fused angle deviation, includes: The difference between the first angle deviation and the second angle deviation is taken as the segment angle deviation value, and it is determined whether the segment angle deviation value is zero; and If the angle deviation of the segment is zero, it is determined that the positioning information of the segment to be assembled matches the positioning information of the position to be assembled; otherwise, it is determined that the positioning information of the segment to be assembled does not match the positioning information of the position to be assembled.

7. The segmental pipe assembling method according to claim 6, wherein Determining whether the segment angle deviation value is zero includes: Determine whether the calculated consecutive angle deviation values ​​of the tube segments are zero.

8. A segmental pipe assembling method according to any one of claims 1 to 3, wherein The first pose information and the positioning information of the position to be assembled are determined by fusing image information acquired by a moving binocular camera and a fixed binocular camera in an image detection device. If the speed of the segment to be assembled is greater than or equal to a speed threshold when the image detection device acquires an image, the weights of the first pose information determined based on the image information acquired by the moving binocular camera and the positioning information of the segment to be assembled are reduced.

9. The segment assembly method according to claim 2 further includes: Based on the image information between the segment to be assembled and the segment already assembled, the axial deviation between the segment to be assembled and the segment already assembled is determined; as well as The comparison result of the pressure information and the pressure threshold is fused with the axial deviation to determine whether the axial installation accuracy between the segment to be assembled and the segment already assembled meets the axial installation accuracy requirements.

10. The segment assembly method according to claim 3 further includes: Based on the image information between the segment to be assembled and the segment already assembled, the radial deviation between the segment to be assembled and the segment already assembled is determined; as well as The comparison result of the laser propagation time and the time threshold is fused with the radial deviation to determine whether the radial installation accuracy between the segment to be assembled and the segment already assembled meets the radial installation accuracy requirements.

11. A segment assembly device, comprising: The information fusion subsystem is configured to acquire the first pose information of the segment to be assembled, the positioning information of the assembly position, and the angular velocity information, displacement information, and acceleration information of the segment to be assembled; determine the second pose information of the segment to be assembled based on the angular velocity information; determine the first velocity information of the segment to be assembled based on the displacement information; determine the second velocity information of the segment to be assembled based on the acceleration information; and perform fusion processing on the first velocity information and the second velocity information. as well as The segment control module is configured to determine a first angular deviation of the segment to be assembled relative to the assembly position based on the first pose information of the segment to be assembled and the pose information of the assembled segment; determine a second angular deviation of the segment to be assembled relative to the assembly position based on the second pose information of the segment to be assembled and the positioning information of the assembly position; fuse the first angular deviation and the second angular deviation; determine whether the segment to be assembled matches the positioning information of the assembly position based on the fused angular deviation; and adjust the pose of the segment to be assembled to ensure that the axial and radial installation accuracy between the segment to be assembled and the assembled segment meets the corresponding accuracy requirements.

12. The segment assembly device according to claim 11, wherein, The information fusion subsystem is also configured to acquire the axial pressure information between the segment to be assembled and the segment already assembled, and to determine whether the axial installation accuracy between the segment to be assembled and the segment already assembled meets the axial installation accuracy requirements based on the comparison result of the pressure information and the pressure threshold.

13. The segment assembly device according to claim 11, wherein, The information fusion subsystem is also configured to acquire the laser propagation time between the radial direction of the segment to be assembled and the segment already assembled, and to determine whether the radial installation accuracy between the segment to be assembled and the segment already assembled meets the radial installation accuracy requirements based on the comparison result of the laser propagation time and the time threshold.

14. A pipe patching apparatus according to any one of claims 11 to 13 wherein, The time corresponding to the second pose information is the moment preceding the time corresponding to the first pose information, wherein, The segment control module is configured to use the difference between the first angle deviation and the second angle deviation as the segment angle deviation value, and to determine whether the segment angle deviation value is zero; and if the segment angle deviation value is zero, to determine that the positioning information of the segment to be assembled matches the positioning information of the position to be assembled; otherwise, to determine that the positioning information of the segment to be assembled does not match the positioning information of the position to be assembled.

15. A segment assembly device, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the segment assembly method as described in any one of claims 1 to 10 based on instructions stored in the memory.

16. A segment assembly system, comprising: The segment assembly apparatus according to any one of claims 11 to 15; as well as The information detection subsystem is configured to detect information about the segments to be assembled, the positions to be assembled, and the segments that have already been assembled.

17. The segment assembly system according to claim 16, further comprising: The segment motion mechanism is configured to move according to the information output by the segment assembly device to adjust the position of the segment to be assembled.

18. The segmental pipe assembly system of claim 17, wherein, The information detection subsystem includes: An image detection device is configured to detect the first pose information of the segment to be assembled and the positioning information of the assembly position; and The IMU (Inertial Measurement Unit) is configured to detect the angular velocity and acceleration information of the segments to be assembled.

19. The segmental pipe assembly system of claim 18, wherein, The information detection subsystem further includes one or more of a displacement sensor, a pressure sensor, and a laser sensor, wherein... The displacement sensor is configured to detect the displacement information of the segment to be assembled; The pressure sensor is configured to detect axial pressure information between the segment to be assembled and the assembled segment; and The laser sensor is configured to detect the laser propagation time in the radial direction between the segment to be assembled and the assembled segment.

20. The segment assembly system according to claim 18, wherein, The image detection device includes an image sensor and an image processing unit, wherein the image sensor is mounted on the segment movement mechanism and the assembled segment; and The IMU is installed on the fine-tuning platform in the segment motion mechanism.

21. The segment assembly system according to claim 19, wherein, The displacement sensor is installed inside the hydraulic cylinder of the segment movement mechanism; and The pressure sensor and the laser sensor are positioned between the pipe segment to be assembled and the assembled pipe segment.

22. The segment assembly system according to any one of claims 16 to 21, wherein, When the segment to be assembled is the first segment of the ring to be assembled, the assembled segment is the complete ring segment that is axially adjacent to the segment to be assembled. as well as When the segment to be assembled is not the first segment of the ring to be assembled, the assembled segment is the complete ring segment that is axially adjacent to the segment to be assembled and the assembled segment that is circumferentially adjacent.

23. A non-transitory computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the segment assembly method according to any one of claims 1 to 10.

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