Open TBM steel arch installation system and method based on binocular camera

Abstract

The present disclosure relates to a binocular camera-based open TBM steel arch installation system and method, comprising: a steel arch installer, a plurality of fixed markers, a plurality of mobile markers, a host computer, a binocular camera and a programmable controller respectively in communication connection with the host computer; the plurality of fixed markers are installed on the steel arch installer, and the plurality of fixed markers are installed on the same circular surface; the plurality of mobile markers are installed on the steel arch that has completed assembly or on the fully expanded steel arch to be assembled; the binocular camera is installed on the central axis of the front shield of the tunnel boring machine, and the field of view of the binocular camera contains the mobile markers installed on the steel arch that has completed assembly, the mobile markers installed on the fully expanded steel arch to be assembled and the plurality of fixed markers installed on the steel arch installer. The accuracy of the steel arch installation positioning is improved, thereby improving the accuracy of the steel arch installation and avoiding affecting the tensioning of the subsequent support boots.

Description

Technical Field

[0001] This disclosure relates to the field of tunnel boring machine (TBM) construction technology, and in particular to an open-type TBM steel arch frame installation system and method based on a binocular camera. Background Technology

[0002] TBM (Tunnel Boring Machine) is a tunnel construction machine that integrates tunnel excavation, muck removal, support, and ventilation functions, enabling one-time tunnel excavation. In open-face TBM construction, after excavation, steel arch frames are installed to support the tunnel and improve its stability and safety. Therefore, improving the rationality of steel arch frame installation can enhance the stability and safety of the tunnel to a certain extent.

[0003] In related technologies, the distance between two steel arch frames during installation is determined manually. However, manual positioning has a certain degree of error. If there is an error in the distance between the two steel arch frames, it will not only directly affect the quality of the steel arch frame support, but also affect the tightness of the subsequent open-type TBM support shoes. This is because the support shoes of the tunnel boring machine need to be supported on the tunnel wall after excavation, and the support shoes have grooves reserved for the steel arch frames. If the installation and positioning of the steel arch frames are inaccurate, it will affect the tightness of the subsequent support shoes. Summary of the Invention

[0004] To overcome the technical problem of inaccurate installation positioning of steel arch frames during the installation process of tunnel boring machines (TBMs) in related technologies, this disclosure provides an open-type TBM steel arch frame installation system and method based on a binocular camera.

[0005] In a first aspect of this disclosure, an open-type TBM steel arch mounting system based on a binocular camera is provided, comprising:

[0006] The system includes a steel arch frame installer, multiple fixed markers, multiple movable markers, a host computer, a binocular camera and a programmable controller that are respectively connected to the host computer for communication.

[0007] Among them, multiple fixed markers are installed on the steel arch frame installer, and multiple fixed markers are installed on the same circular surface, while multiple movable markers are installed on the steel arch frame that has been assembled or on the fully unfolded steel arch frame to be assembled.

[0008] The binocular camera is installed on the central axis of the front shield of the tunnel boring machine, and the field of view of the binocular camera includes the movable marker installed on the assembled steel arch, the movable marker installed on the fully unfolded steel arch to be assembled, and a plurality of fixed markers installed on the steel arch installer.

[0009] The binocular camera is used to capture first images corresponding to the plurality of mobile markers installed on the completed assembled steel arches, and capture second images corresponding to the plurality of fixed markers installed on the steel arch installer, in the case that there is an incompletely unfolded steel arch to be assembled on the steel arch installer;

[0010] The upper computer is used to calculate first coordinates of the plurality of mobile markers on the completed assembled steel arches according to the first images corresponding to the plurality of mobile markers, and calculate second coordinates of the plurality of fixed markers installed on the steel arch installer according to the second images corresponding to the plurality of fixed markers; fit a circle according to the first coordinates of the plurality of mobile markers to calculate first center point coordinates of the plurality of mobile markers, and fit a circle according to the second coordinates of the plurality of fixed markers to calculate second center point coordinates of a plane on which the plurality of fixed markers are located;

[0011] According to the first center point coordinates, the second center point coordinates, and a pre-stored initial center point coordinate difference value on the upper computer, an actual distance between the steel arch to be assembled and the completed assembled steel arch is determined, and the steel arch to be assembled is installed in the case that the actual distance is equal to a preset steel arch spacing.

[0012] In a possible implementation, the binocular camera is further used to:

[0013] In the case that the open type TBM steel arch installation system based on the binocular camera is used for the first time, if there is a completely unfolded steel arch to be assembled on the steel arch installer and a plurality of mobile markers are installed on the completely unfolded steel arch to be assembled, an initial mobile marker image corresponding to the plurality of mobile markers installed on the completely unfolded steel arch to be assembled is captured, and an initial fixed marker image corresponding to the plurality of fixed markers installed on the steel arch installer is captured;

[0014] The upper computer is further used to:

[0015] According to the initial mobile marker image corresponding to the plurality of mobile markers, initial coordinates of the plurality of mobile markers installed on the completely unfolded steel arch to be assembled are calculated, and according to the initial fixed marker image corresponding to the plurality of fixed markers, initial coordinates of the plurality of fixed markers installed on the steel arch installer are calculated;

[0016] According to the initial coordinates of the plurality of mobile markers, initial center point coordinates of the plurality of mobile markers installed on the completely unfolded steel arch to be assembled are calculated, and according to the initial coordinates of the plurality of fixed markers, initial center point coordinates of a plane on which the plurality of fixed markers are located are calculated;

[0017] According to the initial center point coordinates of the plurality of mobile markers and the initial center point coordinates of the plane where the plurality of fixed markers are located, the initial center point coordinate difference value is determined.

[0018] In a possible implementation, the host computer is further configured to:

[0019] The initial center point coordinate difference value is calculated as a coordinate difference value between the initial center point coordinates of the plurality of mobile markers and the initial center point coordinates of the plane where the plurality of fixed markers are located.

[0020] In a possible implementation, the host computer is further configured to:

[0021] The oil cylinder extension amount of the steel arch installation device in the programmable controller is obtained.

[0022] According to the oil cylinder extension amount, a difference between a preset distance between steel arches and a first distance, the oil cylinder extension amount and the oil cylinder extension speed are controlled, wherein the first distance is a distance between a steel arch that has been assembled in a previous ring and a steel arch to be assembled.

[0023] In a possible implementation, the installation of each mobile marker satisfies the following conditions:

[0024] In the case where the mobile marker is installed on the steel arch that has been assembled, a base of the mobile marker is close to an edge of a front shield plane and is in contact with an inner wall of the steel arch that has been assembled close to the edge of the front shield.

[0025] In the case where the mobile marker is installed on the steel arch to be assembled that is fully unfolded, the base of the mobile marker is installed on an inner wall of the steel arch to be assembled that is fully unfolded and close to the edge of the front shield.

[0026] In a possible implementation, the host computer is configured to:

[0027] The coordinate distance between the first center point coordinate and the second center point coordinate is calculated.

[0028] The sum of the coordinate distance and an initial center point coordinate difference value pre-stored on the host computer is calculated to obtain an actual distance between the steel arch to be assembled and the steel arch that has been assembled.

[0029] In a possible implementation, the guide roller on the steel arch installation device is configured to clamp the steel arch to be assembled, and when the guide roller on the steel arch installation device is fully unfolded and clamps the steel arch to be assembled, a longitudinal plane center of the guide roller coincides with a longitudinal plane center of the steel arch to be assembled that is fully unfolded.

[0030] In a possible implementation, the number of the plurality of fixed markers and the plurality of mobile markers is greater than or equal to 3.

[0031] In a second aspect of the embodiments of the present disclosure, a method for installing an open TBM steel arch is provided, which is performed by the host computer in the system for installing an open TBM steel arch based on a binocular camera according to any one of the first aspect.

[0032] The technical solutions provided by the embodiments of the present disclosure can have the following beneficial effects:

[0033] The plurality of fixed markers are installed on the steel arch installer, and the plurality of fixed markers are installed on the same circular surface. The plurality of mobile markers are installed on the completed assembled steel arch or the fully expanded steel arch to be assembled. The binocular camera is installed on the central axis of the front shield of the tunnel boring machine, and the field of view of the binocular camera contains the mobile markers installed on the completed assembled steel arch, the mobile markers installed on the fully expanded steel arch to be assembled, and the plurality of fixed markers installed on the steel arch installer. The binocular camera is used to capture a first image corresponding to the plurality of mobile markers installed on the completed assembled steel arch, and capture a second image corresponding to the plurality of fixed markers installed on the steel arch installer, in the case that there is an incomplete expanded steel arch to be assembled on the steel arch installer. The host computer is used to calculate the first coordinates of the plurality of mobile markers on the completed assembled steel arch according to the first image corresponding to the plurality of mobile markers, and calculate the second coordinates of the plurality of fixed markers installed on the steel arch installer according to the second image corresponding to the plurality of fixed markers. A circle is fitted according to the first coordinates of the plurality of mobile markers to calculate the first center point coordinates of the plurality of mobile markers, and a circle is fitted according to the second coordinates of the plurality of fixed markers to calculate the second center point coordinates of the plane on which the plurality of fixed markers are located. The actual distance between the steel arch to be assembled and the completed assembled steel arch is determined according to the first center point coordinates, the second center point coordinates, and the initial center point coordinate difference value pre-stored on the host computer, and the steel arch to be assembled is installed in the case that the actual distance is equal to the preset steel arch spacing. The accuracy of the steel arch installation and positioning is improved, thereby improving the accuracy of the steel arch installation and avoiding affecting the tensioning of the subsequent support shoe.

[0034] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0036] Figure 1FIG. 1 is a front view of a binocular camera-based open TBM steel arch installation system according to an example embodiment.

[0037] Figure 2 FIG. 2 is a side view of a binocular camera-based open TBM steel arch installation system according to an example embodiment.

[0038] Figure 3 FIG. 3 is a front view of a mobile marker according to an example embodiment.

[0039] Figure 4 FIG. 4 is a front view of a binocular camera according to an example embodiment.

[0040] Figure 5 FIG. 5 is a flowchart of a binocular camera-based open TBM steel arch installation method according to an example embodiment. DETAILED DESCRIPTION

[0041] The example embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to designate the same elements, unless otherwise indicated. The embodiments described in the following example embodiments are not meant to represent all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0042] Figure 1 FIG. 6 is a structural diagram of a binocular camera-based open TBM steel arch installation system according to an example embodiment. As shown in FIG. 6, the binocular camera-based open TBM steel arch installation system includes: Figure 1

[0043] a steel arch installer, a plurality of fixed markers, a plurality of mobile markers, an upper computer, a binocular camera and a programmable controller in communication with the upper computer, respectively;

[0044] As shown in FIG. 6, the steel arch installer 2 is used to assemble a steel arch to be assembled, and a guide roller 1 on the steel arch installer 2 is used to clamp the steel arch to be assembled. When the guide roller 1 on the steel arch installer 2 is fully deployed and clamps the steel arch to be assembled, the longitudinal center of the guide roller 1 coincides with the longitudinal center of the fully deployed steel arch to be assembled. Figure 1

[0045] The steel arch to be assembled and the steel arch that has been assembled are both I-beams, and the inner wall of the I-beam is the side close to the center of the I-beam.

[0046] ​​The plurality of fixed markers are installed on the steel arch installation device, and the plurality of fixed markers are installed on the same circular surface; the plurality of mobile markers are installed on the completed steel arch or the fully expanded steel arch to be assembled;

[0047] As shown in Figure 1 and Figure 2 As shown in the drawings, the base of the mobile marker 8 is installed on the inner wall of the completed steel arch 9 or the inner wall of the fully expanded steel arch 4 to be assembled by using a magnet, and as shown in the drawings, the base of the mobile marker 8 is close to the edge of the inner wall of the completed steel arch 9 or the inner wall of the fully expanded steel arch 4 to be assembled near the side of the front shield 5 plane and parallel. Figure 3

[0048] The binocular camera is installed on the central axis of the front shield of the tunnel boring machine, and the field of view of the binocular camera contains the mobile markers installed on the completed steel arch, the mobile markers installed on the fully expanded steel arch to be assembled, and the plurality of fixed markers installed on the steel arch installation device;

[0049] The binocular camera is used to shoot the first image corresponding to the plurality of mobile markers installed on the completed steel arch when there is an incomplete expanded steel arch to be assembled on the steel arch installation device, and to shoot the second image corresponding to the plurality of fixed markers installed on the steel arch installation device;

[0050] As shown in Figure 4 The binocular camera 6 is installed on the central axis of the front shield 5, and its field of view can contain the mobile markers 8 installed on the completed steel arch 9, the mobile markers 8 installed on the fully expanded steel arch 4 to be assembled, and the fixed markers 3 installed on the steel arch installation device 2; the binocular camera 6 is used to shoot the images of the mobile markers 8 installed on the completed steel arch 9 and the fixed markers 3 installed on the steel arch installation device 2 when there is an incomplete expanded steel arch 7 to be assembled on the steel arch installation device 2; the binocular camera is also used to shoot the images of the plurality of mobile markers 8 installed on the fully expanded steel arch 4 to be assembled and the fixed markers 3 installed on the steel arch installation device 2 when the system is used for the first time, there is a fully expanded steel arch 4 to be assembled on the steel arch installation device 2, and there are a plurality of mobile markers 8 installed on the fully expanded steel arch 4 to be assembled.

[0051] The coordinate center of the binocular camera 6 is definable as (0, 0, 0), so the coordinates of the mobile markers and the fixed markers calculated according to the images shot by the binocular camera are three-dimensional coordinates. ​

[0052] The upper computer is configured to calculate first coordinates of the plurality of mobile markers on the completed assembled steel arch based on first images corresponding to the plurality of mobile markers, and calculate second coordinates of the plurality of fixed markers installed on the steel arch installer based on second images corresponding to the plurality of fixed markers; fit a circle based on the first coordinates of the plurality of mobile markers to calculate first center point coordinates of the plurality of mobile markers, and fit a circle based on the second coordinates of the plurality of fixed markers to calculate second center point coordinates of a plane on which the plurality of fixed markers are located.

[0053] The upper computer communicates with the binocular camera 6 and controls the binocular camera 6 to take images, the binocular camera 6 transmits the taken images to the upper computer, the upper computer processes the images, calculates coordinates of the plurality of mobile markers 8 on the completed assembled steel arch 9 and coordinates of the plurality of fixed markers 3 installed on the steel arch installer 2 when the steel arch installer 2 has the to-be-assembled steel arch 7 that is not completely unfolded, and simultaneously calculates center point coordinates of the plurality of mobile markers 8 installed on the completed assembled steel arch 9 based on the coordinates of the plurality of mobile markers 8 on the completed assembled steel arch 9, and calculates center point coordinates of a plane on which the plurality of fixed markers 3 are located based on the coordinates of the plurality of fixed markers 3 installed on the steel arch installer 2 when the steel arch installer 2 has the to-be-assembled steel arch 7 that is not completely unfolded.

[0054] According to the first center point coordinates, the second center point coordinates, and a pre-stored initial center point coordinate difference value on the upper computer, an actual distance between the to-be-assembled steel arch and the completed assembled steel arch is determined, and the to-be-assembled steel arch is installed when the actual distance is equal to a preset steel arch spacing.

[0055] The upper computer is further configured to communicate with the programmable controller, acquire an oil cylinder extension amount of the steel arch installer 2 in the programmable controller, and control the oil cylinder extension amount and the speed of the oil cylinder extension according to a difference between the oil cylinder extension amount and a distance between a previously assembled steel arch and the to-be-assembled steel arch.

[0056] The multiple fixed markers are installed on the steel arch installation device, and the multiple fixed markers are installed on the same circular surface, and the multiple mobile markers are installed on the completed steel arch or the fully expanded steel arch to be assembled; the binocular camera is installed on the central axis of the front shield of the tunnel boring machine, and the field of view of the binocular camera includes the mobile markers installed on the completed steel arch, the mobile markers installed on the fully expanded steel arch to be assembled, and the multiple fixed markers installed on the steel arch installation device; the binocular camera is used to capture a first image corresponding to the multiple mobile markers installed on the completed steel arch, and capture a second image corresponding to the multiple fixed markers installed on the steel arch installation device, in the case that there is an incomplete expanded steel arch to be assembled on the steel arch installation device; the host computer is used to calculate first coordinates of the multiple mobile markers on the completed steel arch according to the first image corresponding to the multiple mobile markers, and calculate second coordinates of the multiple fixed markers installed on the steel arch installation device according to the second image corresponding to the multiple fixed markers; a circle is fitted according to the first coordinates of the multiple mobile markers to calculate first center point coordinates of the multiple mobile markers, and a circle is fitted according to the second coordinates of the multiple fixed markers to calculate second center point coordinates of the plane where the multiple fixed markers are located; the actual distance between the steel arch to be assembled and the completed steel arch is determined according to the first center point coordinates, the second center point coordinates and a pre-stored initial center point coordinate difference on the host computer, and the steel arch to be assembled is installed in the case that the actual distance is equal to a preset steel arch spacing. The accuracy of the steel arch installation and positioning is improved, thereby improving the accuracy of the steel arch installation and avoiding affecting the subsequent bracing of the boots.

[0057] In a possible implementation, the binocular camera is further used to:

[0058] In the case that the open type TBM steel arch installation system based on the binocular camera is used for the first time, if there is a fully expanded steel arch to be assembled on the steel arch installation device and multiple mobile markers are installed on the fully expanded steel arch to be assembled, an initial mobile marker image corresponding to the multiple mobile markers installed on the fully expanded steel arch to be assembled is captured, and an initial fixed marker image corresponding to the multiple fixed markers installed on the steel arch installation device is captured;

[0059] The host computer is further used to:

[0060] The host computer is further used to:

[0061] Fitting a circle according to initial coordinates of the plurality of mobile markers, calculating initial center point coordinates of the plurality of mobile markers installed on the fully unfolded steel arch to be assembled, and fitting a circle according to initial coordinates of the plurality of fixed markers, calculating initial center point coordinates of the plane where the plurality of fixed markers are located;

[0062] According to the initial center point coordinates of the plurality of mobile markers and the initial center point coordinates of the plane where the plurality of fixed markers are located, the initial center point coordinate difference value is determined.

[0063] The upper computer is also used for image processing of the plurality of mobile markers 8 installed on the fully unfolded steel arch to be assembled 4 and the fixed markers 3 installed on the steel arch installer 2 at the initial use, calculating coordinates of the plurality of mobile markers 8 installed on the fully unfolded steel arch to be assembled 4 and coordinates of the plurality of fixed markers 3 installed on the steel arch installer 2, fitting a circle according to the coordinates of the plurality of mobile markers 8 installed on the fully unfolded steel arch to be assembled 4 to calculate center point coordinates of the plurality of mobile markers 8 installed on the fully unfolded steel arch to be assembled 4, and fitting a circle according to the coordinates of the plurality of fixed markers 3 installed on the steel arch installer 2 to calculate center point coordinates of the plane where the plurality of fixed markers 3 are located.

[0064] In a possible implementation, the upper computer is also used for:

[0065] The initial center point coordinate difference value is obtained by calculating the coordinate difference value between the initial center point coordinates of the plurality of mobile markers and the initial center point coordinates of the plane where the plurality of fixed markers are located.

[0066] In a possible implementation, the upper computer is also used for:

[0067] The cylinder extension amount of the steel arch installer in the programmable controller is obtained.

[0068] The cylinder extension amount and the cylinder extension speed are controlled according to the cylinder extension amount, a difference between a preset distance between steel arches and a first distance, and the first distance is a distance between a steel arch of a previous ring that has been assembled and a steel arch to be assembled.

[0069] The upper computer is also used for communication with the programmable controller, obtaining the cylinder extension amount of the steel arch installer 2 in the programmable controller, and controlling the cylinder extension amount and the cylinder extension speed according to the cylinder extension amount and a difference between a preset distance between steel arches and a distance between a steel arch of a previous ring that has been assembled and a steel arch to be assembled.

[0070] In a possible implementation, the installation of each mobile marker satisfies the following conditions:

[0071] In the case that the mobile marker is installed on the completed assembled steel arch, the base of the mobile marker is close to the edge of the front shield and abuts to the inner wall of the completed assembled steel arch.

[0072] In the case that the mobile marker is installed on the completed assembled steel arch, the base of the mobile marker is close to the edge of the front shield and abuts to the inner wall of the completed assembled steel arch.

[0073] In a possible implementation, the host computer is configured to:

[0074] calculate the coordinate distance between the first center point coordinate and the second center point coordinate;

[0075] calculate the sum of the coordinate distance and the initial center point coordinate difference pre-stored on the host computer to obtain the actual distance between the to-be-assembled steel arch and the completed assembled steel arch.

[0076] In a possible implementation, the guide roller on the steel arch installer is configured to clamp the to-be-assembled steel arch, and when the guide roller on the steel arch installer is fully unfolded and clamps the to-be-assembled steel arch, the longitudinal center of the guide roller coincides with the longitudinal center of the fully unfolded to-be-assembled steel arch.

[0077] In a possible implementation, the number of the plurality of fixed markers and the plurality of mobile markers is greater than or equal to 3.

[0078] The disclosure also provides an open type TBM steel arch installation method based on a binocular camera, which is executed by the host computer in the open type TBM steel arch installation system based on a binocular camera according to any one of the foregoing embodiments.

[0079] Referring to Figure 5 The open type TBM steel arch installation method based on a binocular camera includes the following steps:

[0080] In step S51, the first coordinates of the plurality of mobile markers on the completed assembled steel arch are calculated according to the first images corresponding to the plurality of mobile markers, and the second coordinates of the plurality of fixed markers installed on the steel arch installer are calculated according to the second images corresponding to the plurality of fixed markers.

[0081] In step S52, the first center point coordinates of the plurality of mobile markers are calculated by fitting a circle according to the first coordinates of the plurality of mobile markers, and the second center point coordinates of the plane on which the plurality of fixed markers are located are calculated by fitting a circle according to the second coordinates of the plurality of fixed markers.

[0082] In step S53, the actual distance between the to-be-assembled steel arch and the completed assembled steel arch is determined according to the first center point coordinate, the second center point coordinate, and the initial center point coordinate difference pre-stored on the host computer, and the to-be-assembled steel arch is installed when the actual distance is equal to the preset steel arch spacing.

[0083] Initial positioning of the fixed markers and the mobile markers when the to-be-assembled steel arch is fully unfolded on the steel arch installer:

[0084] When the to-be-assembled steel arch exists on the steel arch installer and is fully unfolded, a plurality of mobile markers are installed on the fully unfolded to-be-assembled steel arch, the host computer controls the binocular camera to take images, and the host computer processes the images to calculate the coordinates of the plurality of mobile markers installed on the fully unfolded to-be-assembled steel arch and the coordinates of the plurality of fixed markers installed on the steel arch installer, fit a circle according to the coordinates of the plurality of mobile markers installed on the fully unfolded to-be-assembled steel arch to calculate the center point coordinate of the plurality of mobile markers installed on the fully unfolded to-be-assembled steel arch, fit a circle according to the coordinates of the plurality of fixed markers installed on the steel arch installer to calculate the center point coordinate of the plane where the plurality of fixed markers installed on the steel arch installer are located, calculate the difference between the center point coordinate of the plurality of mobile markers installed on the fully unfolded to-be-assembled steel arch and the center point coordinate of the plane where the plurality of fixed markers installed on the steel arch installer are located, and record the difference to the host computer. Since the distance between the center coordinates of the plurality of mobile markers installed on the completed assembled steel arch and the plurality of fixed markers installed on the steel arch installer is used for positioning the steel arch subsequently, the above-mentioned difference can be used as the fixed difference between the installation planes of the mobile markers and the fixed markers. Subsequently, only the distance difference between the center point coordinates of the plurality of mobile markers installed on the completed assembled steel arch and the plurality of fixed markers installed on the steel arch installer needs to be added to the above-mentioned fixed difference to obtain the distance between the to-be-assembled steel arch and the completed assembled steel arch.

[0085] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. The disclosure is intended to cover any variations, uses, or adaptations of the disclosure following the general principles thereof and including such departures from the present disclosure that come within known

[0086] It should be understood that the present disclosure is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An open-type TBM steel arch frame installation system based on a binocular camera, characterized in that, include: The system includes a steel arch frame installer, multiple fixed markers, multiple movable markers, a host computer, a binocular camera and a programmable controller that are respectively connected to the host computer for communication. Among them, multiple fixed markers are installed on the steel arch frame installer, and multiple fixed markers are installed on the same circular surface, while multiple movable markers are installed on the steel arch frame that has been assembled or on the fully unfolded steel arch frame to be assembled. The binocular camera is installed on the central axis of the front shield of the tunnel boring machine, and the field of view of the binocular camera includes the movable marker installed on the assembled steel arch, the movable marker installed on the fully unfolded steel arch to be assembled, and a plurality of fixed markers installed on the steel arch installer. The binocular camera is used to capture a first image corresponding to a plurality of movable markers installed on a completed steel arch frame when there is an incompletely unfolded steel arch frame to be assembled on the steel arch frame installer, and to capture a second image corresponding to a plurality of fixed markers installed on the steel arch frame installer. The host computer is used to calculate the first coordinates of the multiple movable markers on the assembled steel arch frame based on the first images corresponding to the multiple movable markers, and to calculate the second coordinates of the multiple fixed markers installed on the steel arch frame installer based on the second images corresponding to the multiple fixed markers; to fit a circle based on the first coordinates of the multiple movable markers to calculate the first center point coordinates of the multiple movable markers, and to fit a circle based on the second coordinates of the multiple fixed markers to calculate the second center point coordinates of the plane in which the multiple fixed markers are located; Based on the coordinates of the first center point, the coordinates of the second center point, and the difference between the initial center point coordinates stored on the host computer, the actual distance between the steel arch frame to be assembled and the already assembled steel arch frame is determined, and the steel arch frame to be assembled is installed when the actual distance is equal to the preset steel arch frame spacing.

2. The open-type TBM steel arch frame installation system based on a binocular camera according to claim 1, characterized in that, The binocular camera is also used for: In the case of the first use of the open TBM steel arch frame installation system based on binocular cameras, if there is a fully unfolded steel arch frame to be assembled on the steel arch frame installer and multiple moving markers are installed on the fully unfolded steel arch frame to be assembled, take an initial moving marker image corresponding to the multiple moving markers installed on the fully unfolded steel arch frame to be assembled, and take an initial fixed marker image corresponding to the multiple fixed markers installed on the steel arch frame installer. The host computer is also used for: Based on the initial images of the multiple movable markers corresponding to the multiple movable markers, calculate the initial coordinates of the multiple movable markers installed on the fully unfolded steel arch frame to be assembled; and based on the initial images of the multiple fixed markers corresponding to the multiple fixed markers, calculate the initial coordinates of the multiple fixed marker points installed on the steel arch frame installer. Based on the initial coordinate fitting circle of the multiple movable markers, calculate the initial center point coordinates of the multiple movable markers installed on the fully unfolded steel arch frame to be assembled, and based on the initial coordinate fitting circle of the multiple fixed markers, calculate the initial center point coordinates of the plane where the multiple fixed markers are located. The initial center point coordinate difference is determined based on the initial center point coordinates of the multiple moving markers and the initial center point coordinates of the plane where the multiple fixed markers are located.

3. The open-type TBM steel arch frame installation system based on a binocular camera according to claim 2, characterized in that, The host computer is also used for: The coordinate difference between the initial center point coordinates of the multiple moving markers and the initial center point coordinates of the plane where the multiple fixed markers are located is calculated to obtain the initial center point coordinate difference.

4. The open-type TBM steel arch frame installation system based on a binocular camera according to claim 1, characterized in that, The host computer is also used for: Obtain the cylinder extension amount of the steel arch frame installer in the programmable controller; The cylinder extension amount and cylinder extension speed are controlled based on the difference between the cylinder extension amount, the preset spacing between steel arch frames, and the first distance. The first distance is the distance between the steel arch frame that has been assembled in the previous ring and the steel arch frame to be assembled.

5. The open-type TBM steel arch frame installation system based on a binocular camera according to claim 1, characterized in that, The installation of each of the aforementioned mobile markers satisfies the following conditions: When the mobile marker is installed on the assembled steel arch, the base of the mobile marker is close to the front shield plane, and the parallel side is in close contact with the inner wall of the assembled steel arch near the edge of the front shield. When the mobile marker is installed on the fully deployed steel arch frame to be assembled, the base of the mobile marker is installed on the inner wall of the fully deployed steel arch frame to be assembled and near the edge of the front shield.

6. The open-type TBM steel arch frame installation system based on a binocular camera according to claim 1, characterized in that, The host computer is used for: Calculate the coordinate distance between the coordinates of the first center point and the coordinates of the second center point; The actual distance between the steel arch frame to be assembled and the pre-stored initial center point coordinates on the host computer is obtained by calculating the sum of the coordinate distance and the difference between the coordinate distance and the pre-assembled steel arch frame.

7. The open-type TBM steel arch mounting system based on a binocular camera according to any one of claims 1-6, characterized in that, The guide rollers on the steel arch frame installer are used to clamp the steel arch frame to be assembled. When the guide rollers of the steel arch frame installer are fully extended and clamp the steel arch frame to be assembled, the center of the longitudinal plane where the guide rollers are located coincides with the center of the longitudinal plane of the fully extended steel arch frame to be assembled.

8. The open-type TBM steel arch mounting system based on a binocular camera according to any one of claims 1-6, characterized in that, The number of both the fixed markers and the mobile markers is greater than or equal to 3.

9. A method for installing an open-type TBM steel arch frame based on a binocular camera, characterized in that, The operation is performed by the host computer in the open-type TBM steel arch frame installation system based on a binocular camera as described in any one of claims 1-8.

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