Automatic partition wall grabbing control method and system and partition wall assembling device

Abstract

The application discloses a kind of middle partition wall automatic grabbing control method and system, middle partition wall assembling equipment, it obtains the relative position vector of grabbing hole first, then obtains the attitude angle deviation between grabbing mechanism and middle partition wall and converts it into rotation matrix, then the relative position vector and rotation matrix are fused to obtain the pose matrix of grabbing hole, finally based on the pose matrix of grabbing hole directly adjusts the current pose of grabbing mechanism, can be aligned grabbing hole automatic grabbing middle partition wall.It is obtained by first obtaining the pose matrix of grabbing hole, then it is used as target pose to adjust the pose of grabbing mechanism, can be aligned grabbing hole and automatically grabbed operation, without through automobile carrying platform to adjust the pose of middle partition wall, grabbing precision is no longer influenced by the adjustment accuracy of automobile carrying platform and the manufacturing accuracy of middle partition wall, greatly improve the automatic grabbing accuracy of middle partition wall, and simplify middle partition wall grabbing operation process, improve construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to an automatic grabbing and control method and system for a central partition wall. Furthermore, it also relates to a central partition wall assembly device using the above system. Background Technology

[0002] Precast diaphragm wall assembly technology for large-diameter shield tunnels has become one of the mainstream technologies in tunnel construction, and with continuous technological development, the technology is becoming increasingly mature. Currently, diaphragm wall assembly mainly employs mechanized manual assembly. Due to the long size and heavy weight of the precast diaphragm walls, coupled with the limited operating space within the tunnel, workers encounter problems such as interference, difficulty in adjustment, and inaccurate observation when aligning the gripping holes. The gripping operation often requires multiple workers to cooperate in observation and adjustment to complete the alignment. Furthermore, issues such as low alignment accuracy of the gripping holes, difficulty in inserting the gripping pins, and insecure gripping and locking frequently occur, affecting the efficiency of diaphragm wall assembly and the overall tunnel construction progress. Therefore, there is an urgent need to develop a new diaphragm wall gripping technology to solve the aforementioned problems in the gripping process.

[0003] Patent CN114704285A discloses a system for adjusting the posture and gripping / lifting a prefabricated central partition wall in a shield tunnel, along with its automated control method. This system uses four sets of gripping hole recognition laser sensors and a central hole vision recognition system on a central partition wall installation machine to detect the distance and angle difference between the machine and the central partition wall to be installed. Then, it remotely controls a vehicle-mounted platform to adjust the position and angle of the central partition wall, thereby achieving the gripping of the wall. However, this method requires simultaneous alignment of the four gripping holes and one central hole on the central partition wall, demanding high adjustment precision from the vehicle-mounted platform. Furthermore, it requires close cooperation with the central partition wall installation machine to complete the gripping. In practice, this method is difficult to implement due to limitations in the adjustment precision of the vehicle-mounted platform and the manufacturing precision of the central partition wall, resulting in inaccurate gripping and low operational efficiency. In addition, remote communication suffers from unstable signals, susceptibility to interference, and poor real-time performance. Summary of the Invention

[0004] This invention provides an automatic gripping control method and system for central partition walls, as well as a central partition wall assembly device, to solve the technical problem that existing automatic gripping methods for central partition walls are difficult to accurately grip due to the influence of adjustment accuracy and manufacturing accuracy of the central partition walls.

[0005] According to one aspect of the present invention, an automatic grasping control method for a central partition wall is provided, comprising the following:

[0006] Obtain the relative position vector of the grabbing holes on the middle partition wall;

[0007] Obtain the attitude angle deviation between the grasping mechanism and the central partition wall, and convert it into a rotation matrix;

[0008] The relative position vector and rotation matrix are fused to obtain the pose matrix of the gripping hole;

[0009] After adjusting the current pose of the gripping mechanism based on the pose matrix of the gripping hole, it automatically grips the middle partition wall.

[0010] Furthermore, the gripping mechanism is equipped with a first ultrasonic sensor, a second ultrasonic sensor, a third ultrasonic sensor, a fourth ultrasonic sensor, and a fifth ultrasonic sensor. The first and second ultrasonic sensors are used to measure their distances to the top surface of the partition wall, and both are located at the same horizontal height. The third, fourth, and fifth ultrasonic sensors are used to measure their distances to the surface where the gripping hole is located. The third and fourth ultrasonic sensors are located at different horizontal heights on the same vertical line, and the fourth and fifth ultrasonic sensors are located at the same horizontal height. The process of obtaining the attitude angle deviation between the gripping mechanism and the partition wall includes the following:

[0011] Obtain the distance between the first and second ultrasonic sensors, the distance between the third and fourth ultrasonic sensors, and the distance between the fourth and fifth ultrasonic sensors;

[0012] Obtain the distance detection results from five ultrasonic sensors;

[0013] Based on the distance detection results of the five ultrasonic sensors, the distance between the first and second ultrasonic sensors, the distance between the third and fourth ultrasonic sensors, and the distance between the fourth and fifth ultrasonic sensors, the pitch angle deviation, yaw angle deviation, and rotation angle deviation between the gripping mechanism and the central partition wall are calculated.

[0014] Furthermore, the pitch angle deviation between the gripping mechanism and the central partition wall is calculated based on the following formula:

[0015]

[0016] Where α represents the pitch angle deviation between the gripping mechanism and the central partition wall, L1 and L2 represent the distance detection values ​​of the first ultrasonic sensor and the second ultrasonic sensor, respectively, and d1 represents the distance between the first ultrasonic sensor and the second ultrasonic sensor.

[0017] Furthermore, the sway angle deviation between the gripping mechanism and the central partition wall is calculated based on the following formula:

[0018]

[0019] Where β represents the sway angle deviation between the gripping mechanism and the central partition wall, L3 and L4 represent the distance detection values ​​of the third and fourth ultrasonic sensors, respectively, and d2 represents the distance between the third and fourth ultrasonic sensors.

[0020] Furthermore, the rotation angle deviation between the gripping mechanism and the central partition wall is calculated based on the following formula:

[0021]

[0022] Where γ represents the rotation angle deviation between the gripping mechanism and the central partition wall, L4 and L5 represent the distance detection values ​​of the fourth and fifth ultrasonic sensors, respectively, and d3 represents the distance between the fourth and fifth ultrasonic sensors.

[0023] Furthermore, after adjusting the current pose of the grasping mechanism, the following is also included:

[0024] Calculate the pose deviation between the actual pose of the gripping mechanism and the target pose. If the pose deviation meets the gripping accuracy, then perform automatic gripping; otherwise, continue to adjust the pose of the gripping mechanism.

[0025] Furthermore, it also includes the following:

[0026] Detect the distance between the top surface of the bottom box culvert and the top segment of the tunnel, and determine whether the distance meets the requirements for the central partition wall to flip. If it does, flip the central partition wall 90° to a vertical state.

[0027] Furthermore, it also includes the following:

[0028] During the movement of the partition wall, the system detects whether there are any obstacles above, below, or in front of the partition wall, and if so, it issues an alarm.

[0029] In addition, the present invention also provides an automatic grasping control system for a central partition wall, comprising:

[0030] The position acquisition module is used to obtain the relative position vector of the grabbing hole on the middle partition wall;

[0031] The angle deviation acquisition module is used to acquire the attitude angle deviation between the gripping mechanism and the middle partition wall, and convert it into a rotation matrix;

[0032] The pose fusion module is used to fuse the relative position vector with the rotation matrix to obtain the pose matrix of the gripping hole;

[0033] The pose adjustment and gripping module is used to adjust the current pose of the gripping mechanism based on the pose matrix of the gripping hole, and then automatically grip the middle partition wall.

[0034] In addition, the present invention also provides a partition wall assembly device, which adopts the automatic gripping and control system for the partition wall as described above.

[0035] The present invention has the following effects:

[0036] The automatic gripping control method for the partition wall of this invention first obtains the relative position vector of the gripping hole, then obtains the attitude angle deviation between the gripping mechanism and the partition wall, and converts it into a rotation matrix. The relative position vector and rotation matrix are then fused to obtain the pose matrix of the gripping hole. Finally, based on the pose matrix of the gripping hole, the current pose of the gripping mechanism is directly adjusted to automatically grip the partition wall. This automatic gripping control method for the partition wall of this invention, by first obtaining the pose matrix of the gripping hole and then using it as the target pose to adjust the pose of the gripping mechanism, can automatically grip the partition wall without the need for adjusting the pose of the partition wall via a vehicle transport platform. The gripping accuracy is no longer affected by the adjustment accuracy of the vehicle transport platform or the manufacturing accuracy of the partition wall, greatly improving the automatic gripping accuracy of the partition wall, simplifying the partition wall gripping operation process, and increasing construction efficiency.

[0037] In addition, the automatic grabbing control system for the central partition wall and the central partition wall assembly equipment of the present invention also have the above-mentioned advantages.

[0038] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0039] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0040] Figure 1 This is a flowchart illustrating the automatic grasping control method for the partition wall in a preferred embodiment of the present invention.

[0041] Figure 2 This is a structural schematic diagram of the partition wall assembly equipment according to a preferred embodiment of the present invention.

[0042] Figure 3 yes Figure 1 A schematic diagram of the sub-process of step S2.

[0043] Figure 4 This is a schematic diagram illustrating the principle of measuring the pitch angle deviation, yaw angle deviation, and rotation angle deviation between the gripping mechanism and the central partition wall in a preferred embodiment of the present invention.

[0044] Figure 5This is a flowchart illustrating an automatic grasping control method for a partition wall according to another embodiment of the present invention.

[0045] Figure 6 This is a flowchart illustrating an automatic grasping control method for a partition wall according to another embodiment of the present invention.

[0046] Figure 7 This is a schematic diagram of the module structure of the automatic grabbing control system for the middle partition wall according to another embodiment of the present invention. Detailed Implementation

[0047] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0048] Understandable, such as Figure 1 As shown, a preferred embodiment of the present invention provides an automatic grasping control method for a partition wall, comprising the following:

[0049] Step S1: Obtain the relative position vector of the grabbing holes on the partition wall;

[0050] Step S2: Obtain the attitude angle deviation between the gripping mechanism and the central partition wall, and convert it into a rotation matrix;

[0051] Step S3: Fuse the relative position vector with the rotation matrix to obtain the pose matrix of the gripping hole;

[0052] Step S4: After adjusting the current pose of the gripping mechanism based on the pose matrix of the gripping hole, automatically grip the middle partition wall.

[0053] It is understood that the automatic partition wall grasping control method of this embodiment first obtains the relative position vector of the grasping hole, then obtains the attitude angle deviation between the grasping mechanism and the partition wall, and converts it into a rotation matrix. Then, the relative position vector and the rotation matrix are fused to obtain the pose matrix of the grasping hole. Finally, based on the pose matrix of the grasping hole, the current pose of the grasping mechanism is directly adjusted, and the partition wall can be automatically grasped by aligning with the grasping hole. The automatic partition wall grasping control method of this invention, by first obtaining the pose matrix of the grasping hole and then using it as the target pose to adjust the pose of the grasping mechanism, can automatically grasp the partition wall by aligning with the grasping hole. It eliminates the need to adjust the pose of the partition wall through a vehicle transport platform, and the grasping accuracy is no longer affected by the adjustment accuracy of the vehicle transport platform or the manufacturing accuracy of the partition wall, greatly improving the automatic grasping accuracy of the partition wall, simplifying the partition wall grasping operation process, and improving construction efficiency.

[0054] It is understood that in step S1, before the first automatic gripping, the gripping mechanism is aligned with the gripping hole on the central partition wall, and the relative pose relationship between the industrial camera on the gripping mechanism and the gripping hole is calibrated. Then, during automatic gripping, the industrial camera is used to capture an image of the gripping hole. After filtering the image, it is input into the OpenCV library for template matching, 3D reconstruction, pose calculation, etc., to obtain the relative position vector P(x,y,z) of the gripping hole. The specific process is existing technology and will not be described in detail here.

[0055] It is understood that the gripping mechanism is equipped with a first ultrasonic sensor, a second ultrasonic sensor, a third ultrasonic sensor, a fourth ultrasonic sensor, and a fifth ultrasonic sensor. The first and second ultrasonic sensors are used to measure their distances to the top surface of the partition wall, and both are located at the same horizontal height. The third, fourth, and fifth ultrasonic sensors are used to measure their distances to the surface where the gripping hole is located, and the third and fourth ultrasonic sensors are located at different horizontal heights on the same vertical line, while the fourth and fifth ultrasonic sensors are located at the same horizontal height. It is understood that, as... Figure 2 As shown, the partition wall assembly equipment includes a translation mechanism, a gripping mechanism, and an auxiliary installation mechanism. The translation mechanism drives the tunnel axial movement of the partition wall assembly equipment. The end section of the gripping mechanism can be finely adjusted with six degrees of freedom to grip, lock, and flip the partition wall. The auxiliary installation mechanism is used to install the top connectors and tighten the partition wall connecting bolts during the assembly of the partition wall. The partition wall assembly equipment is an existing product, so its specific structural components will not be described in detail here. The first and second ultrasonic sensors are mounted on the top surface of the gripping mechanism's fixed frame. The third and fourth ultrasonic sensors are located on the right beam of the gripping mechanism's fixed frame. The fifth ultrasonic sensor is located on the left beam of the gripping mechanism's fixed frame and is at the same horizontal height as the fourth ultrasonic sensor. It can be understood that... Figure 3 As shown, in step S2, the process of obtaining the attitude angle deviation between the gripping mechanism and the central partition wall includes the following:

[0056] Step S21: Obtain the distance between the first ultrasonic sensor and the second ultrasonic sensor, the distance between the third ultrasonic sensor and the fourth ultrasonic sensor, and the distance between the fourth ultrasonic sensor and the fifth ultrasonic sensor;

[0057] Step S22: Obtain the distance detection results from the five ultrasonic sensors;

[0058] Step S23: Based on the distance detection results of the five ultrasonic sensors, the distance between the first and second ultrasonic sensors, the distance between the third and fourth ultrasonic sensors, and the distance between the fourth and fifth ultrasonic sensors, calculate the pitch angle deviation, yaw angle deviation, and rotation angle deviation between the gripping mechanism and the central partition wall.

[0059] Specifically, such as Figure 4 As shown, after obtaining the distance detection value L1 of the first ultrasonic sensor and the distance detection value L2 of the second ultrasonic sensor, and combining this with the distance d1 between the first and second ultrasonic sensors, the pitch angle deviation between the gripping mechanism and the central partition wall can be calculated based on the following formula:

[0060]

[0061] Where α represents the pitch angle deviation between the gripping mechanism and the central partition wall, L1 and L2 represent the distance detection values ​​of the first ultrasonic sensor and the second ultrasonic sensor, respectively, and d1 represents the distance between the first ultrasonic sensor and the second ultrasonic sensor.

[0062] Similarly, after obtaining the distance detection value L3 of the third ultrasonic sensor and the distance detection value L4 of the fourth ultrasonic sensor, and combining this with the distance d2 between the third and fourth ultrasonic sensors, the sway angle deviation between the gripping mechanism and the central partition wall can be calculated based on the following formula:

[0063]

[0064] Where β represents the sway angle deviation between the gripping mechanism and the central partition wall, L3 and L4 represent the distance detection values ​​of the third and fourth ultrasonic sensors, respectively, and d2 represents the distance between the third and fourth ultrasonic sensors.

[0065] Similarly, after obtaining the distance detection value L4 of the fourth ultrasonic sensor and the distance detection value L5 of the fifth ultrasonic sensor, and combining this with the distance d3 between the third and fourth ultrasonic sensors, the rotation angle deviation between the gripping mechanism and the central partition wall can be calculated based on the following formula:

[0066]

[0067] Where γ represents the rotation angle deviation between the gripping mechanism and the central partition wall, L4 and L5 represent the distance detection values ​​of the fourth and fifth ultrasonic sensors, respectively, and d3 represents the distance between the fourth and fifth ultrasonic sensors.

[0068] Then, the Euler angles α, β, and γ are converted into a rotation matrix R.3×3 , can be represented as:

[0069] R 3×3 =R z (γ)R y (β)R x (α).

[0070] The specific conversion process is existing technology and will not be elaborated here.

[0071] It can be understood that in step S3, the relative position vector P(x,y,z) and the rotation matrix R are... 3×3 By fusing the data, the pose matrix T of the grasping hole can be obtained, which can be represented as:

[0072] It is understood that this invention combines image recognition technology and ultrasonic ranging technology. Image recognition is used to obtain the position of the gripping hole, and ultrasonic ranging is used to obtain the attitude angle deviation between the partition wall and the gripping mechanism. Thus, the current pose of the gripping hole can be obtained, which greatly reduces the cost compared to 3D point cloud attitude measurement.

[0073] It is understood that in step S4, the pose matrix of the gripping hole is used as the target pose to adjust the pose of the gripping mechanism. After adjusting the gripping mechanism to the target pose, it can be aligned with the gripping hole. The process of adjusting the pose of the gripping mechanism is existing technology and will not be elaborated further. For example, Newton's iteration method can be used to substitute the pose matrix T into the established kinematic model for inverse kinematics solution, thereby obtaining the target motion quantities of each joint of the gripping mechanism. Then, the corresponding actions of each joint of the gripping mechanism can be controlled. After the gripping mechanism is aligned with the gripping hole, it can automatically perform pin insertion, hydraulic cylinder locking, and other operations, thus achieving automatic gripping of the partition wall.

[0074] Optionally, in step S4, after adjusting the pose of the gripping mechanism, the following is also included:

[0075] Calculate the pose deviation between the actual pose of the gripping mechanism and the target pose. If the pose deviation meets the gripping accuracy, then perform automatic gripping; otherwise, continue to adjust the pose of the gripping mechanism.

[0076] It is understandable that since the gripping mechanism adjusts its posture through the action of hydraulic cylinders, and hydraulic cylinder adjustment has a certain degree of error, in order to ensure that the gripping mechanism meets the gripping accuracy after posture adjustment, this invention, after adjusting the current posture of the gripping mechanism, again uses a camera and an ultrasonic ranging sensor to obtain the actual posture of the gripping hole, that is, the actual posture T' of the gripping mechanism, and then calculates the posture deviation between the actual posture T' and the target posture T. If the posture deviation meets the preset gripping accuracy, the gripping mechanism can be controlled to perform automatic gripping; if the posture deviation does not meet the preset gripping accuracy, the posture of the gripping mechanism continues to be adjusted until the gripping accuracy is met.

[0077] Optionally, such as Figure 5 As shown, the automatic grabbing control method for the central partition wall also includes the following:

[0078] Step S5: Detect the distance between the top surface of the bottom box culvert and the top segment of the tunnel, and determine whether the distance meets the requirements for the central partition wall to be flipped. If it does, flip the central partition wall 90° to a vertical state.

[0079] It is understandable that when accurately assembling the central partition after it has been grabbed, since the central partition is in a horizontal state when grabbed, but needs to be adjusted to a vertical state during assembly, this invention also uses a laser sensor to detect the distance between the top surface of the bottom box culvert and the top tunnel segment, and determines whether the distance meets the requirements for the central partition to flip, that is, whether the central partition can be flipped 90° within this distance range. If it meets the requirements, the central partition is flipped 90° to a vertical state; if it does not meet the requirements, an alarm is issued.

[0080] Optionally, such as Figure 6 As shown, the automatic grabbing control method for the central partition wall also includes the following:

[0081] Step S6: During the movement of the partition wall, detect whether there are any obstacles above, below, and in front of the partition wall. If any are found, issue an alarm.

[0082] It is understandable that during the process of moving the partition wall to the assembly area after it is picked up, ultrasonic sensors or lidar are used to detect whether there are any obstacles above, below, or in front of the partition wall to avoid interference or collision during movement. If there are no obstacles, the partition wall is moved directly to the assembly area; if there are obstacles, an alarm is triggered.

[0083] In addition, such as Figure 7 As shown, another embodiment of the present invention also provides an automatic gripping control system for a central partition wall, preferably employing the automatic gripping control method for a central partition wall as described above, comprising:

[0084] The position acquisition module is used to obtain the relative position vector of the grabbing hole on the middle partition wall;

[0085] The angle deviation acquisition module is used to acquire the attitude angle deviation between the gripping mechanism and the middle partition wall, and convert it into a rotation matrix;

[0086] The pose fusion module is used to fuse the relative position vector with the rotation matrix to obtain the pose matrix of the gripping hole;

[0087] The pose adjustment and gripping module is used to adjust the current pose of the gripping mechanism based on the pose matrix of the gripping hole, and then automatically grip the middle partition wall.

[0088] It is understood that the automatic partition wall gripping control system of this embodiment first obtains the relative position vector of the gripping hole, then obtains the attitude angle deviation between the gripping mechanism and the partition wall, and converts it into a rotation matrix. Then, the relative position vector and the rotation matrix are fused to obtain the pose matrix of the gripping hole. Finally, based on the pose matrix of the gripping hole, the current pose of the gripping mechanism is directly adjusted, and the partition wall can be automatically gripped by aligning with the gripping hole. The automatic partition wall gripping control system of this invention, by first obtaining the pose matrix of the gripping hole and then using it as the target pose to adjust the pose of the gripping mechanism, can automatically grip the partition wall by aligning with the gripping hole. It eliminates the need to adjust the pose of the partition wall through a vehicle transport platform, and the gripping accuracy is no longer affected by the adjustment accuracy of the vehicle transport platform or the manufacturing accuracy of the partition wall, greatly improving the automatic gripping accuracy of the partition wall, simplifying the partition wall gripping operation process, and improving construction efficiency.

[0089] In addition, the automatic grasping control system for the central partition wall also includes:

[0090] The flip-off spacing detection module is used to detect the distance between the top surface of the bottom box culvert and the top segment of the tunnel, and to determine whether the distance meets the requirements for flipping the central partition wall. If it does, the central partition wall is flipped 90° to a vertical state.

[0091] In addition, the automatic grasping control system for the central partition wall also includes:

[0092] The anti-collision detection module is used to detect whether there are obstacles above, below, and in front of the moving partition wall during the process, and to issue an alarm if any are found.

[0093] In addition, another embodiment of the present invention provides a partition wall assembly device, which adopts the automatic gripping and control system for the partition wall as described above.

[0094] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0095] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An automatic grasping and control method for a partition wall, characterized in that, Includes the following: Obtain the relative position vector of the grabbing holes on the middle partition wall; Obtain the attitude angle deviation between the grasping mechanism and the central partition wall, and convert it into a rotation matrix; The relative position vector and rotation matrix are fused to obtain the pose matrix of the gripping hole; After adjusting the current pose of the gripping mechanism based on the pose matrix of the gripping hole, it automatically grips the middle partition wall. The gripping mechanism is equipped with a first ultrasonic sensor, a second ultrasonic sensor, a third ultrasonic sensor, a fourth ultrasonic sensor, and a fifth ultrasonic sensor. The first and second ultrasonic sensors measure their distances to the top surface of the partition wall and are both at the same horizontal height. The third, fourth, and fifth ultrasonic sensors measure their distances to the surface where the gripping hole is located. The third and fourth ultrasonic sensors are located at different horizontal heights on the same vertical line, while the fourth and fifth ultrasonic sensors are at the same horizontal height. The process of obtaining the attitude angle deviation between the gripping mechanism and the partition wall includes the following: Obtain the distance between the first and second ultrasonic sensors, the distance between the third and fourth ultrasonic sensors, and the distance between the fourth and fifth ultrasonic sensors; Obtain the distance detection results from five ultrasonic sensors; Based on the distance detection results of the five ultrasonic sensors, the distance between the first and second ultrasonic sensors, the distance between the third and fourth ultrasonic sensors, and the distance between the fourth and fifth ultrasonic sensors, the pitch angle deviation, yaw angle deviation, and rotation angle deviation between the gripping mechanism and the central partition wall are calculated.

2. The automatic grasping and control method for the middle partition wall as described in claim 1, characterized in that, The pitch angle deviation between the gripping mechanism and the central partition wall is calculated based on the following formula: ； Where α represents the pitch angle deviation between the gripping mechanism and the central partition wall, L1 and L2 represent the distance detection values ​​of the first ultrasonic sensor and the second ultrasonic sensor, respectively, and d1 represents the distance between the first ultrasonic sensor and the second ultrasonic sensor.

3. The automatic grasping and control method for the middle partition wall as described in claim 1, characterized in that, The sway angle deviation between the gripping mechanism and the central partition wall is calculated based on the following formula: ； Where β represents the sway angle deviation between the gripping mechanism and the central partition wall, L3 and L4 represent the distance detection values ​​of the third and fourth ultrasonic sensors, respectively, and d2 represents the distance between the third and fourth ultrasonic sensors.

4. The automatic grasping and control method for the middle partition wall as described in claim 1, characterized in that, The rotation angle deviation between the gripping mechanism and the central partition wall is calculated based on the following formula: ； Where γ represents the rotation angle deviation between the gripping mechanism and the central partition wall, L4 and L5 represent the distance detection values ​​of the fourth and fifth ultrasonic sensors, respectively, and d3 represents the distance between the fourth and fifth ultrasonic sensors.

5. The automatic grasping and control method for the middle partition wall as described in claim 1, characterized in that, After adjusting the current pose of the gripping mechanism, the following also applies: Calculate the pose deviation between the actual pose of the gripping mechanism and the target pose. If the pose deviation meets the gripping accuracy, then perform automatic gripping; otherwise, continue to adjust the pose of the gripping mechanism.

6. The automatic grasping and control method for the middle partition wall as described in claim 1, characterized in that, Also includes the following: Detect the distance between the top surface of the bottom box culvert and the top segment of the tunnel, and determine whether the distance meets the requirements for the central partition wall to flip. If it does, flip the central partition wall 90° to a vertical state.

7. The automatic grasping and control method for the middle partition wall as described in claim 1, characterized in that, Also includes the following: During the movement of the partition wall, the system detects whether there are any obstacles above, below, or in front of the partition wall, and if so, it issues an alarm.

8. An automatic gripping control system for a central partition wall, employing the automatic gripping control method for a central partition wall as described in any one of claims 1 to 7, characterized in that, include: The position acquisition module is used to obtain the relative position vector of the grabbing hole on the middle partition wall; The angle deviation acquisition module is used to acquire the attitude angle deviation between the gripping mechanism and the middle partition wall, and convert it into a rotation matrix; The pose fusion module is used to fuse the relative position vector with the rotation matrix to obtain the pose matrix of the gripping hole; The pose adjustment and gripping module is used to adjust the current pose of the gripping mechanism based on the pose matrix of the gripping hole, and then automatically grip the middle partition wall.

9. A partition wall assembly device, characterized in that, The automatic grabbing and control system for the partition wall as described in claim 8 is adopted.

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