Visual intelligent shield segment assembling system

Abstract

The present application relates to the technical field of shield machine, and discloses a visual intelligent shield machine segment assembling system, which comprises an industrial camera device, an industrial camera adjusting device, a segment assembling remote controller and a segment assembling machine, the industrial camera adjusting device is used for adjusting the lens angle of the industrial camera, the industrial camera device and the industrial camera adjusting device are both arranged on the segment assembling machine, the segment assembling remote controller is used for controlling the operation of the segment assembling machine, the industrial camera device and the industrial camera adjusting device, the segment assembling remote controller is used for receiving the segment image collected by the industrial camera device, and the segment assembling machine is controlled according to the camera reference mark line, the segment boundary line and the segment preset splicing position boundary line in the segment image to suck and lay the segment.The present application is based on three industrial cameras and a reference mark line, does not need to repeatedly manually adjust the position and posture of the segment assembling machine, reduces the workload of the workers, improves the work efficiency and the segment assembling precision, and improves the automation degree of the segment assembling work.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine technology, and more specifically to a visual intelligent tunnel boring machine segment assembly system. Background Technology

[0002] A tunnel boring machine (TBM) is a specialized piece of machinery used for tunnel construction, primarily in subway, highway, water conservancy, and railway tunnel projects. The segment assembler, a crucial component of the TBM, assembles prefabricated concrete segments to form a continuous tunnel structure.

[0003] Currently, tunnel segment assembly mainly relies on visual assessment of the segment's position and orientation. Technicians then use a remote control to operate a segment assembly machine, controlling the segment grabbing, orientation adjustment, and individual segment splicing, repeating this process until the entire ring of segments is assembled. However, visual assessment has significant errors, resulting in low assembly accuracy and poor splicing efficiency. Therefore, a visual intelligent tunnel boring machine segment assembly system that can improve assembly accuracy is particularly important. Summary of the Invention

[0004] The present invention aims to provide a visual intelligent tunnel boring machine segment assembly system to solve the problems of low segment assembly accuracy and poor splicing efficiency.

[0005] To achieve the above objectives, the present invention provides a visual intelligent tunnel boring machine segment assembly system, including an industrial camera device, an industrial camera adjustment device, a segment assembly remote controller, and a segment assembly machine. The industrial camera adjustment device is used to adjust the lens angle of the industrial camera. Both the industrial camera device and the industrial camera adjustment device are mounted on the segment assembly machine. The segment assembly remote controller is used to control the operation of the segment assembly machine, the industrial camera device, and the industrial camera adjustment device. The segment assembly remote controller is used to receive segment images captured by the industrial camera device and control the segment assembly machine to pick up segments and place segments at preset assembly positions based on the camera reference lines, segment edge lines, and preset splicing position edge lines in the segment images.

[0006] Preferably, the segment assembly remote controller includes an operation module and a display module. The operation module is used to control the operation of the segment assembly machine, the industrial camera device, and the industrial camera adjustment device, and the display module is used to display the segment images captured by the industrial camera.

[0007] Preferably, the segment assembly remote controller is also used to obtain the type of the segment to be installed, and control the industrial camera adjustment device to change the lens angle of the industrial camera to the corresponding preset angle according to the segment type.

[0008] Preferably, the display module is a touch display, and the touch display has markings.

[0009] Preferably, the industrial camera includes a first industrial camera, a second industrial camera, and a third industrial camera. The first, second, and third industrial cameras are all mounted on the connecting beam of the segment assembly machine. The second and third industrial cameras are symmetrically mounted on both sides of the connecting beam of the segment assembly machine. The first industrial camera is located in the middle of the segment assembly beam. When the segment assembly machine grabs the segment, the reference line of the first industrial camera coincides with the edge of the segment end face.

[0010] Preferably, it also includes a supplementary lighting device, which is used to provide supplementary lighting for the first industrial camera, the second industrial camera, and the third industrial camera.

[0011] Preferably, the industrial camera adjustment device includes a mounting plate, a motor, a first gear, and a second gear. The mounting plate is fixedly connected to the connecting beam of the segment assembly machine. The first and second gears are vertically mounted on the mounting plate and are rotatably connected to it. The second gear is a half gear, and the first and second gears mesh with each other. The second and third industrial cameras are mounted on their respective second gears, with their axes perpendicular to the axes of the corresponding second gears. The motor is fixed to the mounting plate and drives the first gear to rotate. When the motor rotates, it drives the first gear to rotate, which in turn drives the second gear to rotate. The corresponding second gears then drive the second and third industrial cameras to rotate, thereby changing the lens angles of the second and third industrial cameras. This ensures that when the segment assembly machine grasps the middle of the segment, the reference lines of the second and third industrial cameras coincide with the side lines of the segment.

[0012] Preferably, the lenses of the second and third industrial cameras are located outside the mounting plate area. This prevents the mounting plate from interfering with the tube image captured by the second and third industrial cameras.

[0013] To achieve the above objectives, the present invention also provides a method for using a visual intelligent tunnel boring machine segment assembly system, comprising the following steps: Step 1: Adjust the lens angles of the second and third industrial cameras according to the type of the tube segment so that the reference lines of the second and third industrial cameras match the edge shape of the tube segment. Step 2: Control the segment assembly machine to move and adjust its position until the reference line of the first industrial camera coincides with the edge of the segment end face, and the second and third industrial cameras coincide with the side edges of the segment respectively; Step 3: Control the segment assembly machine to grab the segment and move the segment to the segment splicing position; Step 4: Control the segment assembly machine to adjust the position of the segments until the reference lines of the first, second and third industrial cameras coincide with the preset splicing position of the segments; Step 5: Complete the assembly of a single segment, and repeat Step 1 until all segments are installed.

[0014] Preferably, after step 2, the method further includes: turning on the supplementary lighting devices at the first industrial camera, the second industrial camera, and the third industrial camera to provide supplementary lighting for the first industrial camera, the second industrial camera, and the third industrial camera.

[0015] This solution utilizes three industrial cameras and reference lines. Assembly operators observe the segment positions via the display screen on the segment assembly remote control and manually click the reference lines to automatically align the segments. This eliminates the need for repeated manual adjustments to the segment assembly machine's position and orientation, reducing workload, improving efficiency and assembly accuracy, and enhancing the automation level of the segment assembly operation. Furthermore, the use of industrial cameras and reference lines eliminates the need for multiple adjustments to the segment assembly machine and segment positions during assembly, reducing the likelihood of segment impact and ensuring the quality of segment installation. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of a visual intelligent tunnel boring machine segment assembly system according to an embodiment of the present invention.

[0017] Figure 2 This is a front view of a visual intelligent tunnel boring machine segment assembly system according to an embodiment of the present invention.

[0018] Figure 3 This is a side view of a visual intelligent tunnel boring machine segment assembly system according to an embodiment of the present invention.

[0019] Figure 4 This is a flowchart illustrating the usage method of a visual intelligent tunnel boring machine segment assembly system according to an embodiment of the present invention. Detailed Implementation

[0020] The following detailed description illustrates the specific implementation method: The reference numerals in the accompanying drawings include: 1. Connecting beam of the segment assembly machine; 2. Second industrial camera; 3. Third industrial camera; 4. First industrial camera; 5. Lighting device; 6. Segment; 7. Mounting plate; 8. Motor; 9. First gear; 10. Second gear.

[0021] Example: A visual intelligent tunnel boring machine segment assembly system, as shown in the attached figure. Figure 1 Appendix Figure 2 and attached Figure 3 As shown, it includes an industrial camera device, an industrial camera adjustment device, a segment assembly remote control, and a segment assembly machine.

[0022] In this embodiment, the structure of the segment assembly machine refers to the prior art. The segment assembly machine includes the following parts: yoke system: The yoke system is the core component of the segment assembly machine, used to fix and support the segments 6 for splicing. The yoke typically consists of two main parts: a fixed yoke and a movable yoke. The fixed yoke is fixed to the ground, while the movable yoke can be moved and adjusted to accommodate segments 6 of different sizes and shapes.

[0023] Lifting System: The lifting system controls the raising and lowering height of the yoke to accommodate segment construction at different depths. This system typically includes a hydraulic or electric lifting device that allows for precise control of the yoke height.

[0024] Mobility System: The mobility system is used to move the segment assembly machine along the tunnel track or guide rails to perform segment 6 splicing operations. This system typically includes a drive unit, guide rails, and a control system to ensure stable machine movement and accurate splicing of segment 6.

[0025] Splicing device: The splicing device is used to accurately align and connect the precast tunnel segments 6 together. This device typically includes clamping devices, positioning devices, and a splicing control system to ensure that the tunnel segments 6 can be accurately spliced ​​together to form a complete pipeline.

[0026] Control System: Segment assembly machines are typically equipped with an automatic control system to monitor and control the machine's operating status, splicing process, and parameter settings. This system improves operational accuracy and efficiency, ensuring the quality and stability of segment assembly.

[0027] The industrial camera device and the industrial camera adjustment device are both equipped with the segment assembly machine connecting beam 1, that is, on the yoke system. In this embodiment, the yoke includes a central support and three edge supports. Two edge supports are symmetrically arranged along the central support and form an upward V-shape with the central support. The other central support is horizontal and vertical with the central support.

[0028] The industrial cameras include a first industrial camera 4, a second industrial camera 2, and a third industrial camera 3. The second industrial camera 2 and the third industrial camera 3 are symmetrically mounted on the two edge supports that form a V-shape. The first industrial camera 4 is set on the other edge support. When the segment assembly machine grabs the segment 6, the reference line of the first industrial camera 4 coincides with the edge of the end face of the segment 6. At the same time, the reference lines of the first industrial camera 4 and the second industrial camera 2 coincide with the side lines of the segment 6.

[0029] The industrial camera adjustment device is used to adjust the lens angle of the industrial camera. The industrial camera device is also mounted on the two edge supports that form a V shape. The industrial camera adjustment device is set at the second industrial camera 2 and the third industrial camera 3 to adjust the lens angle of the second industrial camera 2 and the third industrial camera 3 in order to change the reference line position of the second industrial camera 2 and the third industrial camera 3.

[0030] The industrial camera adjustment device includes a mounting plate 7, a motor 8, a first gear 9, and a second gear 10. The mounting plate 7 is fixedly connected to the connecting beam of the segment 6 splicing machine. The first gear 9 and the second gear 10 are vertically mounted on the mounting plate 7 and are rotatably connected to it, meshing with each other. The second industrial camera 2 and the third industrial camera 3 are mounted on their respective second gears 10. The axes of the second industrial camera 2 and the third industrial camera 3 are perpendicular to the axes of their respective second gears 10. The motor 8 is fixed to the mounting plate 7 and drives the first gear 9 to rotate. When the motor 8 rotates, it drives the first gear 9 to rotate, which in turn drives the second gear 10 to rotate. The corresponding second gear 10 then drives the second industrial camera 2 and the third industrial camera 3 to rotate, thereby changing the lens angles of the second industrial camera 2 and the third industrial camera 3. This ensures that when the segment assembly machine grasps the middle of the segment 6, the reference lines of the second industrial camera 2 and the third industrial camera 3 coincide with the side lines of the segment 6. This gear meshing method allows for higher precision in adjusting the lens angles of the second industrial camera 2 and the third industrial camera 3.

[0031] Among them, the second gear 10 is a half gear, which is used to limit the rotation angle of the second industrial camera 2 and the third industrial camera 3.

[0032] The lenses of the second industrial camera 2 and the third industrial camera 3 are located outside the range of the mounting plate 7. This is to prevent the mounting plate 7 from interfering with the images of the tube segment 6 captured by the second industrial camera 2 and the third industrial camera 3. Both the second industrial camera 2 and the third industrial camera 3 are fixedly connected to the second gear 10 via mounting brackets.

[0033] Among them, the segment 6 assembly remote control is used to control the operation of the segment assembly machine, the industrial camera device and the industrial camera adjustment device. The segment 6 assembly remote control is used to receive the segment 6 image captured by the industrial camera device, and control the segment assembly machine to pick up the segment 6 and place the segment 6 to the preset assembly position according to the camera reference line, the edge line of the segment 6 and the edge line of the preset splicing position of the segment 6 in the segment 6 image.

[0034] The segment assembly remote controller includes an operation module and a display module. The operation module controls the operation of the segment assembly machine, the industrial camera device, and the industrial camera adjustment device. The display module displays the segment 6 images captured by the industrial camera. The segment 6 assembly remote controller is also used to obtain the type of segment 6 to be installed and control the industrial camera adjustment device to change the lens angle of the industrial camera to the corresponding preset angle according to the segment 6 type.

[0035] In this embodiment, the display module is a touch screen display with markings. The position of the segment 6 positioning machine can be adjusted and calibrated by using the image reference markings and the marking positions of the segment 6. This eliminates the need for repeated manual adjustments to the position and posture of the segment assembly machine, reducing the workload of operators, improving work efficiency and segment 6 assembly accuracy, and enhancing the automation level of segment 6 assembly operations.

[0036] It also includes a supplementary lighting device 5, which is used to provide supplementary lighting for the first industrial camera 4, the second industrial camera 2, and the third industrial camera 3. In this embodiment, the supplementary lighting device 5 is a laser emitter, which provides supplementary lighting for the first industrial camera 4, the second industrial camera 2, and the third industrial camera 3 by emitting laser light.

[0037] To achieve the above objectives, the present invention also provides a method for using a visual intelligent tunnel boring machine segment assembly system, as shown in the attached figure. Figure 4 As shown, it includes the following steps: Step 1: Adjust the lens angles of the second industrial camera 2 and the third industrial camera 3 according to the type of the tube segment 6, so that the reference line positions of the second industrial camera 2 and the third industrial camera 3 match the edge shape of the tube segment 6.

[0038] In this step, the position of the reference markings matches the edge shape of segment 6, meaning that the shape formed by the reference markings is the same as the edge shape of segment 6.

[0039] Before proceeding to this step, confirm whether the segment assembly machine is in its initial "0" position. If not, adjust it to the appropriate position.

[0040] In this step, the type of rotating tube 6 is specifically displayed on the touch screen. Then, the control module receives this instruction and automatically controls and adjusts the lens angles of the second industrial camera 2 and the third industrial camera 3.

[0041] Step 2: Control the segment assembly machine to move and adjust its position until the reference line of the first industrial camera 4 coincides with the edge of the end face of the segment 6, and the second industrial camera 2 and the third industrial camera 3 coincide with the side edges of the segment 6 respectively.

[0042] Following this step, the method further includes: turning on the supplementary lighting device 5 at the first industrial camera 4, the second industrial camera 2, and the third industrial camera 3 to provide supplementary lighting for the first industrial camera 4, the second industrial camera 2, and the third industrial camera 3.

[0043] Step 3: Control the segment assembly machine to grab segment 6 and move segment 6 to the segment 6 splicing position.

[0044] Step 4: Control the segment assembly machine to adjust the position of segment 6 until the reference lines of the first industrial camera 4, the second industrial camera 2 and the third industrial camera 3 coincide with the preset splicing position of segment 6.

[0045] Step 5: Complete the assembly of a single segment 6, and repeat Step 1 until all segments 6 are installed.

[0046] This solution is based on three industrial cameras and a calibration system. Assembly operators observe the position of segment 6 on the display screen of the segment assembly remote control and manually click on the calibration line to automatically align segment 6. This eliminates the need for repeated manual adjustments to the position and posture of the segment assembly machine, reducing workload, improving work efficiency and segment 6 assembly accuracy, and enhancing the automation level of the segment 6 assembly operation. Through the industrial cameras and reference calibration lines, the position of the segment assembly machine and segment 6 does not need to be adjusted multiple times during assembly, reducing the probability of segment 6 impact and ensuring the quality of segment 6 installation. The gear meshing control adjusts the lens angles of the second and third industrial cameras, achieving higher adjustment accuracy.

[0047] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention. In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A visual intelligent tunnel boring machine segment assembly system, characterized in that, include: The system includes an industrial camera device, an industrial camera adjustment device, a segment assembly remote control, and a segment assembly machine. The industrial camera adjustment device is used to adjust the lens angle of the industrial camera. Both the industrial camera device and the industrial camera adjustment device are mounted on the segment assembly machine. The segment assembly remote control is used to control the operation of the segment assembly machine, the industrial camera device, and the industrial camera adjustment device. The remote controller for pipe segment assembly is used to receive pipe segment images captured by an industrial camera device, and to control the pipe segment assembly machine to pick up the pipe segments and place them at the preset assembly positions based on the camera reference lines, pipe segment edge lines and preset splicing position edge lines in the pipe segment images. The segment assembly remote controller includes an operation module and a display module. The operation module is used to control the operation of the segment assembly machine, the industrial camera device and the industrial camera adjustment device, and the display module is used to display the segment images captured by the industrial camera. The display module is a touch screen display with markings on it. The industrial cameras include a first industrial camera, a second industrial camera, and a third industrial camera. The first, second, and third industrial cameras are all mounted on the connecting beam of the segment assembly machine. The second and third industrial cameras are symmetrically mounted on both sides of the connecting beam. The first industrial camera is located in the middle of the segment assembly beam. When the segment assembly machine grabs a segment, the reference marking of the first industrial camera coincides with the edge of the segment's end face. The reference markings of the second and third industrial cameras coincide with the side edges of the segment, respectively.

2. The visual intelligent tunnel boring machine segment assembly system according to claim 1, characterized in that: The segment assembly remote control is also used to obtain the type of segment to be installed, and control the industrial camera adjustment device to change the lens angle of the industrial camera to the corresponding preset angle according to the segment type.

3. The visual intelligent tunnel boring machine segment assembly system according to claim 1, characterized in that: It also includes a supplementary lighting device, which is used to provide supplementary lighting for the first industrial camera, the second industrial camera and the third industrial camera.

4. The visual intelligent tunnel boring machine segment assembly system according to claim 1, characterized in that: The industrial camera adjustment device includes a mounting plate, a motor, a first gear, and a second gear. The mounting plate is fixedly connected to the connecting beam of the segment assembly machine. The first gear and the second gear are vertically mounted on the mounting plate and are rotatably connected to the mounting plate. The second gear is a half gear. The first gear and the second gear mesh with each other. The second industrial camera and the third industrial camera are mounted on the corresponding second gear. The axes of the second industrial camera and the third industrial camera are perpendicular to the axes of the corresponding second gears. The motor is fixed on the mounting plate and is used to drive the first gear to rotate.

5. The visual intelligent tunnel boring machine segment assembly system according to claim 1, characterized in that: The lenses of the second and third industrial cameras are located outside the mounting plate area.

6. An assembly method using the visual intelligent shield tunneling machine segment assembly system according to any one of claims 1-5, characterized in that, Includes the following steps: Step 1: Adjust the lens angles of the second and third industrial cameras according to the type of the tube segment so that the reference lines of the second and third industrial cameras match the edge shape of the tube segment. Step 2: Control the segment assembly machine to move and adjust its position until the reference line of the first industrial camera coincides with the edge of the segment end face, and the reference lines of the second and third industrial cameras coincide with the side edges of the segment respectively. Step 3: Control the segment assembly machine to grab the segment and move the segment to the segment splicing position; Step 4: Control the segment assembly machine to adjust the position of the segments until the reference lines of the first industrial camera, the second industrial camera, and the third industrial camera coincide with the edge line of the preset splicing position of the segments. Step 5: Complete the assembly of a single segment, and repeat Step 1 until all segments are installed.

7. The assembly method of the visual intelligent shield tunneling machine segment assembly system according to claim 6, characterized in that: After step 2, the method further includes: turning on the supplementary lighting devices at the first industrial camera, the second industrial camera, and the third industrial camera to provide supplementary lighting for the first industrial camera, the second industrial camera, and the third industrial camera.

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