Tunnel segment assembly detection method and detection system

Abstract

The present invention belongs to the technical field of tunnel detection, and discloses a tunnel segment assembly detection method and detection system. The present invention arranges a line structured light sensor and a surface structured light sensor on the suction cup of the segment assembly machine, and uses the line structured light sensor and the surface structured light sensor to perform real-time measurement during the segment assembly process to obtain measurement data. That is, the present invention proposes a real-time measurement scheme for the assembly position relationship of tunnel segments based on the fusion of line and surface structured light, adopts structured light three-dimensional measurement technology, and achieves complementarity in measurement accuracy and measurement range in the form of a combination of line structured light sensors and surface structured light sensors, and can accurately and quickly obtain the relative position relationship between segments.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel detection, and more specifically, relates to a tunnel segment assembly detection method and detection system. Background Art

[0002] The assembly of prefabricated tunnel segments is the process of assembling prefabricated reinforced concrete segments in the tunnel to form the tunnel lining during tunnel excavation. Usually, the segments are assembled into rings by a shield machine during excavation to gradually build the tunnel structure. The assembled segments can withstand the pressure of the tunnel surrounding rock and ensure the stability and safety of the tunnel structure. Among them, the segment assembly machine is an important component of the shield tunneling machine, which is used to assemble prefabricated segments onto the excavated tunnel wall to form a tunnel. For a long time, the segment assembly method has mostly been performed manually by technicians, which has high requirements for the proficiency of the technicians, and the assembly efficiency is greatly affected by human factors. The general process of segment assembly includes segment supply, segment clamping, segment positioning, posture adjustment and bolt connection, see Figure 1 , among which segment positioning and posture adjustment are two core steps, and are also the key and difficulty of realizing automatic control. Only by effectively detecting the segment posture and positioning information can the collected effective detection data be further fed back to the control actuator, and the segment posture and position can be adjusted through automatic control technology, thereby realizing the automatic control of segment assembly. That is, the difficulty or key to realizing efficient and accurate automated construction lies in how to accurately and quickly obtain the relative position relationship between segments.

[0003] However, in the current research on automated segment assembly, a mature and stable segment detection system has not yet appeared. Existing tunnel segment assembly detection systems are mostly based on cameras and ranging sensors, with problems such as few measurement dimensions, simple functions, low assembly efficiency and many restrictions. It is difficult to accurately and quickly obtain the relative position relationship between segments, and it is difficult to meet actual application needs. Summary of the invention

[0004] The present invention solves the problem that it is difficult to accurately and quickly obtain the relative position relationship between the segments in the tunnel segment assembly detection scheme in the prior art by providing a tunnel segment assembly detection method and a detection system.

[0005] The present invention provides a tunnel segment assembly detection method, comprising the following steps:

[0006] Line structured light sensors and surface structured light sensors are arranged on the suction cup of the pipe segment assembly machine;

[0007] During the segment assembly process, the line structured light sensor and the surface structured light sensor are used to perform real-time measurement to obtain measurement data;

[0008] The line structured light sensor is used to scan a partial contour of the pipe segment to be assembled and a partial contour of the assembled pipe segment adjacent to the pipe segment to be assembled, so as to obtain measurement data of the scanned section;

[0009] The surface structured light sensor is used to aim at and cover the alignment mark of the to-be-assembled pipe segment and the alignment mark of the assembled pipe segment adjacent to the to-be-assembled pipe segment to obtain measurement data of the aiming coverage surface.

[0010] Preferably, two line structured light sensors are arranged, which are respectively recorded as L1 sensor and L2 sensor; the L1 sensor and the L2 sensor are respectively fixedly installed in the first corner area and the second corner area of ​​the suction cup of the pipe segment assembly machine;

[0011] The L1 sensor is used to scan the first part of the contour of the segment to be assembled, and the measurement area of ​​the assembled segment located on the left side of the axis of the segment to be assembled; the L2 sensor is used to scan the second part of the contour of the segment to be assembled, and the measurement area of ​​the assembled segment located on the right side of the axis of the segment to be assembled.

[0012] Preferably, the measuring lines of the L1 sensor and the L2 sensor are bilaterally symmetrical about the axis of the segment to be assembled.

[0013] Preferably, four surface structured light sensors are arranged, which are respectively recorded as M1 sensor, M2 sensor, M3 sensor and M4 sensor; the M1 sensor and the M2 sensor are respectively fixedly installed on the first side area and the second side area of ​​the suction cup of the pipe segment assembly machine, and the M3 sensor and the M4 sensor are both fixedly installed on the third side area of ​​the suction cup of the pipe segment assembly machine;

[0014] The M1 sensor is used to aim at and cover the first alignment mark of the segment to be assembled, as well as the measurement area of ​​the assembled segment in the same ring on the left side of the axis of the segment to be assembled; the M2 sensor is used to aim at and cover the second alignment mark of the segment to be assembled, as well as the measurement area of ​​the assembled segment in the same ring on the right side of the axis of the segment to be assembled; the M3 sensor is used to aim at and cover the third alignment mark of the segment to be assembled, as well as the measurement area of ​​the assembled segment in the adjacent ring on the left side of the axis of the segment to be assembled; the M4 sensor is used to aim at and cover the fourth alignment mark of the segment to be assembled, as well as the measurement area of ​​the assembled segment in the adjacent ring on the right side of the axis of the segment to be assembled.

[0015] Preferably, when the pipe segment to be assembled is a conventional block, the conventional block is first moved to the vicinity of the installation surface, and then after the conventional block enters the measurement range of the surface structured light sensor, the surface structured light sensor is used to detect the object position, angle offset and misalignment in multiple directions, and the line structured light sensor is used to assist in measuring the misalignment and angle offset, and the relative position and posture of the conventional block are adjusted and corrected based on the measurement data of the surface structured light sensor and the line structured light sensor until the misalignment, distance offset and angle offset are all within the allowable range for assembly.

[0016] Preferably, after moving the conventional block to the vicinity of the installation surface and before the conventional block enters the measurement range of the surface structured light sensor, it also includes: using the line structured light sensor to scan the cross section and roughly adjusting the relative position and posture of the conventional block based on the measurement data of the line structured light sensor.

[0017] Preferably, when the pipe segment to be assembled is a K block, the K block is first moved to the alignment interval, and then after the K block enters the measuring range of the line structured light sensor, the line structured light sensor is used to scan the cross-section, and based on the measurement data of the line structured light sensor, the K block is adjusted to face the assembly direction, and the K block is continued to be pushed forward. After the K block enters the measuring range of the surface structured light sensor, the surface structured light sensor is used to detect the object position, angle offset and misalignment in multiple directions, and the relative position and posture of the K block are adjusted and corrected based on the measurement data of the surface structured light sensor until the misalignment, distance offset and angle offset are all within the allowable range for assembly.

[0018] Preferably, after the K block enters the measurement range of the surface structured light sensor, it also includes: using the line structured light sensor to assist in measuring the misalignment amount and the angle offset, and adjusting and correcting the relative position and posture of the K block based on the measurement data of the surface structured light sensor and the line structured light sensor.

[0019] On the other hand, the present invention provides a tunnel segment assembly detection system, comprising: a line structured light sensor and a surface structured light sensor arranged on a sucker of a segment assembly machine;

[0020] The tunnel segment assembly detection system is used to execute the steps in the above-mentioned tunnel segment assembly detection method.

[0021] One or more technical solutions provided in the present invention have at least the following technical effects or advantages:

[0022] The present invention arranges a line structured light sensor and a surface structured light sensor on the suction cup of the segment assembly machine. During the segment assembly process, the line structured light sensor and the surface structured light sensor are used to perform real-time measurement to obtain measurement data. That is, the present invention proposes a real-time measurement scheme for the assembly position relationship of tunnel segments based on the fusion of line and surface structured light. This scheme adopts structured light three-dimensional measurement technology and proposes a new method for measuring the relative position relationship between assembled segments in the form of a combination of line structured light sensors and surface structured light sensors. Among them, the line structured light sensor has the advantages of fast measurement speed, high measurement frequency, high measurement resolution, and good repeatability. Using the line structured light sensor as a measurement sensor can directly and effectively improve the measurement efficiency and measurement accuracy. Compared with the image-based measurement scheme, it does not require further subsequent processing and can directly output the relative position relationship between the assembled segments. Considering that line structured light sensors are suitable for geometric detection in long-distance and dynamic environments, especially for the measurement of large-sized objects, but can only measure the data of a single cross-section (the data measured by the line structured light sensor is a line in three-dimensional space, that is, the contour line of the laser line on the surface of the object); at the same time, considering that the surface structured light sensor is suitable for high-precision three-dimensional measurement in close-range and static environments (the measurement data of the surface structured light sensor is a surface in three-dimensional space), especially the characteristics of complex surface or detail detection, the present invention proposes a design that integrates line structured light sensors and surface structured light sensors for the application scenario of tunnel segment assembly, and combines the two sensors so that they can complement each other in terms of measurement accuracy and measurement range, thereby being able to more comprehensively and quickly measure the relative position relationship between the segments to be assembled and the assembled segments. In summary, the scheme proposed in the present invention can realize the rapid and accurate real-time measurement of the relative position relationship between the assembled segments, which is helpful to realize the accurate and rapid assembly of tunnel segments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Provide a flow chart for segment assembly;

[0024] Figure 2 A schematic diagram of the layout positions of the line structured light sensor and the surface structured light sensor in a tunnel segment assembly detection method provided in Example 1 of the present invention;

[0025] Figure 3 A schematic diagram of assembling conventional blocks in a tunnel segment assembly detection method provided in Example 1 of the present invention;

[0026] Figure 4 A schematic diagram of assembling K blocks in a tunnel segment assembly detection method provided in Example 1 of the present invention;

[0027] Figure 5 This is the overall flow chart for segment measurement and assembly. DETAILED DESCRIPTION

[0028] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0029] Embodiment 1:

[0030] Embodiment 1 provides a tunnel segment assembly detection method, comprising the following steps:

[0031] Line structured light sensors and surface structured light sensors are arranged on the suction cup of the pipe segment assembly machine;

[0032] During the segment assembly process, the line structured light sensor and the surface structured light sensor are used to perform real-time measurement to obtain measurement data.

[0033] Segment assembly process Figure 1 As shown, the segment positioning refers to the determination of the positional relationship between the assembled segment and the segment to be assembled, which is a key step in realizing the segment assembly. Embodiment 1 measures the relative position between the segments in the segment assembly process in real time by arranging the line structured light sensor and the surface structured light sensor at specific marking positions.

[0034] The structured light measurement device detects the spatial posture of the captured segments (i.e. the segments to be assembled) and the assembled segments, and guides the assembly machine to automatically adjust the posture of the captured segments to complete the automatic assembly of the segments. Multiple structured light sensors are installed on the assembly machine suction cup, aiming at the key alignment marks of the segments from different angles, and then measuring the relative position relationship between the segments in real time, providing direct detection data during the segment assembly process.

[0035] The present invention firstly installs a line structured light sensor and a surface structured light sensor on a suction cup of a pipe segment assembly machine, and then uses the two structured light sensors to perform real-time measurement during the pipe segment assembly process.

[0036] Among them, the line structured light sensor is used to scan the partial contour of the pipe segment to be assembled and the partial contour of the assembled pipe segment adjacent to the pipe segment to be assembled, so as to obtain the measurement data of the scanned section; the surface structured light sensor is used to aim at and cover the alignment mark of the pipe segment to be assembled and the alignment mark of the assembled pipe segment adjacent to the pipe segment to be assembled, so as to obtain the measurement data of the aiming coverage surface.

[0037] That is, the line structured light sensor and the surface structured light sensor in the present invention aim at different scanning areas. The surface structured light sensor is mainly used to aim at the alignment marks covering the bolt holes on the surface of the pipe segment, while the line structured light sensor is mainly used to scan and measure the surfaces of the two pipe segments and the positions of the pipe segment joints along the measuring line direction.

[0038] The line structured light sensor measures the three-dimensional shape of an object by projecting a laser line onto the surface of the object and using a camera to record the reflection of the laser line on the surface of the object. The line structured light can form a "slice" or "cross section" along the direction of the laser line. The present invention uses the line structured light sensor to scan the partial contour of the pipe segment to be assembled, as well as the partial contour of the assembled pipe segment adjacent to the pipe segment to be assembled. The misalignment and angle offset of the pipe segment can be calculated based on the contour line between the two pipe segments.

[0039] The surface structured light sensor projects a set of structured light (usually a light grid, a light spot or a light dot matrix) onto the surface of an object and uses a camera to record the deformation of these light spots or grids. By analyzing these deformations, three-dimensional data of the surface of the object can be directly constructed. The present invention uses the surface structured light sensor to perform high-precision and close-range measurement tasks.

[0040] The relative position between the segments is the position and posture relationship between the segment to be assembled and the adjacent segment after assembly and fixation. The purpose of real-time measurement of the relative position between the segments during the segment assembly process is to measure whether the segment to be assembled can be assembled to the correct position allowed by accuracy according to design requirements.

[0041] The relative positions between the segments are mainly characterized by a variety of physical parameters including distance offset, angle offset and misalignment. The present invention gradually adjusts the assembly position and posture of the segments from coarse adjustment to fine adjustment based on a plurality of physical parameters.

[0042] Among them, the distance deviation refers to the linear displacement between adjacent segments, including the offset in the x, y, and z directions, which is used to determine whether the two segments are aligned in the same horizontal plane or vertical direction. The angle offset refers to the rotational offset angle between adjacent segments, including the rotation around the x, y, and z axes, which is used to determine the rotational alignment of the segments. The misalignment is used to describe the height difference at the joint of two segments. For example, in a certain engineering design standard, the allowable errors for assembling a full ring of segments include: the annular gap between adjacent rings does not exceed 2mm, the gap between adjacent blocks of the longitudinal seam is less than 2mm, the non-coaxiality of the annular bolt holes of the segments is less than 1mm, the misalignment deviation within the ring is less than 6mm, and the misalignment deviation between rings is less than 7mm.

[0043] The following is an explanation of the arrangement of segment measuring points.

[0044] (1) Layout of surface structured light sensors.

[0045] Measure the alignment mark on the surface of the segment bolt hole, which is usually a triangular prism-shaped groove. When the alignment marks between two adjacent segments are parallel to each other, it indicates that the bolt holes at that position can be aligned, so that the bolt column can smoothly pass through the bolt hole between the two segments for fixation.

[0046] Based on the characteristics of the surface structured light sensor that can collect data on a larger area at one time and generate high-resolution three-dimensional data, the present invention uses the surface structured light sensor to measure the alignment mark above the bolt hole, thereby ensuring that the three-dimensional information of the mark area is completely obtained in a single measurement.

[0047] The bolt holes between segments involve the connection of two adjacent segments. In this case, the alignment mark is often located on the joint surface between the two segments. To achieve accurate measurement, it is necessary to pay attention to the edges of the two segments at the same time and ensure the alignment between the two. When measuring the alignment mark above the bolt hole, the layout principle of the surface structured light sensor in the present invention is as follows:

[0048] (1.1) Fixing and aiming: The surface structured light sensor is fixed on the suction cup of the segment assembly machine, and a part of its measurement range can cover the entire bolt hole alignment mark A1 on the upper surface of the segment A to be assembled. For a segment to be assembled, it usually has multiple fixing bolt holes. Therefore, it is necessary to deploy multiple surface structured light sensors (M1, M2, ..., Mn) at the same time to ensure that the alignment mark A is above the bolt hole of the connecting surface of the segment A to be assembled and the assembled segment. n (n=1,2,..,n, n is the number of bolt holes contained in the segment to be assembled) can all be measured.

[0049] (1.2) Double-sided coverage and alignment: Ensure that one or more of the multiple surface structured light sensors (e.g., Figure 2 Another part of the measurement range of the M1 sensor or M2 sensor in the ring can cover the alignment mark above the corresponding bolt hole on another assembled segment B in the same ring within a close range (for example, when the distance between the two segments is less than 10 cm), that is, the surface structured light sensor (for example, the M1 sensor or the M2 sensor) can measure the alignment mark B on the assembled segment B. m (m= 1,2,3..,m, m is the number of bolt holes in the assembled segment). Similarly, ensure that one or more of the multiple surface structured light sensors (for example, Figure 2 Another part of the measuring range of the M3 sensor or M4 sensor in the adjacent ring can cover the alignment mark above the corresponding bolt hole on another assembled segment C in the adjacent ring within a close range (for example, when the distance between the two segments is less than 10 cm).

[0050] The present invention utilizes the surface structured light sensor to aim at the alignment mark covering the to-be-assembled segment and the alignment mark of the adjacent (within the same ring or in adjacent rings) assembled segment when the segment assembly state is in a close distance state between the segments, so as to determine the degree of coincidence between the alignment marks between the to-be-assembled segment and the assembled segment.

[0051] (2) Layout of line structured light sensors.

[0052] Since the surface structured light sensor can only measure the posture between segments when the distance between segments is close, and cannot obtain effective data when the distance between segments is far, the present invention uses the line structured light sensor to provide auxiliary posture positioning when the distance between segments is far. The layout principle of the line structured light sensor in the present invention is as follows:

[0053] (2.1) Fixing and aiming: The line structured light sensor is fixed on the suction cup of the segment assembly machine so that the scanning range of the line structured light sensor covers the segments to be assembled and the assembled segments on the left or right side of its axis.

[0054] (2.2) Cross-layout and measurement: Multiple linear structured light sensors are deployed to ensure that the measurement line covers the left and right sides of the axis of the segment to be assembled.

[0055] For example, the measurement line can be symmetrical on the left and right sides, and the angles with the symmetry line are the same angle value α. It should be noted that the angles of the line structured light sensors on both sides can be set as needed, and the symmetrical setting on the left and right sides is more convenient for subsequent calculations.

[0056] A specific layout example is given below.

[0057] See also Figure 2 , deploy two of the line structured light sensors, which are respectively denoted as L1 sensor and L2 sensor; the L1 sensor and the L2 sensor are respectively fixedly mounted on the first corner area and the second corner area of ​​the suction cup of the pipe segment assembly machine; the L1 sensor is used to scan the first part of the contour of the pipe segment to be assembled, and the measurement area of ​​the assembled pipe segment on the left side of the axis of the pipe segment to be assembled; the L2 sensor is used to scan the second part of the contour of the pipe segment to be assembled, and the measurement area of ​​the assembled pipe segment on the right side of the axis of the pipe segment to be assembled.

[0058] Arrange four surface structured light sensors, which are respectively recorded as M1 sensor, M2 sensor, M3 sensor and M4 sensor; the M1 sensor and the M2 sensor are respectively fixedly mounted on the first side area and the second side area of ​​the suction cup of the pipe segment assembly machine, and the M3 sensor and the M4 sensor are both fixedly mounted on the third side area of ​​the suction cup of the pipe segment assembly machine; use the M1 sensor to aim at the first alignment mark covering the pipe segment to be assembled, and the measurement area of ​​the assembled pipe segment in the same ring on the left side of the axis of the pipe segment to be assembled domain; use the M2 sensor to aim at the second alignment mark covering the segment to be assembled, and the measurement area of ​​the assembled segment in the same ring on the right side of the axis of the segment to be assembled; use the M3 sensor to aim at the third alignment mark covering the segment to be assembled, and the measurement area of ​​the assembled segment in the adjacent ring on the left side of the axis of the segment to be assembled; use the M4 sensor to aim at the fourth alignment mark covering the segment to be assembled, and the measurement area of ​​the assembled segment in the adjacent ring on the right side of the axis of the segment to be assembled.

[0059] It can be understood that the first side area is parallel to the second side area, the third side area is located between the first side area and the second side area, and the third side area is perpendicular to the first side area.

[0060] In a preferred solution, the measuring lines of the L1 sensor and the L2 sensor are bilaterally symmetrical about the axis of the segment to be assembled.

[0061] In addition to the above layout schemes, the number and specific installation locations of sensors can also be adjusted according to actual application requirements.

[0062] Tunnel segment assembly is divided into conventional block assembly and K-block assembly, which are explained below respectively.

[0063] (1) Conventional block assembly test.

[0064] See also Figure 3 , the assembled pipe segment is marked as 302. When the pipe segment to be assembled is a conventional block 301, the conventional block 301 is first moved to the vicinity of the installation surface. Then, after the conventional block 301 enters the measurement range of the surface structured light sensor, the surface structured light sensor is used to detect the object position, angle offset and misalignment in multiple directions. The line structured light sensor is used to assist in measuring the misalignment and angle offset. Based on the measurement data of the surface structured light sensor and the line structured light sensor, the relative position and posture of the conventional block 301 are adjusted and corrected until the misalignment, distance offset and angle offset are all within the allowable range for assembly.

[0065] In addition, after moving the conventional block 301 to the vicinity of the installation surface, before the conventional block 301 enters the measurement range of the surface structured light sensor, it may also include: using the line structured light sensor to scan the cross section, and based on the measurement data of the line structured light sensor, roughly adjusting the relative position and posture of the conventional block 301. That is, when assembling the conventional block 301, you can first make a rough adjustment with the help of the line structured light sensor to adjust the relative position and posture of the pipe segment, and then the surface structured light sensor intervenes to complete the precise posture adjustment, and finally ensure that the misalignment, distance offset and angle offset are within the allowable range. On the whole, the line structured light sensor is used for long-distance posture adjustment, and the surface structured light sensor is used for close-range fine alignment. In the process of close-range fine alignment, the line structured light sensor can be used to assist in measurement.

[0066] (2) K-block assembly detection.

[0067] See also Figure 4 , the assembled pipe segment is marked as 402, and when the pipe segment to be assembled is K block 401, the K block 401 is first moved to the alignment interval, and then after the K block 401 enters the measuring range of the line structured light sensor, the line structured light sensor is used to scan the cross section, and based on the measurement data of the line structured light sensor, the K block 401 is adjusted to face the assembly direction, and the K block 401 is continued to be pushed forward. After the K block 401 enters the measuring range of the surface structured light sensor, the surface structured light sensor is used to detect the object position, angle offset and misalignment in multiple directions, and the relative position and posture of the K block 401 are adjusted and corrected based on the measurement data of the surface structured light sensor until the misalignment, distance offset and angle offset are all within the allowable range for assembly.

[0068] In addition, after the K block 401 enters the measurement range of the surface structured light sensor, it can also include: using the line structured light sensor to assist in measuring the misalignment amount and the angle offset, and adjusting and correcting the relative position and posture of the K block 401 based on the measurement data of the surface structured light sensor and the line structured light sensor.

[0069] Due to the shape of the K block and the difficulty of assembly, the line structured light sensor plays a more critical role in the pre-alignment stage. The line structured light sensor can be used to achieve long-distance pre-aiming of the K block, and the surface structured light sensor is mainly responsible for the final fine adjustment to ensure assembly accuracy.

[0070] The overall process of segment measurement and assembly is described below.

[0071] The overall process of segment measurement and assembly can be found in Figure 5It mainly includes the detection of segment assembly status (including long-distance status and short-distance status), sensor measurement, and real-time output of detection information by sensors (based on the detection information, the offset and misalignment can be obtained, and then the automatic assembly instructions can be executed). In addition, according to application requirements, it can also include: manual control, judgment on whether it meets the construction requirements, and measurement device installation and calibration (checking the installation position of each sensor to ensure the correct position of the sensor itself).

[0072] It should be noted that the present invention mainly proposes a real-time measurement solution for the assembly position relationship of tunnel segments based on the fusion of line-surface structured light, adopts structured light three-dimensional measurement technology, and combines line structured light sensors and surface structured light sensors to achieve complementarity in measurement accuracy and measurement range. Other steps such as installation and calibration of the measuring device can be achieved on the basis of combining and utilizing other existing devices.

[0073] Embodiment 2:

[0074] Embodiment 2 provides a tunnel segment assembly detection system, comprising: a linear structured light sensor and a surface structured light sensor arranged on a sucker of a segment assembly machine. The tunnel segment assembly detection system provided in Embodiment 2 is used to execute the steps in the tunnel segment assembly detection method described in Embodiment 1.

[0075] Since the functions of the sensors in the detection system provided in Example 2 correspond to the steps in the detection method provided in Example 1, Example 2 can be understood by referring to the description of Example 1, which will not be repeated here.

[0076] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A tunnel segment assembly detection method, characterized in that: The following steps are involved: Line structured light sensors and surface structured light sensors are arranged on the suction cup of the pipe segment assembly machine; During the segment assembly process, the line structured light sensor and the surface structured light sensor are used to perform real-time measurement to obtain measurement data; The line structured light sensor is used to scan a partial contour of the pipe segment to be assembled and a partial contour of the assembled pipe segment adjacent to the pipe segment to be assembled, so as to obtain measurement data of the scanned section; Using the surface structured light sensor to aim at and cover the alignment mark of the to-be-assembled pipe segment and the alignment mark of the assembled pipe segment adjacent to the to-be-assembled pipe segment, to obtain measurement data of the aiming coverage surface; When the pipe segment to be assembled is a conventional block, the conventional block is first moved to the vicinity of the installation surface, and then after the conventional block enters the measurement range of the surface structured light sensor, the surface structured light sensor is used to detect the object position, angle offset and misalignment in multiple directions, and the line structured light sensor is used to assist in measuring the misalignment and angle offset, and the relative position and posture of the conventional block are adjusted and corrected based on the measurement data of the surface structured light sensor and the line structured light sensor, until the misalignment, distance offset and angle offset are all within the allowable range of assembly; When the pipe segment to be assembled is a K block, the K block is first moved to the alignment interval, and then after the K block enters the measuring range of the line structured light sensor, the line structured light sensor is used to scan the cross section, and based on the measurement data of the line structured light sensor, the K block is adjusted to face the assembly direction, and the K block is continued to be pushed forward. After the K block enters the measuring range of the surface structured light sensor, the surface structured light sensor is used to detect the object position, angle offset and misalignment in multiple directions, and the relative position and posture of the K block are adjusted and corrected based on the measurement data of the surface structured light sensor until the misalignment, distance offset and angle offset are all within the allowable range for assembly.

2. The tunnel segment assembly detection method according to claim 1, characterized in that: Two line structured light sensors are arranged, which are respectively recorded as L1 sensor and L2 sensor; the L1 sensor and the L2 sensor are respectively fixedly mounted on the first corner area and the second corner area of ​​the suction cup of the pipe segment assembly machine; The L1 sensor is used to scan the first part of the contour of the segment to be assembled, and the measurement area of ​​the assembled segment located on the left side of the axis of the segment to be assembled; the L2 sensor is used to scan the second part of the contour of the segment to be assembled, and the measurement area of ​​the assembled segment located on the right side of the axis of the segment to be assembled.

3. The tunnel segment assembly detection method according to claim 2, characterized in that: The measuring lines of the L1 sensor and the L2 sensor are bilaterally symmetrical with respect to the axis of the segment to be assembled.

4. The tunnel segment assembly detection method according to claim 1, characterized in that: Four surface structured light sensors are arranged, which are respectively recorded as M1 sensor, M2 sensor, M3 sensor and M4 sensor; the M1 sensor and the M2 sensor are respectively fixedly installed on the first side area and the second side area of ​​the suction cup of the pipe segment assembly machine, and the M3 sensor and the M4 sensor are both fixedly installed on the third side area of ​​the suction cup of the pipe segment assembly machine; The M1 sensor is used to aim at and cover the first alignment mark of the segment to be assembled, as well as the measurement area of ​​the assembled segment in the same ring on the left side of the axis of the segment to be assembled; the M2 sensor is used to aim at and cover the second alignment mark of the segment to be assembled, as well as the measurement area of ​​the assembled segment in the same ring on the right side of the axis of the segment to be assembled; the M3 sensor is used to aim at and cover the third alignment mark of the segment to be assembled, as well as the measurement area of ​​the assembled segment in the adjacent ring on the left side of the axis of the segment to be assembled; the M4 sensor is used to aim at and cover the fourth alignment mark of the segment to be assembled, as well as the measurement area of ​​the assembled segment in the adjacent ring on the right side of the axis of the segment to be assembled.

5. The tunnel segment assembly detection method according to claim 1, characterized in that: After the conventional block is moved to the vicinity of the installation surface and before the conventional block enters the measurement range of the surface structured light sensor, the method further includes: using the line structured light sensor to scan the cross section and roughly adjusting the relative position and posture of the conventional block based on the measurement data of the line structured light sensor.

6. The tunnel segment assembly detection method according to claim 1, characterized in that: After the K block enters the measurement range of the surface structured light sensor, the method further includes: using the line structured light sensor to assist in measuring the misalignment amount and the angle offset, and adjusting and correcting the relative position and posture of the K block based on the measurement data of the surface structured light sensor and the line structured light sensor.

7. A tunnel segment assembly detection system, characterized in that: include: Line structured light sensors and surface structured light sensors arranged on the suction cups of the segment assembly machine; The tunnel segment assembly detection system is used to execute the steps in the tunnel segment assembly detection method as described in any one of claims 1-6.

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