Methods, devices, equipment, systems and media for testing precast tunnel segments

Abstract

This invention relates to a method, apparatus, equipment, system, and medium for inspecting precast tunnel segments, particularly in the field of tunnel boring machine (TBM) segment manufacturing technology. It utilizes a scanning device to scan precast tunnel segments placed and positioned within a designated space to acquire surface image data and internal CT data. The acquired surface image data and internal CT data undergo noise reduction and mapping processing to extract a point cloud dataset of the precast tunnel segment. A three-dimensional model of the precast tunnel segment is reconstructed based on the extracted point cloud dataset, and the 3D model is compared and analyzed with a preset model to obtain the inspection results. This invention enables the acquisition of data on the internal structure of precast tunnel segments and the detection of their internal forming quality based on the acquired data. It can also simultaneously inspect the surface and internal quality of precast tunnel segments, achieving comprehensive inspection of the precast tunnel segments.

Description

Technical Field

[0001] This invention relates to the field of tunnel segment manufacturing technology, and in particular to a method, apparatus, equipment, system and medium for testing precast tunnel segments. Background Technology

[0002] With the development of tunnel construction technology, shield tunneling has become the mainstream construction technology for tunnels. When using shield tunneling, precast tunnel segments are assembled inside the shield-formed tunnel to complete the tunnel lining and ultimately form the tunnel structure. Currently, precast tunnel segments are typically produced by injecting concrete into precast molds at a segment prefabrication plant. When using precast molds to manufacture precast tunnel segments, surface quality inspection of the formed segments is usually required.

[0003] In existing technologies, surface quality inspection of precast tunnel segments typically involves manual methods such as surface observation and tapping. However, some technologies utilize 3D scanning equipment in conjunction with segment molds to inspect the forming quality of precast tunnel segments.

[0004] However, although the above-mentioned testing methods can obtain quality test results for precast segments to a certain extent, in actual testing operations, they usually only test the surface quality of the precast segments and cannot test the internal quality of the precast segments. Summary of the Invention

[0005] The main objective of this invention is to provide a method, apparatus, equipment, system, and medium for testing precast tunnel segments, aiming to solve the technical problem that related technologies typically only test the surface quality of precast tunnel segments during actual testing operations, and cannot detect the internal quality of precast tunnel segments.

[0006] To achieve the above objectives, the present invention proposes a method for inspecting precast tunnel segments, comprising:

[0007] The prefabricated tube segment placed in the preset scanning space is positioned, and the current placement position of the prefabricated tube segment is obtained;

[0008] The preset scanning device is controlled to move to the current placement position and scan the precast tube segment to collect the target dataset of the precast tube segment; wherein, the target dataset includes the target image data of the precast tube segment and the CT scan data of the precast tube segment in the area corresponding to the target image data;

[0009] The target dataset is denoised in order to extract the target point cloud from the target dataset;

[0010] A target three-dimensional model of the precast segment is established based on the target point cloud; wherein, the target three-dimensional model includes the surface structure model of the precast segment and the internal model of the precast segment;

[0011] The target 3D model is compared and analyzed with a preset 3D model to detect the precast segments.

[0012] In one embodiment, before the step of positioning the prefabricated tube segment placed within a preset scanning space and obtaining the current placement position of the prefabricated tube segment, the method further includes:

[0013] Perform a scanning operation on the scanning space and establish the basic coordinate system of the preset scanning space;

[0014] The step of positioning the prefabricated tube segment placed within the preset scanning space and obtaining the current placement position of the prefabricated tube segment includes:

[0015] The prefabricated tube segment placed in the preset scanning space is positioned to obtain the current outline of the prefabricated tube segment;

[0016] The current contour is projected onto the base coordinate system to obtain the current placement position of the precast segment.

[0017] In one embodiment, the step of controlling a preset scanning device to move to the current placement position and performing a scanning operation on the precast segment to collect a target dataset of the precast segment includes:

[0018] The preset scanning device is controlled to move to the current placement position and simultaneously scans the surface of the precast tube segment and the interior corresponding to the surface to acquire target image data of the precast tube segment and scan data corresponding to the target image data; wherein, the target image data is the laser grid image of the surface of the precast tube segment, and the scan data is the CT data of the precast tube segment;

[0019] The target image data and the scan data are combined to obtain the target dataset of the precast tube segment.

[0020] In one embodiment, the step of controlling the preset scanning device to move to the current placement position and simultaneously scanning the surface of the precast tube segment and the interior corresponding to the surface to acquire target image data of the precast tube segment and scan data corresponding to the target image data includes:

[0021] The preset scanning device is controlled to move to the current placement position, and the start and end scanning coordinates of the precast tube segment are obtained for the scanning operation.

[0022] Based on the starting scan coordinates and the ending scan coordinates, plan the motion path of the preset scanning device on the target contour;

[0023] The preset scanning device is controlled to simultaneously scan the surface of the precast tube segment and the interior corresponding to the surface of the precast tube segment according to the motion path from the starting scanning coordinates, so as to collect the target image data of the precast tube segment and the scanning data corresponding to the target image data.

[0024] In one embodiment, the step of denoising the target dataset to extract the target point cloud from the target dataset includes:

[0025] The target dataset is subjected to noise reduction processing, and it is determined whether the target dataset meets the preset requirements;

[0026] When the conditions are met, the target point cloud is extracted from the target dataset.

[0027] In one embodiment, after the steps of performing noise reduction processing on the target dataset and determining whether the target dataset meets preset requirements, the method further includes:

[0028] If the conditions are not met, then all regions corresponding to the target dataset that do not meet the preset requirements are taken as secondary scanning regions.

[0029] The preset scanning device is controlled to perform scanning operations on all the secondary scanning areas to obtain the current dataset corresponding to all the secondary scanning areas;

[0030] The current dataset is used as the target dataset, and the process of performing noise reduction on the target dataset and determining whether the target dataset meets the preset requirements is repeated until all target datasets meet the preset conditions.

[0031] Based on the same technical concept, in a second aspect, the present invention also proposes a precast tunnel segment inspection device, comprising:

[0032] The positioning module is used to position the prefabricated tube segment placed in a preset scanning space and to obtain the current placement position of the prefabricated tube segment.

[0033] The data acquisition module is used to control the preset scanning device to move to the current placement position and perform scanning operations on the precast tube segment to acquire the target dataset of the precast tube segment; wherein, the target dataset includes the target image data of the precast tube segment and the CT scan data of the precast tube segment in the area corresponding to the target image data;

[0034] An extraction module is used to perform noise reduction processing on the target dataset in order to extract the target point cloud from the target dataset;

[0035] A modeling module is used to establish a target three-dimensional model of the precast segment based on the target point cloud; wherein, the target three-dimensional model includes the surface structure model of the precast segment and the internal model of the precast segment;

[0036] The comparison module is used to compare and analyze the target 3D model with a preset 3D model in order to detect the prefabricated segments.

[0037] Based on the same technical concept, in a third aspect, the present invention also proposes a precast segment inspection device, which includes a processor and a memory. The memory stores a precast segment inspection program. When the precast segment inspection program is executed by the processor, it implements the precast segment inspection method described in the first aspect.

[0038] The technical solution of this invention involves positioning a precast tube segment placed in a preset scanning space, obtaining its current position, controlling a preset scanning device to move to the current position, and scanning the precast tube segment to collect a target dataset. The target dataset is then denoised to extract a target point cloud. A target 3D model of the precast tube segment is built based on the target point cloud. The target 3D model is compared and analyzed with a preset 3D model to detect the precast tube segment. In use, this invention utilizes a set scanning device to scan a precast tube segment placed in a positioning space and positioned to obtain surface image data and internal CT data. The collected surface image data and internal CT data are denoised and mapped to extract a point cloud dataset of the precast tube segment. A 3D model of the precast tube segment is reconstructed based on the extracted point cloud dataset, and the 3D model is compared and analyzed with a preset model to obtain the detection result of the precast tube segment. This achieves the function of collecting data on the internal structure of the precast tube segment and detecting the internal forming quality of the precast tube segment based on the collected data. Meanwhile, since the surface image data of the precast segments are collected simultaneously during the inspection process, this invention can simultaneously inspect the surface quality and internal quality of the precast segments in practical use, thus achieving comprehensive inspection of the precast segments. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0040] Figure 1 A flowchart of the precast tunnel segment inspection method provided by the present invention;

[0041] Figure 2 for Figure 1 The flowchart of step S100 in the example is shown;

[0042] Figure 3 for Figure 1 The flowchart of step S200 in the example is shown;

[0043] Figure 4 for Figure 3 The flowchart of step S220 in the example is shown;

[0044] Figure 5 for Figure 1 The flowchart of step S300 in the example is shown below;

[0045] Figure 6 This is a schematic diagram of the precast tunnel segment inspection equipment as an example of the present invention;

[0046] Figure 7 This is a schematic diagram of the segment inspection system provided by the present invention;

[0047] Figure 8 This is a structural schematic diagram of the segment inspection system provided by the present invention from another perspective.

[0048] Figure 9 for Figure 8 The diagram below shows the structure of the segment inspection mechanism.

[0049] Figure 10 for Figure 9 An enlarged structural diagram of part A in the example;

[0050] Figure 11 for Figure 9 A schematic diagram of the structure of the segment inspection component shown in the example;

[0051] Figure 12 for Figure 11 The example in the diagram shows the structure of the positioning mechanism;

[0052] Figure 13 for Figure 12 The example shows a schematic diagram of the detection module.

[0053] Figure 14 This is a schematic diagram of another embodiment of the laser emitter provided by the present invention;

[0054] Figure 15 A schematic diagram of another embodiment of the laser emitter provided by the present invention;

[0055] Figure 16 This is a schematic diagram of a structure of an embodiment of the ring-shaped support provided by the present invention;

[0056] Figure 17 A schematic diagram of the structure of an embodiment of the mounting ring provided by the present invention;

[0057] Figure 18 This is a schematic diagram of a structure of an embodiment of the vibration damping mechanism provided by the present invention;

[0058] Figure 19 This is a schematic diagram of a structure of an embodiment of the hook mechanism provided by the present invention;

[0059] Figure 20 This is a schematic diagram of another embodiment of the hook mechanism provided by the present invention;

[0060] Figure 21 This is a schematic diagram of another embodiment of the vibration damping mechanism provided by the present invention;

[0061] Figure 22 This is a schematic diagram of an embodiment of the detection system provided by the present invention.

[0062] Explanation of icon numbers:

[0063] 1000 Terminal; 2000 Positioning mechanism; 2100 Placement space; 3000 Segment inspection mechanism; 3100 Segment inspection component; 3200 Tracking component; 4000 Base frame; 4100 Guide component; 4200 Sliding module; 3110 Base; 3120 Lifting motion module; 3130 Inspection module; 3131 Connector; 3132 Image acquisition component; 3133 Spherical laser cage; 3121 Slide seat 3122. Drive gear; 3123. Sliding column; 3124. Multi-joint robotic arm; 3125. Spur rack; 3126. Drive component; 3210. Rotating frame; 3220. Capture device; 2100. First support base; 2200. Connecting plate; 2300. Positioning column; 2310. First column; 2320. Second column; 2400. Lower section; 4210. Sliding drive component; 4220. Connecting beam; 4230. First slide rail; 424 0. First slide block; 4250. Truss; 4260. Second slide rail; 4270. Second slide block; 100. Mounting ring; 200. Limiting piece; 300. Clamping mechanism; 400. Buffer; 500. Limiting ring; 600. Vibration damping mechanism; 700. Grating lens; 800. Hook mechanism; 900. Annular bracket; 910. Light source; 210. Limiting part; 301. Clamping space; 310. Guide post; 320. Elastic reset element; 330 501. Clamping plate; 502. Accommodation space; 610. Through groove; 620. Connecting seat; 630. Compression spring; 631. Gripper assembly; 632. Limiting strip; 601. Assembly space; 810. Hook assembly; 820. Hinge seat; 830. Guide strip; 840. Axial displacement drive component; 811. Mounting plate; 812. Hook component; 801. Hook space; 821. First rotating shaft; 822. Second rotating shaft; 823. Connecting strip.

[0064] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0065] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0066] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0067] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0068] This invention proposes a method for testing precast tunnel segments.

[0069] Please see Figures 1 to 22 In one embodiment of the present invention, the precast segment inspection method includes:

[0070] S100: Perform a positioning operation on the prefabricated tube segment placed in the preset scanning space, and obtain the current placement position of the prefabricated tube segment;

[0071] In this embodiment, the example current placement position should be understood as the current placement area of ​​the precast segment, and the orthographic projection area of ​​the precast segment in the scanning space.

[0072] It is important to note that when positioning precast segments, a preset scanning device can be used to scan the scanning space to determine the placement area of ​​the precast segment. Of course, when using the preset scanning device, a positioning mechanism can be set up around the scanning space first. The preset scanning device is then used to scan the scanning space and the positioning mechanism to determine at least three first spatial coordinates. A basic coordinate system is then established based on the obtained first spatial coordinates. The current placement position of the precast segment is then projected into the basic coordinate system.

[0073] It should be specifically and clearly stated that the example pre-screening scanning equipment includes:

[0074] The device includes a terminal 1000, a positioning mechanism 2000, and a segment inspection mechanism 3000. The terminal 1000 is installed outside the positioning mechanism 2000. The positioning mechanism 2000 has a placement space 2100 for placing the segment to be inspected. The segment inspection mechanism 3000 is installed above the placement space 2100 and is communicatively connected to the terminal 1000. The segment inspection mechanism 3000 includes a segment inspection component 3100 and a tracking component 3200. The tracking component 3200 is installed on one side of the segment inspection component 3100 and can follow the movement of the segment inspection component 3100. The terminal 1000 can control the segment inspection component 3100 to drive the tracking component 3200 into or out of the placement space 2100, and when entering the placement space 2100, it performs inspection operations on the segment to be inspected placed in the placement space 2100.

[0075] In this embodiment, by employing a terminal 1000, a positioning mechanism 2000, and a segment detection mechanism 3000, a placement space 2100 is provided within the positioning mechanism 2000 during use. The segment to be detected is placed within the placement space 2100, and the segment detection mechanism 3000 is positioned above the placement space 2100. The terminal 1000 controls the segment detection mechanism 3000 to enter the placement space 2100. Upon entering the placement space 2100, the segment detection mechanism 3000 performs detection operations on the segment to be detected placed within the placement space 2100. This allows the present invention to automatically control the segment detection mechanism 3000 through the terminal 1000 during use, thereby improving detection efficiency. Meanwhile, since the tube segment to be tested is placed within the placement space 2100 of the positioning mechanism 2000, the present invention can position the tube segment to be tested through the cooperation of the tube segment testing mechanism 3000 and the positioning mechanism 2000 during specific use. This allows the tube segment testing mechanism 3000 to perform testing only on the tube segment to be tested, avoiding the defect that the presence of other materials during the testing process affects the testing accuracy.

[0076] It should be specifically and clearly stated that, in this embodiment, in specific use, multiple positioning positions spaced circumferentially around the periphery of the placement space 2100 can be first set on the positioning mechanism 2000. The terminal 1000 controls the segment detection mechanism 3000 to scan the positioning mechanism 2000 and the segment to be detected, obtaining the first spatial coordinates corresponding to at least three positioning positions. At the same time, the terminal 1000 establishes a basic coordinate system of the placement space 2100 based on the multiple first spatial coordinates. After establishing the basic coordinate system, the segment detection mechanism 3000 scans the segment to be detected placed in the placement space 2100 to determine the current position of the segment. After determining the current position of the segment, the segment detection device performs detection on the segment to be detected. This enables the function of detecting only the segment to be detected during the detection process, effectively avoiding the defect that the detection accuracy of the segment to be detected is affected by the presence of other structures during the detection process.

[0077] More specifically, when the terminal 1000 controls the segment detection component 3100 and the tracking component 3200 in the segment detection mechanism 3000 to perform detection operations on the segment to be detected, the terminal 1000 can control the segment detection component 3100 to drive the tracking component 3200 to scan and detect the segment to be detected. During scanning and detection, since the tracking component 3200 moves synchronously with the segment detection component 3100, the present invention can instantly determine the current detection position of the segment detection component 3100 on the segment to be detected, and thus determine whether each surface on the segment to be detected has been detected. This avoids repeated detection of the segment to be detected and ensures the detection efficiency of the segment to be detected.

[0078] It should be further emphasized and clarified that, in this embodiment, when the segment inspection component 3100 is used to inspect the segment to be inspected, it can be to perform image acquisition or laser scanning on the segment to be inspected.

[0079] In some specific embodiments, the segment detection system further includes a base frame 4000, which surrounds the positioning mechanism 2000 and extends upward beyond the top of the positioning mechanism 2000. A guide member 4100 is provided on the top of the base frame 4000, and a sliding module 4200 is slidably engaged with the guide member 4100. The sliding module 4200 passes through the upper part of the placement space 2100. The segment detection component 3100 is slidably engaged with the sliding module 4200. The sliding module 4200 is communicatively connected to the terminal 1000. The terminal 1000 can control the sliding module 4200 to drive the segment detection component 3100 to slide along the guide member 4100, and the terminal 1000 can also control the segment detection component 3100 to slide along the sliding module 4200 so that the segment detection component 3100 can stop at any position above the placement space 2100.

[0080] In this embodiment, a base frame 4000 is set around the periphery of the positioning mechanism 2000, and the base frame 4000 extends upward beyond the top of the positioning mechanism 2000. A guide member 4100 is set on the top of the base frame 4000, and a sliding module 4200 is slidably fitted on the guide member 4100. The segment detection mechanism 3000 is installed on the sliding module 4200. In practical use, the present invention can use the sliding module 4200 to drive the segment detection mechanism 3000 to slide automatically along the guide member 4100, and the segment detection component 3100 can slide along the sliding module 4200. Thus, the present invention has the function of automatically adjusting the position of the segment detection mechanism 3000 during use, so that the segment detection component 3100 can stop at any position above the placement space 2100.

[0081] It should be specifically and clearly stated that, in this embodiment, the sliding module 4200 of the example slides along the sliding direction of the guide 4100 in the first direction, which extends along the extension direction of the placement space 2100, while the tube segment detection component 3100 slides along the sliding direction of the sliding module 4200 in the second direction, which is a direction that spans across the placement space 2100.

[0082] In some preferred embodiments, the segment detection component 3100 includes:

[0083] Base 3110, base 3110 is mounted on sliding module 4200;

[0084] The lifting motion module 3120, the tracking component 3200, and the lifting motion module are spaced apart on the base 3110, with the bottom of the lifting motion module 3120 serving as the mounting end. The lifting motion module 3120 is communicatively connected to the terminal 1000; and...

[0085] The detection module 3130 is installed on the installation end and is communicatively connected to the terminal 1000.

[0086] The terminal 1000 can also control the lifting motion module 3120 to drive the detection module 3130 to move down into the placement space 2100, and when the detection module 3130 enters the placement space 2100, it controls the detection module 3130 to perform detection operations on the tube segment to be detected.

[0087] In this embodiment, by setting up a base 3110, a lifting motion module 3120, and a detection module 3130, the base 3110 is installed on the sliding module 4200 during use, so that the lifting motion module 3120 and the tracking component 3200 are installed at intervals on the base 3110. At the same time, the lifting motion module 3120 can drive the detection module 3130 installed on its mounting end to descend into the placement space 2100. When the detection module 3130 enters the placement space 2100, it is controlled to perform detection operations on the tube segment to be detected. Thus, the present invention allows the detection module 3130 to enter the placement space 2100 from any position above the placement space 2100 and perform detection operations on the tube segment to be detected, effectively improving the flexibility and adaptability of the tube segment detection system.

[0088] It should be specifically and clearly stated that, in this embodiment, the example lifting motion module 3120, in actual use, enables the lifting motion module 3120 itself to have a lifting function. Specifically, the lifting motion module 3120 includes:

[0089] The slide 3121 is mounted on the base 3110 and has a vertically arranged slide rail. A drive gear 3122 is provided in the slide rail. The drive gear 3122 is connected to the output shaft of the drive component 3126. The drive component 3126 is communicatively connected to the terminal 1000.

[0090] The sliding column 3123 is slidably engaged with the slide block 3121, and a rack 3125 is formed on one side of the sliding column 3123 corresponding to the straight tooth groove, which can mesh with the drive gear 3122. The terminal 1000 can control the drive member 3126 to drive the drive gear 3122 to rotate, so as to drive the sliding column 3123 to move up and down along the slide block 3121 through the rack 3125; and,

[0091] A multi-joint robotic arm 3124 is mounted on the bottom of a slide column 3123. The multi-joint robotic arm 3124 is communicatively connected to a terminal 1000, and the end of the multi-joint robotic arm 3124 away from the slide column 3123 forms a mounting end.

[0092] In this embodiment, by setting up a slide block 3121, a slide column 3123, and a multi-joint robotic arm 3124, the slide column 3123 is used to drive the multi-joint robotic arm 3124 and the detection module 3130 installed on the mounting end of the multi-joint robotic arm 3124 to descend, so that the present invention can enable the detection module 3130 to rise and fall autonomously during use.

[0093] Of course, to further ensure the motion accuracy of the detection module 3130 when entering the placement space 2100, a multi-joint robotic arm 3124 is installed at the bottom of the sliding column 3123, and the detection module 3130 is installed on the mounting end of the multi-joint robotic arm 3124. This allows the invention to drive the detection module 3130 to move through the multi-joint robotic arm 3124, thereby enabling the adjustment of the position of the detection module 3130 within the placement space 2100. At the same time, since the multi-joint robotic arm 3124 has autonomous movement capabilities, in specific use, the invention can also achieve real-time scanning of the tube segment to be detected by the multi-joint robotic arm 3124 working together with the sliding column 3123 and the sliding module 4200, thereby enabling the terminal 1000 to establish an overall model of the tube segment to be detected, facilitating subsequent operations.

[0094] It should be specifically and clearly stated that, in this embodiment, the driving component 3126 is preferably a servo motor or a stepper motor, and the multi-joint robotic arm 3124 is preferably a seven-degree-of-freedom robotic arm.

[0095] Of course, in some exemplary embodiments, the detection module 3130 includes:

[0096] The connector 3131 has one end detachably connected to the mounting end, and the other end of the connector 3131 has a mounting base that can swing around the connector 3131.

[0097] Image acquisition component 3132, image acquisition component 3132 is mounted on the mounting base; and,

[0098] A spherical laser cage 3133 surrounds the outer periphery of the image acquisition unit 3132 and is connected to the mounting base. The terminal 1000 can control the spherical laser aperture to emit a grid-shaped detection laser towards the tube to be inspected to scan each surface of the tube to be inspected, and simultaneously control the image acquisition unit 3132 to follow and acquire image data of the corresponding surfaces scanned by the laser.

[0099] In this embodiment, by setting up a connector 3131, an image acquisition unit 3132, and a spherical laser cage 3133, the spherical laser cage 3133 emits a grid-shaped laser beam onto the tube segment to be tested. At the same time, the image acquisition unit 3132 scans the area through which the grid-shaped laser beam passes, thereby realizing the function of real-time image acquisition of the surface of the tube segment to be tested. This enables the present invention to instantly judge the surface quality of the tube segment to be tested based on the acquired image and accurately output the detection results of each position on the tube segment to be tested.

[0100] It can be further explained that, in this embodiment, since the surface of the tube segment to be inspected is scanned by a grid-shaped laser emitted by a spherical laser cage 3133, and the image acquisition device 3132 follows and acquires images during the scanning, the image acquisition device 3132 actually acquires a combined image of the surface of the tube segment to be inspected and the laser beam irradiating the surface of the tube segment to be inspected. Since the image acquisition device 3132 and the spherical laser cage 3133 are both installed on the connector 3131 and move synchronously, the present invention can, in specific use, use the terminal 1000 to determine the material and the extension of the laser beam in the image acquired by the image acquisition device 3132, and thus determine whether there are quality problems such as cracks, pinholes and bulges on the surface of the tube segment to be inspected in the image.

[0101] It should be specifically and clearly stated that, in this embodiment, the example image acquisition device 3132 is preferably a CCD vision camera.

[0102] The example spherical laser cage 3133 can be configured to include a laser emitter, the example laser emitter including:

[0103] The device includes a limiting ring 500, a mounting ring 100, a limiting piece 200, a clamping mechanism 300, a grating lens 700, and multiple hook mechanisms 800. The mounting ring 100 and the limiting ring 500 are coaxially arranged, and a receiving space 501 is formed between the outer wall of the mounting ring 100 and the inner wall of the limiting ring 500. The limiting piece 200 is disposed on the mounting ring 100. The clamping mechanism 300 is slidably disposed on the mounting ring 100 along the radial direction of the mounting ring 100. The clamping mechanism 300 and the limiting piece 200 are disposed opposite each other, and the clamping mechanism 300 and the limiting piece 200 together form a clamping space 301. The grating lens 700 is disposed in the clamping space 301, and the clamping mechanism 300 can move away from the grating lens 700 along the radial direction of the mounting ring 100. The release position of 0 moves between the clamping position near the grating lens 700, correspondingly releasing or clamping the grating lens 700; a plurality of hook mechanisms 800 are arranged circumferentially spaced along the limiting ring 500; each hook mechanism 800 extends axially along the limiting ring 500, and each hook mechanism 800 has a connecting part and a hook part at both ends along its extension direction, the connecting part of each hook mechanism 800 is slidably connected to the limiting ring 500 along the axial direction of the limiting ring 500, the hook part of each hook mechanism 800 extends into the receiving space 501 and is detachably connected to the mounting ring 100, and the part of each hook mechanism 800 used to drive the mounting ring 100 to tilt toward the limiting ring 500, so as to drive the part of the grating lens 700 to tilt toward the limiting ring 500.

[0104] Specifically, multiple hook mechanisms 800 are arranged circumferentially around the limiting ring 500. The connecting part of each hook mechanism 800 can slide along the axial direction of the limiting ring 500, allowing the hook mechanism 800 to maintain flexibility during the adjustment of the position and angle of the grating lens 700. The hook part extends into the receiving space 501 and is detachably connected to the mounting ring 100, ensuring effective force transmission during fine-tuning and preventing interference between the hook parts. That is, it avoids friction and wear between the other hook parts and the mounting ring 100 when one hook part drives the mounting ring 100 to tilt. In other words, each hook part is hinged to the mounting ring 100.

[0105] During implementation, the hook mechanism 800 drives a portion of the mounting ring 100 to tilt towards the limiting ring 500, thereby causing a corresponding portion of the grating lens 700 to tilt towards the limiting ring 500. This improves the fine-tuning accuracy of the grating lens 700, enabling the laser emitter to more accurately align with the target prefabricated segment when performing laser positioning tasks, thus enhancing the overall performance of the laser positioning system. Furthermore, the number and spacing of the hook mechanisms 800 can be adjusted to flexibly control the response speed and accuracy of the laser emitter, allowing for customization to meet the specific prefabrication requirements of various segments. In addition, the slidable connection of the hook mechanism 800 to the limiting ring 500 effectively reduces errors caused by improper installation, ensuring the stability and accuracy of the grating lens 700.

[0106] Furthermore, by coaxially arranging the mounting ring 100 and the limiting ring 500, the resulting receiving space 501 can provide space for the mounting ring 100 and the grating lens 700 to make way during the tilting process.

[0107] It should be noted that the power source for adjusting the clamping mechanism 300 between the release position away from the grating lens 700 and the clamping position close to the grating lens 700 is manual adjustment or a drive motor in the prior art.

[0108] During implementation, when the grating lens 700 is installed in the clamping space 301, the edge of the grating lens 700 is located at the limiting piece 200 and is abutted by the mounting ring 100 to limit the axial displacement of the grating lens 700 in the mounting ring 100; the combined action of the clamping mechanism 300 and the limiting part 210 limits the radial displacement of the grating lens 700 in the mounting ring 100. Therefore, the position of the grating lens 700 placed in the clamping space 301 is fixed by the limiting piece 200, the mounting ring 100 and the clamping mechanism 300.

[0109] More specifically, the clamping mechanism 300 can move radially along the mounting ring 100 and can be adjusted between a release position away from the grating lens 700 and a clamping position close to the grating lens 700 to quickly install and remove the grating lens 700, ensuring that it is firmly clamped during operation and easily released during maintenance or replacement.

[0110] It should be understood that the mounting ring 100 provides a stable base for the grating lens 700, and the limiting piece 200 on it provides a stable mounting point, enhancing the stability and accuracy of the grating lens 700. The limiting piece 200 ensures that the grating lens 700 can be reliably positioned within the clamping space 301, avoiding light deviation caused by vibration or other external forces during the operation of the laser positioning system, thereby improving the overall correction effect. Furthermore, the clamping mechanism 300 is slidably disposed on the mounting ring 100 along its radial direction, allowing it to move flexibly to the clamping and releasing positions, and facilitating quick adjustments by the operator. In actual operation, the clamping mechanism 300 effectively controls the clamping force on the grating lens 700, ensuring that the grating lens 700 is not damaged by excessive pressure during clamping. Simultaneously, the clamping mechanism 300 and the limiting piece 200 are arranged opposite each other, forming the clamping space 301, further ensuring the stability of the grating lens 700. Furthermore, the grating lens 700 is positioned within the clamping space 301 and can be released or clamped under the control of the clamping mechanism 300, greatly simplifying the installation and replacement process of the grating lens 700 and eliminating the inconvenience and risks associated with traditional threaded connections. Operators can complete the release and installation of the grating lens 700 in a shorter time, reducing wear and tear caused by frequent adjustments and effectively improving work efficiency. The coordinated arrangement of the mounting ring 100, the limiting plate 200, and the clamping mechanism 300 significantly improves the ease of use and reliability of the grating lens 700. This not only enhances the stability of the grating lens 700 but also strengthens the accuracy of its calibration operations, effectively preventing light deviation caused by vibration or external interference during laser positioning system operation, thereby improving the laser beam correction effect of the laser positioning system. Meanwhile, the clamping mechanism 300 is radially slidable along the mounting ring 100, allowing the grating lens 700 to be easily released or clamped under the control of the clamping mechanism 300. This simplifies the installation and replacement process of the grating lens 700, eliminating the complexity and potential risks associated with traditional threaded connections. Furthermore, operators can thus complete the installation and release of the grating lens 700 in a shorter time, reducing component wear caused by frequent adjustments, effectively improving work efficiency, making the laser positioning system smoother to use, and better meeting the high-precision and high-efficiency requirements for precast tunnel segments in modern tunnel construction.

[0111] As an optional implementation of this embodiment, the laser emitter further includes a plurality of vibration damping mechanisms 600, which are staggered with a plurality of hook mechanisms 800. The plurality of vibration damping mechanisms 600 are spaced apart circumferentially on the limiting ring 500, and each vibration damping mechanism 600 extends axially along the limiting ring 500. The two ends of each vibration damping mechanism 600 along its extension direction are a free end and a connecting end, respectively. The connecting end of each vibration damping mechanism 600 is connected to the limiting ring 500, and the free end of each vibration damping mechanism 600 extends into the receiving space 501 and is connected to the mounting ring 100.

[0112] As an optional embodiment of the vibration damping mechanism 600, the vibration damping mechanism 600 includes a connecting seat 610, a compression spring 620, and a gripper assembly 630. The connecting seat 610, the compression spring 620, and the gripper assembly 630 are spaced apart along the circumference of the limiting ring 500. The connecting seat 610 is connected to the inner wall of the limiting ring 500 and forms a connecting end. One end of the compression spring 620 is connected to the connecting seat 610, and the other end of the compression spring 620 is connected to the gripper assembly 630. The gripper assembly 630 is detachably clamped to the outer wall of the mounting ring 100 and forms a free end.

[0113] Specifically, the connecting seat 610 connects to the inner wall of the limiting ring 500, forming the connecting end of the vibration damping mechanism 600, ensuring the reliability and stability of the vibration damping mechanism 600 during operation. One end of the compression spring 620 is connected to the connecting seat 610, and the other end is connected to the gripper assembly 630. The function of the compression spring 620 is to provide appropriate elasticity, enabling the gripper assembly 630 to maintain flexibility and resilience when subjected to external vibrations, thereby effectively absorbing and buffering vibrations.

[0114] More specifically, the gripper assembly 630 is detachably clamped to the outer wall of the mounting ring 100, improving maintenance convenience. When maintaining or replacing the grating lens 700, operators can quickly release the gripper for easy operation without disassembling the entire structure. Simultaneously, the gripper assembly 630 securely holds the grating lens 700, ensuring it is not subjected to unnecessary interference during operation and further reducing the risk of wear.

[0115] As an alternative implementation of the vibration damping mechanism 600, the compression spring 620 in the vibration damping mechanism 600 not only provides a structural basis for the reset of the mounting ring 100 after tilting, but also ensures that the side of the mounting ring 100 facing the limiting ring 500 always remains taut. This design enhances the stability of the mounting ring 100 when tilted, thereby improving the tilt control accuracy of the grating lens 700.

[0116] In practice, when one of the hook mechanisms 800 hooks one side of the mounting ring 100, the mounting ring 100 will be affected and tilt. Meanwhile, the other unaffected hook mechanisms 800 remain stationary. During the tilting process of the mounting ring 100, the compression spring 620 of the vibration damping mechanism 600 will apply tension to ensure the stability of the mounting ring 100.

[0117] When the hook mechanism 800 resets, the compression spring 620 returns to its initial state, causing the mounting ring 100 to reset along with the hook mechanism 800. The main function of the hook mechanism 800 is to tilt the mounting ring 100 without requiring complex connections or adjustments. This effectively reduces the contact area and assembly points between the hook mechanism 800 and the mounting ring 100, improving their durability. This ensures the stability and long-term reliability of the laser positioning system during use, while simplifying assembly and maintenance.

[0118] As an optional embodiment of the gripper assembly 630, the gripper assembly 630 includes an arc-shaped plate 631 and a limiting strip 632. The limiting strip 632 has an L-shaped structure. One end of the limiting strip 632 is connected to the arc-shaped plate 631, and the other end of the limiting strip 632 is spaced apart from the arc-shaped plate 631 to form an assembly space 601. A portion of the mounting ring 100 is disposed in the assembly space 601, and the arc-shaped plate 631 has an arc adapted to the mounting ring 100.

[0119] Specifically, the limiting strip 632 has an L-shaped structure, with one end connected to the arc plate 631 and the other end spaced apart from the arc plate 631 to form an assembly space 601, so that the gripper assembly 630 can flexibly adapt to the shape of the mounting ring 100 during the clamping process.

[0120] The assembly space 601 allows the mounting ring 100 to be smoothly inserted, ensuring a good fit between the gripper assembly 630 and the mounting ring 100. The curvature of the arc plate 631 is adapted to the mounting ring 100. This matching design not only enhances the stability of clamping but also ensures that the gripper assembly 630 applies pressure evenly during clamping, reducing potential damage to the grating lens 700. Through the combination of the arc plate 631 and the limiting strip 632, the gripper assembly 630 provides a smooth and reliable operating experience during clamping and releasing. Especially when maintaining or replacing the grating lens 700, users can easily adjust the gripper assembly 630 to achieve rapid release or clamping without affecting the overall stability of the laser positioning system.

[0121] In addition, vibration isolation pads are provided on the side of the limiting strip 632 and the arc plate 631 facing the mounting ring 100.

[0122] Specifically, the vibration isolation pad can effectively isolate vibrations from the robotic arm or other external sources, acting as a buffer. The vibration isolation pad, together with the limiting strip 632 and the arc plate 631, forms a multi-layered vibration reduction system. The vibration isolation pad can further absorb and dissipate vibration energy, reducing the possibility of it being transmitted to the mounting ring 100 and the grating lens 700.

[0123] In addition, when the gripper assembly 630 clamps the grating lens 700, the vibration isolation pad can provide more uniform pressure and avoid minor displacement caused by vibration, thereby further protecting the accuracy and stability of the grating lens 700.

[0124] In an embodiment of the present invention, the clamping mechanism 300 includes a guide post 310 and a clamping piece 330. The clamping piece 330 and the limiting piece 200 together form a clamping space 301. The guide post 310 extends radially along the mounting ring 100 and is mounted on the outer wall of the mounting ring 100. The clamping piece 330 is slidably mounted on the guide post 310 and can move between a release position and a clamping position to release or clamp the grating lens 700 accordingly.

[0125] Specifically, the clamping piece 330 and the limiting portion 210 of the limiting piece 200 together form a clamping space 301 for accommodating the grating lens 700. The clamping piece 330 can move between a release position and a clamping position to release or clamp the grating lens 700. The guide post 310 extends radially along the mounting ring 100 and is mounted on the outer wall of the mounting ring 100. The clamping piece 330 is slidably mounted on the guide post 310 to guide the movement of the clamping piece 330 radially in the mounting ring 100, thereby improving the clamping stability of the grating lens 700. The elastic reset member 320 is sleeved on the guide post 310 and located between the clamping piece 330 and the mounting ring 100. It provides elasticity so that the clamping piece 330 automatically returns to a preset position after release, ensuring that the clamping piece 330 can stably clamp the grating lens 700.

[0126] In an embodiment of the present invention, the clamping mechanism 300 further includes a radial displacement drive member, which is mounted on the mounting ring 100 and connected to the clamping piece 330. The radial displacement drive member is used to drive the clamping piece 330 to move between the release position and the clamping position, thereby releasing or clamping the grating lens 700 accordingly.

[0127] Specifically, the radial displacement drive provides power support to the clamping mechanism 300, allowing operators to quickly adjust the position of the clamping piece 330 with simple operations, easily clamping or releasing the grating lens 700, greatly reducing the complexity and time cost of manual operation. Furthermore, the radial displacement drive ensures the stability of the clamping piece 330 during movement, preventing damage to the grating lens 700 due to unnecessary shaking during clamping or releasing. In addition, the use of this radial displacement drive effectively improves operational accuracy, enabling the grating lens 700 to be accurately positioned within the clamping space 301, further enhancing the overall performance of the laser positioning system.

[0128] In an embodiment of the present invention, the clamping mechanism 300 further includes an elastic reset member 320, which is sleeved on the guide post 310. One end of the elastic reset member 320 is connected to the clamping piece 330, and the other end of the elastic reset member 320 is connected to the mounting ring 100.

[0129] Specifically, the elastic reset member 320 greatly enhances the automation of the clamping mechanism 300. When the operator moves the clamping piece 330 to the release position, the elastic reset member 320, through its elastic properties, returns the clamping piece 330 to the clamping position. This automatic reset function not only reduces manual intervention by the operator and improves work efficiency, but also ensures that the grating lens 700 will not fall off due to accidental collisions when not clamped. In addition, the elastic reset member 320 can absorb external impacts or vibrations, further enhancing the stability of the clamping piece 330, effectively preventing the grating lens 700 from shifting position due to vibration, and ensuring the accuracy and stability of the laser beam.

[0130] More specifically, the elastic reset member 320 is a spring. One end of the elastic reset member 320 is connected to the side of the clamping piece 330 facing the mounting ring 100, and the other end of the elastic reset member 320 is connected to the outer wall of the mounting ring 100. In this embodiment, the guide post 310 provides a stable sliding path for the clamping piece 330. Combined with the deformation reset function of the elastic reset member 320, it ensures that the clamping piece 330 can be moved quickly and reliably to the required position, enhancing the convenience and stability of the disassembly and assembly of the grating lens 700.

[0131] In one embodiment of the clamping mechanism 300, buffer members 400 are provided on the side of the clamping piece 330 and the limiting portion 210 of the limiting piece 200 facing the grating lens 700.

[0132] It should be noted that the buffer 400 is a rubber component in the prior art.

[0133] Specifically, the buffer 400 effectively absorbs the impact force between the clamping plate 330 and the grating lens 700, reducing damage caused by collisions during clamping or release, thereby protecting the grating lens 700 and its optical performance. Furthermore, during laser emitter operation, vibrations or external impacts may occur; the buffer 400 provides additional shock absorption, ensuring the grating lens 700 maintains a stable operating state. Additionally, by providing a soft contact surface during clamping, the buffer 400 helps prevent the grating lens 700 from shifting or becoming inaccurately positioned during clamping, thus improving the overall calibration accuracy of the laser positioning system. Moreover, the use of the buffer 400 reduces wear on the clamping mechanism 300 and the grating lens 700 caused by frequent operations, thereby extending their service life.

[0134] In one embodiment of the limiting piece 200, there are multiple limiting pieces 200, which are spaced apart along the circumferential direction of the mounting ring 100, and the clamping mechanism 300 is positioned opposite to any one of the limiting pieces 200.

[0135] Specifically, multiple limiting plates 200 are distributed circumferentially along the mounting ring 100, providing more uniform support for the grating lens 700 when clamping it, ensuring that the grating lens 700 can be stably fixed during clamping and reducing local stress concentration. Furthermore, the arrangement of multiple limiting plates 200 makes the adjustment of the clamping space 301 more flexible, accommodating grating lenses 700 of different types or sizes, thus enhancing the compatibility of the laser emitter.

[0136] It should be noted that the relative setting in this embodiment refers to the relative positional relationship, including but not limited to symmetrical relationship. The relative setting can also be the gap setting between the clamping piece 330 and the two adjacent limiting pieces 200.

[0137] In an embodiment of the present invention, each hook mechanism 800 includes a hook assembly 810, a hinge seat 820, a guide bar 830, and an axial displacement drive member 840. The hook assembly 810 forms a hook portion, and the guide bar 830 forms a connecting portion. One end of the hook assembly 810 is hinged to the guide bar 830 through the hinge seat 820, and the other end of the hook assembly 810 is detachably connected to the mounting ring 100. The axial displacement drive member 840 is mounted on the limiting ring 500 and is connected to the guide bar 830. It is used to drive the guide bar 830 to slide along the axial direction of the limiting ring 500, so as to cause a portion of the mounting ring 100 to tilt toward the limiting ring 500 and a portion of the grating lens 700 to tilt toward the limiting ring 500.

[0138] Specifically, at the start of the process, the axial displacement drive 840 receives a control signal. Once activated, the axial displacement drive 840 drives the guide bar 830 to slide axially along the limiting ring 500. One end of the hook assembly 810 is hinged to the guide bar 830, and the other end is detachably connected to the mounting ring 100. As the guide bar 830 moves, the hook assembly 810 tilts via the hinge seat 820, allowing it to rotate flexibly during adjustment, thereby effectively adjusting the angle of the mounting ring 100. When the guide bar 830 slides along the limiting ring 500, the hook portion connects to the mounting ring 100, causing a portion of the mounting ring 100 to tilt towards the limiting ring 500, which in turn causes the corresponding portion of the grating lens 700 to also tilt towards the limiting ring 500.

[0139] More specifically, the axial displacement drive 840 can be used to drive the guide bar 830 to reciprocate linearly along the circumference of the mounting ring 100 and the limiting ring 500, so that the mounting ring 100 drives the grating lens 700 to tilt or reset.

[0140] This embodiment significantly improves the fine-tuning accuracy of the grating lens 700, enabling the laser emitter to more accurately align with the target preform segment when performing laser positioning tasks. Furthermore, the hook mechanism 800 not only enhances stability during the fine-tuning process but also ensures the flexibility and accuracy of the grating lens 700 adjustment process, thereby effectively improving the overall performance of the laser positioning system.

[0141] In an embodiment of the present invention, the hook assembly 810 includes a mounting plate 811 and a hook member 812. The mounting plate 811 is spaced apart from the inner wall of the mounting ring 100. The hook member 812 has an L-shaped structure. One end of the hook member 812 is connected to the mounting plate 811, and the other end of the hook member 812 is spaced apart from the mounting plate 811 to form a hook space 801. A portion of the mounting ring 100 is disposed in the hook space 801.

[0142] Specifically, the hook space 801 not only ensures the stability of the mounting ring 100 during adjustment, but also provides the necessary flexibility for fine-tuning of the grating lens 700. When adjusting, a portion of the grating lens 700 can be tilted within the hook space 801 on the non-powered end, thereby preventing friction and wear between the portion of the grating lens 700 and the hook assembly 810.

[0143] In an embodiment of the present invention, the hinge seat 820 includes a first rotating shaft 821, a second rotating shaft 822, and a connecting bar 823. The first rotating shaft 821 and the second rotating shaft 822 are arranged radially apart along the limiting ring 500. The first rotating shaft 821 is mounted on the guide bar 830, and the second rotating shaft 822 is mounted on the hook member 812. The first rotating shaft 821 is rotatably connected to one end of the connecting bar 823, and the second rotating shaft 822 is rotatably connected to the other end of the connecting bar 823.

[0144] Specifically, the first rotating shaft 821 is mounted on the guide bar 830, while the second rotating shaft 822 is mounted on the hook component 812. The first rotating shaft 821 is rotatably connected to one end of the connecting bar 823, and the second rotating shaft 822 is also rotatably connected to the other end of the connecting bar 823, allowing the hook component 812 to rotate freely during adjustment, thereby improving the flexibility and precision of the hook mechanism 800. Through the hinge seat 820, the hook assembly 810 can effectively cooperate with the guide bar 830 to achieve fine-tuning of the grating lens 700. This ensures precise angle adjustment of the grating lens 700 during laser emitter operation, thereby improving the performance and reliability of the laser positioning system.

[0145] In an embodiment of the present invention, a through groove 502 is formed on the limiting ring 500, the through groove 502 extends along the axial direction of the limiting ring 500, and the guide bar 830 extends into the through groove 502 and is slidably connected to the limiting ring 500.

[0146] Specifically, a through groove 502 is formed on the limiting ring 500, which extends along the axial direction of the limiting ring 500. The guide bar 830 can slide in it. The through groove 502 structure of the limiting ring 500 provides stable guidance for the guide bar 830, improving the accuracy of the grating lens 700 in the adjustment process.

[0147] In an embodiment of the present invention, the laser emitter further includes a light source 910 and an annular bracket 900. The annular bracket 900 is coaxially arranged with the limiting ring 500, and the annular bracket 900 is opposite to and spaced apart from the mounting ring 100. The light source 910 is mounted on the annular bracket 900 at the position corresponding to the grating lens 700.

[0148] Specifically, the annular bracket 900 and the limiting ring 500 are coaxially arranged and are opposite to and spaced apart from the mounting ring 100. The light source 910 is mounted on the annular bracket 900, and its position corresponds to the grating lens 700, so that the light source 910 can directly illuminate the grating lens 700, ensuring that the light transmission path is accurate.

[0149] The annular bracket 900, together with the limiting ring 500 and the mounting ring 100, forms a stable frame, providing a reliable fixed position for the light source 910. This helps reduce the movement or offset of the light source 910 during operation, ensuring that the light is always aligned with the grating lens 700, and improving light transmission efficiency.

[0150] Furthermore, the mounting position of the light source 910 is matched to the position of the grating lens 700. This ensures that the light source 910 can illuminate the grating lens 700 at the optimal angle, maximizing light utilization and minimizing light loss. This enables the laser positioning system to maintain efficient light transmission in complex environments.

[0151] More specifically, based on the axial displacement drive 840 in the above embodiments, the annular bracket 900 also provides a mounting base for the axial displacement drive 840 to ensure that the entire laser emitter has a compact structure that is easy to use and install.

[0152] As an optional embodiment of the annular bracket 900, the annular bracket 900 includes a plurality of long rods and a connecting ring. Each long rod extends along the axial direction of the limiting ring 500. One end of each limiting rod is connected to the limiting ring 500, and the other end of each limiting rod is connected to the outer wall of the connecting ring. The connecting ring is coaxially arranged with the limiting ring 500 and the mounting ring 100. The light source 910 is mounted on the connecting ring.

[0153] In addition, a hook mechanism 800 is provided between two adjacent long rods. The guide bar 830 of the hook mechanism 800 slides with the long rod through a groove on the outer wall of the long rod to further improve the sliding stability of the guide bar 830, thereby improving the reliability of the laser positioning system during use.

[0154] In addition, the light source 910 is a laser light source in the prior art.

[0155] S200: Control the preset scanning device to move to the current placement position and perform a scanning operation on the prefabricated tube segment to collect the target dataset of the prefabricated tube segment; wherein, the target dataset includes the target image data of the prefabricated tube segment and the CT scan data of the prefabricated tube segment in the area corresponding to the target image data;

[0156] In this embodiment, the example CT scan data can be obtained using a CT scanner in the prior art, and the example target image data can be obtained using a CCD camera in the prior art.

[0157] S300. The target dataset is subjected to noise reduction processing to extract the target point cloud from the target dataset;

[0158] It should be specifically and clearly stated that the noise reduction process exemplified in this embodiment is existing technology, and it is only applied in this embodiment, and will not be described in detail here.

[0159] S400. Establish a target three-dimensional model of the precast segment based on the target point cloud; wherein, the target three-dimensional model includes the surface structure model of the precast segment and the internal model of the precast segment;

[0160] In this embodiment, the target 3D model is a 3D model built using an electronic terminal 1000 based on the extracted point cloud dataset. This 3D model includes information such as the shape, material, and thickness of the precast segments. Simultaneously, the example 3D model also includes defect data of the precast segments.

[0161] S500. The target three-dimensional model is compared and analyzed with the preset three-dimensional model to detect the precast segments.

[0162] In this embodiment, by positioning a precast tube segment placed in a preset scanning space and obtaining its current placement position, a preset scanning device is controlled to move to the current placement position and scan the precast tube segment to collect a target dataset. The target dataset is then denoised to extract a target point cloud. A target 3D model of the precast tube segment is built based on the target point cloud. The target 3D model is compared and analyzed with a preset 3D model to detect the precast tube segment. This invention enables the use of a set scanning device to scan a precast tube segment placed in the placement space and positioned to obtain surface image data and internal CT data. The collected surface image data and internal CT data are then denoised and mapped to extract a point cloud dataset of the precast tube segment. A 3D model of the precast tube segment is reconstructed based on the extracted point cloud dataset, and the 3D model is compared and analyzed with a preset model to obtain the detection result of the precast tube segment. This achieves the function of collecting data on the internal structure of the precast tube segment and detecting the internal forming quality of the precast tube segment based on the collected data. Meanwhile, since the surface image data of the precast segments are collected simultaneously during the inspection process, this invention can simultaneously inspect the surface quality and internal quality of the precast segments in practical use, thus achieving comprehensive inspection of the precast segments.

[0163] In some specific implementations, before step S100, the following steps are also included:

[0164] S600. Perform a scanning operation on the scanning space and establish the basic coordinate system of the preset scanning space;

[0165] Step S100 includes:

[0166] S110. Position the prefabricated tube segment placed in the preset scanning space and obtain the current outline of the prefabricated tube segment;

[0167] S120. Project the current contour onto the base coordinate system to obtain the current placement position of the precast segment.

[0168] In some specific implementations, step S200 includes:

[0169] S210. Control the preset scanning device to move to the current placement position, and simultaneously perform scanning operations on the surface of the precast tube segment and the interior corresponding to the surface, so as to collect the target image data of the precast tube segment and the scanning data corresponding to the target image data respectively; wherein, the target image data is the laser grid image of the surface of the precast tube segment, and the scanning data is the CT data of the precast tube segment;

[0170] S220. Combine the target image data with the scan data to obtain the target dataset of the precast tube segment.

[0171] In some preferred embodiments, step S220 includes:

[0172] S221. Control the preset scanning device to move to the current placement position, and obtain the start scanning coordinates and end scanning coordinates for the precast tube segment scanning operation;

[0173] S222. Based on the starting scan coordinates and the ending scan coordinates, plan the motion path of the preset scanning device on the target contour;

[0174] S223. Control the preset scanning device to perform synchronous scanning operations on the surface of the precast tube segment and the interior corresponding to the surface of the precast tube segment according to the motion path from the starting scanning coordinates, so as to collect the target image data of the precast tube segment and the scanning data corresponding to the target image data respectively.

[0175] In one embodiment, step S300 includes:

[0176] S310. Perform noise reduction processing on the target dataset and determine whether the target dataset meets the preset requirements;

[0177] S320. When the condition is met, the target point cloud set is extracted from the target dataset.

[0178] In one embodiment, after step S310, the method further includes:

[0179] S330. If the conditions are not met, then all regions corresponding to the target dataset that do not meet the preset requirements shall be used as secondary scanning regions.

[0180] S340. Control the preset scanning device to perform scanning operations on all the secondary scanning areas to obtain the current dataset corresponding to all the secondary scanning areas;

[0181] S350. Take the current dataset as the target dataset and return to perform the step of denoising the target dataset and determining whether the target dataset meets the preset requirements, until all the target datasets meet the preset conditions.

[0182] Based on the same technical concept, in a second aspect, the present invention also proposes a precast tunnel segment inspection device, comprising:

[0183] The positioning module is used to position the prefabricated tube segment placed in a preset scanning space and to obtain the current placement position of the prefabricated tube segment.

[0184] The data acquisition module is used to control the preset scanning device to move to the current placement position and perform scanning operations on the precast tube segment to acquire the target dataset of the precast tube segment; wherein, the target dataset includes the target image data of the precast tube segment and the CT scan data of the precast tube segment in the area corresponding to the target image data;

[0185] An extraction module is used to perform noise reduction processing on the target dataset in order to extract the target point cloud from the target dataset;

[0186] A modeling module is used to establish a target three-dimensional model of the precast segment based on the target point cloud; wherein, the target three-dimensional model includes the surface structure model of the precast segment and the internal model of the precast segment;

[0187] The comparison module is used to compare and analyze the target 3D model with a preset 3D model in order to detect the prefabricated segments.

[0188] The precast tunnel segment inspection device provided in this application, employing the precast tunnel segment inspection method described in the above embodiments, can solve the technical problem that, in actual inspection operations, only the surface quality of precast tunnel segments is typically inspected, while the internal quality of the precast tunnel segments cannot be detected. Compared with the prior art, the beneficial effects of the precast tunnel segment inspection device provided in this application are the same as those of the precast tunnel segment inspection method provided in the above embodiments, and other technical features in the precast tunnel segment inspection device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0189] Based on the same technical concept, in a third aspect, the present invention also proposes a precast segment inspection device, which includes a processor and a memory. The memory stores a precast segment inspection program. When the precast segment inspection program is executed by the processor, it implements the precast segment inspection method described in the first aspect.

[0190] The precast segment inspection equipment in this application embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), vehicle terminals (e.g., vehicle control terminals), and fixed terminals such as digital TVs and desktop computers.

[0191] The precast segment inspection equipment may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the precast segment inspection equipment. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the precast segment inspection equipment to communicate wirelessly or wiredly with other devices to exchange data. Although precast segment inspection equipment with various systems is shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0192] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0193] The precast tunnel segment inspection equipment provided in this application, employing the precast tunnel segment inspection method described in the above embodiments, can solve the technical problem that, in actual inspection operations, only the surface quality of precast tunnel segments is typically inspected, while the internal quality of the precast tunnel segments cannot be detected. Compared with the prior art, the beneficial effects of the precast tunnel segment inspection equipment provided in this application are the same as those of the precast tunnel segment inspection method provided in the above embodiments, and other technical features of this precast tunnel segment inspection equipment are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0194] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0195] Furthermore, the precast tunnel segment inspection equipment provided in this application can solve the technical problem that, in actual inspection operations, only the surface quality of precast tunnel segments is usually inspected, and the internal quality of precast tunnel segments cannot be inspected. Compared with the prior art, the beneficial effects of the precast tunnel segment inspection equipment provided in this application are the same as the beneficial effects of the precast tunnel segment inspection method provided in the above embodiments, and other technical features in the precast tunnel segment inspection equipment are the same as the features disclosed in the methods of the above embodiments, and will not be repeated here.

[0196] Based on the same technical concept, in a fourth aspect, the present invention also proposes a precast tunnel segment inspection system, comprising:

[0197] The precast segment inspection equipment described in the third aspect; and...

[0198] A preset scanning device is communicatively connected to the precast segment inspection device. The precast segment inspection device can control the preset scanning device to perform scanning operations on the precast segments and inspect the precast segments.

[0199] Furthermore, the precast tunnel segment inspection system provided in this application can solve the technical problem that, in actual inspection operations, only the surface quality of precast tunnel segments is usually inspected, and the internal quality of precast tunnel segments cannot be detected. Compared with the prior art, the beneficial effects of the precast tunnel segment inspection system provided in this application are the same as those of the precast tunnel segment inspection method provided in the above embodiments, and other technical features of the precast tunnel segment inspection system are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0200] Based on the same technical concept, in a fifth aspect, the present invention also proposes a computer-readable storage medium storing a computer program, which, when executed by one or more processors, implements the precast segment detection method described in the first aspect.

[0201] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0202] The aforementioned computer-readable storage medium may be included in the precast segment inspection equipment; or it may exist independently and not assembled into the precast segment inspection equipment.

[0203] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the precast segment inspection equipment, enable the precast segment inspection equipment to implement the precast segment inspection method described above.

[0204] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0205] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0206] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0207] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described precast segment inspection method. This solves the technical problem that, in actual inspection operations, only the surface quality of precast segments is typically inspected, and the internal quality of the precast segments cannot be detected. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the precast segment inspection method provided in the above embodiments, and will not be repeated here.

[0208] Therefore, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here. The above descriptions are merely exemplary embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made under the technical concept of the present invention using the description and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for inspecting precast tunnel segments, characterized in that, include: The prefabricated tube segment placed in the preset scanning space is positioned, and the current placement position of the prefabricated tube segment is obtained; The preset scanning device is controlled to move to the current placement position and scan the precast tube segment to collect the target dataset of the precast tube segment; wherein, the target dataset includes the target image data of the precast tube segment and the CT scan data of the precast tube segment in the area corresponding to the target image data; The target dataset is denoised in order to extract the target point cloud from the target dataset; A target three-dimensional model of the precast segment is established based on the target point cloud; wherein, the target three-dimensional model includes the surface structure model of the precast segment and the internal model of the precast segment; The target 3D model is compared and analyzed with a preset 3D model to detect the precast segments; The preset scanning device includes a laser emitter, which comprises a limiting ring, a mounting ring, a limiting plate, a clamping mechanism, a grating lens, and multiple hook mechanisms. The mounting ring and the limiting ring are coaxially arranged, and an accommodating space is formed between the outer wall of the mounting ring and the inner wall of the limiting ring. The limiting plate is disposed on the mounting ring. The clamping mechanism is slidably disposed on the mounting ring along the radial direction of the mounting ring, and is disposed opposite to the limiting plate, and the clamping mechanism and the limiting plate together form a clamping space. The grating lens is disposed in the clamping space, and the clamping mechanism can move along the radial direction of the mounting ring away from the grating lens. The release position moves between the release position and the clamping position near the grating lens, correspondingly releasing or clamping the grating lens; a plurality of hook mechanisms are arranged circumferentially spaced along the limiting ring; each hook mechanism extends axially along the limiting ring, with a connecting portion and a hook portion at both ends along its extension direction, the connecting portion of each hook mechanism being slidably connected to the limiting ring along the axial direction of the limiting ring, the hook portion of each hook mechanism extending into the receiving space and being detachably connected to the mounting ring, and the portion of each hook mechanism used to drive the mounting ring to tilt toward the limiting ring, thereby causing a portion of the grating lens to tilt toward the limiting ring.

2. The precast tunnel segment inspection method as described in claim 1, characterized in that, Before the step of positioning the prefabricated tube segment placed within the preset scanning space and obtaining the current placement position of the prefabricated tube segment, the method further includes: Perform a scanning operation on the scanning space and establish the basic coordinate system of the preset scanning space; The step of positioning the prefabricated tube segment placed within the preset scanning space and obtaining the current placement position of the prefabricated tube segment includes: The prefabricated tube segment placed in the preset scanning space is positioned to obtain the current outline of the prefabricated tube segment; The current contour is projected onto the base coordinate system to obtain the current placement position of the precast segment.

3. The precast tunnel segment inspection method as described in claim 2, characterized in that, The step of controlling the preset scanning device to move to the current placement position and performing a scanning operation on the precast segment to collect the target dataset of the precast segment includes: The preset scanning device is controlled to move to the current placement position and simultaneously scans the surface of the precast tube segment and the interior corresponding to the surface to acquire target image data of the precast tube segment and scan data corresponding to the target image data; wherein, the target image data is the laser grid image of the surface of the precast tube segment, and the scan data is the CT data of the precast tube segment; The target image data and the scan data are combined to obtain the target dataset of the precast tube segment.

4. The precast tunnel segment inspection method as described in claim 3, characterized in that, The step of controlling the preset scanning device to move to the current placement position and simultaneously scanning the surface of the precast tube segment and the interior corresponding to the surface to acquire target image data of the precast tube segment and scan data corresponding to the target image data includes: The preset scanning device is controlled to move to the current placement position, and the start and end scanning coordinates of the precast tube segment are obtained for the scanning operation. Based on the starting scan coordinates and the ending scan coordinates, plan the motion path of the preset scanning device on the target contour; The preset scanning device is controlled to simultaneously scan the surface of the precast tube segment and the interior corresponding to the surface of the precast tube segment according to the motion path from the starting scanning coordinates, so as to collect the target image data of the precast tube segment and the scanning data corresponding to the target image data.

5. The precast tunnel segment inspection method as described in claim 4, characterized in that, The step of performing noise reduction processing on the target dataset to extract the target point cloud from the target dataset includes: The target dataset is subjected to noise reduction processing, and it is determined whether the target dataset meets the preset requirements; When the conditions are met, the target point cloud is extracted from the target dataset.

6. The precast tunnel segment inspection method as described in claim 5, characterized in that, After the steps of performing noise reduction processing on the target dataset and determining whether the target dataset meets preset requirements, the method further includes: If the conditions are not met, then all regions corresponding to the target dataset that do not meet the preset requirements are taken as secondary scanning regions. The preset scanning device is controlled to perform scanning operations on all the secondary scanning areas to obtain the current dataset corresponding to all the secondary scanning areas; The current dataset is used as the target dataset, and the process of performing noise reduction on the target dataset and determining whether the target dataset meets the preset requirements is repeated until all target datasets meet the preset conditions.

7. A precast tunnel segment inspection device, characterized in that, include: The positioning module is used to position the prefabricated tube segment placed in a preset scanning space and to obtain the current placement position of the prefabricated tube segment. The data acquisition module is used to control the preset scanning device to move to the current placement position and perform scanning operations on the precast tube segment to acquire the target dataset of the precast tube segment; wherein, the target dataset includes the target image data of the precast tube segment and the CT scan data of the precast tube segment in the area corresponding to the target image data; An extraction module is used to perform noise reduction processing on the target dataset in order to extract the target point cloud from the target dataset; A modeling module is used to establish a target three-dimensional model of the precast segment based on the target point cloud; wherein, the target three-dimensional model includes the surface structure model of the precast segment and the internal model of the precast segment; The comparison module is used to compare and analyze the target 3D model with a preset 3D model to detect the prefabricated segments; The preset scanning device includes a laser emitter, which comprises a limiting ring, a mounting ring, a limiting plate, a clamping mechanism, a grating lens, and multiple hook mechanisms. The mounting ring and the limiting ring are coaxially arranged, and an accommodating space is formed between the outer wall of the mounting ring and the inner wall of the limiting ring. The limiting plate is disposed on the mounting ring. The clamping mechanism is slidably disposed on the mounting ring along the radial direction of the mounting ring, and is disposed opposite to the limiting plate, and the clamping mechanism and the limiting plate together form a clamping space. The grating lens is disposed in the clamping space, and the clamping mechanism can move along the radial direction of the mounting ring away from the grating lens. The release position moves between the release position and the clamping position near the grating lens, correspondingly releasing or clamping the grating lens; a plurality of hook mechanisms are arranged circumferentially spaced along the limiting ring; each hook mechanism extends axially along the limiting ring, with a connecting portion and a hook portion at both ends along its extension direction, the connecting portion of each hook mechanism being slidably connected to the limiting ring along the axial direction of the limiting ring, the hook portion of each hook mechanism extending into the receiving space and being detachably connected to the mounting ring, and the portion of each hook mechanism used to drive the mounting ring to tilt toward the limiting ring, thereby causing a portion of the grating lens to tilt toward the limiting ring.

8. A precast tunnel segment inspection device, characterized in that, The precast segment inspection equipment includes a processor and a memory. The memory stores a precast segment inspection program. When the processor executes the precast segment inspection program, it implements the precast segment inspection method as described in any one of claims 1 to 6.

9. A precast tunnel segment inspection system, characterized in that, include: The precast tunnel segment inspection equipment as described in claim 8; as well as, A preset scanning device is provided, which is communicatively connected to the precast segment inspection device. The precast segment inspection device can control the preset scanning device to perform scanning operations on the precast segments and inspect the precast segments.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by one or more processors, implements the precast segment inspection method as described in any one of claims 1 to 6.

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