Prefabricated duct piece virtual three-ring assembling method, device, equipment, system and medium

Abstract

The invention relates to a prefabricated segment virtual three-ring splicing method, device, equipment, system and medium, and particularly relates to the technical field of shield segment manufacturing, and the method comprises the steps: building a corresponding number of segment three-dimensional models according to a collected target point cloud data set of prefabricated segments, traversing all segment three-dimensional models, and constructing a three-ring splicing model; and according to the corresponding production number, determining a target type corresponding to each segment three-dimensional model, according to the preset assembling parameters of the prefabricated segment virtual three-ring, picking up the segment three-dimensional models of all the target types, and according to the target assembling path, performing the assembling operation of the prefabricated segment virtual three-ring. The corresponding duct piece three-dimensional model picking and splicing operation is performed through the production number recorded in the established duct piece three-dimensional model and the determined target type, and the splicing time is shortened.

Description

Technical Field

[0001] The invention relates to the technical field of shield segment manufacturing, and in particular to a virtual three-ring assembly method, device, equipment, system and medium for prefabricated segments. Background Art

[0002] With the acceleration of urbanization, tunnel engineering, as an important part of urban infrastructure, has an increasing demand for construction. Shield tunnel construction technology has become the main form of urban tunnel construction due to its advantages such as small impact on other urban facilities and fast construction speed. In shield tunnel construction, segment assembly is one of the key technologies, which directly affects the quality and construction efficiency of the tunnel. In order to improve the accuracy and efficiency of segment assembly, segment virtual assembly technology came into being. This technology realizes the three-dimensional assembly of segments through computer simulation, in order to optimize and preview the assembly process before actual construction, thereby reducing errors and costs in construction.

[0003] At present, the main process of the virtual three-ring assembly technology for prefabricated pipe segments is: first, use a laser scanning system to collect point cloud data of multiple pipe segments and form a corresponding number of point cloud data files, then number each point cloud data file in sequence, and then import all the numbered files into the simulation assembly system for the assembly of the virtual three rings.

[0004] Although this assembly process can realize the virtual assembly process of the three-ring segment, it has the defects of long time consumption and low assembly efficiency during the assembly process. Summary of the invention

[0005] The main purpose of the present invention is to propose a method, device, equipment, system and medium for virtual three-ring assembly of prefabricated pipe segments, aiming to solve the technical problems of the related technology that the virtual three-ring assembly of pipe segments has the defects of long time consumption and low assembly efficiency.

[0006] To achieve the above object, the present invention proposes a virtual three-ring assembly method for prefabricated segments, comprising:

[0007] A corresponding number of segment three-dimensional models are established according to the collected target point cloud data set of the prefabricated segments; wherein the target point cloud data set includes a plurality of target point cloud data sets corresponding to the prefabricated segments, and the target point cloud data set records production numbers that are consistent with the number of the prefabricated segments and are set one-to-one;

[0008] Traversing all the segment 3D models, and determining the target type corresponding to each segment 3D model according to the corresponding production number; wherein the target type includes a standard block, an L1 adjacent block, an L2 adjacent block, and a capping block;

[0009] According to the preset assembly parameters of the prefabricated segment virtual three-ring, the three-dimensional models of the segment of all the target types are picked up, and the prefabricated segment virtual three-ring assembly operation is performed according to the target assembly path.

[0010] In one embodiment, the step of establishing a corresponding number of segment three-dimensional models based on the acquired target point cloud data set of the prefabricated segment comprises:

[0011] According to the preset assembly parameters and the segment quantity requirement of the prefabricated segment virtual three rings, target point cloud data of a corresponding number of the prefabricated segments are collected and combined to form the target point cloud data set;

[0012] A corresponding number of segment three-dimensional models are established according to the target point cloud data set.

[0013] In one embodiment, the step of collecting target point cloud data of a corresponding number of the prefabricated segments and combining them to form the target point cloud data set according to the preset assembly parameters and the segment quantity requirement of the prefabricated segment virtual three rings comprises:

[0014] According to the preset assembly parameters and the quantity requirement of the virtual three rings of the prefabricated pipe segments, controlling the preset scanning device to collect the target point cloud data of the corresponding quantity of the prefabricated pipe segments;

[0015] The target point cloud data are combined to form the target point cloud data set.

[0016] In one embodiment, the step of combining the target point cloud data to form the target point cloud data set includes:

[0017] The target point cloud data is mapped with the corresponding production number, and the target point cloud data mapped with the production number are combined to form the target point cloud data set.

[0018] In one embodiment, the step of traversing all the segment 3D models and determining the target type corresponding to each segment 3D model according to the corresponding production number includes:

[0019] All the segment 3D models are traversed, and the target type corresponding to each segment 3D model is determined according to the corresponding production number and the orthographic projection shape perpendicular to the arc curve direction of each segment 3D model.

[0020] In one embodiment, before the step of picking up the three-dimensional models of all target types of segments according to the preset assembly parameters of the prefabricated segment virtual three rings and performing the assembly operation of the prefabricated segment virtual three rings according to the target assembly path, the method further includes:

[0021] Classifying the three-dimensional models of the segments of all target types;

[0022] The step of picking up the three-dimensional models of all the target types of segments according to the preset assembly parameters of the virtual three-ring of the prefabricated segment, and performing the assembly operation of the virtual three-ring of the prefabricated segment according to the target assembly path includes:

[0023] According to the preset assembly parameters of the prefabricated segment virtual three rings, the segment three-dimensional models of various types are picked up, and the assembly operation of the prefabricated segment virtual three rings is performed according to the target assembly path.

[0024] Based on the same technical concept, in a second aspect, the present invention further proposes a prefabricated segment virtual three-ring assembly device, comprising:

[0025] A modeling module, used to establish a corresponding number of segment three-dimensional models according to the collected target point cloud data set of the prefabricated segments; wherein the target point cloud data set includes a plurality of target point cloud data sets corresponding to the prefabricated segments, and the target point cloud data set records production numbers that are consistent with the number of the prefabricated segments and are set one-to-one;

[0026] A type determination module, used to traverse all the segment three-dimensional models and determine the target type corresponding to each segment three-dimensional model according to the corresponding production number; wherein the target type includes a standard block, an L1 adjacent block, an L2 adjacent block and a capping block;

[0027] The virtual assembly module is used to pick up the three-dimensional models of all the target types of the segments according to the preset assembly parameters of the prefabricated segment virtual three rings, and perform the prefabricated segment virtual three ring assembly operation according to the target assembly path.

[0028] Based on the same technical concept, in the third aspect, the present invention also proposes a prefabricated pipe segment virtual three-ring assembly device, which includes a processor and a memory, and the memory stores a prefabricated pipe segment virtual three-ring assembly program. When the prefabricated pipe segment virtual three-ring assembly program is executed by the processor, the prefabricated pipe segment virtual three-ring assembly method described in the first aspect is implemented.

[0029] Based on the same technical concept, in a fourth aspect, the present invention further proposes a prefabricated segment virtual three-ring assembly system, comprising:

[0030] The prefabricated segment virtual three-ring assembly equipment according to the third aspect; and

[0031] A preset scanning device is communicatively connected with the prefabricated pipe segment virtual three-ring assembly device, and the prefabricated pipe segment virtual three-ring assembly device can control the preset scanning device to scan the prefabricated pipe segment to collect a target point cloud data set of the prefabricated pipe segment.

[0032] Based on the same technical concept, in the fifth aspect, the present invention further proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by one or more processors, the virtual three-ring assembly method of the prefabricated pipe segment described in the first aspect is implemented.

[0033] The technical solution of the present invention establishes a corresponding number of segment three-dimensional models according to the target point cloud data set of the prefabricated segment obtained by collection, traverses all segment three-dimensional models, and determines the target type corresponding to each segment three-dimensional model according to the corresponding production number, picks up segment three-dimensional models of all target types according to the preset assembly parameters of the virtual three-ring of the prefabricated segment, and performs the virtual three-ring assembly of the prefabricated segment according to the target assembly path, so that when the present invention is used, the corresponding segment three-dimensional model picking and assembly operation is performed by the production number recorded in the established segment three-dimensional model and the determined target type, thereby reducing the assembly time. In addition, since the virtual assembly operation is directly performed on the established segment three-dimensional model, the present invention can ensure a high assembly efficiency when used specifically, avoiding the defects of long virtual three-ring assembly operation and low assembly efficiency caused by the need to number and import the collected point cloud data files during the assembly of the segment three-dimensional model. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0035] Figure 1 A flow chart of the virtual three-ring assembly method of prefabricated pipe segments provided by the present invention;

[0036] Figure 2 for Figure 1 Flow chart of step S100 in the example;

[0037] Figure 3 for Figure 1 Flow chart of step S110 in the example;

[0038] Figure 4 Flow charts of some specific embodiments of the present invention;

[0039] Figure 5 It is a structural schematic diagram of a virtual three-ring assembly device for prefabricated pipe segments according to an example of the present invention;

[0040] Figure 6 A schematic diagram of the structure of the pipe segment detection system provided by the present invention;

[0041] Figure 7 A structural schematic diagram of the pipe segment detection system provided by the present invention from another perspective;

[0042] Figure 8 for Figure 7 A schematic diagram of the structure of the pipe segment detection mechanism as exemplified in FIG.

[0043] Fig. 9 for Figure 8 A schematic diagram of the structure of the enlarged portion A of the example;

[0044] Fig.10 for Figure 8 A schematic diagram of the structure of the pipe segment detection component of the example;

[0045] Fig.11 for Fig.10 A schematic diagram of the structure of the positioning mechanism of the example;

[0046] Fig.12 for Fig.11 A schematic diagram of the structure of the detection module of the example;

[0047] Fig.13 A schematic structural diagram of another embodiment of the laser transmitter provided by the present invention;

[0048] Fig.14 A schematic structural diagram of another embodiment of the laser transmitter provided by the present invention;

[0049] Fig.15 A schematic structural diagram of an embodiment of a ring-shaped bracket provided by the present invention;

[0050] Fig.16 A schematic structural diagram of an embodiment of a mounting ring provided by the present invention;

[0051] Fig.17 A schematic structural diagram of an embodiment of a vibration reduction mechanism provided by the present invention;

[0052] Fig.18 A schematic structural diagram of an embodiment of a hook mechanism provided by the present invention;

[0053] Fig.19 A schematic structural diagram of another embodiment of the hook mechanism provided by the present invention;

[0054] Fig. 20A schematic structural diagram of another embodiment of the vibration reduction mechanism provided by the present invention;

[0055] Fig.21 This is a schematic structural diagram of an embodiment of a detection system provided by the present invention.

[0056] Description of Figure Numbers:

[0057] 1000, terminal; 2000, positioning mechanism; 2100, placement space; 3000, segment detection mechanism; 3100, segment detection component; 3200, tracking component; 4000, base frame; 4100, guide member; 4200, sliding module; 3110, base; 3120, lifting and lowering module; 3130, detection module; 3131, connecting member; 3132, image acquisition component; 3133, spherical laser cage; 3121, slide seat ; 3122, driving gear; 3123, sliding column; 3124, multi-joint mechanical arm; 3125, spur rack; 3126, driving member; 3210, rotating frame; 3220, catcher; 2100, first support seat; 2200, connecting plate; 2300, positioning column; 2310, first column; 2320, second column; 2400, sinking section; 4210, sliding driving member; 4220, connecting beam; 4230, first slide rail; 424 0, first slide; 4250, truss; 4260, second slide rail; 4270, second slide; 100, mounting ring; 200, stopper; 300, clamping mechanism; 400, buffer; 500, stopper ring; 600, vibration reduction mechanism; 700, grating lens; 800, hook mechanism; 900, annular bracket; 910, light source; 210, stopper; 301, clamping space; 310, guide column; 320, elastic reset member; 330 , clamping piece; 501, accommodating space; 502, through groove; 610, connecting seat; 620, compression spring; 630, clamping claw assembly; 631, arc plate; 632, limiting strip; 601, assembly space; 810, hook assembly; 820, hinged seat; 830, guide strip; 840, axial displacement driving member; 811, mounting plate; 812, hook member; 801, hook space; 821, first rotating shaft; 822, second rotating shaft; 823, connecting strip.

[0058] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] 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 position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0061] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0062] The present invention provides a virtual three-ring assembly method for prefabricated pipe segments.

[0063] See also Figures 1 to 21 In one embodiment of the present invention, a method for assembling a prefabricated segment virtual three-ring includes:

[0064] S100, establishing a corresponding number of segment three-dimensional models according to the collected target point cloud data set of the prefabricated segments; wherein the target point cloud data set includes a plurality of target point cloud data sets corresponding to the prefabricated segments, and the target point cloud data set records production numbers that are consistent with the number of the prefabricated segments and are set one-to-one;

[0065] In this embodiment, the target point cloud data set of the example refers to the target point cloud data corresponding to multiple prefabricated segments. It can be clearly stated that in the exemplary embodiment, for example, the number of segments required for each ring in the virtual three-ring is 6, and among the six segments, 1 capping block, 1 L1 connecting block, 1 L2 connecting block and 3 standard blocks are required. Then, when performing data collection, the total number of target data sets collected is 18, of which the number of target data sets corresponding to standard blocks is 9, the number of target data sets corresponding to capping blocks is 3, the number of target data sets corresponding to L1 connecting blocks is 3, and the number of target data sets corresponding to L2 connecting blocks is 3.

[0066] It should be particularly and clearly stated that in this embodiment, when the total number of segments required for the example virtual three-ring is 18, the corresponding production numbers should be 18 in total. In this way, the present invention can ensure that there is only one segment of each segment used in the assembly process of the same batch of virtual three-rings, thus avoiding duplication. At the same time, since each segment is independent during the virtual three-ring assembly operation, the present invention can quickly determine the assembly status of the corresponding segment if a segment cannot be assembled normally during the specific assembly process, thereby improving the accuracy of determining segments with quality defects.

[0067] It should be clearly stated that, in the exemplary embodiment, the process of modeling the three-dimensional model of the segment based on the target data set is a prior art, which is only applied in this embodiment and will not be described in detail here.

[0068] S200, traversing all the segment 3D models, and determining the target type corresponding to each segment 3D model according to the corresponding production number; wherein the target type includes a standard block, an L1 adjacent block, an L2 adjacent block, and a capping block;

[0069] In this embodiment, when traversing the segment 3D models, the orthographic projection shapes of the arc surfaces of each segment 3D model are mainly traversed, and the target type of the corresponding segment 3D model is determined according to the orthographic projection shape and the corresponding production number.

[0070] S300, picking up the three-dimensional models of all the target types of the segments according to the preset assembly parameters of the prefabricated segment virtual three-rings, and performing the assembly operation of the prefabricated segment virtual three-rings according to the target assembly path.

[0071] In this embodiment, a corresponding number of segment 3D models are established according to the target point cloud data set of the prefabricated segment obtained by collection, all segment 3D models are traversed, and the target type corresponding to each segment 3D model is determined according to the corresponding production number, and the segment 3D models of all target types are picked up according to the preset assembly parameters of the virtual three-ring of the prefabricated segment, and the virtual three-ring assembly operation of the prefabricated segment is performed according to the target assembly path, so that when the present invention is used, the corresponding segment 3D model is picked up and assembled according to the production number recorded in the established segment 3D model and the determined target type, thereby reducing the assembly time. In addition, since the virtual assembly operation is directly performed on the established segment 3D model, the present invention can ensure a high assembly efficiency when it is used, and avoids the defects of long virtual three-ring assembly operation and low assembly efficiency caused by the need to number and import the collected point cloud data files during the assembly operation of the segment 3D model.

[0072] In some specific implementations, step S100 includes:

[0073] S110, according to the preset assembly parameters and the segment quantity requirement of the prefabricated segment virtual three rings, collecting target point cloud data of a corresponding number of the prefabricated segments and combining them to form the target point cloud data set;

[0074] S120. Establish a corresponding number of three-dimensional models of the pipe segments according to the target point cloud data set.

[0075] In one embodiment, step S110 includes:

[0076] S111, according to the preset assembly parameters and the quantity requirement of the virtual three rings of the prefabricated pipe segments, controlling the preset scanning device to collect the target point cloud data of a corresponding quantity of the prefabricated pipe segments;

[0077] It should be particularly and clearly stated that when positioning the prefabricated pipe segment, a preset scanning device can be used to scan the scanning space to determine the placement area of ​​the prefabricated pipe segment. Of course, when using the preset scanning device to perform the scanning operation, a positioning mechanism can be first set on the periphery of the scanning space, and the preset scanning device can be used to scan the scanning space and the positioning mechanism to determine at least three first space coordinates, and then a basic coordinate system is established based on the multiple first space coordinates obtained, and the current placement position of the prefabricated pipe segment is projected and obtained in the basic coordinate system.

[0078] It is important to note that examples of pre-screening scanning equipment include:

[0079] The invention comprises a terminal 1000, a positioning mechanism 2000 and a segment detection mechanism 3000. The terminal 1000 is installed outside the positioning mechanism 2000. A placement space 2100 for placing segments to be detected is formed in the positioning mechanism 2000. The segment detection mechanism 3000 is installed above the placement space 2100. The segment detection mechanism 3000 is communicatively connected with the terminal 1000. The segment detection mechanism 3000 comprises a segment detection component 3100 and a tracking component 3200. The tracking component 3200 is installed on one side of the segment detection component 3100 and can move with the segment detection component 3100. The terminal 1000 can control the segment detection component 3100 to drive the tracking component 3200 to enter or leave the placement space 2100, and when entering the placement space 2100, the segment detection component 3100 performs detection operations on the segments to be detected placed in the placement space 2100.

[0080] In this embodiment, by adopting the terminal 1000, the positioning mechanism 2000 and the pipe segment detection mechanism 3000, when in use, a placement space 2100 is set in the positioning mechanism 2000, the pipe segment to be detected is placed in the placement space 2100, and the pipe segment detection mechanism 3000 is located above the placement space 2100, and the pipe segment detection mechanism 3000 is controlled by the set terminal 1000 to enter the placement space 2100, and when entering the placement space 2100, the pipe segment detection mechanism 3000 is used to perform detection operations on the pipe segment to be detected placed in the placement space 2100, so that the present invention can achieve the function of automatically moving by controlling the pipe segment detection mechanism 3000 through the set terminal 1000 when in use, thereby achieving the purpose of improving the detection efficiency. At the same time, since the pipe segment to be inspected is placed in the placement space 2100 located in the positioning mechanism 2000, the present invention can position the pipe segment to be inspected through the cooperation of the set pipe segment inspection mechanism 3000 and the positioning mechanism 2000 during specific use. As a result, when the present invention is inspecting the pipe segment to be inspected, the pipe segment inspection mechanism 3000 can only inspect the pipe segment to be inspected, thereby avoiding the defect of affecting the inspection accuracy due to the presence of other materials during the inspection process.

[0081] It should be particularly and clearly stated that, in the present embodiment, when used specifically, a plurality of positioning positions spaced circumferentially from the outer periphery of the placement space 2100 may be first set on the positioning mechanism 2000, and the terminal 1000 may be used to control the segment detection mechanism 3000 to scan the positioning mechanism 2000 and the segment to be detected, and obtain the first spatial coordinates corresponding to at least three positioning positions. At the same time, the terminal 1000 may be used to establish a basic coordinate system of the placement space 2100 according to the multiple first spatial coordinates obtained. After the basic coordinate system is established, the segment detection mechanism 3000 may be used to scan 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 may be used to detect the segment to be detected, thereby realizing the function of only detecting the segment to be detected when the segment to be detected is detected, and 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.

[0082] More specifically, when the example 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 be used to 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 is set to synchronously follow the segment detection component 3100 to move synchronously, the present invention can instantly determine the current detection position of the segment detection component 3100 on the segment to be detected during specific use, and can also determine whether the various surfaces on the segment to be detected have been detected, thereby avoiding repeated detection of the segment to be detected, and ensuring the detection efficiency of the segment to be detected.

[0083] It needs to be further emphasized and clarified that, in the present embodiment, when the pipe segment detection component 3100 is used to detect the pipe segment to be detected, image acquisition or laser scanning operation may be performed on the pipe segment to be detected.

[0084] In some specific embodiments, the segment detection system also includes a base frame 4000, which is arranged around the outer periphery of the positioning mechanism 2000 and extends upward from the top of the positioning mechanism 2000. A guide member 4100 is provided on the top of the base frame 4000. The guide member 4100 is slidably matched with a sliding module 4200. The sliding module 4200 is passed through the top of the placement space 2100. The segment detection component 3100 is slidably matched with the sliding module 4200. The sliding module 4200 is communicatively connected with 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.

[0085] In this embodiment, a base frame 4000 is provided so that the base frame 4000 is arranged around the outer periphery of the positioning mechanism 2000, and the base frame 4000 is extended upward from the top of the positioning mechanism 2000, and a guide member 4100 is provided on the top of the base frame 4000, and a sliding module 4200 is slidably fitted on the guide member 4100, and the segment detection mechanism 3000 is installed on the sliding module 4200, so that when the present invention is used, the sliding module 4200 can be used 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, thereby enabling the present invention to have the function of automatically adjusting the position of the segment detection mechanism 3000 when in use, so that the segment detection component 3100 can stop at any position above the placement space 2100.

[0086] It should be particularly and clearly stated that, in this embodiment, the sliding direction of the exemplary sliding module 4200 along the guide member 4100 is a first direction, which extends along the extension direction of the placement space 2100, and the sliding direction of the pipe segment detection component 3100 along the sliding module 4200 is a second direction, which is a direction across the placement space 2100.

[0087] In some preferred embodiments, the segment detection component 3100 includes:

[0088] Base 3110, base 3110 is installed on sliding module 4200;

[0089] The lifting and moving module 3120, the tracking component 3200 and the moving lifting and moving module are spaced apart and distributed on the base 3110, and the bottom of the lifting and moving module 3120 is the installation end, and the lifting and moving module 3120 is connected to the terminal 1000 for communication; and,

[0090] A detection module 3130, which is installed at the installation end and is in communication connection with the terminal 1000;

[0091] The terminal 1000 can also control the lifting and lowering motion module 3120 to drive the detection module 3130 to move down to enter the placement space 2100, and when the detection module 3130 enters the placement space 2100, control the detection module 3130 to perform detection operations on the pipe segment to be detected.

[0092] In this embodiment, by setting a base 3110, a lifting and moving module 3120 and a detection module 3130, when in use, the base 3110 is installed on the sliding module 4200, so that the lifting and moving module 3120 and the tracking component 3200 are installed on the base 3110 at intervals, and at the same time, the lifting and moving module 3120 can drive the detection module 3130 installed on its installation end to descend to enter the placement space 2100, and when the detection module 3130 enters the placement space 2100, the detection module 3130 is controlled to perform detection operations on the pipe segment to be inspected, so that the present invention has the ability to allow the detection module 3130 to enter the placement space 2100 at any position above the placement space 2100 and perform detection operations on the pipe segment to be inspected when in use, thereby effectively improving the flexibility and adaptability of the pipe segment detection system.

[0093] It should be particularly and clearly stated that, in this embodiment, the lifting motion module 3120 is used to enable the lifting motion module 3120 itself to have a lifting function. Specifically, the lifting motion module 3120 includes:

[0094] A slide 3121, the slide 3121 is mounted on the base 3110, and a vertical slide is formed on the slide 3121, a driving gear 3122 is arranged in the slide, the driving gear 3122 is connected to the output shaft of the driving member 3126, and the driving member 3126 is connected to the terminal 1000 for communication;

[0095] The slide post 3123 is slidably matched with the slide seat 3121, and a straight rack 3125 capable of meshing with the driving gear 3122 is formed on one side of the slide post 3123 corresponding to the straight tooth groove. The terminal 1000 can control the driving member 3126 to drive the driving gear 3122 to rotate, so as to drive the slide post 3123 to rise and fall along the slide seat 3121 through the straight rack 3125; and,

[0096] The multi-joint robotic arm 3124 is installed at the bottom of the sliding column 3123. The multi-joint robotic arm 3124 is communicatively connected with the terminal 1000, and one end of the multi-joint robotic arm 3124 away from the sliding column 3123 forms a mounting end.

[0097] In this embodiment, by setting a slide seat 3121, a slide column 3123 and a multi-joint robotic arm 3124, during use, the set 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 have the function of allowing the detection module 3130 to rise and fall autonomously when in use.

[0098] Of course, in order to further ensure the movement 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 at the installation end of the multi-joint robotic arm 3124, so that the present invention can drive the detection module 3130 to move through the set multi-joint robotic arm 3124, thereby realizing the function of adjusting the position of the detection module 3130 in the placement space 2100. At the same time, since the multi-joint robotic arm 3124 has an autonomous movement function, therefore, during specific use, the present invention can also be through the set multi-joint robotic arm 3124 and the sliding column 3123 and the sliding module 4200 to achieve real-time scanning of the pipe segment to be detected, thereby enabling the terminal 1000 to establish an overall model of the pipe segment to be detected, which is convenient for subsequent operations.

[0099] It should be particularly and clearly stated that, in this embodiment, the exemplary driving member 3126 is preferably a servo motor or a stepper motor, and the exemplary multi-joint robotic arm 3124 is preferably a robotic arm with seven degrees of freedom.

[0100] Of course, in some exemplary embodiments, the detection module 3130 includes:

[0101] A connecting member 3131, one end of which is detachably connected to the mounting end, and the other end of the connecting member 3131 has a mounting seat, and the mounting seat can swing around the connecting member 3131;

[0102] An image acquisition component 3132, the image acquisition component 3132 is mounted on a mounting seat; and,

[0103] The spherical laser cage 3133 is arranged around the outer periphery of the image acquisition component 3132, and the spherical laser cage 3133 is connected to the mounting seat. The terminal 1000 can control the spherical laser hole to emit a grid-shaped detection laser toward the pipe segment to be inspected to scan the surfaces of the pipe segment to be inspected, and synchronously control the image acquisition component 3132 to follow and collect image data of the corresponding surface scanned by the laser.

[0104] In this embodiment, by providing a connecting piece 3131, an image acquisition piece 3132 and a spherical laser cage 3133, the spherical laser cage 3133 transmitting mechanism is used to emit a grid-shaped laser to the pipe segment to be inspected, and at the same time, the image acquisition piece 3132 is used to scan the area passed by the grid-shaped laser, so as to realize the function of real-time image acquisition of the surface of the pipe segment to be inspected, thereby enabling the present invention to make an instant judgment on the surface quality of the pipe segment to be inspected based on the acquired image and accurately output the inspection results of each position on the pipe segment to be inspected.

[0105] It can be further explained that, in the present embodiment, since the grid-shaped laser emitted by the spherical laser cage 3133 is used to scan the surface of the pipe segment to be inspected, and the provided image acquisition component 3132 is used to follow and acquire images during the scanning, the image acquisition component 3132 can actually acquire a combined image of the surface of the pipe segment to be inspected and the surface of the pipe segment to be inspected irradiated by the laser beam. Since the image acquisition component 3132 and the spherical laser cage 3133 are both installed on the connecting component 3131 and move synchronously, the present invention can be used to determine the material and the extension of the laser beam in the image acquired by the image acquisition component 3132 through the terminal 1000 during specific use, and then determine whether the surface of the corresponding pipe segment to be inspected in the image has quality problems such as cracks, sand holes and ridges.

[0106] It should be particularly and clearly stated that, in this embodiment, the exemplary image acquisition component 3132 is preferably a CCD visual camera.

[0107] An example spherical laser cage 3133 may be configured to include a laser emitter, an example laser emitter includes:

[0108] The invention comprises a limiting ring 500, a mounting ring 100, a limiting sheet 200, a clamping mechanism 300, a grating lens 700 and a plurality of hook mechanisms 800. The mounting ring 100 is coaxially arranged with the limiting ring 500, and an accommodating space 501 is formed between the outer wall of the mounting ring 100 and the inner wall of the limiting ring 500; the limiting sheet 200 is arranged on the mounting ring 100; the clamping mechanism 300 is slidably arranged on the mounting ring 100 along the radial direction of the mounting ring 100, the clamping mechanism 300 is arranged opposite to the limiting sheet 200, and the clamping mechanism 300 and the limiting sheet 200 jointly form a clamping space 301; the grating lens 700 is arranged in the clamping space 301, and the clamping mechanism 300 can be moved away from the grating lens 70 along the radial direction of the mounting ring 100. 0 and a clamping position close to the grating lens 700, and correspondingly releases or clamps the grating lens 700; a plurality of hook mechanisms 800 are arranged at intervals along the circumference of the limiting ring 500; each hook mechanism 800 extends along the axial direction of the limiting ring 500, and each hook mechanism 800 has a connecting portion and a hook portion at both ends along its extension direction, and the connecting portion of each hook mechanism 800 is slidably connected to the limiting ring 500 along the axial direction of the limiting ring 500, and the hook portion of each hook mechanism 800 extends into the accommodating space 501 and is detachably connected to the mounting ring 100, and each hook mechanism 800 is used to drive a portion of the mounting ring 100 to tilt toward the limiting ring 500, so as to drive a portion of the grating lens 700 to tilt toward the limiting ring 500.

[0109] Specifically, a plurality of hook mechanisms 800 are arranged at intervals along the circumference of the limiting ring 500, and the connection portion of each hook mechanism 800 can slide along the axial direction of the limiting ring 500, so that the hook mechanism 800 can maintain flexibility during the position and angle adjustment process of the grating lens 700. The hook portion extends into the accommodating space 501 and is detachably connected to the mounting ring 100, ensuring that force can be effectively transmitted during the fine-tuning process and preventing the hook portions from interfering with each other, that is, preventing any hook portion from causing friction and loss between the other hook portion and the mounting ring 100 when driving the mounting ring 100 to tilt, that is, each hook portion is hinged to the mounting ring 100.

[0110] During the implementation process, the hook mechanism 800 can drive part of the mounting ring 100 to tilt toward the limit ring 500, thereby driving the corresponding part of the grating lens 700 to tilt toward the limit ring 500. The fine-tuning accuracy of the grating lens 700 is improved, so that the laser transmitter can more accurately align the target prefabricated segment when performing the laser positioning task, thereby improving the overall performance of the laser positioning system. The reaction speed and accuracy of the laser transmitter can also be flexibly adjusted by setting the number and interval of the hook mechanism 800, and can be adjusted according to the needs of different application scenarios to meet the actual prefabrication requirements of various segments. In addition, the hook mechanism 800 can be slidably connected to the limit ring 500, which also effectively reduces the error caused by improper installation and ensures the stability and accuracy of the grating lens 700.

[0111] In addition, by coaxially arranging the mounting ring 100 and the limiting ring 500 , the formed accommodation space 501 can provide space for making way for the mounting ring 100 and the grating lens 700 during the tilting process.

[0112] 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 driving motor in the prior art.

[0113] During implementation, when the grating lens 700 is installed in the clamping space 301, the edge of the grating lens 700 is located on the limiting piece 200 and is abutted by the mounting ring 100 to limit the axial displacement of the grating lens 700 on the mounting ring 100; the combined action of the clamping mechanism 300 and the limiting portion 210 limits the radial displacement of the grating lens 700 on the mounting ring 100, and 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.

[0114] 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, so as to quickly install and disassemble the grating lens 700, ensuring that it is firmly clamped during operation and easy to release during maintenance or replacement.

[0115] It should be understood that the setting of the mounting ring 100 provides a stable base for the grating lens 700, and the limiting piece 200 thereon can provide a stable mounting point, thereby enhancing the stability and accuracy of the grating lens 700. The limiting piece 200 enables the grating lens 700 to be reliably positioned in the clamping space 301, avoiding the light deviation caused by vibration or other external forces when the laser positioning system is working, thereby improving the overall correction effect. In addition, the clamping mechanism 300 is slidably arranged on the mounting ring 100 along the radial direction of the mounting ring 100, which not only enables the clamping mechanism 300 to be flexibly moved to the clamping position and the release position, but also facilitates the operator to make quick adjustments. In actual operation, the clamping mechanism 300 can effectively control the clamping force of the grating lens 700, ensuring that the grating lens 700 will not be damaged due to excessive pressure during the clamping process. At the same time, the clamping mechanism 300 and the limiting piece 200 are arranged relative to each other to form the clamping space 301 together, further ensuring the stability of the grating lens 700. In addition, the grating lens 700 is arranged in the clamping space 301, and can be released or clamped under the control of the clamping mechanism 300, which greatly simplifies the installation and replacement process of the grating lens 700 and eliminates the inconvenience and risks brought by the traditional threaded connection method. The operator can complete the release and installation of the grating lens 700 in a shorter time, reducing the loss caused by frequent adjustments, thereby effectively improving work efficiency. Through the coordinated setting of the mounting ring 100, the limit plate 200 and the clamping mechanism 300, the convenience and reliability of the grating lens 700 are significantly improved, which not only improves the stability of the grating lens 700, but also enhances its accuracy during calibration operations, effectively preventing the laser positioning system from causing light deviation due to vibration or external force interference during operation, thereby improving the correction effect of the laser light of the laser positioning system. At the same time, the clamping mechanism 300 can slide along the radial direction of the mounting ring 100, so that the grating lens 700 can be easily released or clamped under the control of the clamping mechanism 300, simplifying the installation and replacement process of the grating lens 700 and eliminating the complexity and potential risks brought by the traditional threaded connection method. In addition, the operator can complete the installation and release of the grating lens 700 in a shorter time, reducing the wear of components caused by frequent adjustments, effectively improving work efficiency, making the use experience of the laser positioning system smoother, and better meeting the requirements for high precision and high efficiency of prefabricated segments in modern tunnel construction.

[0116] As an optional implementation of this embodiment, the laser transmitter also includes a plurality of vibration damping mechanisms 600, and the plurality of vibration damping mechanisms 600 are alternately arranged with a plurality of hook mechanisms 800; the plurality of vibration damping mechanisms 600 are arranged on the limiting ring 500 at intervals along the circumference of the limiting ring 500, and each vibration damping mechanism 600 extends along the axial direction of the limiting ring 500; the two ends of each vibration damping mechanism 600 along its extension direction are respectively a free end and a connecting end, 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 accommodating space 501 and is connected to the mounting ring 100.

[0117] As an optional embodiment of the vibration reduction mechanism 600, the vibration reduction mechanism 600 includes a connecting seat 610, a compression spring 620 and a clamping jaw assembly 630. The connecting seat 610, the compression spring 620 and the clamping jaw assembly 630 are arranged at intervals along the circumference of the limiting ring 500. The connecting seat 610 is connected to the inner wall of the limiting ring 500 to form 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 clamping jaw assembly 630. The clamping jaw assembly 630 can detachably clamp the outer wall of the mounting ring 100 to form a free end.

[0118] Specifically, the connection seat 610 is connected to the inner wall of the limiting ring 500 to form the connection end of the vibration reduction mechanism 600, thereby ensuring the reliability and stability of the vibration reduction mechanism 600 during operation. One end of the compression spring 620 is connected to the connection seat 610, and the other end is connected to the clamping jaw assembly 630. The function of the compression spring 620 is to provide a moderate elastic force so that the clamping jaw assembly 630 can maintain flexibility and recovery ability when subjected to external vibration, thereby effectively absorbing and buffering vibration.

[0119] More specifically, the clamping jaw assembly 630 is detachably clamped to the outer wall of the mounting ring 100, which improves the convenience of maintenance. When the staff is maintaining or replacing the grating lens 700, the clamping jaw can be quickly released for easy operation without disassembling the entire structure. At the same time, the clamping jaw assembly 630 can firmly clamp the grating lens 700, ensuring that it is not disturbed unnecessarily in the working state, further reducing the risk of wear.

[0120] As another optional implementation of the vibration reduction mechanism 600, the compression spring 620 in the vibration reduction 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 limit ring 500 is always kept in a tensioned state. This design enhances the stability of the mounting ring 100 when tilting, thereby improving the tilt control accuracy of the grating lens 700.

[0121] In specific implementation, when a certain hook mechanism 800 hooks one side of the mounting ring 100, the mounting ring 100 will be affected and tilted. 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 reduction mechanism 600 will apply tension to ensure the stability of the mounting ring 100.

[0122] When the hook mechanism 800 is reset, the compression spring 620 will return to the initial state, so that the mounting ring 100 is also reset along with the hook mechanism 800. The main function of the hook mechanism 800 is to achieve the tilting of the mounting ring 100 without the need for complex connections or adjustments, which can effectively reduce the contact area and assembly points between the hook mechanism 800 and the mounting ring 100, and improve the durability of the hook mechanism 800 and the mounting ring 100. The stability and long-term reliability of the laser positioning system during use are ensured, while simplifying the assembly and maintenance process.

[0123] As an optional embodiment of the clamping jaw assembly 630, the clamping jaw assembly 630 includes an arc plate 631 and a limiting bar 632. The limiting bar 632 is L-shaped. One end of the limiting bar 632 is connected to the arc plate 631. The other end of the limiting bar 632 and the arc plate 631 are spaced apart to form an assembly space 601. Part of the mounting ring 100 is arranged in the assembly space 601. The arc plate 631 has a curvature that is compatible with the mounting ring 100.

[0124] Specifically, the limiting strip 632 is L-shaped, one end of which is connected to the arc plate 631 and the other end is spaced apart from the arc plate 631 to form an assembly space 601, so that the clamping jaw assembly 630 can flexibly adapt to the shape of the mounting ring 100 during the clamping process.

[0125] The assembly space 601 allows part of the mounting ring 100 to be smoothly placed therein, thereby ensuring a good fit between the clamping jaw 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 the clamping, but also ensures that the clamping jaw assembly 630 can apply pressure evenly during clamping, thereby reducing potential damage to the grating lens 700. Through the combination of the arc plate 631 and the limit bar 632, the clamping jaw assembly 630 can provide a smooth and reliable operating experience during the clamping and releasing process. Especially when maintaining or replacing the grating lens 700, the user can easily adjust the clamping jaw assembly 630 to achieve quick release or clamping without affecting the overall stability of the laser positioning system. In addition, the limit bar 632 and the arc plate 631 are both provided with a seismic isolation pad on the side facing the mounting ring 100.

[0126] Specifically, the isolation pad can effectively isolate the vibration from the robot arm or other external sources and play a buffering role. The isolation pad is combined with the limit bar 632 and the arc plate 631 to form a multi-level shock absorption system. The isolation pad can further absorb and dissipate the vibration energy and reduce the possibility of them being transmitted to the mounting ring 100 and the grating lens 700. In addition, when the clamping jaw assembly 630 clamps the grating lens 700, the isolation pad can provide more uniform pressure and avoid small displacements caused by vibration, thereby further protecting the accuracy and stability of the grating lens 700.

[0127] In an embodiment of the present invention, the clamping mechanism 300 includes a guide column 310 and a clamping plate 330, and the clamping plate 330 and the limiting plate 200 together form a clamping space 301; the guide column 310 extends along the radial direction of the mounting ring 100, and the guide column 310 is installed on the outer wall of the mounting ring 100, and the clamping plate 330 is slidably installed on the guide column 310, and can move between a release position and a clamping position, correspondingly releasing or clamping the grating lens 700.

[0128] 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 achieve the release or clamping of the grating lens 700. The guide post 310 extends along the radial direction of the mounting ring 100 and is mounted on the outer wall of the mounting ring 100. The clamping piece 330 can be slidably mounted on the guide post 310 to guide the movement of the clamping piece 330 in the radial direction of 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 is located between the clamping piece 330 and the mounting ring 100. To provide elastic force, the clamping piece 330 automatically returns to the preset position after release, ensuring that the clamping piece 330 can stably clamp the grating lens 700.

[0129] In an embodiment of the present invention, the clamping mechanism 300 further includes a radial displacement driving member, which is mounted on the mounting ring 100 . The radial displacement driving member is connected to the clamping plate 330 and is used to drive the clamping plate 330 to move between a release position and a clamping position, thereby releasing or clamping the grating lens 700 accordingly.

[0130] Specifically, the radial displacement drive provides power support for the clamping mechanism 300, so that the operator can quickly adjust the position of the clamping piece 330 through simple operations, and can easily complete the clamping or release of the grating lens 700, greatly reducing the complexity and time cost of manual operation. In addition, the radial displacement drive also ensures the stability of the clamping piece 330 during the movement process, avoiding damage to the grating lens 700 due to unnecessary shaking during clamping or release. In addition, the use of the radial displacement drive also effectively improves the accuracy of the operation, so that the grating lens 700 can be accurately positioned in the clamping space 301, further enhancing the overall performance of the laser positioning system.

[0131] In an embodiment of the present invention, the clamping mechanism 300 also includes an elastic return member 320 , which is sleeved on the guide column 310 , and one end of the elastic return member 320 is connected to the clamping plate 330 , and the other end of the elastic return member 320 is connected to the mounting ring 100 .

[0132] Specifically, the provision of the elastic reset member 320 greatly enhances the automation function of the clamping mechanism 300. When the operator moves the clamping plate 330 to the release position, the elastic reset member 320 will restore the clamping plate 330 to the clamping position through its elastic properties. This automatic reset function not only reduces the operator's manual intervention and improves work efficiency, but also ensures that the grating lens 700 will not fall off due to accidental collision in the non-clamped state. In addition, the elastic reset member 320 can absorb external shocks or vibrations, further enhancing the stability of the clamping plate 330, so as to effectively avoid the position displacement of the grating lens 700 caused by vibration, and ensure the accuracy and stability of the laser light.

[0133] 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 column 310 is used to provide a stable sliding path for the clamping piece 330, and combined with the deformation reset function of the elastic reset member 320, it is ensured that the clamping piece 330 can be quickly and reliably moved to the desired position, thereby enhancing the convenience and stability of the assembly and disassembly operation of the grating lens 700.

[0134] In an embodiment of the clamping mechanism 300, a buffer 400 is disposed on the side of the clamping piece 330 and the limiting portion 210 of the limiting piece 200 facing the grating lens 700. It should be noted that the buffer 400 is a rubber member in the prior art.

[0135] Specifically, the buffer 400 can effectively absorb the impact force between the clamping piece 330 and the grating lens 700, reduce the damage caused by collision during the clamping or releasing process, and thus protect the grating lens 700 and its optical properties. In addition, during the operation of the laser transmitter, vibration or external impact may occur, and the buffer 400 can provide additional shock absorption effect to ensure that the grating lens 700 always maintains a stable working state. In addition, by using the buffer 400 to provide a soft contact surface during the clamping process, it helps to prevent the grating lens 700 from being offset or inaccurately positioned during the clamping process, thereby improving the overall calibration accuracy of the laser positioning system. In addition, the use of the buffer 400 can reduce the wear and tear on the clamping mechanism 300 and the grating lens 700 caused by frequent operations, thereby extending the service life.

[0136] In an embodiment of the limiting piece 200 , there are multiple limiting pieces 200 , and the multiple limiting pieces 200 are arranged at intervals along the circumference of the mounting ring 100 , and the clamping mechanism 300 is arranged opposite to any limiting piece 200 .

[0137] Specifically, the plurality of stoppers 200 are distributed along the circumference of the mounting ring 100, which can provide more uniform support for the grating lens 700 when clamping it, ensuring that the grating lens 700 can be stably fixed during the clamping process, reducing local stress concentration. In addition, the provision of the plurality of stoppers 200 makes the adjustment of the clamping space 301 more flexible, and can adapt to grating lenses 700 of different types or sizes, thereby enhancing the compatibility of the laser transmitter.

[0138] It should be noted that the relative setting in this embodiment refers to the relative positional relationship, including but not limited to a symmetrical relationship. The relative setting may also refer to the setting of the clamping piece 330 relative to the gap between two adjacent limiting pieces 200.

[0139] 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 driving 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 driving member 840 is installed on the limiting ring 500. The axial displacement driving member 840 is connected to the guide bar 830 and is used to drive the guide bar 830 to slide axially along the limiting ring 500, so as to drive a portion of the mounting ring 100 to tilt toward the limiting ring 500, and to make a portion of the grating lens 700 tilt toward the limiting ring 500.

[0140] Specifically, at the beginning of the implementation process, the axial displacement driving member 840 receives a control signal, and after being activated, the axial displacement driving member 840 drives the guide bar 830 to slide along the axial direction of 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 through the hinge seat 820, so that the hook assembly 810 can be flexibly rotated 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 part is connected to the mounting ring 100, causing part of the mounting ring 100 to tilt toward the limiting ring 500, thereby causing the corresponding part of the grating lens 700 to tilt toward the limiting ring 500.

[0141] More specifically, the axial displacement driving member 840 can be used to drive the guide bar 830 to perform reciprocating linear motion 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.

[0142] This embodiment significantly improves the fine-tuning accuracy of the grating lens 700, so that the laser transmitter can be more accurately aligned with the target prefabricated segment when performing the laser positioning task. In addition, the hook mechanism 800 not only enhances the stability during the fine-tuning process, but also ensures the flexibility and accuracy of the adjustment process of the grating lens 700, thereby effectively improving the overall performance of the laser positioning system.

[0143] 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 is L-shaped. One end of the hook member 812 is connected to the mounting plate 811. The other end of the hook member 812 is spaced apart from the mounting plate 811 to form a hook space 801. Part of the mounting ring 100 is disposed in the hook space 801.

[0144] Specifically, the hook space 801 not only ensures the stability of the mounting ring 100 during the adjustment process, but also provides the necessary flexibility for fine-tuning the grating lens 700. When adjusting, part of the grating lens 700 can be tilted in the hook space 801 at the non-powered end, thereby avoiding friction and loss between part of the grating lens 700 and the hook assembly 810.

[0145] In an embodiment of the present invention, the articulated seat 820 includes a first rotating shaft 821, a second rotating shaft 822 and a connecting strip 823. The first rotating shaft 821 and the second rotating shaft 822 are arranged at radial intervals along the limiting ring 500. The first rotating shaft 821 is installed on the guide strip 830, and the second rotating shaft 822 is installed on the hook member 812. The first rotating shaft 821 is rotatably connected to one end of the connecting strip 823, and the second rotating shaft 822 is rotatably connected to the other end of the connecting strip 823.

[0146] Specifically, 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 also rotatably connected to the other end of the connecting bar 823, so that the hook member 812 can rotate freely during the adjustment process, thereby improving the flexibility and accuracy 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 adjustment of the grating lens 700. It ensures that the grating lens 700 can be accurately adjusted in angle when the laser transmitter is in operation, thereby improving the performance and reliability of the laser positioning system.

[0147] In the embodiment of the present invention, a through slot 502 is formed on the limiting ring 500 , and the through slot 502 extends along the axial direction of the limiting ring 500 . The guide bar 830 extends into the through slot 502 and is slidably connected to the limiting ring 500 .

[0148] Specifically, a through groove 502 is formed on the limiting ring 500, and the through groove 502 extends along the axial direction of the limiting ring 500, and the guide bar 830 can slide therein. The through groove 502 structure of the limiting ring 500 provides a stable guide for the guide bar 830, thereby improving the accuracy of the grating lens 700 during the adjustment process.

[0149] In an embodiment of the present invention, the laser emitter also includes a light source 910 and an annular bracket 900. The annular bracket 900 is coaxially arranged with the limiting ring 500. The annular bracket 900 is opposite to the mounting ring 100 and is arranged at intervals. The light source 910 is installed on the annular bracket 900 corresponding to the position of the grating lens 700.

[0150] Specifically, the annular bracket 900 is coaxially arranged with the limiting ring 500, and is opposite to and spaced 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.

[0151] The annular bracket 900, the limiting ring 500 and the mounting ring 100 together form a stable frame, providing a reliable fixed position for the light source 910. This is beneficial to 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 the light transmission efficiency.

[0152] In addition, the installation position of the light source 910 matches the position of the grating lens 700, ensuring that the light source 910 can illuminate the grating lens 700 at the optimal angle, maximizing the light utilization and reducing light loss, so that the laser positioning system can maintain efficient light transmission in complex environments.

[0153] More specifically, based on the axial displacement driver 840 in the above embodiment, the annular bracket 900 also provides a mounting base for the axial displacement driver 840 to ensure that the entire laser transmitter has a compact structure and is easy to use and install.

[0154] As an optional embodiment of the annular bracket 900, the annular bracket 900 includes a plurality of long rods and connecting rings, each of the long rods extending along the axial direction of the limiting ring 500, one end of each limiting rod being connected to the limiting ring 500, and the other end of each limiting rod being 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, and the light source 910 is mounted on the connecting ring.

[0155] In addition, a hook mechanism 800 is provided between two adjacent long rods, and the guide bar 830 of the hook mechanism 800 slides with the long rod through the slide 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 when in use.

[0156] In addition, the light source 910 is a laser light source in the prior art.

[0157] S112: Combining the target point cloud data to form the target point cloud data set.

[0158] In this embodiment, the exemplary combination refers to combining all target point cloud data to form a target point cloud data set.

[0159] In one embodiment, step S112 includes:

[0160] The target point cloud data is mapped with the corresponding production number, and the target point cloud data mapped with the production number are combined to form the target point cloud data set.

[0161] The mapping process used in this embodiment refers to comparing and combining the production number with the target point cloud data one by one. The specific process is to first record the production number of each standard block after scanning, the production number of the L1 adjacent block, the production number of the L2 adjacent block, and the production number of the capping block, and then map each production number to the corresponding type of pipe segment. In this process, it is only necessary to ensure that there is only one production number on each type of pipe segment. In order to improve the accuracy, when mapping, mapping can be performed when the target point cloud data set is collected.

[0162] In one embodiment, step S200 includes:

[0163] All the segment 3D models are traversed, and the target type corresponding to each segment 3D model is determined according to the corresponding production number and the orthographic projection shape perpendicular to the arc curve direction of each segment 3D model.

[0164] In one embodiment, before step S300, the method further includes:

[0165] S400, classifying the three-dimensional models of the segments of all target types;

[0166] The classification process in this embodiment mainly classifies blocks into standard blocks, L1 adjacent blocks, L2 adjacent blocks and capping blocks.

[0167] The step of picking up the three-dimensional models of all the target types of segments according to the preset assembly parameters of the virtual three-ring of the prefabricated segment, and performing the assembly operation of the virtual three-ring of the prefabricated segment according to the target assembly path includes:

[0168] According to the preset assembly parameters of the prefabricated segment virtual three rings, the segment three-dimensional models of various types are picked up, and the assembly operation of the prefabricated segment virtual three rings is performed according to the target assembly path.

[0169] It can be further clarified that the target assembly path exemplified in this embodiment is the actual segment ring assembly path when assembling the segment ring to perform the virtual three-ring assembly operation. It can be clarified that, for example, when assembling the first segment ring of the virtual three-ring, it is determined that the first segment of the bottom layer is a standard ring, and one side of it is an L1 adjacent block, and the other side is continuously connected to two standard blocks, and the end of the standard block is connected to the L2 adjacent block on the side away from the second standard block, and the L1 adjacent block and the L2 adjacent block are connected to the capping block. Then, the target assembly path of the first segment ring is to place a standard block first, and then place another standard block and L1 adjacent blocks at both ends of the first standard block that has been placed. After the assembly is completed, the third standard block, L2 adjacent block and capping block are placed in sequence to complete the assembly of the first segment ring. When assembling the second segment ring, the connection position of the two standard blocks is at the lowest position, so that the connection seams of each segment between any two adjacent segment rings are staggered.

[0170] At the same time, the preset assembly parameters exemplified in this embodiment include the number of standard blocks used, etc.

[0171] Based on the same technical concept, in a second aspect, the present invention further proposes a prefabricated segment virtual three-ring assembly device, comprising:

[0172] A modeling module, used to establish a corresponding number of segment three-dimensional models according to the collected target point cloud data set of the prefabricated segments; wherein the target point cloud data set includes a plurality of target point cloud data sets corresponding to the prefabricated segments, and the target point cloud data set records production numbers that are consistent with the number of the prefabricated segments and are set one-to-one;

[0173] A type determination module, used to traverse all the segment three-dimensional models and determine the target type corresponding to each segment three-dimensional model according to the corresponding production number; wherein the target type includes a standard block, an L1 adjacent block, an L2 adjacent block and a capping block;

[0174] The virtual assembly module is used to pick up the three-dimensional models of all the target types of the segments according to the preset assembly parameters of the prefabricated segment virtual three rings, and perform the prefabricated segment virtual three ring assembly operation according to the target assembly path.

[0175] The virtual three-ring assembly device for prefabricated pipe segments provided in the embodiment of the present application adopts the virtual three-ring assembly method for prefabricated pipe segments in the above embodiment, which can solve the technical problem of the defects of long time consumption and low assembly efficiency when performing the virtual three-ring assembly of pipe segments. Compared with the prior art, the beneficial effects of the virtual three-ring assembly device for prefabricated pipe segments provided in the embodiment of the present application are the same as the beneficial effects of the virtual three-ring assembly method for prefabricated pipe segments provided in the above embodiment, and other technical features in the virtual three-ring assembly device for prefabricated pipe segments are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0176] Based on the same technical concept, in the third aspect, the present invention also proposes a prefabricated pipe segment virtual three-ring assembly device, which includes a processor and a memory, and the memory stores a prefabricated pipe segment virtual three-ring assembly program. When the prefabricated pipe segment virtual three-ring assembly program is executed by the processor, the prefabricated pipe segment virtual three-ring assembly method described in the first aspect is implemented.

[0177] The prefabricated pipe segment virtual three-ring assembly equipment in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted control terminals), etc., as well as fixed terminals such as digital TVs, desktop computers, etc.

[0178] The virtual three-ring assembly device for prefabricated pipe segments may include a processing device 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 a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM) 1004. Various programs and data required for the operation of the virtual three-ring assembly device for prefabricated pipe segments are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the prefabricated segment virtual three-ring assembly device to communicate wirelessly or wired with other devices to exchange data. Although the prefabricated segment virtual three-ring assembly device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0179] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0180] In addition, the virtual three-ring assembly equipment for prefabricated pipe segments provided in the embodiment of the present application can solve the technical problem of the defects of long time consumption and low assembly efficiency when performing the virtual three-ring assembly of pipe segments. Compared with the prior art, the beneficial effects of the virtual three-ring assembly equipment for prefabricated pipe segments provided in the embodiment of the present application are the same as the beneficial effects of the virtual three-ring assembly method for prefabricated pipe segments provided in the above embodiment, and the other technical features of the virtual three-ring assembly equipment for prefabricated pipe segments are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0181] Based on the same technical concept, in a fourth aspect, the present invention further proposes a prefabricated segment virtual three-ring assembly system, comprising:

[0182] The prefabricated segment virtual three-ring assembly equipment according to the third aspect; and

[0183] A preset scanning device is communicatively connected with the prefabricated pipe segment virtual three-ring assembly device, and the prefabricated pipe segment virtual three-ring assembly device can control the preset scanning device to scan the prefabricated pipe segment to collect a target point cloud data set of the prefabricated pipe segment.

[0184] In addition, the prefabricated segment virtual three-ring assembly system provided in the embodiment of the present application can solve the technical problem of the defects of long time consumption and low assembly efficiency when performing the virtual assembly of the segment three rings. Compared with the prior art, the beneficial effects of the prefabricated segment virtual three-ring assembly system provided in the embodiment of the present application are the same as the beneficial effects of the prefabricated segment virtual three-ring assembly method provided in the above embodiment, and the other technical features of the prefabricated segment virtual three-ring assembly system are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0185] Based on the same technical concept, in the fifth aspect, the present invention further proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by one or more processors, the virtual three-ring assembly method of the prefabricated pipe segment described in the first aspect is implemented.

[0186] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. 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 combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0187] The above-mentioned computer-readable storage medium may be included in the prefabricated pipe segment virtual three-ring assembly device; or it may exist independently without being assembled into the prefabricated pipe segment virtual three-ring assembly device.

[0188] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the prefabricated pipe segment virtual three-ring assembly equipment, the prefabricated pipe segment virtual three-ring assembly equipment can implement the prefabricated pipe segment virtual three-ring assembly method described above.

[0189] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0190] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0191] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0192] Therefore, all the beneficial effects brought by the technical solutions of at least the above embodiments are not described one by one here. The above description is only an exemplary implementation of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A virtual three-ring assembly method for prefabricated segments, characterized in that: include: A corresponding number of segment three-dimensional models are established according to the collected target point cloud data set of the prefabricated segments; wherein the target point cloud data set includes a plurality of target point cloud data sets corresponding to the prefabricated segments, and the target point cloud data set records production numbers that are consistent with the number of the prefabricated segments and are set one-to-one; Traversing all the segment 3D models, and determining the target type corresponding to each segment 3D model according to the corresponding production number; wherein the target type includes a standard block, an L1 adjacent block, an L2 adjacent block, and a capping block; According to the preset assembly parameters of the prefabricated segment virtual three-ring, the three-dimensional models of the segment of all the target types are picked up, and the prefabricated segment virtual three-ring assembly operation is performed according to the target assembly path.

2. The virtual three-ring assembly method of prefabricated pipe segments according to claim 1, characterized in that: The step of establishing a corresponding number of segment three-dimensional models based on the collected target point cloud data set of the prefabricated segment comprises: According to the preset assembly parameters and the segment quantity requirement of the prefabricated segment virtual three rings, target point cloud data of a corresponding number of the prefabricated segments are collected and combined to form the target point cloud data set; A corresponding number of segment three-dimensional models are established according to the target point cloud data set.

3. The virtual three-ring assembly method for prefabricated segments according to claim 2, characterized in that: The step of collecting target point cloud data of a corresponding number of prefabricated segments according to the preset assembly parameters and the segment quantity requirement of the prefabricated segment virtual three rings and combining them to form the target point cloud data set comprises: According to the preset assembly parameters and the quantity requirement of the virtual three rings of the prefabricated pipe segments, controlling the preset scanning device to collect the target point cloud data of the corresponding quantity of the prefabricated pipe segments; The target point cloud data are combined to form the target point cloud data set.

4. The virtual three-ring assembly method of prefabricated pipe segments according to claim 3, characterized in that: The step of combining the target point cloud data to form the target point cloud data set includes: The target point cloud data is mapped with the corresponding production number, and the target point cloud data mapped with the production number are combined to form the target point cloud data set.

5. The virtual three-ring assembly method for prefabricated pipe segments according to any one of claims 1 to 4, characterized in that: The step of traversing all the segment 3D models and determining the target type corresponding to each segment 3D model according to the corresponding production number includes: All the segment 3D models are traversed, and the target type corresponding to each segment 3D model is determined according to the corresponding production number and the orthographic projection shape perpendicular to the arc curve direction of each segment 3D model.

6. The virtual three-ring assembly method for prefabricated pipe segments according to any one of claims 1 to 4, characterized in that: Before the step of picking up the three-dimensional models of all the target types of segments according to the preset assembly parameters of the prefabricated segment virtual three rings and performing the assembly operation of the prefabricated segment virtual three rings according to the target assembly path, the method further includes: Classifying the three-dimensional models of the segments of all target types; The step of picking up the three-dimensional models of all the target types of segments according to the preset assembly parameters of the virtual three-ring of the prefabricated segment, and performing the assembly operation of the virtual three-ring of the prefabricated segment according to the target assembly path includes: According to the preset assembly parameters of the prefabricated segment virtual three rings, the segment three-dimensional models of various types are picked up, and the assembly operation of the prefabricated segment virtual three rings is performed according to the target assembly path.

7. A virtual three-ring assembly device for prefabricated pipe segments, characterized in that: include: A modeling module, used to establish a corresponding number of segment three-dimensional models according to the collected target point cloud data set of the prefabricated segments; wherein the target point cloud data set includes a plurality of target point cloud data sets corresponding to the prefabricated segments, and the target point cloud data set records production numbers that are consistent with the number of the prefabricated segments and are set one-to-one; A type determination module, used to traverse all the segment three-dimensional models and determine the target type corresponding to each segment three-dimensional model according to the corresponding production number; wherein the target type includes a standard block, an L1 adjacent block, an L2 adjacent block and a capping block; The virtual assembly module is used to pick up the three-dimensional models of all the target types of the segments according to the preset assembly parameters of the prefabricated segment virtual three rings, and perform the prefabricated segment virtual three ring assembly operation according to the target assembly path.

8. A virtual three-ring assembly device for prefabricated pipe segments, characterized in that: The prefabricated pipe segment virtual three-ring assembly device includes a processor and a memory, and the memory stores a prefabricated pipe segment virtual three-ring assembly program. When the prefabricated pipe segment virtual three-ring assembly program is executed by the processor, the prefabricated pipe segment virtual three-ring assembly method according to any one of claims 1 to 6 is implemented.

9. A virtual three-ring assembly system for prefabricated pipe segments, characterized in that: include: The prefabricated segment virtual three-ring assembly equipment according to claim 8; as well as, A preset scanning device is communicatively connected with the prefabricated pipe segment virtual three-ring assembly device, and the prefabricated pipe segment virtual three-ring assembly device can control the preset scanning device to scan the prefabricated pipe segment to collect a target point cloud data set of the prefabricated pipe segment.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by one or more processors, the virtual three-ring assembly method of prefabricated pipe segments according to any one of claims 1 to 6 is implemented.

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