Segment simulation assembly method, device, equipment, system and medium

Abstract

The invention relates to a duct piece simulation splicing method, device, equipment, system and medium, in particular to the technical field of shield duct piece manufacturing, and the method comprises the steps: scanning prefabricated duct pieces to be subjected to simulation splicing through preset scanning equipment, and collecting a target point cloud data set of the prefabricated duct pieces; and establishing a corresponding target segment three-dimensional model in real time according to the point cloud data set, determining the placement position of the target segment three-dimensional model according to the contour shape of the target segment three-dimensional model, and repeatedly executing the scanning operation of the prefabricated segment to be subjected to simulated assembly by using the preset scanning equipment, the method comprises the following steps of: acquiring a target point cloud data set of the prefabricated duct pieces, and acquiring a target point cloud data set of the prefabricated duct pieces until at least six duct pieces are assembled and enclosed to form a duct piece ring, so that when the method is used, the functions of modeling and simulated assembly of the duct pieces can be realized in a scanning operation process, and the assembly efficiency is improved; and meanwhile, the defects that time and labor are consumed and the assembling efficiency is low when the duct pieces are hoisted and assembled can be overcome.

Description

Technical Field

[0001] The invention relates to the technical field of shield segment manufacturing, and in particular to a segment simulation assembly method, device, equipment, system and medium. 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 segment virtual assembly technology has achieved certain development, which is mainly reflected in the following aspects: first, through parametric design and computer-aided design (CAD) software, the geometric model of the segment and the tunnel axis can be established; second, by using computer graphics and virtual reality technology, the segment assembly process can be simulated in a virtual environment; third, through database technology, various data in the assembly process can be stored and managed, such as the geometric parameters of the segment, assembly sequence, etc. The development of these technologies provides strong technical support for segment assembly, making the assembly process more accurate and efficient.

[0004] Although the existing segment virtual assembly technology has made some progress, it still has some shortcomings. For example, in the existing technology, when simulating the assembly of segments, the prefabricated segments are usually hoisted to the assembly area and then physically assembled. Although this assembly method can complete the simulated assembly of prefabricated segments, in the actual assembly process, the prefabricated segments need to be hoisted and transported, resulting in low assembly efficiency. Summary of the invention

[0005] The main purpose of the present invention is to propose a method, device, equipment, system and medium for simulating the assembly of pipe segments, aiming to solve the technical problem that in the actual assembly process of the related technology, the prefabricated pipe segments need to be hoisted and transported, resulting in low assembly efficiency.

[0006] To achieve the above object, the present invention proposes a segment simulation assembly method, comprising:

[0007] Scanning the prefabricated pipe segment to be simulated and assembled using a preset scanning device, and collecting a target point cloud data set of the prefabricated pipe segment;

[0008] Establishing a corresponding target segment three-dimensional model in real time according to the target point cloud data set;

[0009] Determining a placement position of the target segment 3D model according to the contour shape of the target segment 3D model;

[0010] Repeat the steps of scanning the prefabricated pipe segments to be simulatedly assembled using a preset scanning device and collecting a target point cloud data set of the prefabricated pipe segments until at least six pipe segments are assembled to form a pipe segment ring.

[0011] In one embodiment, the step of scanning the prefabricated pipe segment to be simulated assembled using a preset scanning device and collecting a target point cloud data set of the prefabricated pipe segment includes:

[0012] A preset scanning device is used to emit a grid-shaped laser net to the prefabricated pipe segment to be simulated assembled so as to scan the prefabricated pipe segment and collect a target point cloud data set of the prefabricated pipe segment.

[0013] In one embodiment, before the step of determining the placement position of the target segment 3D model according to the contour shape of the target segment 3D model, the method further includes:

[0014] Perform six-view projection on the three-dimensional model of the target segment to obtain the contour shape of the three-dimensional model of the target segment.

[0015] In one embodiment, before the step of determining the placement position of the target segment 3D model according to the contour shape of the target segment 3D model, the method further includes:

[0016] According to preset data, a target assembly path of the prefabricated pipe segments is planned; wherein the preset data records the specifications and models of the prefabricated pipe segments, the diameter of the pipe segment ring to be assembled into a ring, the pipe segment ring includes an L1 adjacent block, an L2 adjacent block, a capping block and at least three standard blocks, and the target assembly path records the placement position of the preset pipe segment three-dimensional model corresponding to each prefabricated pipe segment of the pipe segment ring and the corresponding preset contour of the preset pipe segment three-dimensional model.

[0017] In one embodiment, the step of determining the placement position of the target segment 3D model according to the contour shape of the target segment 3D model comprises:

[0018] The contour shape is compared with the preset contour to determine the placement position of the target segment three-dimensional model.

[0019] In one embodiment, the step of repeatedly performing the step of scanning the prefabricated segments to be simulatedly assembled using a preset scanning device and collecting a target point cloud data set of the prefabricated segments until at least six segments are assembled to enclose a segment ring includes:

[0020] Repeat the steps of scanning the prefabricated segments to be simulatedly assembled using a preset scanning device, collecting a target point cloud data set of the prefabricated segments, and performing model comparison on the newly established target segment three-dimensional models; when the total number of the target segment three-dimensional models is greater than the total number of the target segment three-dimensional models required for the same segment ring, assemble the next segment ring using the newly established target segment model, until at least six segments are assembled to form the segment ring.

[0021] Based on the same technical concept, in a second aspect, the present invention further proposes a segment simulation assembly device, comprising:

[0022] A data acquisition module, used to scan the prefabricated pipe segment to be simulated assembled using a preset scanning device, and to acquire a target point cloud data set of the prefabricated pipe segment;

[0023] A modeling module, used to establish a corresponding target segment three-dimensional model according to the point cloud data set;

[0024] A position determination module, used to determine the placement position of the target segment three-dimensional model according to the contour shape of the target segment three-dimensional model;

[0025] The assembly module is used to repeatedly execute the steps of scanning the prefabricated pipe segments to be simulated assembled using a preset scanning device and collecting a target point cloud data set of the prefabricated pipe segments until at least six pipe segments are assembled to form a pipe segment ring.

[0026] Based on the same technical concept, in the third aspect, the present invention also proposes a segment simulation assembly device, which includes a processor and a memory, and a segment simulation assembly program is stored in the memory. When the segment simulation assembly program is executed by the processor, the segment simulation assembly method described in the first aspect is implemented.

[0027] Based on the same technical concept, in a fourth aspect, the present invention further proposes a segment simulation assembly system, comprising:

[0028] The segment simulation assembly equipment according to the third aspect; and

[0029] A preset scanning device is communicatively connected with the pipe segment simulation assembly device, and the pipe segment simulation assembly device can control the preset scanning device to scan the prefabricated pipe segment and detect the prefabricated pipe segment.

[0030] 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 pipe segment simulation assembly method described in the first aspect is implemented.

[0031] The technical solution of the present invention uses a preset scanning device to scan the prefabricated pipe segments to be simulated assembled, and collects the target point cloud data set of the prefabricated pipe segments, establishes a corresponding three-dimensional model of the target pipe segment in real time according to the point cloud data set, determines the placement position of the three-dimensional model of the target pipe segment according to the contour shape of the three-dimensional model of the target pipe segment, and repeatedly executes the steps of using the preset scanning device to scan the prefabricated pipe segments to be simulated assembled and collecting the target point cloud data set of the prefabricated pipe segments until at least six pipe segments are assembled to form a pipe segment ring, so that the present invention can realize the functions of modeling and simulated assembly of pipe segments in the process of scanning operation when in use, thereby improving the assembly efficiency, and at the same time avoiding the defects of time-consuming, labor-intensive and low assembly efficiency when hoisting and assembling the pipe segments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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.

[0033] Figure 1 A flow chart of the segment ring simulation assembly method provided by the present invention;

[0034] Figure 2 Flow charts of some specific embodiments of the present invention;

[0035] Figure 3 It is a structural schematic diagram of a pipe segment simulation assembly device according to an example of the present invention;

[0036] Figure 4 A schematic diagram of the structure of a preset scanning device according to an example of the present invention;

[0037] Figure 5 A schematic structural diagram of another embodiment of the laser transmitter provided by the present invention;

[0038] Figure 6A schematic structural diagram of another embodiment of the laser transmitter provided by the present invention;

[0039] Figure 7 A schematic structural diagram of an embodiment of a ring-shaped bracket provided by the present invention;

[0040] Figure 8 A schematic structural diagram of an embodiment of a mounting ring provided by the present invention;

[0041] Fig. 9 A schematic structural diagram of an embodiment of a vibration reduction mechanism provided by the present invention;

[0042] Fig.10 A schematic structural diagram of an embodiment of a hook mechanism provided by the present invention;

[0043] Fig.11 A schematic structural diagram of another embodiment of the hook mechanism provided by the present invention;

[0044] Fig.12 A schematic structural diagram of another embodiment of the vibration reduction mechanism provided by the present invention;

[0045] Fig.13 This is a schematic structural diagram of an embodiment of a detection system provided by the present invention.

[0046] Description of Figure Numbers:

[0047] 10. Connector; 20. Mounting seat; 30. Image acquisition unit; 40. Spherical laser cage; 41. Connecting frame; 42. Laser emitter; 100. Mounting ring; 200. Stopper; 300. Clamping mechanism; 400. Buffer; 500. Stopper ring; 600. Vibration reduction mechanism; 700. Grating lens; 800. Hook mechanism; 900. Ring bracket; 910. Light source; 210. Stopper; 301. Clamping space; 310. Guide column; 320. Elastic Resetting member; 330, clamping plate; 501, accommodating space; 502, through groove; 610, connecting seat; 620, compression spring; 630, clamping jaw 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.

[0048] 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

[0049] 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.

[0050] 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.

[0051] 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.

[0052] The invention provides a pipe segment simulation assembly method.

[0053] See also Figures 1 to 13 In one embodiment of the present invention, the segment simulation assembly method comprises:

[0054] S100, scanning the prefabricated pipe segment to be simulated assembled using a preset scanning device, and collecting a target point cloud data set of the prefabricated pipe segment;

[0055] It should be particularly and clearly stated that the target point cloud dataset exemplified in this embodiment is a laser point cloud dataset of the prefabricated pipe segment obtained by scanning using a preset scanning device, and the laser point cloud data is a three-dimensional laser point cloud dataset of the surface of the prefabricated pipe segment.

[0056] S200, establishing a corresponding target segment three-dimensional model in real time according to the target point cloud data set;

[0057] It should be particularly and clearly stated that, in this embodiment, the target segment 3D model is modeled in real time with the scanning and acquisition process of the target point cloud data set, that is, the target segment 3D model is established when the target point cloud data set is acquired.

[0058] S300, determining a placement position of the target segment 3D model according to a contour shape of the target segment 3D model;

[0059] In this embodiment, when determining the placement position of the target segment, it is first necessary to determine the diameter of the segment ring, that is, the number of target segment three-dimensional models required for the segment ring. After determining the required number, the placement position of the first standard block and the placement position of the capping block are determined. After determining the placement position of the first standard block and the placement position of the capping block, the placement positions of other standard blocks, L1 adjacent blocks, and L2 adjacent blocks are planned based on the placement position of the first standard block and the placement position of the capping block, and finally a target planning path of the segment ring is formed.

[0060] S400, repeatedly executing the steps of scanning the prefabricated pipe segments to be simulatedly assembled using a preset scanning device and collecting a target point cloud data set of the prefabricated pipe segments, until at least six pipe segments are assembled to enclose a pipe segment ring.

[0061] In the present embodiment, a preset scanning device is used to scan the prefabricated pipe segment to be simulated assembled, and a target point cloud data set of the prefabricated pipe segment is collected. A corresponding three-dimensional model of the target pipe segment is established in real time according to the point cloud data set. The placement position of the three-dimensional model of the target pipe segment is determined according to the contour shape of the three-dimensional model of the target pipe segment. The steps of scanning the prefabricated pipe segment to be simulated assembled by using the preset scanning device and collecting the target point cloud data set of the prefabricated pipe segment are repeated until at least six pipe segments are assembled to form a pipe segment ring. This allows the present invention to achieve the functions of modeling and simulated assembly of pipe segments during the scanning operation when in use, thereby improving the assembly efficiency. At the same time, it can also avoid the defects of time-consuming, labor-intensive and low assembly efficiency when hoisting and assembling the pipe segments.

[0062] In one embodiment, step S100 includes:

[0063] A preset scanning device is used to emit a grid-shaped laser net to the prefabricated pipe segment to be simulated assembled so as to scan the prefabricated pipe segment and collect a target point cloud data set of the prefabricated pipe segment.

[0064] Of course, in this embodiment, the exemplary preset scanning device is a laser scanning device, and the exemplary preset scanning device includes:

[0065] A connecting member 10, one end of which is detachably connected to an external driving device, and the other end of the connecting member 10 has a mounting seat 20, and the mounting seat 20 can swing around the connecting member 10;

[0066] An image acquisition component 30, the image acquisition component 30 is mounted on the mounting seat 20; and

[0067] The spherical laser cage 40 is arranged around the outer periphery of the image acquisition component 30, and the spherical laser cage 40 is connected to the mounting seat 20. The terminal can control the spherical laser hole to emit a grid-shaped detection laser toward the pipe segment to be inspected to scan each surface of the pipe segment to be inspected, and synchronously control the image acquisition component 30 to follow and collect image data of the corresponding surface scanned by the laser.

[0068] In this embodiment, by providing a connecting member 10, an image acquisition member 30 and a spherical laser cage 40, the spherical laser cage 40 emission mechanism is used to emit a grid-shaped laser to the pipe segment to be inspected, and the image acquisition member 30 is used to scan the area passed by the grid-shaped laser 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.

[0069] It can be further explained that, in the present embodiment, since the grid-shaped laser emitted by the spherical laser cage 40 is used to scan the surface of the pipe segment to be inspected, and the image acquisition component 30 is used to follow and acquire images during the scanning, the image acquisition component 30 actually acquires the surface of the pipe segment to be inspected and the combined image of the laser beam irradiating the surface of the pipe segment to be inspected. Since the image acquisition component 30 and the spherical laser cage 40 are both installed on the connecting member 10 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 30 through the terminal 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.

[0070] It should be particularly and clearly stated that, in this embodiment, the exemplified image acquisition component 30 is preferably a CCD visual camera.

[0071] The exemplary spherical laser cage 40 may be configured to include a connecting frame 41 and a plurality of laser emitters 42, wherein the plurality of laser emitters 42 are connected to the connecting frame 41 at intervals along the circumferential direction. The exemplary laser emitters 42 include:

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] In addition, a vibration isolation pad is provided on the side of the limiting strip 632 and the arc plate 631 facing the mounting ring 100 .

[0091] Specifically, the vibration isolation pad can effectively isolate the vibration from the robot arm or other external sources and play a buffering role. The vibration isolation pad is combined with the limit bar 632 and the arc plate 631 to form a multi-level shock absorption system. The vibration 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.

[0092] In addition, when the clamping jaw assembly 630 clamps the grating lens 700, the vibration isolation pad can provide more uniform pressure and avoid slight displacement caused by vibration, thereby further protecting the accuracy and stability of the grating lens 700.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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 .

[0098] 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.

[0099] 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.

[0100] In an embodiment of the clamping mechanism 300 , a buffer 400 is disposed on both the clamping piece 330 and the side of the limiting portion 210 of the limiting piece 200 facing the grating lens 700 .

[0101] It should be noted that the buffer member 400 is a rubber member in the prior art.

[0102] 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.

[0103] 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 .

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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 .

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] In addition, the light source 910 is a laser light source in the prior art.

[0124] In one embodiment, before step S300, the method further includes:

[0125] S500, performing an orthographic six-view projection operation on the target segment three-dimensional model to obtain the contour shape of the target segment three-dimensional model.

[0126] In this embodiment, the contour shape of the three-dimensional model of the pipe segment is obtained by adopting the method of six-view projection operation, so that the present invention can accurately determine the contour shape corresponding to each prefabricated pipe segment during specific use, and then accurately ensure that each target pipe segment three-dimensional model can be accurately placed in the corresponding placement position.

[0127] In one embodiment, before step S300, the method further includes:

[0128] S600. Plan a target assembly path of the prefabricated pipe segments according to preset data; wherein the preset data records the specifications and models of the prefabricated pipe segments, the diameter of the pipe segment ring to be assembled into a ring, the pipe segment ring includes an L1 adjacent block, an L2 adjacent block, a capping block and at least three standard blocks, and the target assembly path records the placement position of the preset pipe segment three-dimensional model corresponding to each prefabricated pipe segment of the pipe segment ring and the preset contour of the corresponding preset pipe segment three-dimensional model.

[0129] It can be clearly stated that, for example, when assembling the segment ring, it is determined that the first segment at 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 capping block is connected between the L1 adjacent block and the L2 adjacent block, and the capping block is at the installation position. Then, the target assembly path of the segment ring is to place a standard block first, and then place another standard block and the L1 adjacent block at both ends of the first standard block that has been placed. After the assembly is completed, the third standard block, the L2 adjacent block and the capping block are placed in sequence to complete the assembly of the segment ring.

[0130] In one embodiment, step S300 includes:

[0131] The contour shape is compared with the preset contour to determine the placement position of the target segment three-dimensional model.

[0132] To facilitate better implementation of the present invention, in this embodiment, when performing contour comparison, if the three-dimensional model of the target segment being compared is a standard block, when the number of standard blocks required for the segment ring being assembled is three, and the assembly of at least one standard block has been completed, then the angle of the standard block corresponding to the standard block just scanned is adjusted so that the standard block can be placed in the corresponding placement position.

[0133] In order to more clearly understand the present invention, when planning the target assembly path, the angles corresponding to the center positions of the L1 adjacent blocks, L2 adjacent blocks, capping blocks and each standard block can be calculated and obtained. When it is necessary to adjust the angle of the corresponding target segment three-dimensional model, the angle value can be directly called up and the target segment three-dimensional model can be rotated by the corresponding angle.

[0134] In one embodiment, step S400 includes:

[0135] Repeat the steps of scanning the prefabricated segments to be simulatedly assembled using a preset scanning device, collecting a target point cloud data set of the prefabricated segments, and performing model comparison on the newly established target segment three-dimensional models; when the total number of the target segment three-dimensional models is greater than the total number of the target segment three-dimensional models required for the same segment ring, assemble the next segment ring using the newly established target segment model, until at least six segments are assembled to form the segment ring.

[0136] In order to understand the present invention more clearly, in the specific implementation, the number of segments required for each segment ring is six (including three standard blocks, and one L1 adjacent block, one L2 adjacent block, and one capping block). In the process of simulated assembly, when the number corresponding to the target segment three-dimensional model obtained by scanning and modeling is greater than the corresponding number or greater than an integer multiple of the corresponding number, a new ring of segment rings can be assembled. That is, when the number of standard blocks is greater than three or a multiple of three, a new ring can be assembled.

[0137] Based on the same technical concept, in a second aspect, the present invention further proposes a segment simulation assembly device, comprising:

[0138] A data acquisition module, used to scan the prefabricated pipe segment to be simulated assembled using a preset scanning device, and to acquire a target point cloud data set of the prefabricated pipe segment;

[0139] A modeling module, used to establish a corresponding target segment three-dimensional model according to the point cloud data set;

[0140] A position determination module, used to determine the placement position of the target segment three-dimensional model according to the contour shape of the target segment three-dimensional model;

[0141] The assembly module is used to repeatedly execute the steps of scanning the prefabricated pipe segments to be simulated assembled using a preset scanning device and collecting a target point cloud data set of the prefabricated pipe segments until at least six pipe segments are assembled to form a pipe segment ring.

[0142] The segment simulation assembly device provided in the embodiment of the present application adopts the segment simulation assembly method in the above embodiment, which can solve the technical problem that the prefabricated segments need to be hoisted and transported during the actual assembly process, resulting in low assembly efficiency. Compared with the prior art, the beneficial effects of the segment simulation assembly device provided in the embodiment of the present application are the same as the beneficial effects of the segment simulation assembly method provided in the above embodiment, and other technical features in the segment simulation assembly device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0143] Based on the same technical concept, in the third aspect, the present invention also proposes a segment simulation assembly device, which includes a processor and a memory, and a segment simulation assembly program is stored in the memory. When the segment simulation assembly program is executed by the processor, the segment simulation assembly method described in the first aspect is implemented.

[0144] The segment simulation assembly equipment in the embodiments of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, 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.

[0145] The segment simulation assembly device 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 segment simulation assembly device 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 can 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 can allow the segment simulation assembly device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a segment simulation assembly device with various systems, 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 instead.

[0146] 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.

[0147] The segment simulation assembly equipment provided by the present application adopts the segment simulation assembly method in the above embodiment, which can solve the technical problem that the prefabricated segments need to be hoisted and transported during the actual assembly process, resulting in low assembly efficiency. Compared with the prior art, the beneficial effects of the segment simulation assembly equipment provided by the present application are the same as the beneficial effects of the segment simulation assembly method provided by the above embodiment, and the other technical features of the segment simulation assembly equipment are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0148] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0149] In addition, the segment simulation assembly equipment provided in the embodiment of the present application can solve the technical problem that the prefabricated segments need to be hoisted and transported during the actual assembly process, resulting in low assembly efficiency. Compared with the prior art, the beneficial effects of the segment simulation assembly equipment provided in the embodiment of the present application are the same as the beneficial effects of the segment simulation assembly method provided in the above embodiment, and other technical features in the segment simulation assembly equipment are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0150] Based on the same technical concept, in a fourth aspect, the present invention further proposes a segment simulation assembly system, comprising:

[0151] The segment simulation assembly equipment according to the third aspect; and

[0152] A preset scanning device is communicatively connected with the pipe segment simulation assembly device, and the pipe segment simulation assembly device can control the preset scanning device to scan the prefabricated pipe segment and detect the prefabricated pipe segment.

[0153] In addition, the segment simulation assembly system provided in the embodiment of the present application can solve the technical problem that the prefabricated segments need to be hoisted and transported during the actual assembly process, resulting in low assembly efficiency. Compared with the prior art, the beneficial effects of the segment simulation assembly system provided in the embodiment of the present application are the same as the beneficial effects of the segment simulation assembly method provided in the above embodiment, and other technical features of the segment simulation assembly system are the same as those disclosed in the above embodiment method, which will not be repeated here.

[0154] 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 pipe segment simulation assembly method described in the first aspect is implemented.

[0155] 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.

[0156] The above-mentioned computer-readable storage medium may be included in the pipe segment simulation assembly device; or it may exist independently without being assembled into the pipe segment simulation assembly device.

[0157] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the pipe segment simulation assembly equipment, the pipe segment simulation assembly equipment can implement the pipe segment simulation assembly method described above.

[0158] 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).

[0159] 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.

[0160] 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.

[0161] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned pipe segment simulation assembly method, and can solve the technical problem that the prefabricated pipe segments need to be hoisted and transported during the actual assembly process, resulting in low assembly efficiency. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the pipe segment simulation assembly method provided in the above-mentioned embodiment, and will not be repeated here.

[0162] 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 segment simulation assembly method, characterized in that: include: Scanning the prefabricated pipe segment to be simulated and assembled using a preset scanning device, and collecting a target point cloud data set of the prefabricated pipe segment; Establishing a corresponding target segment three-dimensional model in real time according to the point cloud data set; Determining a placement position of the target segment 3D model according to the contour shape of the target segment 3D model; Repeat the steps of scanning the prefabricated pipe segments to be simulatedly assembled using a preset scanning device and collecting a target point cloud data set of the prefabricated pipe segments until at least six pipe segments are assembled to form a pipe segment ring.

2. The segment simulation assembly method according to claim 1, characterized in that: The step of scanning the prefabricated pipe segment to be simulated assembled using a preset scanning device and collecting a target point cloud data set of the prefabricated pipe segment includes: A preset scanning device is used to emit a grid-shaped laser net to the prefabricated pipe segment to be simulated assembled so as to scan the prefabricated pipe segment and collect a target point cloud data set of the prefabricated pipe segment.

3. The segment simulation assembly method according to claim 2, characterized in that: Before the step of determining the placement position of the target segment 3D model according to the contour shape of the target segment 3D model, the method further includes: Perform six-view projection on the three-dimensional model of the target segment to obtain the contour shape of the three-dimensional model of the target segment.

4. The segment simulation assembly method according to claim 3, characterized in that: Before the step of determining the placement position of the target segment 3D model according to the contour shape of the target segment 3D model, the method further includes: According to preset data, a target assembly path of the prefabricated pipe segments is planned; wherein the preset data records the specifications and models of the prefabricated pipe segments, the diameter of the pipe segment ring to be assembled into a ring, the pipe segment ring includes an L1 adjacent block, an L2 adjacent block, a capping block and at least three standard blocks, and the target assembly path records the placement position of the preset pipe segment three-dimensional model corresponding to each prefabricated pipe segment of the pipe segment ring and the corresponding preset contour of the preset pipe segment three-dimensional model.

5. The segment simulation assembly method according to claim 4, characterized in that: The step of determining the placement position of the target segment 3D model according to the contour shape of the target segment 3D model comprises: The contour shape is compared with the preset contour to determine the placement position of the target segment three-dimensional model.

6. The segment simulation assembly method according to claim 5, characterized in that: The step of repeatedly performing the step of scanning the prefabricated pipe segment to be simulatedly assembled using a preset scanning device and collecting a target point cloud data set of the prefabricated pipe segment until at least six pipe segments are assembled to enclose a pipe segment ring includes: Repeat the steps of scanning the prefabricated segments to be simulatedly assembled using a preset scanning device, collecting a target point cloud data set of the prefabricated segments, and performing model comparison on the newly established target segment three-dimensional models; when the total number of the target segment three-dimensional models is greater than the total number of the target segment three-dimensional models required for the same segment ring, assemble the next segment ring using the newly established target segment model, until at least six segments are assembled to form the segment ring.

7. A segment simulation assembly device, characterized in that: include: A data acquisition module, used to scan the prefabricated pipe segment to be simulated assembled using a preset scanning device, and to acquire a target point cloud data set of the prefabricated pipe segment; A modeling module, used for establishing a corresponding target segment three-dimensional model in real time according to the point cloud data set; A position determination module, used to determine the placement position of the target segment three-dimensional model according to the contour shape of the target segment three-dimensional model; The assembly module is used to repeatedly execute the steps of scanning the prefabricated pipe segments to be simulated assembled using a preset scanning device and collecting a target point cloud data set of the prefabricated pipe segments until at least six pipe segments are assembled to form a pipe segment ring.

8. A segment simulation assembly device, characterized in that: The segment simulation assembly device includes a processor and a memory, wherein a segment simulation assembly program is stored in the memory. When the segment simulation assembly program is executed by the processor, the segment simulation assembly method according to any one of claims 1 to 6 is implemented.

9. A segment simulation assembly system, characterized in that: include: The segment simulation assembly device according to claim 8; as well as, A preset scanning device is communicatively connected with the pipe segment simulation assembly device, and the pipe segment simulation assembly device can control the preset scanning device to scan the prefabricated pipe segment and detect 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 segment simulation assembly method according to any one of claims 1 to 6 is implemented.

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