A synchronous secondary lining assembly system and method

Abstract

This invention discloses a synchronous secondary lining assembly system and method. The synchronous secondary lining assembly system includes a secondary lining trolley, which comprises a geared track assembly mounted on the trolley frame and a secondary lining assembly robotic arm that moves along the geared track assembly via a drive mechanism. A gripping head is connected to the end of the secondary lining assembly robotic arm. The geared track assembly includes a left geared track and a right geared track that can rotate to avoid overhead equipment. The posture and movement of the geared track assembly and the secondary lining assembly robotic arm are controlled by a vision scanning system. This invention enables synchronous secondary lining assembly without affecting segment transfer, material transfer, or segment assembly, reducing construction steps and improving construction efficiency. This invention not only improves the adaptability of synchronous secondary lining assembly but also allows assembly based on the optimal path calculated by vision scanning, while possessing a calculation and fine-tuning installation function to achieve precise positioning of the secondary lining prefabricated components.

Description

Technical Field

[0001] This invention relates to the field of tunnel secondary lining construction technology, and in particular to a synchronous secondary lining assembly system and method. Background Technology

[0002] In tunnel boring machine (TBM) construction projects, the simultaneous assembly of tunnel segments during tunnel excavation primarily serves as primary support. Secondary lining is then achieved using methods such as assembling secondary segments or shotcrete. The secondary lining is a permanent support structure built along the tunnel's perimeter to prevent deformation or collapse of the surrounding rock, ensuring the tunnel's lifespan of up to 100 years. Therefore, a secondary lining assembly system needs to be designed to reinforce the tunnel's perimeter.

[0003] An existing invention patent, published on December 3, 2021, with publication number CN113738404A, discloses a windowless, integrally formed lining trolley. A traveling device is designed at the bottom of the masts at both ends of the trolley to drive the lining trolley forward. Support beams are designed on the masts, and A-frames are mounted on the support beams. Adjustable arches are designed on the outer side of the A-frames to meet the lining requirements of various tunnel shapes. However, this technical solution requires the initial laying of reinforcing steel and pouring of concrete for the secondary lining construction, reducing the efficiency of simultaneous secondary lining construction.

[0004] A utility model patent, authorized on June 14, 2019, with authorization number CN208982056U, discloses a device for synchronous lining of sewage tunnels. The device includes a main unit and a trolley. The main unit houses a segment installation machine, and a segment transport device connects the segment installation machine and the trolley. The trolley slides on special segments at the bottom. At least one longitudinal baffle section of the template is mounted on the trolley, with the first longitudinal baffle section connected to the front baffle of the template. A concrete grouting machine is also mounted on the trolley. While this technical solution allows for direct secondary support of segments that provide primary support, it reduces the efficiency of synchronous segment assembly.

[0005] In summary, while some progress has been made in the research of synchronous secondary lining in the complete set of tunneling machine equipment, it still cannot meet the construction efficiency requirements of synchronous secondary lining. Therefore, it is necessary to design a synchronous secondary lining assembly system.

[0006] It should be noted that the above technical information is intended only to enhance the understanding of the overall background technology of the present invention, and should not be regarded as an admission or in any way implying that the above technical information constitutes prior art known to those skilled in the art. Summary of the Invention

[0007] To address the shortcomings in the aforementioned background technology, this invention proposes a synchronous secondary lining assembly system and method. The technical problem to be solved is: how to carry out efficient synchronous secondary lining construction during the tunneling process of a tunneling machine.

[0008] The technical solution of this application is as follows:

[0009] A synchronous secondary lining assembly system includes a secondary lining trolley, which can be either a following trolley connected to a trailer attached to a tunnel boring machine, or a trolley with independent walking capabilities. The secondary lining trolley includes a geared track assembly mounted on its frame and a secondary lining assembly robotic arm that moves along the geared track assembly via a drive mechanism. The end of the robotic arm is connected to a gripping head. The geared track assembly includes a left geared track and a right geared track that can rotate to avoid overhead traffic; alternatively, the geared track assembly includes a lower geared track that can be raised and lowered to avoid overhead traffic. The posture and movement of the geared track assembly and the secondary lining assembly robotic arm are controlled by a vision scanning system. According to this invention, the assembly of the secondary lining can be completed simultaneously without affecting segment transportation, material transportation, and segment assembly, reducing construction steps and improving construction efficiency. The synchronous secondary lining assembly system of the present invention adopts a multi-stage telescopic lifting mechanism, which reduces space and improves the adaptability of synchronous assembly. In the present invention, the secondary lining assembly system assembles according to the optimal path calculated by visual scanning, and also has the function of calculating and fine-tuning the installation to achieve precise positioning of the secondary lining prefabricated components.

[0010] Based on the above technical solutions, as a preferred technical solution for the synchronous secondary lining assembly system, when the gear ring track assembly includes a left gear ring track and a right gear ring track, it also includes an upper gear ring track fixedly connected to the secondary lining trolley frame. The left gear ring track and the right gear ring track swing relative to the upper gear ring track through corresponding gear ring rocker mechanisms to avoid the passage equipment below.

[0011] Based on the above technical solution, as a preferred technical solution for the synchronous secondary lining assembly system, the arc of the upper gear ring track, the left gear ring track, and the right gear ring track are all 90°, and the upper gear ring track is provided with a passage space for the air duct to pass through.

[0012] Based on the above technical solutions, as a preferred technical solution for the synchronous secondary lining assembly system, when the gear ring track assembly includes a lower gear ring track, it also includes an upper gear ring track fixedly connected to the secondary lining trolley frame. A translation mechanism is provided between the lower gear ring track and the lifting mechanism, and the lower gear ring track is circumferentially aligned or separated from the upper gear ring track through the translation mechanism.

[0013] Based on the above technical solutions, as a preferred technical solution for the synchronous secondary lining assembly system, the secondary lining assembly robotic arm includes a robotic arm frame connected to a drive mechanism. The robotic arm frame is hinged to a gripping head via a primary rocker mechanism, and a secondary rocker mechanism is provided between the end of the primary rocker mechanism and the gripping head.

[0014] Based on the above technical solutions, as a preferred technical solution for the synchronous secondary lining assembly system, the lifting head includes a lifting head hinge seat connected to the end of the primary rocker mechanism and a lifting head base hinged to the lifting head hinge seat. The lifting head base is hinged to the lifting head platform through several fine-tuning cylinders. The secondary rocker mechanism is connected between the lifting head base and the end of the primary rocker mechanism.

[0015] Based on the above technical solutions, as a preferred technical solution for the synchronous secondary lining assembly system, the lower passage equipment includes a power locomotive, a mortar truck, a box culvert transport vehicle, a segment transport vehicle, and a secondary lining prefabricated component transport vehicle. The secondary lining prefabricated component transport vehicle includes a frame and a slewing frame for carrying the secondary lining prefabricated components. The slewing frame rotates in coordination with the frame through a transport vehicle rocker mechanism.

[0016] Based on the above technical solutions, as a preferred technical solution for the synchronous secondary lining assembly system, the visual scanning system is a visual scanning system used to plan the optimal assembly trajectory and to control the posture and movement of the gear ring track assembly and the secondary lining assembly robot arm.

[0017] A synchronous secondary lining assembly method employs the synchronous secondary lining assembly system described in any of the above technical solutions. A secondary lining prefabricated component transport vehicle transports the secondary lining prefabricated components to a location below the secondary lining trolley. The secondary lining prefabricated components are rotated 90° in the rotation area below the secondary lining trolley. A vision scanning system identifies the position information of the secondary lining prefabricated components to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly robotic arm, and controls the gear ring rocker mechanism or lifting mechanism to adjust the position of the gear ring track assembly. Simultaneously, when the gear ring track assembly is adjusted to the corresponding position, the drive mechanism drives the secondary lining assembly robotic arm back to its original position. The robot arm rotates to the underside of the secondary lining trolley. When the grabbing head picks up the secondary lining precast component, the secondary lining trolley retreats to a safe area to avoid interference with the secondary lining precast component to be assembled. After the secondary lining trolley retreats to the safe area, the drive mechanism drives the secondary lining assembly robot arm and the secondary lining precast component to be assembled to rotate to the assembly position. The vision scanning system collects the position information of the assembled secondary lining precast component and feeds the collected position information back to the secondary lining assembly robot arm. The robot arm then assembles the secondary lining precast component to be assembled by controlling the first-level rocker mechanism, the second-level rocker mechanism, and the fine-tuning cylinder.

[0018] Based on the above technical solutions, the preferred technical solution for the synchronous secondary lining assembly method includes the following steps:

[0019] ①The precast secondary lining components to be assembled are grabbed by the grabbing head on the synchronous secondary lining assembly system;

[0020] ② Collect the position and orientation information of the currently assembled secondary lining prefabricated components through a visual scanning system;

[0021] ③ Input the point cloud feature information of the assembled secondary lining prefabricated components into the feature recognition and processing module;

[0022] ④ The feature recognition and processing module of the control system obtains the relationship dataset between the prefabricated secondary lining components to be assembled and the tunnel axis based on the point cloud feature information of the assembled secondary lining prefabricated components.

[0023] ⑤ The attitude information processing module of the secondary lining prefabricated component of the control system obtains the position coordinates of the assembled secondary lining prefabricated component in the tunnel coordinate system based on the relational dataset;

[0024] ⑥ The motion prediction module of the control system predicts the target pose coordinates of the precast secondary lining component to be assembled under the synchronous secondary lining assembly system based on the pose coordinates of the precast secondary lining component to be assembled in the tunnel coordinate system.

[0025] ⑦ The control system converts the target position coordinates of the precast secondary lining component to be assembled in the tunnel coordinate system into the target pose coordinates of the precast secondary lining component to be assembled in the synchronous secondary lining assembly system coordinate system.

[0026] ⑧ The control system drives the secondary lining assembly robot arm to move the precast secondary lining component to the assembly position according to the target pose coordinates of the component in the synchronous secondary lining assembly system coordinate system.

[0027] Based on the above technical solutions, as a preferred technical solution for the synchronous secondary lining assembly method, the visual scanning system uses a homomorphic filtering method to detect the input image, thereby improving the quality of the input image by compressing the image brightness range and enhancing the contrast.

[0028] This invention proposes a simultaneous secondary lining assembly system and method. Compared with existing technologies, it can simultaneously meet the assembly requirements of the secondary lining without affecting segment transportation, material transportation, and segment assembly, reducing construction steps and improving construction efficiency. The simultaneous secondary lining assembly system provided by this invention adopts a multi-stage telescopic lifting mechanism, reducing space and improving the adaptability of simultaneous assembly. Simultaneously, the system assembles according to the optimal path calculated by a visual scanning system and has a calculation and fine-tuning installation function, achieving precise positioning of the secondary lining prefabricated components and greatly improving assembly efficiency. Attached Figure Description

[0029] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram illustrating the transfer of precast secondary lining components, box culverts, and tunnel segments when applying this invention. Figure 1 ;

[0031] Figure 2 This is a schematic diagram illustrating the transfer of precast secondary lining components, box culverts, and tunnel segments when applying this invention. Figure 2 ;

[0032] Figure 3 A cross-sectional view of the train as it passes the secondary lining trolley;

[0033] Figure 4 This is a side view of the secondary lining precast component before rotation.

[0034] Figure 5 This is a cross-sectional view of the secondary lining precast component before rotation.

[0035] Figure 6 A state diagram for grasping and lifting the precast secondary lining component;

[0036] Figure 7 A diagram showing the state of the robotic arm transporting prefabricated components for the secondary lining assembly;

[0037] Figure 8 A diagram showing the state of the prefabricated secondary lining components being assembled.

[0038] Figure 9 This is a diagram showing the state of the left gear ring after rotation.

[0039] Figure 10 This is a diagram showing the state of the right gear ring after it has rotated.

[0040] Figure 11 A front view of a vehicle transporting precast secondary lining components when loading them.

[0041] Figure 12 for Figure 11 The left view;

[0042] Figure 13 A top view of the secondary lining prefabricated component transport vehicle rotating the secondary lining prefabricated component;

[0043] Figure 14 for Figure 13 Enlarged view of point A in the middle;

[0044] Figure 15 This is a side view of the robotic arm used for assembling the secondary lining.

[0045] Figure 16 for Figure 15 Enlarged view of point B in the middle;

[0046] Figure 17 for Figure 15 Top view;

[0047] Figure 18 for Figure 17 A magnified view of point C in the middle.

[0048] Explanation of icon numbers:

[0049] Pipeline 1, trailer 2, secondary lining trolley 3 inside the tunnel;

[0050] 4. Drive mechanism; 5. Secondary lining assembly robotic arm; 501. Robotic arm frame;

[0051] 6. Lifting head; 601. Lifting head hinge seat; 602. Lifting head base; 603. Fine-tuning cylinder; 604. Lifting head platform;

[0052] Upper gear ring track 7, left gear ring track 8, right gear ring track 9;

[0053] 10, vehicle frame 101, slewing frame 102, precast secondary lining component 103;

[0054] Hydraulic cylinder 1: 100; rocker arm 1: 1000; hydraulic cylinder 2: 200; rocker arm 2: 2000; hydraulic cylinder 3: 300; rocker arm 3: 3000; hydraulic cylinder 4: 400.

[0055] 20 segment transport vehicles, 30 box culvert transport vehicles, 40 mortar trucks, and 50 power locomotives;

[0056] 11. Air duct; 12. Vision scanning system; 13. Gear ring track assembly. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the core concept of the present invention and the following embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​illustrated in these embodiments should be interpreted as merely exemplary and not as limiting.

[0059] It should be noted that, in the description of this application, unless otherwise stated, "several" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "axial," "radial," etc., indicating orientation or positional relationships are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0060] Furthermore, the terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well.

[0061] It should also be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device.

[0062] All terms used in this application have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0063] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0064] The purpose of this invention is to provide a synchronous secondary lining assembly system and method that can meet the requirements of synchronous secondary lining assembly without affecting segment transportation, material transportation, and segment assembly.

[0065] To achieve the above objectives, the synchronous secondary lining assembly system of the present invention comprises: a secondary lining trailer, connected to the rear of a supporting trailer for the tunnel boring machine, used to support the secondary lining assembly system; a geared track, used to provide a track for the secondary lining assembly robotic arm to rotate and travel, the geared track mainly consisting of an upper geared track, a left geared track, and a right geared track, the upper geared track being fixed on the secondary lining trailer, and the left and right geared tracks cooperating with each other to enable the secondary lining assembly robotic arm to complete the assembly of one ring of secondary lining prefabricated components under the action of the drive mechanism; a secondary lining assembly robotic arm, used to grab and assemble secondary lining prefabricated components; a drive mechanism, connected to the secondary lining assembly robotic arm, driving the secondary lining assembly robotic arm to perform rotational movement; and a secondary lining prefabricated component transport vehicle, which transports the secondary lining prefabricated components into the tunnel and rotates the secondary lining prefabricated components 90° under the secondary lining trailer.

[0066] In the synchronous secondary lining assembly system of this invention, the secondary lining prefabricated component transport vehicle travels under the secondary lining trailer and rotates the secondary lining prefabricated component by 90° under the action of its own rotating mechanism. The secondary lining trailer is equipped with a vision scanning system 12, which identifies the position of the secondary lining prefabricated component to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly robot arm, and adjusts the corresponding left or right gear ring track to rotate under the secondary lining trailer. Under the action of the drive mechanism, the secondary lining assembly robot arm rotates to the under of the gear ring track according to the calculated optimal assembly trajectory. The gripping head at the end of the robot arm grabs the secondary lining prefabricated component, and then the drive mechanism drives the robot arm that has grabbed the secondary lining prefabricated component to assemble it. At the same time, the vision scanning system 12 installed on the secondary lining trailer collects the position information of the assembled secondary lining and feeds the collected information back to the secondary lining assembly robot arm. By controlling the adjusting cylinder at the gripping head at the end of the secondary lining assembly robot arm, the assembly of the secondary lining prefabricated component is finely adjusted and installed.

[0067] According to the present invention, the assembly of the secondary lining can be carried out simultaneously without affecting the transportation of tunnel segments, material transportation, and segment assembly, thus reducing construction procedures and improving construction efficiency. The synchronous secondary lining assembly system of the present invention adopts a multi-stage telescopic lifting mechanism, which reduces space and improves the adaptability of synchronous assembly; in the present invention, the secondary lining assembly system performs assembly according to the optimal path calculated by visual scanning, and also has the function of calculating and fine-tuning the installation to achieve precise positioning of the secondary lining prefabricated components.

[0068] like Figures 1 to 18 As shown, specific embodiments are described below.

[0069] A synchronous secondary lining assembly system includes a secondary lining trolley 3. The secondary lining trolley 3 can be a following trolley connected to a trailer 2 attached to a tunnel boring machine, or it can be a trolley with independent walking function. The secondary lining trolley 3 includes a gear ring track assembly 13 mounted on the secondary lining trolley frame, and a secondary lining assembly robotic arm 5 that moves along the gear ring track assembly 13 via a drive mechanism 4. The end of the secondary lining assembly robotic arm 5 is connected to a gripping head 6. The secondary lining assembly robotic arm 5 is used to grip the secondary lining prefabricated component 103 to be assembled, and transport the secondary lining prefabricated component 103 to be assembled along the gear ring track assembly 13 to the assembly position, and adjust the spatial orientation of the secondary lining prefabricated component 103 to assemble it with the already assembled secondary lining prefabricated component 103.

[0070] The geared track assembly 13 includes a left geared track 8 and a right geared track 9 that can rotatably avoid downward-passing equipment. Adjusting the positions of the left and right geared tracks 8 and 9 provides a corresponding travel track for the secondary lining assembly robotic arm 5 while also avoiding downward-passing equipment. Alternatively, the geared track assembly 13 includes a lower geared track that can be raised and lowered to avoid downward-passing equipment. Raising and lowering the lower geared track also allows for avoidance of downward-passing equipment. The posture and movements of both the geared track assembly 13 and the secondary lining assembly robotic arm 5 are controlled by the vision scanning system 12.

[0071] Based on the above embodiments, as a preferred embodiment of the synchronous secondary lining assembly system, when the gear ring track assembly 13 includes a left gear ring track 8 and a right gear ring track 9, it also includes an upper gear ring track 7 fixedly connected to the secondary lining trolley frame. The left gear ring track 8 and the right gear ring track 9 swing relative to the upper gear ring track 7 through corresponding gear ring rocker mechanisms to avoid the passage equipment below. The gear ring rocker mechanism includes a rocker arm and a hydraulic cylinder. The hydraulic cylinder can drive the rocker arm to move the left gear ring track 8 or the right gear ring track 9 away from the upper gear ring track 7 or assemble with the upper gear ring track 7, thereby forming a continuous track for the secondary lining assembly robotic arm 5 to move in different spatial positions.

[0072] Based on the above embodiments, as a preferred embodiment of the synchronous secondary lining assembly system, the arc of the upper gear ring track 7, the left gear ring track 8, and the right gear ring track 9 is 90°, and the upper gear ring track 7 is provided with a passage space for the air duct 11 to pass through.

[0073] Based on the above embodiments, as a preferred embodiment of the synchronous secondary lining assembly system, when the gear ring track assembly 13 includes a lower gear ring track, it also includes an upper gear ring track 7 fixedly connected to the secondary lining trolley frame. A translation mechanism is provided between the lower gear ring track and the lifting mechanism, and the lower gear ring track is circumferentially aligned or separated from the upper gear ring track 7 through the translation mechanism. When the lower gear ring track is circumferentially aligned with the upper gear ring track 7 through the translation mechanism, the lifting mechanism can assemble the lower gear ring track and the upper gear ring track 7 into a continuous track, allowing the secondary lining assembly robotic arm 5 to move within a larger space. When it is necessary to avoid equipment passing below, the lower gear ring track is first circumferentially separated from the upper gear ring track 7 through the translation mechanism, and then the lower gear ring track is lifted by the lifting mechanism.

[0074] Based on the above embodiments, as a preferred embodiment of the synchronous secondary lining assembly system, the secondary lining assembly robotic arm 5 includes a robotic arm frame 501 connected to the drive mechanism 4. The robotic arm frame 501 is hinged to a gripping head 6 via a primary rocker mechanism. The primary rocker mechanism also includes a hydraulic cylinder and a rocker arm, which can drive the gripping head 6 to deflect in the plane where the gear ring track assembly 13 is located, that is, to move the gripping head 6 away from or towards the gear ring track assembly 13 in the radial direction. This is the primary adjustment mechanism of the secondary lining assembly robotic arm 5. A secondary rocker mechanism is provided between the end of the primary rocker mechanism and the gripping head 6. The secondary rocker mechanism, as the secondary adjustment mechanism of the secondary lining assembly robotic arm 5, also includes a hydraulic cylinder and a rocker arm, which can cause the gripping head 6 to deflect slightly relative to the end of the primary rocker mechanism.

[0075] Based on the above embodiments, as a preferred embodiment of the synchronous secondary lining assembly system, the lifting head 6 includes a lifting head hinge seat 601 connected to the end of the primary rocker mechanism and a lifting head base 602 hinged to the lifting head hinge seat 601. The lifting head base 602 is hinged to the lifting head platform 604 through several fine-tuning cylinders 603. The secondary rocker mechanism is connected between the lifting head base 602 and the end of the primary rocker mechanism.

[0076] Based on the above embodiments, as a preferred embodiment of the synchronous secondary lining assembly system, the lower passage equipment includes a power locomotive 50, a mortar truck 40, a box culvert transport vehicle 30, a segment transport vehicle 20, and a secondary lining prefabricated component transport vehicle 10. The secondary lining prefabricated component transport vehicle 10 includes a frame 101 and a rotating frame 102 for carrying the secondary lining prefabricated components 103. The rotating frame 102 is rotatably engaged with the frame 101 via a transport vehicle rocker mechanism. The transport vehicle rocker mechanism also includes a hydraulic cylinder and a rocker arm. To ensure the rotational accuracy of the rotating frame, a stroke sensor is installed on the hydraulic cylinder. A rotation limit block is welded to the rotating frame 102, and another limit block is welded to the transport vehicle 10 to ensure a 90° rotation of the rotating frame 102.

[0077] Based on the above embodiments, as a preferred embodiment of the synchronous secondary lining assembly system, the visual scanning system 12 is a visual scanning system used to plan the optimal assembly trajectory and to control the posture and movement of the gear ring track assembly 13 and the secondary lining assembly robotic arm 5.

[0078] As a preferred embodiment of the synchronous secondary lining assembly system, the system structure is described below:

[0079] Pipeline 1 inside the tunnel is composed of segments already assembled during the tunnel boring machine's excavation process;

[0080] Trailer 2 is used to carry the tunnel boring machine's supporting equipment;

[0081] Secondary lining trailer 3 is used to support gear ring track assembly 13;

[0082] Drive mechanism 4 drives the secondary lining assembly robotic arm 5 to rotate;

[0083] The robotic arm 5 for assembling the secondary lining uses the gripping head 6 to extend and retract the secondary lining prefabricated component 103 to the designated position.

[0084] Grabber head 6 is used to grab the secondary lining precast components;

[0085] Upper gear ring track 7, left gear ring track 8, right gear ring track 9, drive mechanism 4 drives the secondary lining assembly robotic arm 5 to rotate;

[0086] The secondary lining precast component transport vehicle 10 is used to carry the secondary lining precast component 103 and can rotate the secondary lining precast component 103 on the transport vehicle by 90°.

[0087] Air duct 11 can deliver fresh air from outside the tunnel to the working area of ​​the tunnel boring machine personnel.

[0088] The usage process of a synchronous secondary lining assembly system:

[0089] The power locomotive 50 is followed by the secondary lining precast component transport vehicle 10, mortar truck 40, box culvert transport vehicle 30, segment transport vehicle 20, etc. After the trolley locomotive transports the secondary lining precast component 103 to the underside of the secondary lining trailer 3, the connection between the secondary lining precast component transport vehicle 10 and the trolley locomotive 50 is disconnected. The trolley locomotive 50 continues to drive the box culvert and segments forward in the tunnel excavation direction. While assembling the secondary lining precast component 103, the segments and box culvert are assembled simultaneously.

[0090] The secondary lining prefabricated component transport vehicle 10 transports the secondary lining prefabricated component 103 to the area below the secondary lining trailer 3, where it is to be rotated 90°. The vision scanning system 12 on the secondary lining trailer 3 scans and identifies the position of the secondary lining prefabricated component 103 to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly system, and controls the corresponding hydraulic cylinder to drive the rocker arm to move, causing the left and right geared track 8 or the right geared track 9 to rotate 90°. When the left and right geared track 8 or the right geared track 9 are adjusted to the corresponding position, the drive mechanism 4 drives the secondary lining assembly robotic arm 5 to rotate to the area below the secondary lining trailer 3. When the grabbing head 6 grabs the secondary lining... When prefabricating component 103, the secondary lining prefabricated component transport vehicle 10 retreats to a safe area to avoid interference with the prefabricated component to be assembled; after the secondary lining prefabricated component transport vehicle 10 retreats to the safe area, the drive mechanism 4 drives the secondary lining assembly robotic arm 4 and the secondary lining prefabricated component 103 to be assembled to rotate to the assembly position, and adjusts the multi-stage telescopic hydraulic cylinder for auxiliary assembly; the vision scanning system 12 installed on the secondary lining trailer 3 collects the position information of the assembled secondary lining prefabricated component 103, and the collected information is fed back to the secondary lining assembly robotic arm 5, controlling the adjustment hydraulic cylinder at the end gripping head 6 of the secondary lining assembly robotic arm 5 to finely adjust and install the secondary lining prefabricated component 103.

[0091] The specific technical solution and implementation process are as follows:

[0092] The secondary lining prefabricated component transport vehicle 10 consists of a frame 101, a rotating frame 102, a rocker arm 1000, and a hydraulic cylinder 100. The secondary lining prefabricated component 103 is placed on the rotating frame 102. The extension and retraction of the hydraulic cylinder 100 acts on the rocker arm 1000, thereby driving the rotating frame 102 to rotate, causing the secondary lining prefabricated component 103 on the rotating frame 102 to rotate 90°. The hydraulic cylinder 100 on the secondary lining prefabricated component transport vehicle 10 is hydraulically driven. When the secondary lining prefabricated component 103 needs to be rotated 90° from vertical to horizontal placement, the hydraulic cylinder 100 extends to drive the rocker arm, thereby causing the rotating frame to rotate. After the secondary lining prefabricated component is assembled, the hydraulic cylinder 100 retracts to its initial state. Throughout the assembly process, the rotating frame rotates within the range of 0 to 90°.

[0093] To ensure the smooth rotation of the slewing frame 102, a multi-way valve controls the flow rate to remain constant, thereby controlling the speed of the hydraulic cylinder to remain constant and ensuring smooth rotation of the slewing frame. To ensure the rotational accuracy of the slewing frame 102, a stroke sensor is installed on the hydraulic cylinder 100, and a rotation limit block is welded to the slewing frame 102. Another limit block is welded to the transport vehicle to ensure 90° rotation of the slewing frame 102. To ensure the stability of the secondary lining precast component 103 on the slewing frame 102 during rotation, it is secured with straps.

[0094] The gear ring track assembly 13 consists of an upper gear ring track 7, a left gear ring track 8, and a right gear ring track 9. To ensure ventilation is not affected during the synchronous assembly of the secondary lining, the upper gear ring track 7 is fixed, and the ventilation pipe 11 passes through the interior of the upper gear ring track 7. To avoid obstructing the passage of the marshalling car, mortar car, segment car, locomotive, etc., the curvature of the upper gear ring track 7, left gear ring track 8, and right gear ring track 9 is all 90°. When a car needs to travel through the middle, the left gear ring track 8 and right gear ring track 9 are fixed on the left and right sides, without affecting the normal transfer of segments and materials. Both the left gear ring track 8 and the right gear ring track 9 can rotate around the pivot. The gear ring rocker mechanism includes two hydraulic cylinders 200 and two rockers 2000. One end of one hydraulic cylinder 200 is connected to the upper gear ring track 7 via a Hooke's joint, and the other end is connected to the rocker 2000 on the left gear ring track 8 via a Hooke's joint. One end of the other hydraulic cylinder 200 is connected to the upper gear ring track 7 via a Hooke's joint, and the other end is connected to the rocker 2000 on the right gear ring track 9 via a Hooke's joint. The extension and retraction of the hydraulic cylinders 200 drive the rockers 2000, thereby rotating the left gear ring track 8 and the right gear ring track 9.

[0095] To avoid interference between the rotation of the left gear track 8 and the right gear track 9 and the fluid pipelines and cables inside the tunnel, the fluid pipelines and cables can be placed on the box culvert. This will not affect the material transportation or the assembly of the secondary lining prefabricated components, thus reducing the need to transfer the track during the assembly of the secondary lining prefabricated components and reducing construction efficiency.

[0096] The secondary lining assembly robotic arm 5 is connected to the drive mechanism 4. The drive mechanism 4 drives the pinion gear to move on the gear ring track assembly 13 through the motor reducer, thereby driving the secondary lining assembly robotic arm 5 to rotate. The secondary lining assembly robotic arm 5 is composed of a robotic arm frame 501, a rocker arm 3000, a hydraulic cylinder 300, a hydraulic cylinder 400, etc. The lifting head 6 is composed of a lifting head hinge seat 601, a lifting head base 602, a fine-tuning hydraulic cylinder 603, a lifting head platform 604, etc.

[0097] One end of the hydraulic cylinder 300 is connected to the robotic arm frame 501 via a Hooke hinge, and the other end is connected to the rocker arm 3000. The robotic arm frame 501 is connected to the rocker arm 3000 via a Hooke hinge. The extension and retraction of the hydraulic cylinder 300 causes the rocker arm 3000 to rotate around the hinge point between the robotic arm frame 501 and the rocker arm 3000 for one adjustment, which is the first-stage rocker mechanism.

[0098] One end of the hydraulic cylinder 400 is connected to the rocker arm 3000 via a Hooke hinge, and the other end is connected to the lifting head base 602 via a Hooke hinge. The lifting head hinge seat 601 is connected to the lifting head base 602 at one end via a Hooke hinge, and the other end of the lifting head hinge seat 601 is fixed to the rocker arm 3000. The extension and retraction of the hydraulic cylinder 400 drives the lifting head to perform secondary adjustment through the lifting head hinge point, which is the secondary rocker arm mechanism. There are 6 fine-tuning hydraulic cylinders 603 at the lifting head. One end of the fine-tuning hydraulic cylinder 603 is connected to the lifting head base 602 via a Hooke hinge, and the other end is connected to the lifting head platform 604 via a Hooke hinge. Based on the feedback data, the precast secondary lining component 103 to be assembled is precisely adjusted in the xyz direction and around the xyz angle.

[0099] In this invention, a load-sensitive multi-way valve is used to precisely control the extension and retraction of the interstage hydraulic cylinders. Each working link of the multi-way valve controls one hydraulic cylinder. Through an electronic control program, a certain link of the multi-way valve is switched from the neutral position to the working position. The hydraulic oil output from that link can control the extension or retraction of the corresponding cylinder. The pressure compensator configured in the multi-way valve can precisely control the output flow rate of the oil port, thereby precisely controlling the cylinder movement speed.

[0100] The present invention is equipped with a vision scanning system 12 on the secondary lining trailer 3. The vision scanning system 12 identifies the position of the secondary lining prefabricated component to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly robot arm 5, and then controls the left or right gear ring track to rotate to the corresponding position. At the same time, the vision scanning system 12 can collect the position information of the assembled secondary lining and feed the collected position information back to the secondary lining assembly robot arm. By controlling multiple telescopic hydraulic cylinders at the end of the secondary lining assembly robot arm, the assembly position of the secondary lining prefabricated component is finely adjusted.

[0101] In this invention, a rotating frame 102 is designed on the secondary lining prefabricated component transport vehicle 10 to allow the secondary lining prefabricated component 103 to rotate 90°. Alternatively, a single-beam crane can be designed to lift the secondary lining prefabricated component from the transport vehicle, transport it to the area to be rotated, and then place it on the ground for retrieval using a lifting head. This invention also incorporates three toothed ring tracks to facilitate the passage of train sets, and a liftable toothed ring track can be designed in the middle, which can be raised when train sets need to pass.

[0102] A synchronous secondary lining assembly method employs the synchronous secondary lining assembly system described in any of the above embodiments. The secondary lining prefabricated component transport vehicle 10 transports the secondary lining prefabricated component 103 to a position below the secondary lining trolley 3. The secondary lining prefabricated component 103 is rotated 90° in the rotation area below the secondary lining trolley 3. The vision scanning system 12 identifies the position information of the secondary lining prefabricated component 103 to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly robotic arm 5, and controls the gear ring rocker mechanism or lifting mechanism to adjust the position of the gear ring track assembly 13. Simultaneously, when the gear ring track assembly 13 is adjusted to the corresponding position, the drive mechanism 4 drives the secondary lining assembly robotic arm 5 to rotate. When the lifting head 6 grabs the secondary lining precast component 103 below the secondary lining trolley 3, the secondary lining trolley 3 retreats to a safe area to avoid interference with the secondary lining precast component 103 to be assembled. After the secondary lining trolley 3 retreats to the safe area, the drive mechanism 4 drives the secondary lining assembly robotic arm 5 and the secondary lining precast component 103 to be assembled to rotate to the assembly position. The vision scanning system 12 collects the position information of the assembled secondary lining precast component 103 and feeds the collected position information back to the secondary lining assembly robotic arm 5. The primary rocker mechanism, the secondary rocker mechanism and the fine-tuning cylinder 603 are controlled to assemble the secondary lining precast component 103 to be assembled.

[0103] Based on the above embodiments, as a preferred embodiment of the synchronous secondary lining assembly method, the specific fine-tuning calculation process includes the following steps:

[0104] ①The grabbing head 6 on the synchronous secondary lining assembly system grabs the secondary lining prefabricated component 103 to be assembled;

[0105] ② The position and orientation information of the currently assembled secondary lining prefabricated component 103 is collected through the visual scanning system 12;

[0106] ③ Input the point cloud feature information of the assembled secondary lining prefabricated component 103 into the feature recognition and processing module;

[0107] ④ The feature recognition and processing module of the control system obtains the relationship dataset between the prefabricated secondary lining component 103 to be assembled and the tunnel axis based on the point cloud feature information of the assembled secondary lining prefabricated component 103.

[0108] ⑤ The attitude information processing module of the secondary lining prefabricated component of the control system obtains the position coordinates of the assembled secondary lining prefabricated component 103 in the tunnel coordinate system according to the relation dataset.

[0109] ⑥ The motion prediction module of the control system predicts the target pose coordinates of the precast secondary lining component 103 under the synchronous secondary lining assembly system based on the pose coordinates of the precast secondary lining component 103 under the tunnel coordinate system.

[0110] ⑦ The control system converts the target position coordinates of the precast secondary lining component 103 to be assembled in the tunnel coordinate system into the target pose coordinates of the precast secondary lining component 103 to be assembled in the synchronous secondary lining assembly system coordinate system.

[0111] ⑧ The control system drives the secondary lining assembly robot arm 5 to move the secondary lining prefabricated component 103 to the assembly position according to the target pose coordinates of the secondary lining prefabricated component 103 in the synchronous secondary lining assembly system coordinate system.

[0112] Based on the above embodiments, as a preferred embodiment of the synchronous secondary lining assembly method, in order to overcome the challenges of maintaining the accuracy of identification and calculation in the harsh environment of insufficient light and high dust levels inside the tunnel, and to improve the system's identification accuracy, the following method will be adopted:

[0113] To improve the detection performance of the visual scanning system 12 on the input image, a homomorphic filtering method is first used to improve the image quality by compressing the image brightness range and enhancing the contrast. The main process is as follows.

[0114] First, the image This is represented as an illumination-reflection model.

[0115] (1)

[0116] in, Represents pixels in an image. This represents the original acquired slag image. This refers to the low-frequency lighting section. Indicates the high-frequency reflection portion, through The operation separates the illumination and reflection portions of the image.

[0117] (2)

[0118] Separate the two in the frequency domain and take Fourier transforms on both sides respectively. get.

[0119] (3)

[0120] in, ,respectively express , The Fourier transform of the image is applied, and frequency domain filters are used to process the illumination and reflection components of the image to different degrees, thereby improving the image with uneven illumination.

[0121]

[0122] Based on The homomorphic filter of a high-pass filter is used to reduce the influence of low-frequency components. Emphasis on the high-frequency component This makes the textured parts stand out more. Let be the steepness parameter of the Gaussian function. for The squared distance from the center point of the image after transformation. This is the cutoff frequency.

[0123] The filtered result is then inversely transformed from the frequency domain back to the spatial domain:

[0124]

[0125] The image after frequency filtering can then be obtained. ,in This is the inverse Fourier transform.

[0126] After homomorphic filtering, the image is further enhanced using Limiting Contrast Adaptive Histogram Equalization (CLAHE), which limits noise amplification and local contrast enhancement by restricting the height of local histograms. The final improved image histogram is as follows:

[0127]

[0128] in, for The maximum slope is limited by the size of the square sliding window. The maximum height of the histogram in the image is defined by the threshold set for truncating the histogram, and the overall height of the histogram is defined by the sum of the portions of the histogram above the threshold, which are then evenly distributed across all gray levels. After two image processing steps—homogeneous filtering and contrast-limited adaptive histogram equalization—the information features in the visual scanning system 12 are significantly enhanced, which is beneficial for the model to extract and recognize more information features.

[0129] The goal of this study is to achieve real-time detection and identification of both assembled and unassembled secondary lining prefabricated components during tunneling. YOLOv5s, suitable for embedded device deployment, was selected as the basic detection model for secondary lining prefabricated component identification. To overcome the reduced recognition performance due to dim backgrounds, an SE attention module was introduced into the backbone network to address the loss issues caused by different feature maps and channel ratios during convolutional pooling in the YOLOv5s model. The SE attention module first performs a squeezing operation. The input feature map is globally pooled to generate A one-dimensional matrix having a receptive field of global size; activation operation Through two fully connected layers By fitting the correlation of channels using nonlinear operations, a method is added after the first fully connected layer. The function increases the non-linearity between channels, added after the second fully connected layer. The function performs weight normalization to obtain the weights of the attached channels. The matrix, and finally the scaling operation. , will get Performing a full multiplication operation between the feature map and the input feature map, and then adding the weights to the input feature map, results in a feature map with weights for different channels. In the YOLOv5 backbone network, SE attention modules are added to the C3 module and before the SPPF layer. The C3-SE module assigns higher weights to feature layers of different scales, and the SE attention module before SPPF can enhance the fused local and global features, enriching the expressive power of the feature map. The C3-SE module further optimizes the identified feature information, assigning weights to small targets in the channels, which can significantly improve the model accuracy.

[0130] All aspects not detailed in this invention are conventional technical means known to those skilled in the art.

[0131] The above content shows and describes the basic principles, main features, and beneficial effects of the present invention. The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A synchronous secondary lining assembly system, comprising a secondary lining trolley (3), characterized in that: The secondary lining trolley (3) includes a gear ring track assembly (13) mounted on the secondary lining trolley frame and a secondary lining assembly robotic arm (5) that moves along the gear ring track assembly (13) via a drive mechanism (4). The end of the secondary lining assembly robotic arm (5) is connected to a gripping head (6). The gear ring track assembly (13) includes a left gear ring track (8) and a right gear ring track (9) that can rotate to avoid the passage equipment below. It also includes an upper gear ring track (7) that is fixedly connected to the secondary lining trolley frame. The left gear ring track (8) and the right gear ring track (9) swing relative to the upper gear ring track (7) to avoid the passage equipment below via corresponding gear ring rocker mechanisms. Alternatively, the gear ring track assembly (13) may include a lower gear ring track that can be raised and lowered to avoid the passage equipment below, and an upper gear ring track (7) that is fixedly connected to the frame of the secondary liner trolley. A translation mechanism is provided between the lower gear ring track and the lifting mechanism. The lower gear ring track is circumferentially aligned with or separated from the upper gear ring track (7) through the translation mechanism. The posture and movement of the gear ring track assembly (13) and the secondary lining assembly robot arm (5) are controlled by the vision scanning system (12).

2. The synchronous secondary lining assembly system according to claim 1, characterized in that: The upper gear track (7), left gear track (8), and right gear track (9) all have an arc of 90°. The upper gear track (7) is provided with a passage space for the air duct (11) to pass through.

3. The synchronous secondary lining assembly system according to any one of claims 1-2, characterized in that: The lining assembly robotic arm (5) includes a robotic arm frame (501) connected to the drive mechanism (4). The robotic arm frame (501) is hinged to a grabbing head (6) via a primary rocker mechanism. A secondary rocker mechanism is provided between the end of the primary rocker mechanism and the grabbing head (6).

4. The synchronous secondary lining assembly system according to claim 3, characterized in that: The grabbing head (6) includes a grabbing head hinge seat (601) connected to the end of the primary rocker mechanism and a grabbing head base (602) hinged to the grabbing head hinge seat (601). The grabbing head base (602) is hinged to the grabbing head platform (604) through several fine-tuning cylinders (603). The secondary rocker mechanism is connected between the grabbing head base (602) and the end of the primary rocker mechanism.

5. The synchronous secondary lining assembly system according to any one of claims 1-2 and 4, characterized in that: The passage equipment below includes a power locomotive (50), a mortar truck (40), a box culvert transport vehicle (30), a segment transport vehicle (20), and a secondary lining prefabricated component transport vehicle (10). The secondary lining prefabricated component transport vehicle (10) includes a frame (101) and a slewing frame (102) for carrying the secondary lining prefabricated component (103). The slewing frame (102) rotates with the frame (101) through a transport vehicle rocker mechanism.

6. The synchronous secondary lining assembly system according to claim 5, characterized in that: The visual scanning system (12) is a visual scanning system used to plan the optimal assembly trajectory and to control the posture and movement of the gear ring track assembly (13) and the secondary lining assembly robot arm (5).

7. A method for simultaneous assembly of secondary linings, characterized in that: Using the synchronous secondary lining assembly system described in any one of claims 4-6, the secondary lining prefabricated component transport vehicle (10) transports the secondary lining prefabricated component (103) to the area below the secondary lining trolley (3), and rotates the secondary lining prefabricated component (103) 90° in the area to be rotated below the secondary lining trolley (3); the vision scanning system (12) identifies the position information of the secondary lining prefabricated component (103) to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly robot arm (5), and controls the gear ring rocker mechanism or lifting mechanism to adjust the position of the gear ring track assembly (13); at the same time; when the gear ring track assembly (13) is adjusted to the corresponding position, the drive mechanism (4) drives the secondary lining assembly robot arm (5) to rotate to the secondary lining trolley (3). 3) When the grabbing head (6) grabs the secondary lining prefabricated component (103), the secondary lining trolley (3) retreats to a safe area to avoid interference with the secondary lining prefabricated component (103) to be assembled. After the secondary lining trolley (3) retreats to a safe area, the drive mechanism (4) drives the secondary lining assembly robot arm (5) and the secondary lining prefabricated component (103) to be assembled to rotate to the assembly position. The vision scanning system (12) collects the position information of the assembled secondary lining prefabricated component (103) and feeds the collected position information back to the secondary lining assembly robot arm (5). The robot arm assembles the secondary lining prefabricated component (103) to be assembled by controlling the first-level rocker mechanism, the second-level rocker mechanism and the fine-tuning cylinder (603).

8. The method for simultaneous secondary lining assembly according to claim 7, characterized in that... Includes the following steps: ①The precast secondary lining component (103) to be assembled is grabbed by the grabbing head (6) on the synchronous secondary lining assembly system. ② The position and orientation information of the currently assembled secondary lining prefabricated components (103) is collected through the visual scanning system (12); ③ Input the point cloud feature information of the assembled secondary lining prefabricated component (103) into the feature recognition and processing module; ④ The feature recognition and processing module of the control system obtains the relationship dataset between the prefabricated secondary lining component (103) to be assembled and the tunnel axis based on the point cloud feature information of the assembled secondary lining prefabricated component (103). ⑤ The attitude information processing module of the secondary lining prefabricated component of the control system obtains the pose coordinates of the assembled secondary lining prefabricated component (103) in the tunnel coordinate system according to the relation dataset; ⑥ The motion prediction module of the control system predicts the target pose coordinates of the precast secondary lining component (103) to be assembled in the tunnel coordinate system based on the pose coordinates of the assembled secondary lining precast component (103) in the tunnel coordinate system. ⑦ The control system converts the target position coordinates of the precast secondary lining component (103) to be assembled in the tunnel coordinate system into the target pose coordinates of the precast secondary lining component (103) to be assembled in the synchronous secondary lining assembly system coordinate system. ⑧ The control system drives the secondary lining assembly robot arm (5) to move the secondary lining assembly robot arm (5) to the assembly position according to the target pose coordinates of the secondary lining prefabricated component (103) in the synchronous secondary lining assembly system coordinate system; The visual scanning system (12) uses a homomorphic filtering method to detect the input image, thereby improving the quality of the input image by compressing the image brightness range and enhancing the contrast.

Images