Subway tunnel support installation method and system

Abstract

The invention discloses a subway tunnel support installation method and system, and the method comprises the steps: scanning a tunnel, building a three-dimensional model of the tunnel, recognizing a channel in the three-dimensional model of the tunnel, and obtaining the actual space position of the channel; the support is scanned, support information is obtained, and the support information comprises the inner hole distance of the support, the placing pose angle of the support and the spatial position of the support; the channel is scanned, and the bolt installation position on the channel is obtained according to the actual space position of the channel; based on the bolt mounting position, a first mechanical arm is controlled to clamp a first bolt to the bolt mounting position, and a second mechanical arm is controlled to clamp a first nut to lock the first bolt; and based on the bolt installation position and the support space position, the second mechanical arm is controlled to clamp the support to be assembled with the first bolt in a hole alignment mode, and the first mechanical arm is controlled to clamp a second nut to lock the support. The installation quality and the installation efficiency of subway tunnel support installation can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of rail transit construction, and in particular relates to a subway tunnel support installation method and system. Background Art

[0002] my country's rail transit has entered an era of rapid electrification, but there are still deficiencies in the installation and construction of subway tunnel brackets. Currently, bracket installation mainly relies on manual work, with inconsistent installation quality and low installation efficiency. At present, manual installation of brackets in subway tunnels has the following deficiencies:

[0003] 1) The quality of manual installation varies: Due to the different professional skills and specialties of each staff member, the quality and efficiency of installation and construction are also different;

[0004] 2) High time and economic costs: staff members need a long period of training and internship before they can officially take up their posts, and the training and internship of staff members also requires the work unit to invest a certain amount of economic costs;

[0005] 3) Poor working environment in subway tunnels: subway tunnels are hot, dusty, and have low lighting. Workers are easily affected by the environment during installation, which may lead to falls, slips, dropped workpieces, or ground workers being injured by falling objects from high altitudes, posing a certain threat to the safety of workers' lives and reducing installation efficiency. Summary of the invention

[0006] In order to overcome one or more of the above-mentioned technical defects, the present invention provides a subway tunnel support installation method and system to improve the installation quality and efficiency of the support installation and realize intelligent and unmanned installation of the subway tunnel support.

[0007] In order to solve the above problems, the first aspect of the present invention provides a method for installing a subway tunnel support, comprising the steps of:

[0008] Scan the tunnel and build a three-dimensional model of the tunnel, identify the channel in the three-dimensional model of the tunnel and obtain the actual spatial position of the channel;

[0009] Scan the bracket to obtain bracket information, wherein the bracket information includes the inner hole distance of the bracket, the placement angle of the bracket and the spatial position of the bracket;

[0010] Scan the slot and obtain the bolt installation position on the slot according to the actual spatial position of the slot and the inner hole distance of the bracket;

[0011] Based on the bolt installation position, control the first mechanical arm to clamp the first bolt and place it at the bolt installation position, and control the second mechanical arm to clamp the first nut and tighten the first bolt;

[0012] Based on the bolt installation position and the bracket spatial position, the second mechanical arm is controlled to clamp the bracket and assemble it with the first bolt, and the first mechanical arm is controlled to clamp the second nut to lock the bracket.

[0013] Furthermore, the scanning of the stent to obtain stent information comprises the steps of:

[0014] Perform multi-point scanning on the bracket, obtain and stitch several point cloud data of the bracket, and construct three-dimensional point cloud data of the bracket;

[0015] Based on the three-dimensional point cloud data of the bracket, the spatial position information and the placement attitude angle of the bracket are obtained, and the rotation and translation matrix of the bracket and the second robotic arm is generated;

[0016] The stent is scanned a second time to obtain the inner hole distance of the stent.

[0017] Furthermore, the generating of the rotation and translation matrix of the support and the second mechanical arm comprises the steps of:

[0018] Assume the bolt hole space point set P of the bracket, the corresponding homogeneous coordinates P = (X, Y, Z, 1). T, project it into the image to get the feature point x1 = (u1, v1, 1). T;

[0019] Define the augmented matrix [R|t] as a 3*4 matrix:

[0020]

[0021] Use the feature points to calculate the matrix and obtain the constraints:

[0022]

[0023] The row vector of the rotation and translation matrix T is defined as:

[0024]

[0025] Convert the above constraints into a matrix:

[0026]

[0027] When there are N feature points, the linear equation is obtained:

[0028]

[0029] use The rotation and translation matrix T is solved for the matching point pairs, where K is the dimension of the rotation and translation matrix T.

[0030] Further, based on the bolt installation position, controlling the first mechanical arm to clamp the first bolt and place it at the bolt installation position, and controlling the second mechanical arm to clamp the first nut and lock the first bolt, comprises the steps of:

[0031] Based on the bolt installation position, a first spatial path is generated, and the first mechanical arm is controlled to clamp the first bolt and execute the first spatial path to implant the first bolt into the groove;

[0032] Control the first robotic arm to rotate the implanted bolt 90 degrees and then stop the movement, and record the spatial position of the first bolt at this time;

[0033] Based on the spatial position of the first bolt, a second spatial path is generated, and the second robotic arm is controlled to clamp the first nut and execute the second spatial path to install the first nut on the first bolt and lock it.

[0034] Further, based on the bolt installation position and the bracket spatial position, controlling the second mechanical arm to clamp the bracket and assemble it with the first bolt, and controlling the first mechanical arm to clamp the second nut to lock the bracket, includes the steps of:

[0035] Based on the spatial position information and the placement attitude angle of the bracket, a third spatial path is generated, and the second robotic arm is controlled to execute the third spatial path to clamp the bracket;

[0036] Based on the spatial position information of the bracket and the bolt installation position, a fourth spatial path is generated, the second robot arm is controlled to execute the fourth spatial path to assemble the bracket with the installed bolt holes, and the installation spatial position information of the bracket is recorded;

[0037] Based on the installation spatial position information of the bracket, a fifth spatial path is generated, and the first robotic arm is controlled to clamp the second nut and execute the fifth spatial path to assemble the second nut on the first bolt to lock the bracket.

[0038] A second aspect of the present invention provides a subway tunnel support installation system for implementing the above-mentioned subway tunnel support installation method, comprising a transport trolley, a lifting platform, a first mechanical arm, a second mechanical arm, a bolt clamp, a plurality of nut clamps, a plurality of structured light modules and a control module.

[0039] The control modules are connected to the transport trolley, the lifting platform, the first mechanical arm, the second mechanical arm, the bolt fixture, the nut fixture, and several structured light modules to send control instructions;

[0040] The first mechanical arm and the second mechanical arm are both arranged on a lifting platform, and the lifting platform is arranged on a transport trolley;

[0041] The bolt clamp and / or nut clamp is arranged at the end of the first robotic arm, and two structured light modules are also arranged on the first robotic arm for scanning the tunnel, the groove and the bracket; the nut clamp and / or the bracket clamp is arranged at the end of the second robotic arm.

[0042] Further, the nut clamp includes a torque tightening module for tightening the nut;

[0043] The torque tightening module includes a screw propulsion mechanism, a servo motor and a torque sensor. A permanent magnet is provided at one end of the screw propulsion mechanism for self-adsorbing the nut. The other end of the screw propulsion mechanism is connected to the output end of the servo motor. The servo motor adopts a position-torque combined mode. The torque sensor obtains the torque of the servo motor in real time and sends it to the control module.

[0044] Furthermore, it also includes a vehicle environment scanning module, which is arranged on the transport trolley and is used to collect vehicle environment data and generate a three-dimensional point cloud map and a two-dimensional grayscale map of the environment near the vehicle to determine whether the transport trolley is within the bracket installation range.

[0045] A third aspect of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0046] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The invention discloses a method and system for installing a subway tunnel support, comprising the following steps: scanning the tunnel and establishing a three-dimensional model of the tunnel, identifying a groove in the three-dimensional model of the tunnel and obtaining the actual spatial position of the groove; scanning the support to obtain support information, wherein the support information includes the inner hole distance of the support, the placement posture angle of the support and the spatial position of the support; scanning the groove, combining a sinusoidal fringe projection method and a phase shift method to measure and obtain the bolt installation position on the groove; based on the bolt installation position, controlling a first mechanical arm to clamp a first bolt and place it at the bolt installation position, and controlling a second mechanical arm to clamp a first nut and lock the first bolt; based on the bolt installation position and the spatial position of the support, controlling the second mechanical arm to clamp the support and the first bolt for hole alignment assembly, and controlling the first mechanical arm to clamp the second nut and lock the support; in the subway tunnel, using a mechanical arm to assemble the support to the groove, and controlling the mechanical arm to perform support installation operations such as bolt locking in a narrow space and spatially flexible positioning assembly, thereby improving the installation efficiency and installation quality of the support, and realizing intelligent and unmanned support installation; no manual operation is required, thus improving operation safety and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein:

[0050] Figure 1 This is a flow chart of the subway tunnel support installation method described in Example 1;

[0051] Figure 2 This is a schematic diagram of a three-dimensional measurement method using a combination of sinusoidal fringe projection and phase shift in the subway tunnel support installation method described in Example 1;

[0052] Figure 3 A schematic diagram of the subway tunnel support installation system described in Example 2;

[0053] Figure 4 This is a schematic diagram of the structure of the computer device described in Example 3;

[0054] Marking description: 10, projection module; 11, projection chip; 20, imaging module; 21, imaging chip; 100, transport trolley; 200, lifting platform; 300, first robotic arm; 400, second robotic arm. DETAILED DESCRIPTION

[0055] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0056] Example 1

[0057] This embodiment discloses a method for installing a subway tunnel support. Figure 1, including the steps of:

[0058] S1. Scan the tunnel and establish a three-dimensional model of the tunnel, identify the groove in the three-dimensional model of the tunnel and obtain the actual spatial position of the groove.

[0059] S2. Scan the bracket to obtain bracket information, wherein the bracket information includes the inner hole distance of the bracket, the placement angle of the bracket and the spatial position of the bracket.

[0060] In this embodiment, step S2 includes:

[0061] The bracket is scanned at multiple points, and a plurality of point cloud data of the bracket are acquired and spliced ​​to construct three-dimensional point cloud data of the bracket.

[0062] Based on the three-dimensional point cloud data of the bracket, the spatial position information and placement attitude angle of the bracket are obtained, and the rotation and translation matrix of the bracket and the second robotic arm is generated.

[0063] Scan the bracket a second time to obtain the relative distances of the screw holes in the bracket.

[0064] Specifically, step S2 also includes:

[0065] According to the spatial position information and placement attitude angle of the bracket, a workpiece clamping spatial path is generated, and the second robot arm is controlled to execute the workpiece clamping spatial path to clamp the bracket and place it on the workbench for standby use, and the second robot arm is controlled to return to the retracted position after completing the action.

[0066] The first mechanical arm is controlled to clamp a plurality of first bolts and place them on the tooling table for standby use, and the lifting platform is controlled to rise and approach the groove.

[0067] Specifically, a method combining sinusoidal fringe projection and phase shift is used to perform three-dimensional measurement, the phase data is calculated, and then the phase is converted into point cloud coordinates to obtain the point cloud data of the bracket. The point cloud data of the bracket is spliced ​​to construct the three-dimensional point cloud data of the bracket and obtain the three-dimensional model of the bracket.

[0068] The phase value containing the three-dimensional surface information of the object under test is calculated through the fringe image with inherent phase shift to obtain the height information of the object. Multiple frames of sinusoidal fringe images with a certain phase difference are projected onto the reference plane through a projector. When the object under test is placed on the reference plane, the originally flat sinusoidal fringe image is distorted due to the height change of the object surface, so that the phase of the sinusoidal fringe image changes, and the height information of the object under test is recorded in the modulated sinusoidal fringe image. The deformed fringe information is obtained through the camera, and the phase information contained therein is demodulated to construct a three-dimensional model of the object under test.

[0069] like Figure 2The phase measurement method combines the projection module 10 and the imaging module 20 to perform phase measurement. The optical axis of the imaging module is perpendicular to the reference plane and intersects the reference plane at point O. The reference plane is parallel to the imaging chip 21 of the imaging module. The projection module is tilted and the angle between the projection module and the optical axis of the imaging module is θ. The projection optical axis intersects the reference plane at point O. p and E ’ p They represent the entrance pupil position and exit pupil position of the projection optical system, E c and E ’ c They represent the entrance pupil position and exit pupil position of the imaging optical system, E p E c is the baseline distance d, OE c is the working distance l0 of the imaging module.

[0070] A stripe image with a sinusoidal distribution of grayscale is loaded on the projection chip 11. The light emitted by the pixel point E on the projection chip 11 is projected to the point C on the reference plane through the projection module. If the object is at the same height as the reference plane, the light reflected by point C passes through the imaging module to reach the imaging chip 21 and is imaged at the pixel point G. If the object to be measured is lower than the height of the reference plane here, the light passes through point C and is projected onto point H of the object to be measured. After being reflected by point H, the light passes through point D on the reference plane and is finally imaged to the pixel point F of the imaging chip 21. It can be seen that the same pixel point on the projection chip 11 has a different imaging position on the imaging chip 21 due to the height modulation of the object to be measured, which also represents the phase change between point F and point G. Through the change in the phase of the two, the height corresponding to the object can be solved:

[0071]

[0072] From the above formula, we can know that we only need to solve the phase difference with the corresponding point on the reference plane and bring in the relevant structural parameters to find the height of the object. Then we need to solve the phase offset between point F and point G.

[0073] The phase shift can be solved by the phase shift method to obtain the main phase value of the sinusoidal fringe pattern of the same frequency, and then the absolute phase can be solved by the spatial or temporal phase unwrapping algorithm to obtain the phase deviation, and then the height of the object can be solved.

[0074] Structured light detects the three-dimensional shape of an object within a spatial range, and has a measurement range in the horizontal x, y and height z directions. Therefore, it has accuracy requirements in the horizontal x, y and height z directions. When using the phase measurement method for three-dimensional measurement, its measurement accuracy generally depends on factors such as the density of the projected fringes, the resolution of the imaging module, the accuracy of the algorithm model, and the calibration accuracy, that is, the projection resolution, imaging resolution, and structured light phase detection accuracy.

[0075] Projection resolution is the pixel size corresponding to a pixel on the projection chip projected onto the reference plane. This indicator can be calculated from the magnification of the projection lens and the size of a single pixel on the projection chip. Imaging resolution is the pixel size of a pixel on the imaging chip corresponding to the reference plane. This indicator can be calculated from the magnification of the imaging lens and the pixel size of the imaging chip.

[0076] The imaging module can clearly distinguish the stripe pattern modulated by the object, and the three-dimensional structured light detection accurately obtains the three-dimensional contour of the device under test. According to the Nyquist sampling theorem, the imaging resolution needs to be less than half of the projection resolution, that is, the relationship between the projection resolution and the imaging resolution is: in the length direction, the imaging chip has at least two pixels to resolve one pixel on the projection chip. The accuracy analysis in the height direction can be obtained by differentiating the above formula:

[0077]

[0078] in, is the phase detection sensitivity, l0 is the object distance of the imaging module, p0 is the fringe spatial frequency on the reference plane, and θ is the angle between the optical axis of the projection module and the optical axis of the imaging module.

[0079] Similarly, a method combining sinusoidal fringe projection and phase shift can be used to perform three-dimensional measurement and construct a three-dimensional model of the first bolt.

[0080] In this embodiment, generating the rotation and translation matrix of the support and the second mechanical arm includes the steps of:

[0081] Assume the bolt hole space point set P of the bracket, the corresponding homogeneous coordinates P = (X, Y, Z, 1). T, project it into the image to get the feature point x1 = (u1, v1, 1). T. Define the augmented matrix [R|t] as a 3*4 matrix:

[0082]

[0083] Using the characteristic points to calculate the matrix, eliminating S, we get two constraints:

[0084]

[0085] The row vector of the rotation and translation matrix T is defined as:

[0086] The above constraints can be converted into a matrix:

[0087]

[0088] It can be seen that each feature point can provide two linear constraints on the rotation and translation matrix T. When there are N feature points, the linear equation is obtained:

[0089]

[0090] use Solve the rotation and translation matrix T of the matching points, where K is the dimension of the rotation and translation matrix T, and the matching points are the unwrapped points of the phase shift after the projection of the sinusoidal fringe pattern: the rotation and translation matrix is ​​a three-dimensional rotation and translation matrix, and the rotation and translation matrix T is linearly solved through at least six pairs of matching points. The three-dimensional model data (three-dimensional point cloud data, three-dimensional model, etc.) of the bracket is obtained by the multi-frequency phase shift method and the matching point data is obtained at the same time to solve the rotation and translation matrix (i.e., rotation matrix and translation matrix) of the bracket and the second robotic arm, so that the coordinate system of the bracket and the coordinate system of the second robotic arm are unified through the transformation of the rotation matrix and the translation matrix, and the bracket grasping space path of the second robotic arm is generated based on the unified coordinate system.

[0091] S3. Scan the slot, and obtain the bolt installation position on the slot according to the slot data obtained by scanning, the relative distance of the screw holes in the bracket, and the actual spatial position of the slot.

[0092] S4. Based on the bolt installation position, control the first robotic arm to clamp the first bolt and place it at the bolt installation position, and control the second robotic arm to clamp the first nut and tighten the first bolt.

[0093] In this embodiment, step S4 includes:

[0094] Based on the bolt installation position, a first spatial path is generated, and the first robotic arm is controlled to clamp the first bolt and execute the first spatial path to implant the first bolt into the groove.

[0095] The first robotic arm is controlled to rotate the implanted bolt 90 degrees and then stop moving, and the spatial position of the first bolt at this time is recorded.

[0096] Based on the spatial position of the first bolt, a second spatial path is generated, and the second robotic arm is controlled to clamp the first nut and execute the second spatial path to install the first nut on the first bolt, and the TCP (tool center point) is continuously adjusted until the first bolt is locked.

[0097] S5. Based on the bolt installation position and the bracket spatial position, control the second robotic arm to clamp the bracket and assemble it with the first bolt, and control the first robotic arm to clamp the second nut to lock the bracket.

[0098] In this embodiment, step S5 includes:

[0099] After the bracket coordinate system is unified with the second robotic arm coordinate system, a third spatial path, i.e., the bracket grasping spatial path, is generated based on the unified coordinate system, the bracket's spatial position information and the placement attitude angle, and the second robotic arm is controlled to execute the third spatial path to clamp the bracket.

[0100] Based on the spatial position information of the bracket and the bolt installation position, a fourth spatial path is generated, and the second robotic arm is controlled to execute the fourth spatial path to assemble the bracket with the installed bolt holes, and the installation spatial position information of the bracket is recorded.

[0101] Based on the installation spatial position information of the bracket, a fifth spatial path is generated, and the first robotic arm is controlled to clamp the second nut and execute the fifth spatial path to assemble the second nut on the first bolt to lock the bracket.

[0102] After the assembly is completed, the first and second robotic arms are controlled to return to the retracted positions, and the lifting platform is controlled to descend to find the channel for the next bracket to be installed.

[0103] In the subway tunnel, a robotic arm is used to assemble the bracket to the channel, and the robotic arm is controlled to perform bracket installation operations such as bolt locking in narrow spaces and flexible spatial positioning assembly, thereby improving the installation efficiency and quality of the bracket and realizing intelligent and unmanned bracket installation. No manual operation is required, which improves operation safety and reduces labor costs.

[0104] Example 2

[0105] Based on the same inventive concept, this embodiment discloses a subway tunnel support installation system for implementing the subway tunnel support installation method described in Example 1. The implementation solution provided by the subway tunnel support installation system is similar to the implementation solution recorded in the above method. Therefore, the specific limitations in one or more subway tunnel support installation system embodiments provided below can be found in the above limitations on the subway tunnel support installation method, and will not be repeated here.

[0106] In this embodiment, if Figure 3A subway tunnel bracket installation system includes a transport trolley 100, a lifting platform 200, a first mechanical arm 300, a second mechanical arm 400, a bolt clamp, a plurality of nut clamps, a plurality of structured light modules and a control module. The control modules are connected to the transport trolley, the lifting platform, the first mechanical arm, the second mechanical arm, the bolt clamp, a plurality of nut clamps, and a plurality of structured light modules to send control instructions; the first mechanical arm and the second mechanical arm are both arranged on the lifting platform, and the lifting platform is arranged on the transport trolley; a structured light module is arranged on the transport trolley for scanning; a bolt clamp and / or a nut clamp is arranged at the end of the first mechanical arm for clamping bolts and / or nuts, and two structured light modules are also arranged on the first mechanical arm for scanning channels, brackets, bolts and nuts, etc.; a nut clamp and / or a bracket clamp is arranged at the end of the second mechanical arm for clamping nuts and / or brackets. Specifically, the structured light module adopts a DLP projector.

[0107] In this embodiment, the nut clamp includes a torque tightening module for tightening the nut; the torque tightening module includes a screw propulsion mechanism, a servo motor and a torque sensor, and a permanent magnet is provided at one end of the screw propulsion mechanism for self-adsorbing the nut; the other end of the screw propulsion mechanism is connected to the output end of the servo motor, and the servo motor adopts a position-torque combined mode. The torque sensor obtains the torque of the servo motor in real time and sends it to the control module.

[0108] In this embodiment, a vehicle environment scanning module is also included, which is arranged on the transport cart and is used to collect vehicle environment data and generate a three-dimensional point cloud map and a two-dimensional grayscale map of the environment near the vehicle to determine whether the transport cart is within the bracket installation range.

[0109] According to the instructions issued by the staff, the control module controls the structured light module installed on the transport trolley to perform non-contact three-dimensional measurement, scan the tunnel, obtain and establish a three-dimensional model of the tunnel based on the tunnel data obtained by the scan, identify the channel in the three-dimensional model of the tunnel and obtain the actual spatial position of the channel, and obtain the spatial position relationship between the transport trolley and the tunnel channel. The control module controls the structured light module installed on the first robotic arm to perform non-contact three-dimensional measurement, scan the bracket, and process the bracket data obtained by the scan, using a method combining sinusoidal fringe projection and phase shift to calculate the phase data and convert it into point cloud data of the bracket, thereby obtaining the hole spacing, placement attitude angle and spatial position of the bracket.

[0110] The control module controls the structured light module set on the first robotic arm to perform non-contact three-dimensional measurement, scan the groove, and calculate the bolt installation position on the groove according to the actual spatial position of the groove and the inner hole distance (i.e., hole spacing) of the bracket. Based on the bolt installation position, the control module controls the bolt clamp on the first robotic arm to clamp the first bolt and place it in the bolt installation position, and controls the nut clamp on the second robotic arm to clamp the first nut to lock the first bolt. Based on the bolt installation position and the spatial position of the bracket, the bracket clamp on the first robotic arm is controlled to clamp the bracket and the first bolt for hole assembly, and the nut clamp on the second robotic arm is controlled to clamp the second nut to lock the bracket.

[0111] Example 3

[0112] This embodiment discloses a computer device, which may be a server or terminal integrated with a scheduler, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a subway tunnel support installation method is implemented.

[0113] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0114] In this embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0115] A three-dimensional model of the tunnel is established based on the tunnel data obtained by scanning, and the groove is identified in the three-dimensional model of the tunnel and the actual spatial position of the groove is obtained;

[0116] Processing the stent data obtained by scanning to obtain stent information, wherein the stent information includes the inner hole distance of the stent, the placement angle of the stent and the spatial position of the stent;

[0117] According to the actual spatial position of the groove and the inner hole distance of the bracket, the bolt installation position on the groove is obtained;

[0118] Based on the bolt installation position, control the first mechanical arm to clamp the first bolt and place it at the bolt installation position, and control the second mechanical arm to clamp the first nut and tighten the first bolt;

[0119] Based on the bolt installation position and the bracket spatial position, the second mechanical arm is controlled to clamp the bracket and assemble it with the first bolt, and the first mechanical arm is controlled to clamp the second nut to lock the bracket.

[0120] In this embodiment, the processor further implements the following steps when executing the computer program:

[0121] Process the scanned bracket data, obtain and stitch several point cloud data of the bracket, and construct three-dimensional point cloud data of the bracket;

[0122] Based on the three-dimensional point cloud data of the bracket, the spatial position information and the placement attitude angle of the bracket are obtained, and the rotation and translation matrix of the bracket and the second robotic arm is generated;

[0123] The second bracket data obtained by the second scan is processed to obtain the inner hole distance of the bracket.

[0124] In this embodiment, the processor further implements the following steps when executing the computer program:

[0125] Assume the bolt hole space point set P of the bracket, the corresponding homogeneous coordinates P = (X, Y, Z, 1). T, project it into the image to get the feature point x1 = (u1, v1, 1). T;

[0126] Define the augmented matrix [R|t] as a 3*4 matrix:

[0127]

[0128] Use the feature points to calculate the matrix and obtain the constraints:

[0129]

[0130] The row vector of the rotation and translation matrix T is defined as:

[0131]

[0132] Convert the above constraints into a matrix:

[0133]

[0134] When there are N feature points, the linear equation is obtained:

[0135]

[0136] use The rotation and translation matrix T is solved for the matching point pairs, where K is the dimension of the rotation and translation matrix T.

[0137] In this embodiment, the processor further implements the following steps when executing the computer program:

[0138] Based on the bolt installation position, a first spatial path is generated, and the first mechanical arm is controlled to clamp the first bolt and execute the first spatial path to implant the first bolt into the groove;

[0139] Control the first robotic arm to rotate the implanted bolt 90 degrees and then stop the movement, and record the spatial position of the first bolt at this time;

[0140] Based on the spatial position of the first bolt, a second spatial path is generated, and the second robotic arm is controlled to clamp the first nut and execute the second spatial path to install the first nut on the first bolt and lock it.

[0141] In this embodiment, the processor further implements the following steps when executing the computer program:

[0142] Based on the spatial position information and the placement attitude angle of the bracket, a third spatial path is generated, and the second robotic arm is controlled to execute the third spatial path to clamp the bracket;

[0143] Based on the spatial position information of the bracket and the bolt installation position, a fourth spatial path is generated, the second robot arm is controlled to execute the fourth spatial path to assemble the bracket with the installed bolt holes, and the installation spatial position information of the bracket is recorded;

[0144] Based on the installation spatial position information of the bracket, a fifth spatial path is generated, and the first robotic arm is controlled to clamp the second nut and execute the fifth spatial path to assemble the second nut on the first bolt to lock the bracket.

[0145] Example 4

[0146] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0147] A three-dimensional model of the tunnel is established based on the tunnel data obtained by scanning, and the groove is identified in the three-dimensional model of the tunnel and the actual spatial position of the groove is obtained;

[0148] Processing the stent data obtained by scanning to obtain stent information, wherein the stent information includes the inner hole distance of the stent, the placement angle of the stent and the spatial position of the stent;

[0149] According to the actual spatial position of the groove and the inner hole distance of the bracket, the bolt installation position on the groove is obtained;

[0150] Based on the bolt installation position, control the first mechanical arm to clamp the first bolt and place it at the bolt installation position, and control the second mechanical arm to clamp the first nut and tighten the first bolt;

[0151] Based on the bolt installation position and the bracket spatial position, the second mechanical arm is controlled to clamp the bracket and assemble it with the first bolt, and the first mechanical arm is controlled to clamp the second nut to lock the bracket.

[0152] In this embodiment, when the computer program is executed by the processor, the following steps are also implemented:

[0153] Process the scanned bracket data, obtain and stitch several point cloud data of the bracket, and construct three-dimensional point cloud data of the bracket;

[0154] Based on the three-dimensional point cloud data of the bracket, the spatial position information and the placement attitude angle of the bracket are obtained, and the rotation and translation matrix of the bracket and the second robotic arm is generated;

[0155] The second bracket data obtained by the second scan is processed to obtain the inner hole distance of the bracket.

[0156] In this embodiment, when the computer program is executed by the processor, the following steps are also implemented:

[0157] Assume the bolt hole space point set P of the bracket, the corresponding homogeneous coordinates P = (X, Y, Z, 1). T, project it into the image to get the feature point x1 = (u1, v1, 1). T;

[0158] Define the augmented matrix [R|t] as a 3*4 matrix:

[0159]

[0160] Use the feature points to calculate the matrix and obtain the constraints:

[0161]

[0162] The row vector of the rotation and translation matrix T is defined as:

[0163]

[0164] Convert the above constraints into a matrix:

[0165]

[0166] When there are N feature points, the linear equation is obtained:

[0167]

[0168] use The rotation and translation matrix T is solved for the matching point pairs, where K is the dimension of the rotation and translation matrix T.

[0169] In this embodiment, when the computer program is executed by the processor, the following steps are also implemented:

[0170] Based on the bolt installation position, a first spatial path is generated, and the first mechanical arm is controlled to clamp the first bolt and execute the first spatial path to implant the first bolt into the groove;

[0171] Control the first robotic arm to rotate the implanted bolt 90 degrees and then stop the movement, and record the spatial position of the first bolt at this time;

[0172] Based on the spatial position of the first bolt, a second spatial path is generated, and the second robotic arm is controlled to clamp the first nut and execute the second spatial path to install the first nut on the first bolt and lock it.

[0173] In this embodiment, when the computer program is executed by the processor, the following steps are also implemented:

[0174] Based on the spatial position information and the placement attitude angle of the bracket, a third spatial path is generated, and the second robotic arm is controlled to execute the third spatial path to clamp the bracket;

[0175] Based on the spatial position information of the bracket and the bolt installation position, a fourth spatial path is generated, the second robot arm is controlled to execute the fourth spatial path to assemble the bracket with the installed bolt holes, and the installation spatial position information of the bracket is recorded;

[0176] Based on the installation spatial position information of the bracket, a fifth spatial path is generated, and the first robotic arm is controlled to clamp the second nut and execute the fifth spatial path to assemble the second nut on the first bolt to lock the bracket.

[0177] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0178] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0179] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for installing a subway tunnel support, characterized in that: Includes steps: Scan the tunnel and build a three-dimensional model of the tunnel, identify the channel in the three-dimensional model of the tunnel and obtain the actual spatial position of the channel; Scan the bracket to obtain bracket information, wherein the bracket information includes a placement angle of the bracket and a spatial position of the bracket; Scan the groove and obtain the bolt installation position on the groove according to the actual spatial position of the groove; Based on the bolt installation position, control the first mechanical arm to clamp the first bolt and place it at the bolt installation position, and control the second mechanical arm to clamp the first nut and tighten the first bolt; Based on the bolt installation position and the bracket spatial position, the second mechanical arm is controlled to clamp the bracket and assemble it with the first bolt, and the first mechanical arm is controlled to clamp the second nut to lock the bracket.

2. The subway tunnel support installation method according to claim 1, characterized in that: The scanning of the stent to obtain stent information comprises the following steps: Perform multi-point scanning on the bracket, obtain and stitch several point cloud data of the bracket, and construct three-dimensional point cloud data of the bracket; Based on the three-dimensional point cloud data of the bracket, the spatial position information and placement attitude angle of the bracket are obtained, and the rotation and translation matrix of the bracket and the second robotic arm is generated.

3. The subway tunnel support installation method according to claim 2, characterized in that: The step of generating a rotational translation matrix of the support and the second mechanical arm comprises the following steps: Assume the bolt hole space point set P of the bracket, the corresponding homogeneous coordinates P = (X, Y, Z, 1). T, project it into the image to get the feature point x1 = (u1, v1, 1). T; Define the augmented matrix [R|t] as a 3*4 matrix: Use the feature points to calculate the matrix and obtain the constraints: The row vector of the rotation and translation matrix T is defined as: Convert the above constraints into a matrix: When there are N feature points, the linear equation is obtained: use The rotation and translation matrix T is solved for the matching point pairs, where K is the dimension of the rotation and translation matrix T.

4. The subway tunnel support installation method according to claim 1, characterized in that: Based on the bolt installation position, controlling the first mechanical arm to clamp the first bolt and place it at the bolt installation position, and controlling the second mechanical arm to clamp the first nut and lock the first bolt, comprises the steps of: Based on the bolt installation position, a first spatial path is generated, and the first mechanical arm is controlled to clamp the first bolt and execute the first spatial path to implant the first bolt into the groove; Control the first robotic arm to rotate the implanted bolt 90 degrees and then stop the movement, and record the spatial position of the first bolt at this time; Based on the spatial position of the first bolt, a second spatial path is generated, and the second robotic arm is controlled to clamp the first nut and execute the second spatial path to install the first nut on the first bolt and lock it.

5. The subway tunnel support installation method according to claim 2, characterized in that: Based on the bolt installation position and the bracket spatial position, controlling the second mechanical arm to clamp the bracket and assemble it with the first bolt, and controlling the first mechanical arm to clamp the second nut to lock the bracket, includes the steps of: Based on the spatial position information and the placement attitude angle of the bracket, a third spatial path is generated, and the second robotic arm is controlled to execute the third spatial path to clamp the bracket; Based on the spatial position information of the bracket and the bolt installation position, a fourth spatial path is generated, the second robot arm is controlled to execute the fourth spatial path to assemble the bracket with the installed bolt holes, and the installation spatial position information of the bracket is recorded; Based on the installation spatial position information of the bracket, a fifth spatial path is generated, and the first robotic arm is controlled to clamp the second nut and execute the fifth spatial path to assemble the second nut on the first bolt to lock the bracket.

6. A subway tunnel support installation system, used to implement the subway tunnel support installation method according to any one of claims 1 to 5, characterized in that: It includes a transport trolley, a lifting platform, a first robotic arm, a second robotic arm, a bolt fixture, a plurality of nut fixtures, a plurality of structured light modules and a control module. The control modules are connected to the transport trolley, the lifting platform, the first mechanical arm, the second mechanical arm, the bolt fixture, the nut fixture, and several structured light modules to send control instructions; The first mechanical arm and the second mechanical arm are both arranged on a lifting platform, and the lifting platform is arranged on a transport trolley; The bolt clamp and / or nut clamp is arranged at the end of the first robotic arm, and two structured light modules are also arranged on the first robotic arm for scanning the tunnel, the groove and the bracket; the nut clamp and / or the bracket clamp is arranged at the end of the second robotic arm.

7. The subway tunnel support installation system according to claim 6, characterized in that: The nut fixture includes a torque tightening module for tightening the nut; The torque tightening module includes a screw propulsion mechanism, a servo motor and a torque sensor. A permanent magnet is provided at one end of the screw propulsion mechanism for self-adsorbing the nut. The other end of the screw propulsion mechanism is connected to the output end of the servo motor. The servo motor adopts a position-torque combined mode. The torque sensor obtains the torque of the servo motor in real time and sends it to the control module.

8. The subway tunnel support installation system according to claim 6, characterized in that: It also includes a vehicle environment scanning module, which is arranged on the transport trolley and is used to collect vehicle environment data and generate a three-dimensional point cloud map and a two-dimensional grayscale map of the environment near the vehicle to determine whether the transport trolley is within the bracket installation range.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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