A method and system for installing a subway tunnel support

Abstract

The application discloses a subway tunnel support installation method and system, the method comprises the steps of: scanning a tunnel and establishing a three-dimensional model of the tunnel, identifying a channel in the three-dimensional model of the tunnel and obtaining the actual spatial position of the channel; scanning the support, obtaining support information, wherein the support information includes the inner hole distance of the support, the placement pose angle of the support and the spatial position of the support; scanning the channel, obtaining the bolt installation position on the channel according to the actual spatial position of the channel; based on the bolt installation position, controlling the first mechanical arm to clamp and place the first bolt to the bolt installation position, and controlling the second mechanical arm to clamp and lock the first bolt with the first nut; based on the bolt installation position and the support spatial position, controlling the second mechanical arm to clamp and assemble the support with the first bolt, and controlling the first mechanical arm to clamp and lock the support with the second nut. The application can improve the installation quality and installation efficiency of the subway tunnel support installation.

Description

Technical Field

[0001] This invention belongs to the field of rail transit construction technology, specifically relating to a method and system for installing subway tunnel supports. Background Technology

[0002] my country's rail transit has entered a period of rapid electrification, but there are still shortcomings in the installation and construction of support structures in subway tunnels. Currently, support installation mainly relies on manual labor, resulting in inconsistent installation quality and low efficiency. The following are the current drawbacks of manual support installation in subway tunnels:

[0003] 1) Inconsistent quality of manual installation: Due to differences in the professional skills and expertise of the workers, the quality and efficiency of installation vary.

[0004] 2) High time and economic costs: Staff members need a long period of training and internship before they can officially start working, and the training and internship of staff members also require the work unit to invest a certain amount of economic costs.

[0005] 3) Poor working environment inside subway tunnels: The hot, dusty, and poorly lit environment inside subway tunnels makes it easy for workers to fall, slip, or have workpieces fall, or for ground workers to be injured by falling objects, which poses a certain threat to the safety of workers and also reduces 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 method and system for installing subway tunnel supports, which improves the installation quality and efficiency of support installation and realizes intelligent and unmanned installation of subway tunnel supports.

[0007] To address the aforementioned problems, the first aspect of this invention provides a method for installing a subway tunnel support, comprising the following steps:

[0008] Scan the tunnel and build a 3D model of the tunnel. Identify the channels in the 3D model of the tunnel and obtain the actual spatial location of the channels.

[0009] Scan the bracket to obtain bracket information, including the bracket's inner hole distance, bracket's placement pose angle, and bracket's spatial position.

[0010] Scan the channel and obtain the bolt installation positions on the channel based on the actual spatial position of the channel and the inner hole distance of the bracket;

[0011] Based on the bolt installation position, the first robotic arm is controlled to pick up the first bolt and place it in the bolt installation position, and the second robotic arm is controlled to pick up the first nut and lock the first bolt.

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

[0013] Further, the scanning scaffold, obtaining scaffold information, includes the following steps:

[0014] The scaffold is scanned at multiple points to acquire and stitch together several point cloud data of the scaffold to construct three-dimensional point cloud data of the scaffold.

[0015] Based on the 3D point cloud data of the support, the spatial position information and placement posture angle of the support are obtained, and the rotation and translation matrix of the support and the second robotic arm is generated.

[0016] A second scan of the stent was performed to obtain the inner hole distance of the stent.

[0017] Furthermore, generating the rotation and translation matrix between the support and the second robotic arm includes the following steps:

[0018] Let P be the spatial point set of bolt hole positions of the bracket, with corresponding homogeneous coordinates P = (X, Y, Z, 1). T. Projecting it onto the image yields feature point x1 = (u1, v1, 1). T;

[0019] Define the augmented matrix [R|t] as a 3x4 matrix:

[0020]

[0021] Constraints are obtained by calculating the matrix using feature points:

[0022]

[0023] Define the row vectors of the rotation and translation matrix T as follows:

[0024]

[0025] Transform the above constraints into a matrix:

[0026]

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

[0028]

[0029] use Solve for the rotation and translation matrix T of the matching points, where K is the dimension of the rotation and translation matrix T.

[0030] Furthermore, the step of controlling the first robotic arm to pick up the first bolt and place it at the bolt installation position, and controlling the second robotic arm to pick up the first nut and tighten the first bolt based on the bolt installation position, includes the following steps:

[0031] Based on the bolt installation position, a first spatial path is generated, and the first robotic arm is controlled to pick up the first bolt and execute the first spatial path to insert the first bolt into the channel.

[0032] The first robotic arm is controlled to rotate the implanted bolt 90 degrees and then stop moving. The spatial position of the first bolt at this time is recorded.

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

[0034] Furthermore, the step of controlling the second robotic arm to grip the bracket and assemble it with the first bolt based on the bolt installation position and the bracket spatial position, and controlling the first robotic arm to grip the second nut to lock the bracket, includes the following steps:

[0035] Based on the spatial position information and placement angle of the bracket, a third spatial path is generated, and the second robotic arm is controlled to execute the third spatial path to grasp 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 robotic arm is controlled to execute the fourth spatial path to assemble the bracket with the installed bolts and record the installation spatial position information of the bracket.

[0037] Based on the installation space location information of the bracket, a fifth spatial path is generated, the first robotic arm is controlled to pick up the second nut and execute the fifth spatial path, and the second nut is assembled 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 aforementioned subway tunnel support installation method, comprising a transport trolley, a lifting platform, a first robotic arm, a second robotic arm, bolt clamps, several nut clamps, several structured light modules, and a control module.

[0039] The control modules are all connected to the transport trolley, lifting platform, first robotic arm, second robotic arm, bolt clamp, nut clamp, and several structured light modules, and send control commands.

[0040] Both the first robotic arm and the second robotic arm are mounted on a lifting platform, which is mounted on a transport trolley.

[0041] The first robotic arm is equipped with a bolt clamp and / or a nut clamp at its end, and is also equipped with two structured light modules for scanning tunnels, channels and supports; the second robotic arm is equipped with a nut clamp and / or a support clamp at its end.

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

[0043] The torque tightening module includes a lead screw drive mechanism, a servo motor, and a torque sensor. One end of the lead screw drive mechanism is equipped with a permanent magnet for self-adhesion of the nut. The other end of the lead screw drive mechanism is connected to the output end of the servo motor. The servo motor adopts a position-torque combined mode. The torque sensor acquires 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 installed on the transport trolley 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, and to determine whether the transport trolley is within the bracket installation range.

[0045] A third aspect of the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

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

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

[0048] This invention discloses a method and system for installing supports in subway tunnels, comprising the following steps: scanning the tunnel and establishing a three-dimensional model of the tunnel; identifying the channel in the three-dimensional model of the tunnel and obtaining the actual spatial position of the channel; 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 channel and measuring the bolt installation position on the channel using a sinusoidal fringe projection method and a phase shift method; based on the bolt installation position, controlling a first robotic arm to pick up a first bolt and place it at the bolt installation position, and controlling a second robotic arm to pick up a first nut and lock the first bolt; based on the bolt installation position and the spatial position of the support, controlling the second robotic arm to pick up the support and perform hole alignment assembly with the first bolt, and controlling the first robotic arm to pick up a second nut and lock the support; using robotic arms to assemble the support onto the channel in the subway tunnel, and controlling the robotic arms to perform bolt locking in narrow spaces, flexible spatial positioning and assembly, etc., improves the installation efficiency and quality of the support installation, and realizes intelligent and unmanned support installation; eliminates the need for manual operation, improves operational safety, and reduces labor costs. Attached Figure Description

[0049] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein:

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

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

[0052] Figure 3 This is 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 Embodiment 3;

[0054] Labeling descriptions: 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 Implementation

[0055] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0056] Example 1

[0057] This embodiment discloses a method for installing a subway tunnel support structure, such as... Figure 1The steps include:

[0058] S1. Scan the tunnel and build a 3D model of the tunnel. Identify the channel in the 3D model of the tunnel and obtain the actual spatial location of the channel.

[0059] S2. Scan the support frame to obtain support frame information, including the inner hole distance of the support frame, the placement angle of the support frame, and the spatial position of the support frame.

[0060] In this embodiment, step S2 includes:

[0061] The scaffold is scanned at multiple points to acquire and stitch together several point cloud data of the scaffold to construct the 3D point cloud data of the scaffold.

[0062] Based on the 3D point cloud data of the support, the spatial position information and placement posture angle of the support are obtained, and the rotation and translation matrix of the support and the second robotic arm is generated.

[0063] A second scan of the bracket was performed to obtain the relative distances between the screw holes inside the bracket.

[0064] Specifically, step S2 also includes:

[0065] Based on the spatial position information and placement angle of the bracket, a workpiece clamping spatial path is generated. The second robotic arm is controlled to execute the workpiece clamping spatial path to clamp the bracket and place it on the tooling table for use. After the second robotic arm completes the action, its posture returns to the retracted position.

[0066] Control the first robotic arm to pick up several first bolts and place them on the tooling table for later use, and control the lifting platform to rise and approach the channel.

[0067] Specifically, a method combining sinusoidal fringe projection and phase shift is used for three-dimensional measurement to calculate phase data. The phase is then converted into point cloud coordinates to obtain point cloud data of the support structure. The point cloud data of the support structure is then stitched together to construct the three-dimensional point cloud data of the support structure, thus obtaining the three-dimensional model of the support structure.

[0068] The phase value containing the three-dimensional information of the surface of the object under test is calculated from the fringe image with inherent phase shift, thus obtaining the object's height information. Multiple frames of sinusoidal fringe images with a certain phase difference are projected onto a reference plane using a projector. When the object under test is placed on the reference plane, the height change of the object's surface distorts the originally flat sinusoidal fringe image, causing a phase change. The height information of the object under test is recorded in the modulated sinusoidal fringe image. The deformed fringe information is acquired by a camera, and the phase information contained within 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 for phase measurement. The optical axis of the imaging module is perpendicular to the reference plane, intersecting the reference plane at point O, and the reference plane is parallel to the imaging chip 21 of the imaging module. The projection module is tilted, and the angle between it and the optical axis of the imaging module is θ. The projected optical axis intersects the reference plane at point O. p and E ’ p E represents the entrance pupil position and exit pupil position of the projection optical system, respectively. c and E ’ c E represents the entrance pupil position and exit pupil position of the imaging optical system, respectively. p E c Let d be the baseline distance, OE c l0 represents the working distance of the imaging module.

[0070] A striped image with a sinusoidal grayscale distribution is loaded onto the projection chip 11. Light rays emitted from pixel E on the projection chip 11 are projected onto point C on the reference plane via the projection module. If the object is at the same height as the reference plane, the light reflected from point C passes through the imaging module to the imaging chip 21, where it is imaged onto pixel G. If the object is lower than the reference plane at this point, the light rays pass through point C, are projected onto point H of the object, and after reflection from point H, pass through point D on the reference plane and are finally imaged onto pixel F of the imaging chip 21. It can be seen that the same pixel on the projection chip 11 appears at different positions on the imaging chip 21 due to the height modulation of the object, which represents the phase change between points F and G. The height of the object can be calculated by observing the phase change between these two points.

[0071]

[0072] As shown in the above equation, we only need to solve for the phase difference with the corresponding point on the reference plane and substitute it with the relevant structural parameters to calculate the height of the object. Then, we need to solve for the phase offset between point F and point G.

[0073] The phase shift can be solved by finding the principal phase value of a sinusoidal fringe pattern of the same frequency using the phase shift method, and then by using a spatial or temporal phase expansion algorithm to find the absolute phase, thereby obtaining the phase deviation and then solving for the height of the object.

[0074] Structured light detection measures the three-dimensional shape of an object within a spatial range, with measurement capabilities in the horizontal (x, y) and vertical (z) directions. Therefore, it requires accuracy in all three directions. When using phase measurement methods for three-dimensional measurement, the 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 accuracy of calibration; namely, projection resolution, imaging resolution, and the accuracy of structured light phase detection.

[0075] Projection resolution is the pixel size of a single pixel on the projection chip projected onto a reference plane. This metric can be calculated using 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 single pixel on the imaging chip corresponding to a pixel on the reference plane. This metric can be calculated using 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 3D structured light detection accurately obtains the 3D 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 must have at least two pixels that can 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, θ represents the phase detection sensitivity, l0 represents the object distance of the imaging module, p0 represents the spatial frequency of the stripes on the reference plane, and θ represents the angle between the optical axis of the projection module and the optical axis of the imaging module.

[0079] Similarly, a three-dimensional measurement can be performed using a combination of sinusoidal fringe projection and phase shifting to construct a three-dimensional model of the first bolt.

[0080] In this embodiment, generating the rotation and translation matrix between the support and the second robotic arm includes the following steps:

[0081] Let P be the spatial point set of bolt hole locations of the bracket, with corresponding homogeneous coordinates P = (X, Y, Z, 1).T. Projecting this onto the image yields feature points x1 = (u1, v1, 1).T. Define the augmented matrix [R|t] as a 3x4 matrix:

[0082]

[0083] By calculating the matrix using feature points and eliminating S, two constraints are obtained:

[0084]

[0085] Define the row vectors of the rotation and translation matrix T as follows:

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

[0087]

[0088] As can be seen, each feature point provides two linear constraints with respect to the rotation and translation matrix T. When there are N feature points, the linear equation is obtained:

[0089]

[0090] use The rotation and translation matrix T of the matching points is solved, where K is the dimension of the rotation and translation matrix T, and the matching points are the unwrapped points after phase shifting the projected sine fringe pattern. Since the rotation and translation matrix is ​​a three-dimensional rotation and translation matrix, it can be solved linearly by at least six pairs of matching points. The three-dimensional model data of the support (three-dimensional point cloud data, three-dimensional model, etc.) is obtained through the multi-frequency phase shift method, and the matching point data is obtained simultaneously to solve the rotation and translation matrices (i.e., rotation and translation matrices) between the support and the second robotic arm. This allows the coordinate system of the support and the second robotic arm to be unified through the transformation of the rotation and translation matrices. Based on the unified coordinate system, the support grasping spatial path of the second robotic arm is generated.

[0091] S3. Scan the channel. Based on the channel data obtained from the scan, the relative distance between the screw holes in the bracket, and the actual spatial position of the channel, obtain the bolt installation position on the channel.

[0092] S4. Based on the bolt installation position, control the first robotic arm to pick up the first bolt and place it in the bolt installation position, and control the second robotic arm to pick up the first nut and lock 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 pick up the first bolt and execute the first spatial path to insert the first bolt into the channel.

[0095] The first robotic arm is controlled to rotate the implanted bolt 90 degrees and then stop moving. 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. The second robotic arm is controlled to pick up the first nut and execute the second spatial path to install the first nut onto the first bolt. The TCP (tool center point) is continuously adjusted until the first bolt is tightened.

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

[0098] In this embodiment, step S5 includes:

[0099] After the coordinate system of the support and the coordinate system of the second robotic arm are unified, a third spatial path is generated based on the unified coordinate system, the spatial position information of the support, and the placement posture angle. This third spatial path is the support grasping spatial path, which controls the second robotic arm to execute the third spatial path to grasp the support.

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

[0101] Based on the installation space location information of the bracket, a fifth spatial path is generated, the first robotic arm is controlled to pick up the second nut and execute the fifth spatial path, and the second nut is assembled on the first bolt to lock the bracket.

[0102] After assembly, control the first and second robotic arms to return to the retracted position, and control the lifting platform to descend to find the slot for the next bracket to be installed.

[0103] In subway tunnels, robotic arms are used to assemble supports onto the channel. The robotic arms are controlled to perform bolt tightening in narrow spaces and flexible positioning and assembly of the supports, which improves the installation efficiency and quality of the supports and realizes intelligent and unmanned support installation. No manual operation is required, which improves the safety of the operation 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 Embodiment 1. The solution provided by this subway tunnel support installation system is similar to the solution described in the above method. Therefore, the specific limitations of one or more subway tunnel support installation system embodiments provided below can be found in the limitations of the subway tunnel support installation method above, and will not be repeated here.

[0106] In this embodiment, as Figure 3A subway tunnel support installation system includes a transport trolley 100, a lifting platform 200, a first robotic arm 300, a second robotic arm 400, bolt clamps, several nut clamps, several structured light modules, and a control module. The control module is connected to the transport trolley, lifting platform, first robotic arm, second robotic arm, bolt clamps, nut clamps, and structured light modules, and sends control commands. The first and second robotic arms are mounted on the lifting platform, which is mounted on the transport trolley. The transport trolley is equipped with structured light modules for scanning. The first robotic arm has bolt clamps and / or nut clamps at its end for gripping bolts and / or nuts. The first robotic arm also has two structured light modules for scanning channels, supports, bolts, and nuts. The second robotic arm has nut clamps and / or support clamps at its end for gripping nuts and / or supports. Specifically, the structured light modules utilize DLP projectors.

[0107] In this embodiment, the nut clamp includes a torque tightening module for tightening nuts. The torque tightening module includes a lead screw drive mechanism, a servo motor, and a torque sensor. One end of the lead screw drive mechanism is provided with a permanent magnet for self-adhesion of nuts. The other end of the lead screw drive mechanism is connected to the output end of the servo motor. The servo motor adopts a position-torque combined mode. The torque sensor acquires 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 installed on the transport vehicle 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, and to determine whether the transport vehicle is within the bracket installation range.

[0109] Following instructions from staff, the control module controls the structured light module mounted on the transport trolley to perform non-contact 3D measurement, scanning the tunnel, acquiring and building a 3D model of the tunnel based on the scanned data, identifying the channels in the 3D model and obtaining their actual spatial positions, as well as the spatial relationship between the transport trolley and the tunnel channels. The control module also controls the structured light module mounted on the first robotic arm to perform non-contact 3D measurement, scanning the support structure. The control module processes the scanned support data, using a combination of sinusoidal fringe projection and phase shifting to calculate phase data and convert it into point cloud data of the support structure, thereby obtaining the hole spacing, placement angle, and spatial position of the support structure.

[0110] The control module controls a structured light module mounted on the first robotic arm to perform non-contact 3D measurement, scanning the channel and calculating the bolt installation positions based on the actual spatial position of the channel and the inner hole distance (i.e., hole spacing) of the bracket. Based on the bolt installation positions, the control module controls the bolt clamp on the first robotic arm to pick up the first bolt and place it in the bolt installation position, and controls the nut clamp on the second robotic arm to pick up the first nut and lock the first bolt. Based on the bolt installation positions and the spatial position of the bracket, the control module controls the bracket clamp on the first robotic arm to pick up the bracket and align it with the first bolt, and controls the nut clamp on the second robotic arm to pick up the second nut and lock the bracket.

[0111] Example 3

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

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

[0114] In this embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0115] A three-dimensional model of the tunnel is built based on the tunnel data obtained from the scan, and the channel is identified in the three-dimensional model of the tunnel and the actual spatial location of the channel is obtained.

[0116] The scanned stent data is processed to obtain stent information, which includes the stent's inner hole distance, stent's placement pose angle, and stent's spatial position.

[0117] Based on the actual spatial location of the channel and the inner hole distance of the bracket, the bolt installation positions on the channel are obtained;

[0118] Based on the bolt installation position, the first robotic arm is controlled to pick up the first bolt and place it in the bolt installation position, and the second robotic arm is controlled to pick up the first nut and lock the first bolt.

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

[0120] In this embodiment, when the processor executes the computer program, it also performs the following steps:

[0121] The scanned scaffold data is processed to obtain and stitch together several point cloud data of the scaffold to construct the 3D point cloud data of the scaffold.

[0122] Based on the 3D point cloud data of the support, the spatial position information and placement posture angle of the support are obtained, and the rotation and translation matrix of the support and the second robotic arm is generated.

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

[0124] In this embodiment, when the processor executes the computer program, it also performs the following steps:

[0125] Let P be the spatial point set of bolt hole positions of the bracket, with corresponding homogeneous coordinates P = (X, Y, Z, 1). T. Projecting it onto the image yields feature point x1 = (u1, v1, 1). T;

[0126] Define the augmented matrix [R|t] as a 3x4 matrix:

[0127]

[0128] Constraints are obtained by calculating the matrix using feature points:

[0129]

[0130] Define the row vectors of the rotation and translation matrix T as follows:

[0131]

[0132] Transform the above constraints into a matrix:

[0133]

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

[0135]

[0136] use Solve for the rotation and translation matrix T of the matching points, where K is the dimension of the rotation and translation matrix T.

[0137] In this embodiment, when the processor executes the computer program, it also performs the following steps:

[0138] Based on the bolt installation position, a first spatial path is generated, and the first robotic arm is controlled to pick up the first bolt and execute the first spatial path to insert the first bolt into the channel.

[0139] The first robotic arm is controlled to rotate the implanted bolt 90 degrees and then stop moving. The spatial position of the first bolt at this time is recorded.

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

[0141] In this embodiment, when the processor executes the computer program, it also performs the following steps:

[0142] Based on the spatial position information and placement angle of the bracket, a third spatial path is generated, and the second robotic arm is controlled to execute the third spatial path to grasp 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 robotic arm is controlled to execute the fourth spatial path to assemble the bracket with the installed bolts and record the installation spatial position information of the bracket.

[0144] Based on the installation space location information of the bracket, a fifth spatial path is generated, the first robotic arm is controlled to pick up the second nut and execute the fifth spatial path, and the second nut is assembled 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, it performs the following steps:

[0147] A three-dimensional model of the tunnel is built based on the tunnel data obtained from the scan, and the channel is identified in the three-dimensional model of the tunnel and the actual spatial location of the channel is obtained.

[0148] The scanned stent data is processed to obtain stent information, which includes the stent's inner hole distance, stent's placement pose angle, and stent's spatial position.

[0149] Based on the actual spatial location of the channel and the inner hole distance of the bracket, the bolt installation positions on the channel are obtained;

[0150] Based on the bolt installation position, the first robotic arm is controlled to pick up the first bolt and place it in the bolt installation position, and the second robotic arm is controlled to pick up the first nut and lock the first bolt.

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

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

[0153] The scanned scaffold data is processed to obtain and stitch together several point cloud data of the scaffold to construct the 3D point cloud data of the scaffold.

[0154] Based on the 3D point cloud data of the support, the spatial position information and placement posture angle of the support are obtained, and the rotation and translation matrix of the support and the second robotic arm is generated.

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

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

[0157] Let P be the spatial point set of bolt hole positions of the bracket, with corresponding homogeneous coordinates P = (X, Y, Z, 1). T. Projecting it onto the image yields feature point x1 = (u1, v1, 1). T;

[0158] Define the augmented matrix [R|t] as a 3x4 matrix:

[0159]

[0160] Constraints are obtained by calculating the matrix using feature points:

[0161]

[0162] Define the row vectors of the rotation and translation matrix T as follows:

[0163]

[0164] Transform the above constraints into a matrix:

[0165]

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

[0167]

[0168] use Solve for the rotation and translation matrix T of the matching points, 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, it also performs the following steps:

[0170] Based on the bolt installation position, a first spatial path is generated, and the first robotic arm is controlled to pick up the first bolt and execute the first spatial path to insert the first bolt into the channel.

[0171] The first robotic arm is controlled to rotate the implanted bolt 90 degrees and then stop moving. The spatial position of the first bolt at this time is recorded.

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

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

[0174] Based on the spatial position information and placement angle of the bracket, a third spatial path is generated, and the second robotic arm is controlled to execute the third spatial path to grasp 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 robotic arm is controlled to execute the fourth spatial path to assemble the bracket with the installed bolts and record the installation spatial position information of the bracket.

[0176] Based on the installation space location information of the bracket, a fifth spatial path is generated, the first robotic arm is controlled to pick up the second nut and execute the fifth spatial path, and the second nut is assembled on the first bolt to lock the bracket.

[0177] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0178] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method of installing a subway tunnel support, characterized by, The method comprises the steps of: scanning the tunnel and establishing a three-dimensional model of the tunnel, identifying the slot and obtaining the actual spatial position of the slot in the three-dimensional model of the tunnel; scanning the bracket and obtaining bracket information, wherein the bracket information comprises the placement pose angle of the bracket and the spatial position of the bracket; scanning the slot, and obtaining the bolt mounting position on the slot according to the actual spatial position of the slot; based on the bolt mounting position, controlling the first mechanical arm to clamp and place the first bolt to the bolt mounting position, and controlling the second mechanical arm to clamp and lock the first nut to the first bolt; based on the bolt mounting position and the spatial position of the bracket, controlling the second mechanical arm to clamp and align the bracket with the first bolt, and controlling the first mechanical arm to clamp and lock the second nut to the bracket; the scanning of the bracket and the obtaining of the bracket information comprise the steps of: multi-point scanning of the bracket, splicing of a plurality of point cloud data of the bracket, and construction of three-dimensional point cloud data of the bracket; based on the three-dimensional point cloud data of the bracket, obtaining spatial position information and a placement attitude angle of the bracket, and generating a rotation and translation matrix of the bracket and the second mechanical arm; the generation of the rotation and translation matrix of the bracket and the second mechanical arm comprises the steps of: The bolt hole space point set P of the support is projected into the image to obtain the feature point =( , ,1).T; defining an augmented matrix [R|t] as a 3*4 matrix: S = using feature points to calculate the matrix to obtain a constraint: ； defining a row vector of a rotation and translation matrix T as: converting the above constraint into a matrix: when there are N feature points, a linear equation is obtained: Said method comprises the steps of: Solving a rotation and translation matrix T for the matched point pairs, where K is the dimension of the rotation and translation matrix T.

2. The method of installing a subway tunnel brace according to claim 1, wherein the control of the first mechanical arm to clamp and place the first bolt to the bolt mounting position based on the bolt mounting position, and the control of the second mechanical arm to clamp and lock the first nut to the first bolt, comprises the steps of: based on the bolt mounting position, generating a first spatial path, controlling the first mechanical arm to clamp the first bolt and execute the first spatial path to implant the first bolt into the slot; controlling the first mechanical arm to stop moving after rotating the implanted bolt by 90 degrees, and recording the spatial position of the first bolt at this time; based on the spatial position of the first bolt, generating a second spatial path, and controlling the second mechanical arm to clamp the first nut and execute the second spatial path to mount the first nut to the first bolt and lock it.

3. The method of installing a subway tunnel brace according to claim 1, wherein the control of the second mechanical arm to clamp and align the bracket with the first bolt based on the bolt mounting position and the spatial position of the bracket, and the control of the first mechanical arm to clamp and lock the second nut to the bracket, comprises the steps of: based on the spatial position information and the placement attitude angle of the bracket, generating a third spatial path, and controlling the second mechanical arm to execute the third spatial path to clamp the bracket; based on the spatial position information of the bracket and the bolt mounting position, generating a fourth spatial path, and controlling the second mechanical arm to execute the fourth spatial path to align the bracket with the installed bolt, and recording the installation spatial position information of the bracket; based on the installation spatial position information of the bracket, generating a fifth spatial path, and controlling the first mechanical arm to clamp the second nut and execute the fifth spatial path to mount the second nut on the first bolt to lock the bracket.

4. A subway tunnel support installation system for implementing the subway tunnel support installation method according to any one of claims 1 to 3, characterized by, The device comprises 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. The control modules are connected with the transport trolley, the lifting platform, the first mechanical arm, the second mechanical arm, the bolt clamp, the nut clamp and the plurality of structured light modules, and send control instructions; The first mechanical arm and the second mechanical arm are arranged on the lifting platform, and the lifting platform is arranged on the transport trolley; The first mechanical arm is provided with the bolt clamp and / or the nut clamp at the tail end, and two structured light modules are further arranged on the first mechanical arm, which are used for scanning the tunnel, the channel and the support; the second mechanical arm is provided with the nut clamp and / or the support clamp at the tail end.

5. The subway tunnel brace installation system of claim 4, wherein, The nut clamp comprises a torque tightening module for tightening the nut; The torque tightening module comprises a screw rod propulsion mechanism, a servo motor and a torque sensor, one end of the screw rod propulsion mechanism is provided with a permanent magnet for self-adsorbing the nut; the other end of the screw rod propulsion mechanism is connected with the output end of the servo motor, the servo motor adopts a position-torque combined mode, and the torque sensor acquires the torque of the servo motor in real time and sends it to the control module.

6. The subway tunnel brace installation system of claim 4, wherein, The vehicle environment scanning module is arranged on the transport trolley, which is used for collecting vehicle environment data and generating a three-dimensional point cloud map and a two-dimensional gray scale map of the environment near the vehicle, and judging whether the transport trolley is in the support installation range. 7.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-6 when the computer program is executed by the processor. The processor executes the computer program to realize the steps of the method in any one of claims 1 to 3.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method in any one of claims 1 to 3.

Images