A real-time visualization method and system for the working process of a fully automatic segment erector

Abstract

The present invention discloses a real-time visualization method and system for the working process of a fully automatic segment erector, belonging to the technical field of shield construction control. The method includes: using the Three.js development library in the WebGL application to load the 3D models of the FBX of the fully automatic segment erector and the segments to be erected into the initial models of the fully automatic segment erector and the segments to be erected; then using multi-source data related to the segment erection task to adjust the pose information of the two initial models in real time, and simulating and displaying the whole process of segment erection, the execution status parameters of the fully automatic segment erector, and the forming status parameters of the segments to be erected in real time; further, by obtaining the pose data of the end of the erector and the segment pose in real time, driving the cylinders of the erector, and the real-time dynamic update of the end of the erector and the segment model, the construction personnel can view the process of the whole segment erection task from a larger scale, thereby improving the quality of the whole segment erection operation and the safety of workers.

Description

Technical Field

[0001] The present invention belongs to the technical field of shield construction control, and more specifically, relates to a real-time visualization method and system for the working process of a fully automatic segment erector. Background Art

[0002] A shield tunneling machine is a large-scale underground engineering construction equipment integrating machinery, electricity, hydraulics, optics and computer technologies, and its technical level is an important symbol to measure the manufacturing level of underground construction equipment in a country. The segment erector is one of the important components of the shield tunneling machine. It installs prefabricated segments on the excavated tunnel as permanent support, and the efficiency of segment erection directly affects the quality and safety of the entire tunnel construction.

[0003] Currently, with the increase in the diameter of shield tunnels, larger and heavier segments need to be transported to higher places for erection, which means that people need to climb to higher places to observe the pose relationship between segments, and then control the erector through a remote control to move over a large range to complete the segment erection work. This places workers at extremely high safety risks, including but not limited to potential hazards such as falling from a height and accidental collision of heavy machinery, which undoubtedly pose a serious threat to the lives and safety of workers. In addition, frequently moving up and down to view the pose relationship between segments makes it difficult to guarantee the quality of manual segment erection operations and the safety of workers, which has become the main bottleneck restricting the efficiency of shield construction. Therefore, exploring and applying new technologies to assist in safer and more efficient segment erection has become an urgent need to ensure the lives and safety of construction workers and promote the sustainable development of the shield tunnel construction industry. Summary of the Invention

[0004] In view of the above defects or improvement requirements of the prior art, the present invention provides a real-time visualization method and system for the working process of a fully automatic segment erector, aiming to solve the technical problem that it is difficult to view the existing segment erection process, resulting in difficulty in guaranteeing the quality of segment erection operations and the safety of workers.

[0005] To achieve the above object, according to one aspect of the present invention, there is provided a real-time visualization method for the working process of a fully automatic segment erector, including:

[0006] S1: Obtain the three-dimensional model of the fully automatic segment erector and the three-dimensional model of the segment to be erected in the FBX file format;

[0007] S2: Use the Three.js development library in the WebGL application to load the three-dimensional models of the fully automatic segment erector and the segment to be erected in the FBX file format into the initial model of the fully automatic segment erector and the initial model of the segment to be erected respectively;

[0008] S3: Obtain multi-source data related to the segment erection task from each data platform, where the multi-source data includes: relevant data of the segments to be erected, operating status data of the full-automatic segment erector, and power system status data of the full-automatic segment erector;

[0009] S4: Use the multi-source data related to the segment erection task to adjust in real time the pose information corresponding to the initial models of the full-automatic segment erector and the segments to be erected respectively, and simulate and display in real time the whole process of segment erection, the execution status parameters of the full-automatic segment erector, and the forming status parameters of the segments to be erected.

[0010] In one embodiment, the S1 includes:

[0011] S11: Construct 3D models of the full-automatic segment erector and the segments to be erected in stereolithography format;

[0012] S12: Lightweight the 3D models of the full-automatic segment erector and the segments to be erected in the stereolithography file format respectively to obtain 3D models of the full-automatic segment erector and the segments to be erected in FBX file format.

[0013] In one embodiment, the S12 includes: Lightweight the 3D models of the full-automatic segment erector and the segments to be erected in the stereolithography file format respectively by using the optimization modifier in 3ds MAX software to reduce the number of vertices in the object while maintaining the appearance of the object, and obtain 3D models of the full-automatic segment erector and the segments to be erected in FBX file format.

[0014] In one embodiment, the optimization modes for lightweighting include: crushing boundaries, protecting boundaries, and excluding boundaries.

[0015] In one embodiment, the S12 includes: Import the 3D models of the full-automatic segment erector and the segments to be erected in the stereolithography file format into 3ds MAX software for processing, reduce the number of vertices in the object by using the ProOptimizer modifier, and maintain the appearance of the object at the same time to obtain 3D models of the full-automatic segment erector and the segments to be erected in FBX file format.

[0016] In one embodiment, the S3 includes: Obtain multi-source data related to the segment erection task from each data platform by using the WebSocket communication protocol.

[0017] In one embodiment, before the S3, it includes:

[0018] Collect relevant data of the segment to be assembled by using multiple structured light cameras on different surfaces, and transmit the data to the data platform;

[0019] Collect the operating status data of the fully automatic segment erector by using travel sensors, pressure sensors and vacuum sensors, and transmit the data to the data platform;

[0020] Collect the power system status data of the fully automatic segment erector by using the shield machine platform, and transmit the data to the data platform.

[0021] According to another aspect of the present invention, there is provided a real-time

[0022] Modeling module, which is used to obtain the 3D model of the fully automatic segment erector and the 3D model of the segment to be assembled in the FBX file format;

[0023] Optimization module, which is used to load the 3D models of the fully automatic segment erector and the segment to be assembled in the FBX file format into the initial model of the fully automatic segment erector and the initial model of the segment to be assembled respectively by using the Three.js development library in the WebGL application;

[0024] Transmission module, which is used to obtain multi-source data related to the segment assembly task from each data platform, and the multi-source data includes: relevant data of the segment to be assembled, operating status data of the fully automatic segment erector, and power system status data of the fully automatic segment erector;

[0025] Display module, which is used to use the multi-source data related to the segment assembly task to adjust the pose information corresponding to the initial models of the fully automatic segment erector and the segment to be assembled in real time, and to simulate and display the whole process of segment assembly, the execution status parameters of the fully automatic segment erector, and the forming status parameters of the segment to be assembled in real time.

[0026] Generally speaking, compared with the prior art by the above technical solutions conceived by the present invention, the following beneficial effects can be achieved:

[0027] (1) The present invention provides a real-time visualization method for the working process of a fully automatic segment erector. It uses the Three.js development library in the WebGL application to load the 3D models in the FBX file format of the fully automatic segment erector and the segments to be erected into the initial models of the fully automatic segment erector and the segments to be erected respectively. Then, it uses multi-source data related to the segment erection task to adjust the pose information of the two initial models in real time, and simulates and displays the whole process of segment erection, the execution state parameters of the fully automatic segment erector, and the forming state parameters of the segments to be erected in real time. Further, by obtaining the pose data of the end of the erector and the segments in real time, it drives the real-time dynamic update of the cylinders of the erector, the end of the erector, and the segment model, enabling construction workers to conveniently view the whole process of the segment erection task through the screen, thereby improving the quality of the whole segment erection operation and the safety of workers.

[0028] (2) In this solution, the 3D models of the fully automatic segment erector and the segments to be erected in the stereolithography file format are first constructed, and then lightweighted and format-converted. This method is simple to operate.

[0029] (3) In this solution, the 3D models of the fully automatic segment erector and the segments to be erected in the stereolithography file format are respectively lightweighted using the optimization modifier in 3ds MAX software. The advantage of this method is that by using the ProOptimizer modifier, the number of vertices in the object (the number of faces is reduced) is reduced while maintaining the appearance of the object.

[0030] (4) The lightweight optimization modes in this solution include: crushing boundaries, protecting boundaries, and excluding boundaries. Designed in this way, the advantage is that by reducing unnecessary geometric details, the polygon number of the model is reduced, the resource consumption during computer graphics rendering and calculation is reduced, thereby improving the calculation speed of simulation and analysis. In actual engineering applications, the lightweight model can accelerate the real-time data update and processing speed, enhance the response ability of the system, especially in the case of multi-tasking or parallel operations, and improve the overall operation fluency.

[0031] (5) In this solution, the 3D models of the fully automatic segment erector and the segments to be erected in the stereolithography file format are imported into 3ds MAX software for processing. The advantage of this method is that 3ds MAX can process and optimize STL format data, which is convenient for further modification and detail optimization.

[0032] (6) This solution uses the WebSocket communication protocol to obtain multi-source data related to the segment erection task from various data platforms. The advantage of this method is that it realizes low-latency data transmission through the WebSocket communication protocol. WebSocket is a network communication protocol designed to achieve two-way interaction between the client and the server through a single persistent connection. Different from the traditional HTTP request-response model, WebSocket allows real-time data transmission between the client and the server, enabling applications to respond more quickly to user operations. The advantages of the WebSocket protocol, such as two-way communication, persistent connection, and low latency, make it an ideal choice for data sharing. Description of the Drawings

[0033] Figure 1 It is a flowchart of the real-time visualization method for the working process of the full-automatic segment erector provided in Embodiment 1 of the present invention.

[0034] Figure 2 It is a schematic diagram of the multi-source data acquisition process in the real-time visualization method for the working process of the full-automatic segment erector provided in Embodiment 1 of the present invention.

[0035] Figure 3 It is a schematic diagram of the process of real-time display of the core data-driven 3D model in the real-time visualization method for the working process of the full-automatic segment erector provided in Embodiment 1 of the present invention.

[0036] Figure 4 It is a schematic diagram of the abstract relationship between the target pose and the actual pose of the segment in the real-time visualization method for the working process of the full-automatic segment erector provided in Embodiment 1 of the present invention.

[0037] Figure 5 It is a schematic diagram of the structure of the real-time visualization system for the working process of the full-automatic segment erector provided in Embodiment 2 of the present invention. Detailed Embodiments

[0038] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] In one of the embodiments, as Figure 1As shown, a real-time visualization method for the working process of a fully automatic segment erector is provided, including: S1 - S4. S1: Obtain the 3D model of the fully automatic segment erector and the 3D model of the segments to be assembled in the FBX file format; S2: Use the Three.js development library in the WebGL application to load the 3D models in the FBX file format of the fully automatic segment erector and the segments to be assembled into the initial model of the fully automatic segment erector and the initial model of the segments to be assembled respectively; S3: Obtain multi-source data related to the segment assembly task from various data platforms. The multi-source data includes: relevant data of the segments to be assembled, operating status data of the fully automatic segment erector, and power system status data of the fully automatic segment erector; S4: Use the multi-source data related to the segment assembly task to adjust the pose information corresponding to the initial models of the fully automatic segment erector and the segments to be assembled in real time, and simulate and display the entire process of segment assembly, the execution status parameters of the fully automatic segment erector, and the forming status parameters of the segments to be assembled in real time.

[0040] Specifically: Use SolidWorks software to establish the 3D models of the fully automatic segment erector and the segments. The exported format is a StereoLithography (STL) file; perform lightweight processing on the two 3D models in the STL format and convert them into 3D models in the FBX file format; use the WebSocket communication protocol to obtain multi-source data related to the segment assembly task from existing data platforms; use the Three.js development library in the WebGL application to load the two FBX format models into the loading model of the fully automatic segment erector and the loading model of the segments, and adjust the position and attitude information of the two loading models in real time through the multi-source data related to the segment assembly task obtained by the WebSocket communication protocol, and display the entire process of simulated segment assembly, the execution status parameters of the erector, and the forming status parameters of the segments in real time to assist the operator in construction.

[0041] Among them, S1 is the modeling process. Use SolidWorks software to draw the segment model and the erector model, and the exported format is an STL file. However, the model in the STL file cannot be directly imported into WebGL. Therefore, the STL file needs to be converted into an FBX file.

[0042] Furthermore, step S2 is the format conversion and model lightweight process. Import the STL file exported by SolidWorks into 3ds MAX. To ensure efficient display and interaction in the WebGL environment, lightweight processing needs to be performed on the above models. Process the structural model of the shield machine, hide unnecessary structural parts that are neither key nor likely to block important views in the current construction process, so as to significantly improve its clarity and practicality while maintaining the functional integrity of the model.

[0043] Furthermore, step S3 is a data transmission process. As Figure 2 shown, through the WebSocket communication protocol, continuous communication between the client and the server and low-latency transmission of data are achieved.

[0044] Furthermore, step S4 is a process of real-time display of 3D models and core data. By using the Three.js library (a popular JavaScript library), the import, modification, and display of complex three-dimensional models are realized. At the same time, it is linked to the data of the data platform to achieve the binding and update of data and models, and dynamically display the real-time changes of the core data and 3D models during the segment assembly process.

[0045] Among them, as Figure 3 shown, the process of real-time display of core data is divided into global strategy display and local strategy display. The global strategy display focuses on observing the assembly process from a large-scale perspective. The global strategy mainly displays the dynamic changes of the cylinders of the execution mechanism of the segment erector, the end of the segment erector, and the segment model. The display content includes: the schematic diagram of the selection of segment K block, the schematic diagram of the shield tail clearance, and the schematic diagram of the three-ring ovality (the planned circle of the segment, the circle actually assembled in the previous ring, and the current circle based on the global strategy). Through the real-time acquisition, calculation, and analysis of multi-source data of the data platform, the optimal position of the segment K block is determined, and the geometric relationship between the segment and the shield tail and the axial center position relationship are presented. The platform mainly displays data such as the relationship between the actual stroke and the target stroke (grasping scan points, grasping calculation points, assembling scan points, assembling calculation points, etc.) of the execution mechanism of the segment erector during the stages of grasping, transporting, and assembling segments in the form of text or tables, including the slewing angle, large translation position, positions of red and blue cylinders, and the suction cup state, etc. In addition, by real-time acquiring the pose data of the end of the segment erector and the segment pose data, the real-time dynamic update of the cylinders of the segment erector, the end of the segment erector, and the segment model is driven, enabling construction personnel to view the entire process of the segment assembly task from a larger scale.

[0046] In terms of the local strategy, it focuses on showing the local details of the segment erection business process, mainly demonstrating the interaction between the end of the segment erector and the segment model. At this level, the irrelevant erector actuator models are hidden. Similar to the global interface, it will also highlight and display data such as the relationship between the actual stroke and the target attitude stroke (grasping scan points, grasping calculation points, erection scan points, and erection calculation points) of the erector actuator during the stages of segment grasping, transporting, and erection in the form of text or tables, including slewing angle, large translation position, red and blue oil cylinder positions, and suction cup status, etc., to assist construction workers in understanding the execution status of the erector. In addition, during the grasping stage, it mainly shows the process of the grasping end of the erector from the initial position to rough positioning, then to fine positioning and completing the segment grasping. It obtains the data from the data platform in real time and updates the real-time pose of the grasping end of the erector and the initial pose of the segment to be grasped, showing the pose relationship between the end of the erector and the segment to be grasped, and assisting construction workers in making decisions. During the transporting stage, it mainly shows the process of the erector transporting from the segment successful grasping point to the segment erection rough positioning point, highlighting the path planning control points and the path execution progress. Finally, during the erection stage, it mainly shows the erection process of the grasping end of the erector from the segment erection rough positioning point to the segment erection end point, highlighting the dynamic position relationship between the erected segments and the segments to be erected, including monitoring of misalignment, circumferential and longitudinal joints, etc., to help construction workers grasp the key parameters in real time, make precise adjustments, and improve the safety and stability of construction.

[0047] The 3D model display process is implemented through the THREE.js library in WebGL. This is a popular JavaScript library for efficient 3D graphics rendering in web pages. THREE.js supports various 3D model file formats, including the FBX format, which enables us to directly import and display complex three-dimensional models in web pages. Through JavaScript, the imported models can be dynamically modified and configured. In the WebGL environment, first, a dedicated rendering area is created to display the 3D model. The size and scope of this area are defined according to actual needs and precisely laid out on the page. Secondly, through the THREE.js library, various 3D scene elements are added to this area, including but not limited to cameras and light sources. These elements together constitute the basic environment for 3D model display. Then, according to the name of the model returned by the data platform, the FBXLoader of THREE.js is used to load the locally constructed FBX model file, and the simplified model is configured according to one's own needs. The coordinate origin of the model should be defined as required, otherwise it will cause the model to shift. When loading the model, the position and attitude information of the segment and the erector model can be adjusted. Finally, the pose of the model can be dynamically adjusted according to the real-time data transmitted by the data platform to dynamically simulate the whole process of segment erection.

[0048] In one embodiment, S1 includes: S11: constructing three-dimensional models of a full-automatic segment erector and segments to be erected in the StereoLithography (STL) file format; S12: respectively lightweighting the three-dimensional models of the full-automatic segment erector and the segments to be erected in the STL file format to obtain three-dimensional models of the full-automatic segment erector and the segments to be erected in the FBX file format.

[0049] In one embodiment, S12 includes: respectively lightweighting the three-dimensional models of the full-automatic segment erector and the segments to be erected in the STL file format by using an optimization modifier in 3ds MAX software to reduce the number of vertices in the object while maintaining the appearance of the object, thereby obtaining three-dimensional models of the full-automatic segment erector and the segments to be erected in the Flexible Body Exchange format.

[0050] Among them, in order to improve the security of viewport display and shorten the rendering time, the number of vertices (and thus the number of faces) in the object is reduced by using the ProOptimizer modifier while maintaining the appearance of the object. Specifically, after the model is added, click the "Calculate" button in the ProOptimizer modifier to obtain the relevant number of vertices, which is controlled through the vertex percentage parameter item. The optimization mode can be selected from three modes: crush border, protect border, and exclude border. Finally, through the export function of 3ds MAX, the user can save the optimized model as an FBX file to efficiently display and interact in the WebGL environment.

[0051] In one embodiment, the lightweighting optimization modes include: crush border, protect border, and exclude border.

[0052] In one embodiment, S3 includes: obtaining multi-source data related to segment erection tasks from each data platform by using the WebSocket communication protocol.

[0053] Before S3, in one embodiment, it includes: collecting relevant data of the segments to be erected by using multiple structured light cameras and transmitting them to the data platform; collecting operation status data of the full-automatic segment erector by using a travel sensor, a pressure sensor, and a vacuum sensor and transmitting them to the data platform; collecting power system status data of the full-automatic segment erector by using a shield machine platform and transmitting them to the data platform.

[0054] To more effectively guide the assembly process, THREE.js is used to visualize the movement path of the segment erector. Specifically, by obtaining the target position of the segment erector and a series of control path points for grasping, transporting, and assembling in the data platform, subsequently, THREE.js converts these path points into an intuitive path line, which not only clearly shows the expected movement direction of the segment erector but also enhances the readability of information through color-coding technology: red markers represent path points not yet visited by the segment erector, symbolizing future tasks; while green markers indicate path points that the segment erector has completed traversing, marking the completed work stages. This visual distinction not only enables users to clearly grasp the real-time position and progress of the segment erector at a glance but also greatly promotes the transparency and controllability of the construction process.

[0055] The configurable core data is similar to the aforementioned 3D model display process. A dedicated rendering area is created to display the core data of the assembly process in real time in the form of numerical values or charts. The size and scope of this area are defined according to actual needs and precisely laid out on the page.

[0056] Sort out the configurable core data, and the displayed data is shown in Table 1 and Table 2 as follows;

[0057] ;

[0058] .

[0059] As Figure 4 shown, a schematic diagram of the abstract relationship between the target pose and the actual pose of the segment during the 3D model display process is described in detail.

[0060] The actual pose 41 of each segment to be assembled is simplified to a spatial point and its accompanying three direction vectors, and is intuitively expressed in the way of combining position coordinates with Euler angles. Similarly, the target pose 42 of the segment is also presented in this way to ensure the consistency and comparability in expression between the two. By integrating an efficient data platform, this module can capture and process relevant data in real time, and then dynamically display the movement state of the segment in the form of a point plus direction vectors. This design cleverly removes the unnecessary details of the segment structure, effectively avoids visual redundancy, and enables the relative relationship between the actual pose 41 and the target pose 42 of the segment to be presented more clearly and intuitively. This not only greatly improves the accuracy and efficiency of construction monitoring but also facilitates construction personnel to immediately and accurately grasp the real-time state during the segment assembly process, thus ensuring the high-quality progress of segment assembly.

[0061] In one of the embodiments, a real-time visualization system for the working process of a fully automatic segment erector is provided, including: a modeling module, an optimization module, a transmission module, and a display module. AsFigure 5 As shown, a modeling module is used to obtain the 3D model of a fully automatic segment erector in FBX file format and the 3D model of the segments to be erected; an optimization module is used to load the 3D models of the fully automatic segment erector and the segments to be erected in FBX file format into the initial model of the fully automatic segment erector and the initial model of the segments to be erected respectively by using the Three.js development library in the WebGL application; a transmission module is used to obtain multi-source data related to the segment erection task from various data platforms, and the multi-source data includes: data related to the segments to be erected, the operating status data of the fully automatic segment erector, and the power system status data of the fully automatic segment erector; a display module is used to use the multi-source data related to the segment erection task to adjust the pose information corresponding to the initial model of the fully automatic segment erector and the initial model of the segments to be erected in real time, and to simulate and display the whole process of segment erection, the execution status parameters of the fully automatic segment erector, and the forming status parameters of the segments to be erected in real time.

[0062] Further, the modeling module is used to construct the 3D models of the fully automatic segment erector and the segments to be erected in stereolithography file format; and then the 3D models of the fully automatic segment erector and the segments to be erected in stereolithography file format are respectively lightweighted to obtain the 3D model of the fully automatic segment erector in FBX file format and the 3D model of the segments to be erected. Even further, the 3D models of the fully automatic segment erector and the segments to be erected in stereolithography file format can be respectively lightweighted by using the optimization modifier in 3ds MAX software to reduce the number of vertices in the object while maintaining the appearance of the object, so as to obtain the 3D model of the fully automatic segment erector in FBX file format and the 3D model of the segments to be erected.

[0063] Those skilled in the art can easily understand that the above are only the preferred embodiments of the present invention, and are not used to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A real-time visualization method for the working process of a fully automatic segment assembly machine, characterized in that: include: S1: Obtain a 3D model of the fully automatic segment assembly machine and a 3D model of the segment to be assembled in FBX file format; S2: using the Three.js development library in the WebGL application, the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in FBX file format are loaded into the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled respectively; S3: Acquire multi-source data related to the segment assembly task from various data platforms, wherein the multi-source data includes: relevant data of the segment to be assembled, operating status data of the fully automatic segment assembly machine, and power system status data of the fully automatic segment assembly machine; S4: using the multi-source data related to the segment assembly task, adjusting the posture information corresponding to the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled in real time, and simulating and displaying the entire segment assembly process, the execution state parameters of the fully automatic segment assembly machine, and the forming state parameters of the segment to be assembled in real time; Among them, the real-time display process is divided into global strategy display and local strategy display. The global strategy display focuses on observing the assembly process from a large-scale perspective. The global strategy focuses on displaying the dynamic changes of the assembly machine actuator cylinder, the assembly machine terminal, and the segment model; the display content includes: segment K block selection schematic diagram, shield tail gap schematic diagram, and three-ring ellipticity schematic diagram; through the real-time acquisition of multi-source data on the data platform, the optimal position of the segment K block is determined by calculation and analysis, and the positional geometric relationship between the segment and the shield tail is displayed, and the axis position relationship is reflected; the platform focuses on displaying the data related to the relationship between the actual stroke and target stroke of the assembly machine actuator during the assembly machine grabbing, transporting and assembling the segment in the form of text or table, including the rotation angle, large translation position, red and blue cylinder position, and suction cup status; it also includes obtaining the assembly machine terminal posture and segment posture data in real time, driving the real-time dynamic update of the assembly machine cylinder, the assembly machine terminal and the segment model, so that construction personnel can view the entire segment assembly task process from a larger scale; In terms of local strategy, it focuses on displaying the local details of the segment assembly business process, mainly showing the interaction between the assembly machine terminal and the segment model. At this level, the irrelevant assembly machine actuator model is hidden; for the segment grabbing, delivery and assembly stages, by obtaining the target position of the assembly machine in the data platform and a series of grabbing, transportation and assembly process control path points, THREE.js then converts these path points into an intuitive path line; the dynamic position relationship between the assembled segments and the segments to be assembled is highlighted, including monitoring the misalignment and the dynamic display of the annular longitudinal seam on the model. This module can capture and process relevant data in real time, and then dynamically display the movement status of the segments in the form of points plus direction vectors; The S1 comprises: S11: constructing a three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in a stereolithography file format; S12: lightweighting the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format respectively, to obtain a three-dimensional model of the fully automatic segment assembly machine and a three-dimensional model of the segment to be assembled in an FBX file format; The S12 includes: using the optimization modifier in the 3ds MAX software to lightweight the three-dimensional model of the fully automatic segment assembly machine and the segment to be assembled in the stereolithography file format, so as to reduce the number of vertices in the object while maintaining the appearance of the object, and obtain the three-dimensional model of the fully automatic segment assembly machine and the three-dimensional model of the segment to be assembled in the FBX file format; the lightweight optimization modes include: crushing boundaries, protecting boundaries and excluding boundaries.

2. The real-time visualization method for the working process of the fully automatic segment assembly machine according to claim 1, characterized in that: The S3 includes: using the WebSocket communication protocol to obtain multi-source data related to the segment assembly task from a unified data platform.

3. The real-time visualization method for the working process of the fully automatic segment assembly machine according to claim 2, characterized in that: The S3 previously included: Using multiple surface structured light cameras to collect relevant data of the segments to be assembled, and transmit the data to the data platform; Using a stroke sensor, a pressure sensor and a vacuum sensor to collect the operating status data of the fully automatic segment assembly machine, and transmit the data to the data platform; The shield machine platform is used to collect the power system status data of the fully automatic segment assembling machine and transmit it to the data platform.

4. A real-time visualization system for the working process of a fully automatic segment assembly machine, characterized in that: A real-time visualization method for executing the working process of the fully automatic segment assembly machine according to any one of claims 1 to 3, comprising: A modeling module is used to obtain the 3D model of the fully automatic segment assembly machine and the 3D model of the segment to be assembled in the FBX file format; An optimization module, for using the Three.js development library in the WebGL application to load the three-dimensional models of the fully automatic segment assembly machine and the segment to be assembled in FBX file format into the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled respectively; A transmission module, used for acquiring multi-source data related to the segment assembly task from various data platforms, wherein the multi-source data includes: relevant data of the segments to be assembled, operating status data of the fully automatic segment assembly machine, and power system status data of the fully automatic segment assembly machine; A display module is used to use the multi-source data related to the segment assembly task to adjust the corresponding posture information of the initial model of the fully automatic segment assembly machine and the initial model of the segment to be assembled in real time, and to simulate and display the entire segment assembly process, the execution state parameters of the fully automatic segment assembly machine and the forming state parameters of the segment to be assembled in real time.

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