Digital Construction Method for Integrated Utility Tunnels Based on Machine Vision

Abstract

The application discloses a comprehensive pipe gallery digital construction method based on machine vision and relates to the underground or underwater structure field, and comprises the following steps: first reflective markers and second reflective markers are arranged at four inner corners of a first pipe gallery section and a second pipe gallery section respectively; four cameras are arranged inside the comprehensive pipe gallery, and the installation positions of the cameras are calibrated by using the first reflective markers; the second pipe gallery section is adjusted, so that in a second image, each second reflective marker and the corresponding first reflective marker coincide with each other, and preliminary positioning is completed; a pipe gallery adjusting device adjusts the position of the second pipe gallery section according to image data of the cameras, so that in the second image, the sizes of the positioning markers are consistent; meanwhile, in a third image, the scale lines of the positioning markers and the lens scale lines coincide with each other, and accurate positioning is completed. It can be seen that the application can accurately and quickly complete the alignment and assembly of the pipe gallery sections by monitoring the pipe gallery construction by using digital image technology, and the quality of the pipe gallery construction can be controlled.

Description

Technical Field

[0001] This invention relates to the field of underground or underwater structures, specifically to a digital construction method for integrated utility tunnels based on machine vision. Background Technology

[0002] Integrated utility tunnels, also known as "common trenches" or "underground integrated utility tunnels," refer to structures and ancillary facilities located underground in cities to accommodate two or more types of public utility pipelines or professional pipelines. Existing integrated utility tunnels are typically assembled from multiple tunnel segments using cranes. The existing alignment and assembly methods generally involve: (a) Preliminary alignment: Adjusting the crane's slings to align the end of the segment to be assembled with the end of the already assembled segment, thus initially adjusting its position and elevation. (b) Measurement and correction: Using measuring tools such as total stations and levels, precisely measuring and adjusting the axis, elevation, and verticality of the segment to be assembled. (c) Fixed connection: According to design requirements, selecting appropriate connection methods to fix the segment to be assembled to the already assembled segment, such as rebar connection, bolt connection, or prestressed connection. There is currently no digital construction method specifically for the alignment and assembly of utility tunnels, which results in poor accuracy and low efficiency in the initial alignment and measurement correction steps, and makes it impossible to monitor the construction process of utility tunnels to accurately control the quality of the construction. Summary of the Invention

[0003] The purpose of this invention is to provide a digital construction method for integrated utility tunnels based on machine vision, which aims to overcome the problems existing in the prior art.

[0004] To achieve the objective, the present invention provides the following technical solution:

[0005] The machine vision-based digital construction method for integrated utility tunnels includes the following steps:

[0006] Step (1): Set at least three first reflective signs on the splicing side of the first pipe gallery segment and at least three second reflective signs on the splicing side of the second pipe gallery segment, with the second reflective signs and the first reflective signs arranged in a one-to-one correspondence.

[0007] Step (2): Cameras are arranged on the upper, lower, left and right inner walls of the integrated utility tunnel, with one camera as the first camera and the other three as the second cameras; three positioning marks with scale lines are set on the splicing side of the second utility tunnel segment, and the three positioning marks are arranged in a one-to-one correspondence with the three second cameras.

[0008] Step (3): The three second cameras track the image data of the first reflective mark and each obtains a first image; the first image is compared with the standard image of the first reflective mark; the installation position of the second camera is adjusted so that the size and position of the first reflective mark in the first image are consistent with the size and position of the first reflective mark in the standard image, thereby completing the calibration of the installation position of the second camera; the installation position of the first camera is calibrated in the same way.

[0009] Step (4): Move the second pipe gallery segment closer to the first pipe gallery segment; use the first camera to track the global image data inside the integrated pipe gallery to obtain the second image; adjust the second pipe gallery segment so that each second reflective mark in the second image coincides with its corresponding first reflective mark, thereby completing the initial positioning of the second pipe gallery segment.

[0010] Step (5): Adjust the second pipe gallery segment so that the size of each second reflective mark in the second image is consistent; at the same time, the three second cameras track the image data of the three positioning marks respectively to obtain the third image; adjust the second pipe gallery segment so that the scale line of the positioning mark in the third image coincides with the lens scale line of the second camera, thereby completing the accurate positioning of the second pipe gallery segment.

[0011] Furthermore, in step (1), there are four first reflective marks, which are respectively set at the four inner corners of the splicing side of the first pipe gallery segment; in step (3), each camera captures the image data of two first reflective marks located on the same inner wall to obtain the first image; by adjusting the installation position of the camera, the size and position of the two first reflective marks in the first image are consistent with the size and position of the two first reflective marks in the standard image.

[0012] Furthermore, before step (1), the method further includes: as described in step (2), arranging a first reflective sign and a camera inside the assembled standard integrated utility tunnel, and having the camera take a picture of the first reflective sign at a certain preset distance to obtain a standard image.

[0013] Furthermore, the first reflective mark and the second reflective mark are 3D magnetic reflective marks, and the positioning mark is made by spraying reflective material.

[0014] Furthermore, in step (2), the camera on the lower inner wall is the first camera, and the cameras on the upper, left, and right inner walls are the second cameras.

[0015] Furthermore, supplementary lighting was added inside the integrated utility tunnel between the first reflective sign and the camera.

[0016] Furthermore, the scale lines of the positioning mark are composed of several straight lines in both the longitudinal and transverse directions, as well as several concentric circles.

[0017] Furthermore, a three-dimensional coordinate system is constructed with the length of the integrated utility tunnel as the y-axis, the width as the x-axis, and the height as the z-axis.

[0018] In step (5) above, the specific method for the second pipe gallery segment is as follows:

[0019] If the sizes of the left and right positioning marks in the second image are inconsistent, rotate the second tube gallery segment around the z-axis until the sizes of the left and right positioning marks are consistent.

[0020] If the sizes of the two positioning marks in the third images from the left and top two second cameras are inconsistent, then rotate the second tube gallery segment around the x-axis until they are consistent in size.

[0021] If the scale line of the positioning mark and the scale line of the lens are deflected relative to each other in the third image of the second camera above, then rotate the second tube gallery segment around the y-axis until the scale line of the positioning mark and the scale line of the lens coincide.

[0022] Furthermore, in step (5), the second pipe gallery segment is adjusted by the pipe gallery adjustment device to achieve precise positioning; the pipe gallery adjustment device includes a main body of equipment, one end of which is provided with multiple first robotic arms facing different directions to abut against the inner wall of the first pipe gallery segment; the other end of the main body is provided with multiple second robotic arms facing different directions to abut against the inner wall of the receiving pipe gallery; the main body of equipment is equipped with a central control system, which is communicatively connected to each camera to control each telescopic arm according to the image data of each camera, thereby adjusting the second pipe gallery segment.

[0023] Furthermore, when the pipe gallery adjustment device is in use, if the pipe gallery adjustment device is not activated, the first and second robotic arms retract to the main body of the equipment.

[0024] Step (S1): When precise positioning of the second utility tunnel segment is required, place the utility tunnel adjustment device inside the splicing point of the integrated utility tunnel.

[0025] Step (S2): Start the pipe gallery adjustment device. The central control system controls each first robotic arm to extend and support itself on the inner wall of the first pipe gallery segment, so that the pipe gallery adjustment device and the first pipe gallery segment are fixed to each other.

[0026] Step (S3): The central control system acquires and analyzes the image data of each camera and calculates the deviation data of the second tube gallery segment on each axis;

[0027] Step (S4): The central control system controls each second robotic arm to extend and support itself on the inner wall of the pipe gallery to be assembled; the central control system obtains the current position coordinates of the second pipe gallery segment based on the attitude of each second robotic arm; the central control system calculates the target position coordinates of the second robotic arm based on the deviation data and the current position coordinates; the central control system controls each second robotic arm to adjust the second pipe gallery segment until it reaches the target position coordinates.

[0028] Furthermore, step (5.1) specifically involves: calculating the z-axis deviation data of the second pipe gallery segment based on the size difference between the left and right positioning marks in the second image; the central control system uses the second robotic arms at the two left corners as one set of drive arms to support and fix the left half of the second pipe gallery segment, and uses the second robotic arms at the two right corners as another set of drive arms to support and fix the right half of the second pipe gallery segment, thereby calculating the current position coordinates of the pipe gallery to be assembled; the central control system calculates the target position coordinates of the pipe gallery to be assembled based on the z-axis deviation data and the current position coordinates; the central control system controls the two sets of drive arms to cooperate with each other to rotate the second pipe gallery segment around the z-axis until it reaches the target position coordinates;

[0029] The specific steps (5.2) are as follows: Based on the size difference between the left and upper two positioning marks in the third image, the x-axis deviation data of the second pipe gallery segment is calculated; the central control system uses the second robotic arms at the upper two corners as one set of drive arms to support and fix the upper half of the second pipe gallery segment, and uses the two second robotic arms at the lower two corners as another set of drive arms to support and fix the lower half of the second pipe gallery segment, and calculates the current position coordinates of the pipe gallery to be assembled based on this; the central control system calculates the target position coordinates of the pipe gallery to be assembled based on the x-axis deviation data and the current position coordinates; the central control system controls the two sets of drive arms to cooperate with each other to rotate the second pipe gallery segment around the x-axis until it reaches the target position coordinates;

[0030] The specific steps (5.3) are as follows: Based on the difference in deflection between the scale lines of the upper positioning mark and the scale lines of the lens in the third image, the y-axis deviation data of the second pipe gallery segment is calculated; the central control system uses the second robotic arms at the two upper corners as one set of drive arms to support and fix the upper half of the second pipe gallery segment, and uses the two second robotic arms at the two lower corners as another set of drive arms to support and fix the lower half of the second pipe gallery segment, and calculates the current position coordinates of the pipe gallery to be assembled based on this; the central control system calculates the target position coordinates of the pipe gallery to be assembled based on the y-axis deviation data and the current position coordinates; the central control system controls the two sets of drive arms to cooperate with each other to rotate the second pipe gallery segment around the y-axis until it reaches the target position coordinates.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] Firstly, this invention uses digital imaging technology, such as first and second reflective markers, positioning markers, and cameras, to monitor the alignment and assembly of pipe gallery segments, assisting in the construction process and enabling precise and rapid alignment and assembly of pipe gallery segments, thus controlling the quality of pipe gallery construction.

[0033] Secondly, in this invention, the camera is adjusted by comparing whether the size and position of the first reflective mark in the first image and the standard image are consistent. The absolute positioning of the first reflective mark is used to eliminate the installation position error of the camera, which can improve the accuracy of subsequent preliminary positioning and precise positioning.

[0034] Thirdly, in the process of precise positioning, the present invention uses a pipe gallery adjustment device to automatically adjust the second pipe gallery segment based on the image data of each camera, which has the advantages of precise adjustment and high efficiency. Attached Figure Description

[0035] Figure 1 This is a simplified schematic diagram of the integrated utility tunnel and digital construction device in this invention.

[0036] Figure 2 This is a schematic diagram illustrating the deflection of the second pipe gallery segment around the x-axis in this invention. To better illustrate the deflection, the diagram uses a large deflection angle combined with dashed lines to represent the deflected second pipe gallery segment.

[0037] Figure 3 This is a schematic diagram of the third image taken by the first camera positioned on the upper inner wall when the second pipe gallery segment deflects around the y-axis, according to the present invention. The yellow circle represents the lens scale boundary line of the first camera, facilitating the distinction between the lens scale and the positioning mark scale line.

[0038] Figure 4 This is a schematic diagram illustrating the deflection of the second pipe gallery segment around the y-axis in this invention. To better illustrate the deflection, the diagram uses a large deflection angle combined with dashed lines to represent the deflected second pipe gallery segment.

[0039] Figure 5 This is a simplified structural diagram of a second reflective sign.

[0040] Figure 6 This is a simplified structural diagram of a positioning marker.

[0041] Figure 7 This is a simplified structural diagram of a pipe gallery adjustment device. The dashed lines represent the extended postures of the robotic arms. Detailed Implementation

[0042] Specific embodiments of the present invention will now be described with reference to the accompanying drawings. Many details are described below to provide a comprehensive understanding of the invention; however, those skilled in the art will be able to implement the invention without these details.

[0043] In the following description, consistency in size or position means that the difference in size or position is within a certain preset tolerance range.

[0044] like Figure 1 For ease of description, the pipe gallery segment on the assembly side of the integrated pipe gallery 1 is referred to as the first pipe gallery segment 11, and the next pipe gallery segment to be assembled is referred to as the second pipe gallery segment 12. A three-dimensional coordinate system is established with the length direction of the integrated pipe gallery 1 as the y-axis, the width direction as the x-axis, and the height direction as the z-axis.

[0045] like Figures 1 to 7 As shown, the machine vision-based digital construction method for integrated utility tunnels includes the following steps:

[0046] Step (1): Set at least three first reflective signs 31 on the splicing side of the first pipe gallery segment 11 and at least three second reflective signs 32 on the splicing side of the second pipe gallery segment 12, and arrange the three second reflective signs 32 in a one-to-one correspondence with the three first reflective signs 31.

[0047] In one specific implementation, four first reflective signs 31 are installed, each located at one of the four inner corners of the splicing side of the first pipe gallery segment 11. The structural characteristics of the first pipe gallery segment 11 are used to position and install the first reflective signs 31. Similarly, four second reflective signs 32 are installed, each located at one of the four inner corners of the splicing side of the second pipe gallery segment 12. Of course, the number of first reflective signs 31 and second reflective signs 32 is not limited to three or four; they can be increased as needed.

[0048] The size of the first reflective mark 31 should be smaller than the size of the second reflective mark 32, so that when the first reflective mark 31 and the second reflective mark 32 overlap, the camera can capture the second reflective mark 32 located behind the first reflective mark 31. Taking a circular reflective surface as an example, the diameter of the reflective surface of the first reflective mark 31 should be smaller than the diameter of the reflective surface of the second reflective mark 32.

[0049] Preferably, the first reflective mark 31 and the second reflective mark 32 include, but are not limited to, 3D magnetic reflective marks, which are fixedly installed in the corresponding positions by means of a bracket.

[0050] like Figure 5As shown, taking the second reflective sign 32 as an example, it includes a bracket and a 3D magnetic reflective sign 323. The bracket consists of a fixedly connected L-shaped connecting plate 321 and a first mounting plate 322, and the outline of the first mounting plate 322 is equal to or smaller than the outline of the 3D magnetic reflective sign 323. Taking a circular 3D magnetic reflective sign 323 with a diameter of 10mm as an example, the first mounting plate 322 is a circular plate with a diameter of 8mm-10mm. During installation, the 3D magnetic reflective sign 323 is first attached to the side of the first mounting plate 322 facing the camera, and then the L-shaped connecting plate 321 is fixedly connected to the inner corner of the splicing side of the second pipe gallery segment 12 by means of strong adhesive or other methods.

[0051] Step (2): Cameras are arranged on the upper, lower, left, and right inner walls of the integrated utility tunnel 1, with one camera designated as the first camera 21 and the other three as the second cameras 22; three positioning marks 4 with scale lines are set on the splicing side of the second utility tunnel segment 12, and the three positioning marks 4 are arranged in a one-to-one correspondence with the three second cameras 22. Preferably, the cameras are infrared cameras.

[0052] In one specific embodiment, the camera on the lower inner wall is the first camera 21, and the three cameras on the upper, left, and right inner walls are the second cameras 22.

[0053] Preferably, the three positioning markers 4 are located at the center lines of the top, left, and right sides of the second utility tunnel segment 12, respectively. Correspondingly, the four cameras are located at the center lines of the four sides of the integrated utility tunnel 1.

[0054] like Figure 6 As shown, in one specific embodiment, the positioning mark 4 includes a connecting plate 41, the connecting plate 41 is provided with a second mounting plate 42, and a reflective material is sprayed on the side surface of the second mounting plate 42 facing the camera, and scale lines are drawn to obtain the positioning mark 4.

[0055] Preferably, the scale lines of positioning mark 4 consist of several straight lines in both the vertical and horizontal directions, as well as several concentric circles. Correspondingly, the lens scale lines of the camera consist of several straight lines in both the vertical and horizontal directions.

[0056] Step (3): The three second cameras 22 track the image data of at least one first reflective mark 31 and obtain a first image for each; compare the first image with the standard image of the first reflective mark; adjust the installation position of the second cameras 22 so that the size and position of the first reflective mark 31 in the first image are consistent with the size and position of the first reflective mark 31 in the standard image, thereby completing the calibration of the installation position of the second cameras; calibrate the installation position of the first cameras in the same way.

[0057] Specifically, before starting step (1), it is necessary to arrange the first reflective sign and camera inside the assembled standard integrated utility tunnel as described in step (2), and let the camera take pictures of the first reflective sign at a certain preset distance to obtain a standard image.

[0058] In one specific embodiment, first reflective markers 31 are installed at the four inner corners of the assembly side of the assembled standard utility tunnel, and four cameras are fixedly installed at the centerline of each inner wall at a distance of 50m from the assembly side. Then, each camera takes a picture of two first reflective markers 31 located on the same inner wall, obtaining a standard image. That is to say, the standard image records the image size and position of two first reflective markers on the same inner wall as captured by the camera at the centerline of the inner wall at a distance of 50m from the assembly side.

[0059] If the size and position of the two first reflective marks in the first image are consistent with the size and position of the two first reflective marks in the standard image, then the camera is accurately installed at the center line of each inner wall 50m away from the assembly side; if they are inconsistent, the camera installation position is offset and needs to be adjusted. It can be seen that in step (3), the absolute positioning of the first reflective mark 31 is used to eliminate the camera installation position error and improve the accuracy of subsequent preliminary positioning and precise positioning.

[0060] The mounting position of the second camera is calibrated in the same way, which will not be repeated here.

[0061] Step (4): Position the second utility tunnel segment 12 closer to the first utility tunnel segment 11; use the first camera 21 to track global image data inside the integrated utility tunnel 1 to obtain a second image. The second image contains four first reflective markers 31 and four second reflective markers 32 at the top, bottom, left, and right positions. Then, adjust the second utility tunnel segment 12 so that each second reflective marker 32 in the second image coincides with its corresponding first reflective marker 31, thereby completing the initial positioning of the second utility tunnel segment.

[0062] Step (5): The first camera 21 tracks global image data inside the integrated utility tunnel to obtain a second image; adjust the second utility tunnel segment 12 so that the size of each positioning mark 4 in the second image is consistent. Simultaneously, three second cameras 22 track the image data of the three positioning marks 4 respectively to obtain a third image of the corresponding positioning mark; adjust the second utility tunnel segment 12 so that the scale lines of the positioning mark 4 in the third image coincide with the lens scale lines. Thus, the precise positioning of the second utility tunnel segment 12 is completed. The lens scale lines include, but are not limited to, scale lines added to the image of the second camera 22 by software; this is a conventional technique and will not be elaborated upon here.

[0063] Specifically, in step (5), the second pipe gallery segment is constructed as follows:

[0064] Step (5.1): If the sizes of the left and right positioning marks 4 in the second image are inconsistent, the second pipe gallery segment 12 will deflect around the z-axis. At this point, the second pipe gallery segment 12 should be rotated around the z-axis until the sizes of the left and right positioning marks 4 are consistent. Since the first camera 21 is located in the middle of the lower inner wall, its distance from the left and right positioning marks 4 is approximately equal. Therefore, the left and right positioning marks 4 are used here for size comparison.

[0065] Preferably, in step (5.1) above, by comparing and analyzing the size difference between the left and right positioning marks 4 in the second image, the deviation data of the second pipe gallery segment 12 deflecting around the z-axis can be obtained, that is, the z-axis deviation data; the pipe gallery adjustment device adjusts the second pipe gallery segment according to the z-axis deviation data so that the size of the left and right positioning marks 4 is consistent.

[0066] Step (5.2): If the sizes of the two positioning marks 4 in the third images of the left and upper second cameras 22 are inconsistent, then the second pipe gallery segment 12 will deflect around the x-axis (e.g., Figure 2 At this point, the second pipe gallery segment 12 should be rotated around the x-axis until the sizes of the left and upper positioning marks 4 are the same. Because there is a height difference between the left and upper positioning marks 4, their sizes in their respective third images will inevitably be inconsistent when the second pipe gallery segment 12 deflects around the x-axis. Therefore, the left and upper positioning marks 4 are used here for image size comparison.

[0067] Preferably, in step (5.2) above, by comparing and analyzing the size difference between the left and upper two positioning marks 4 in their respective third images, the deviation data of the second pipe gallery segment 12 deflecting around the x-axis can be obtained, that is, the x-axis deviation data; the pipe gallery adjustment device adjusts the second pipe gallery segment according to the x-axis deviation data so that the size of the left and upper two positioning marks 4 is consistent.

[0068] Of course, you can also replace the left positioning mark 4 with the right positioning mark 4 and compare their sizes with the upper positioning mark 4.

[0069] Step (5.3): If in the third image of the second camera 22 above, the scale line of the upper positioning mark 4 is offset from the lens scale line (e.g.) Figure 3 Then, the second pipe gallery segment 12 will deflect around the y-axis (e.g. Figure 4 At this point, the second tube gallery segment should be rotated around the y-axis until the scale line of the upper positioning mark 4 coincides with the lens scale line of the upper second camera 22.

[0070] Preferably, in step (5.3) above, by comparing and analyzing the deviation between the scale line of the upper positioning mark 4 and the lens scale line, the deviation data of the second pipe gallery segment 12 deflecting around the y-axis can be obtained, that is, the y-axis deviation data; the pipe gallery adjustment device adjusts the second pipe gallery segment according to the y-axis deviation data so that the scale line of the upper positioning mark 4 coincides with the lens scale line of the upper second camera 22.

[0071] like Figure 7 As shown, in one specific embodiment, the aforementioned utility tunnel adjustment device includes a main body 5. Multiple first robotic arms 51 are arranged at one end of the main body 5 in different directions. The number of first robotic arms 51 includes, but is not limited to, four, and they are respectively located at the four corners of the main body 5. Multiple second robotic arms 52 are arranged at the other end of the main body 5 in different directions. The number of second robotic arms 52 includes, but is not limited to, four, and they are respectively located at the four corners of the main body 5. The first robotic arms 51 and the second robotic arms 52 can be multi-axis robotic arms and are equipped with devices such as pressure sensors, encoders, and gyroscopes, so that their posture can be sensed by the central control system, enabling it to determine whether they are in contact with the inner wall of the integrated utility tunnel.

[0072] The main body 5 is equipped with the aforementioned central control system (not shown in the figure). This central control system is connected to the first camera 21 and the second camera 22 and is used to control each telescopic arm according to the image data of each camera to adjust the second pipe gallery segment 12.

[0073] like Figure 1 and Figure 7 As shown, the specific working method of this pipe gallery adjustment device is as follows:

[0074] When the pipe gallery adjustment device is not activated, the first robotic arm 51 and the second robotic arm 52 retract to the main body of the equipment 5.

[0075] Step (S1): When it is necessary to accurately position the second utility tunnel segment 12, place the utility tunnel adjustment device inside the splicing point of the integrated utility tunnel; of course, the utility tunnel adjustment device should avoid the positioning mark and the second reflective indicator so that each camera can normally capture the corresponding positioning mark or the second reflective indicator.

[0076] Step (S2): Start the pipe gallery adjustment device. The central control system controls each first robotic arm 51 to extend and support the inner wall of the first pipe gallery segment 11, so that the pipe gallery adjustment device and the first pipe gallery segment 11 are fixed to each other.

[0077] Step (S3): The central control system acquires and analyzes the image data of each camera, and calculates the deviation data of the second tube gallery segment 12 on each axis, including the z-axis deviation data, x-axis deviation data and y-axis deviation data.

[0078] Step (S4): The central control system controls each second robotic arm 52 to extend and support the inner wall of the second pipe gallery segment 12, and obtains the current position coordinates of the second pipe gallery segment 12 by observing the posture of each second robotic arm 52; the central control system calculates the target position coordinates of the second robotic arm 52 based on the deviation data and the current position coordinates; the central control system controls each second robotic arm 52 to adjust the second pipe gallery segment 12 until it reaches the target position coordinates (i.e., when the current position coordinates are the target position coordinates), thereby completing the precise positioning of the second pipe gallery segment 12.

[0079] Step (5.1) is completed by the pipe gallery adjustment device, specifically: the size of the left and right positioning marks 4 in the second image is analyzed and compared by the central control system; if the size difference between the two exceeds the preset tolerance range, it is considered that the second pipe gallery segment 12 has deflected around the z-axis; then, based on the size difference of the left and right positioning marks 4 in the second image, the z-axis deviation data of the second pipe gallery segment 12 is calculated; the central control system uses the second mechanical arms 52 at the two left corners as one set of drive arms to support and fix the left half of the second pipe gallery segment 12, and uses the second mechanical arms 52 at the two right corners as another set of drive arms to support and fix the right half of the second pipe gallery segment 12, and calculates the current position coordinates of the pipe gallery to be assembled based on this; the central control system calculates the target position coordinates of the pipe gallery to be assembled based on the z-axis deviation data and the current position coordinates; the central control system controls the two sets of drive arms to cooperate with each other to rotate the second pipe gallery segment 12 around the z-axis until the target position coordinates are reached.

[0080] Step (5.2) is completed by the pipe gallery adjustment device, specifically: the size of the two positioning marks 4 on the left and upper sides in the third image of the two second cameras 22 on the left and upper sides is analyzed and compared by the central control system; if the size difference between the two exceeds the preset tolerance range, it is considered that the second pipe gallery segment 12 has deflected around the x-axis; then, based on the size difference of the two positioning marks 4 on the left and upper sides in the third image, the x-axis deviation data of the second pipe gallery segment 12 is calculated; the central control system uses the two second robotic arms 52 on the upper two sides as one set of drive arms to support and fix the upper half of the second pipe gallery segment 12, and the two second robotic arms 52 on the lower two sides as another set of drive arms to support and fix the lower half of the second pipe gallery segment 12, and calculates the current position coordinates of the pipe gallery to be assembled based on this; the central control system calculates the target position coordinates of the pipe gallery to be assembled based on the x-axis deviation data and the current position coordinates; the central control system controls the two sets of drive arms to cooperate with each other to rotate the second pipe gallery segment 12 around the x-axis until the target position coordinates are reached.

[0081] Step (5.3) is completed by the pipe gallery adjustment device. Specifically, the central control system analyzes and compares the third image of the upper second camera 22. If the angle formed by the mutual deflection of the scale line of the upper positioning mark 4 and the scale line of the lens exceeds the preset tolerance range, it is considered that the second pipe gallery segment 12 has deflected around the y-axis. Based on the deflection difference between the scale line of the upper positioning mark 4 and the scale line of the lens in the third image, the y-axis deviation data of the second pipe gallery segment 12 is calculated. The central control system uses the second robotic arms 52 at the two upper corners as one set of drive arms to support and fix the upper half of the second pipe gallery segment 12, and the two second robotic arms 52 at the two lower corners as another set of drive arms to support and fix the lower half of the second pipe gallery segment 12, and calculates the current position coordinates of the pipe gallery to be assembled. Based on the y-axis deviation data and the current position coordinates, the central control system calculates the target position coordinates of the pipe gallery to be assembled. The central control system controls the two sets of drive arms to cooperate with each other to rotate the second pipe gallery segment 12 around the y-axis until the target position coordinates are reached.

[0082] like Figure 1 As shown, preferably, a supplementary light (not shown in the figure) is added inside the integrated utility tunnel between the first reflective sign 31 and the camera to provide additional auxiliary lighting for the camera's shooting, making the camera image clearer. It should be noted that the supplementary light should not obstruct the camera's shooting line of sight, such as by installing it as close as possible to the inner wall of the integrated utility tunnel.

[0083] The above are merely specific embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept shall be considered as infringing upon the protection scope of the present invention.

Claims

1. A method for comprehensive pipe gallery digital construction based on machine vision, characterized in that: The method comprises the following steps: Step (1), at least three first reflective markers are arranged on the splicing side of the first pipe gallery section, at least three second reflective markers are arranged on the splicing side of the second pipe gallery section, and the second reflective markers are arranged one by one corresponding to the first reflective markers; the number of the first reflective markers is four, and the first reflective markers are arranged at the four inner corners of the splicing side of the first pipe gallery section; Step (2), cameras are arranged on the upper, lower, left and right inner walls of the comprehensive pipe gallery; the cameras on the lower inner wall are first cameras, and the cameras on the upper, left and right inner walls are second cameras; three positioning markers with scale lines are arranged on the splicing side of the second pipe gallery section, and the three positioning markers are arranged one by one corresponding to the three second cameras; Step (3), the three second cameras track and shoot image data of two first reflective markers on the same inner wall, and each second camera obtains a first image; the first image is compared with a standard image of the first reflective markers; the installation position of the second camera is adjusted so that the size and position of the two first reflective markers in the first image are consistent with the size and position of the two first reflective markers in the standard image, thereby completing the calibration of the installation position of the second camera; the installation position of the first camera is calibrated in the same way; Step (4), the second pipe gallery section is close to the first pipe gallery section; the first camera tracks global image data inside the comprehensive pipe gallery to obtain a second image; The second pipe gallery section is adjusted so that each second reflective marker in the second image coincides with the corresponding first reflective marker, thereby completing the preliminary positioning of the second pipe gallery section; Step (5), the second pipe gallery section is adjusted so that the sizes of the positioning markers in the second image are consistent; meanwhile, the three second cameras track image data of the positioning markers respectively to obtain a third image; The second pipe gallery section is adjusted so that the scale lines of the positioning markers in the third image coincide with the lens scale lines, thereby completing the accurate positioning of the second pipe gallery section; A three-dimensional coordinate system is constructed with the length direction of the comprehensive pipe gallery as the y-axis direction, the width direction as the x-axis direction, and the height direction as the z-axis; In step (5), the second pipe gallery section is adjusted in the following manner: Step (5.1), if the sizes of the left and right positioning markers in the second image are inconsistent, the second pipe gallery section is rotated around the z-axis until the sizes are consistent; Step (5.2), if the sizes of the left and upper positioning markers in the third images of the left and upper second cameras are inconsistent, the second pipe gallery section is rotated around the x-axis until the sizes are consistent; Step (5.3), if the scale lines of the upper positioning marker in the third image of the upper second camera are deflected from each other, the second pipe gallery section is rotated around the y-axis until the scale lines of the positioning marker coincide with the lens scale lines.

2. The machine vision-based comprehensive pipe gallery digital construction method according to claim 1, characterized in that: Before step (1), the first reflective markers and cameras are arranged inside the assembled standard comprehensive pipe gallery according to step (2), the cameras shoot the first reflective markers at a certain preset distance to obtain a standard image.

3. The machine vision-based comprehensive pipe gallery digital construction method according to claim 1, characterized in that: The first reflective markers and the second reflective markers are 3D magnetic reflective markers.

4. The machine vision-based comprehensive pipe gallery digital construction method according to claim 1, characterized in that: In the step (5), the second pipe gallery section is adjusted by the pipe gallery adjusting device to complete accurate positioning; the pipe gallery adjusting device comprises a device main body, a plurality of first mechanical arms are arranged at one end of the device main body towards different directions and used for abutting against the inner wall of the first pipe gallery section, a plurality of second mechanical arms are arranged at the other end of the device main body towards different directions and used for abutting against the inner wall of the pipe gallery to be spliced; and a central control system is arranged inside the device main body and communicatively connected to each camera, used for controlling each telescopic arm according to the image data of each camera to adjust the second pipe gallery section.

5. The machine vision-based comprehensive pipe gallery digital construction method according to claim 4, characterized in that: When the pipe gallery adjusting device is not started, the first mechanical arms and the second mechanical arms are retracted to the device main body. When accurate positioning of the second pipe gallery section is needed, the pipe gallery adjusting device is placed inside the splicing position of the comprehensive pipe gallery; The pipe gallery adjusting device is started, the central control system controls the first mechanical arms to be stretched out and supported on the inner wall of the first pipe gallery section, and the pipe gallery adjusting device is fixed with the first pipe gallery section; The central control system obtains and analyzes the image data of each camera, calculates the deviation data of the second pipe gallery section on each axis; The central control system controls the second mechanical arms to be stretched out and supported on the inner wall of the pipe gallery to be spliced; the current position coordinates of the second pipe gallery section are obtained by the posture of each second mechanical arm; the target position coordinates of the second mechanical arms are calculated according to the deviation data and the current position coordinates; and the central control system controls each second mechanical arm to adjust the second pipe gallery section until the target position coordinates are reached.

6. The machine vision-based comprehensive pipe gallery digital construction method according to claim 1, characterized in that: A supplementary light is additionally arranged inside the comprehensive pipe gallery between the first reflective sign and the camera.

7. The machine vision-based comprehensive pipe gallery digital construction method according to claim 1, characterized in that: The scale lines of the positioning mark are composed of a plurality of straight lines in the vertical and horizontal directions and a plurality of concentric circles.

Images