Lining trolley slide rail type distribution device and distribution method based on visual positioning

Abstract

The application relates to a lining trolley slide rail type distribution device and a distribution method based on visual positioning, and belongs to the technical field of tunnel engineering construction equipment. In order to realize automatic and accurate distribution and improve the butt joint accuracy and stability of a distribution pipeline and a pouring pipeline, a distribution vehicle in the distribution device is connected with a moving platform and can move along the extension direction of the moving platform; two laser levels for assisting alignment are symmetrically arranged on a butt joint pipeline, so as to facilitate butt joint with the pouring pipeline; a monitoring target on the pouring pipeline comprises an alignment mark aligned with the laser level; a cleaning assembly is arranged on the side of the laser level away from the rotating elbow pipe; a machine vision mechanism is located above the butt joint pipeline and is used for obtaining spatial position information of the monitoring target, according to which an optimal motion path of butt joint of the butt joint pipeline and the pouring pipeline is calculated, butt joint of the two is realized, and the butt joint accuracy and stability of the butt joint pipeline and the pouring pipeline are improved, and the distribution efficiency and distribution effect are improved.

Description

Technical Field

[0001] This application relates to a visual positioning-based lining trolley sliding rail type concrete placing device and method, belonging to the technical field of tunnel engineering construction equipment. Background Technology

[0002] A tunnel lining trolley is a specialized piece of equipment used in tunnel construction for secondary concrete lining (i.e., the shaping of the tunnel's internal structure). Its main function is to pour concrete into the formwork created by the trolley according to design requirements, ultimately forming a tunnel lining structure (such as arches and sidewalls) with specific strength, flatness, and geometric dimensions. It is one of the key pieces of equipment for ensuring the quality and efficiency of tunnel construction. Typical construction steps for a tunnel lining trolley include trolley positioning, formwork adjustment, installation of reinforcing bars and embedded parts, concrete pouring, curing and formwork removal, and trolley relocation.

[0003] The stable and accurate connection between the placing pipe and the pouring pipe of the concrete placing trolley is a crucial step in concrete pouring. Currently, considering actual construction costs, this is mainly achieved through manual remote control or mechanical placing devices. For example, a rapid pump pipe connection device for an automatically controlled placing trolley used in tunnel lining trolleys, disclosed in patent publication number CN110671317B and announcement date 20210827, includes a female connecting pipe connected to the tunnel lining trolley and a male connecting pipe connected to the placing trolley. The female connecting pipe includes an internally threaded pump pipe, and the male connecting pipe includes an externally threaded pump pipe. The connection is completed by rotating the externally threaded pump pipe into the internally threaded pump pipe.

[0004] In related technologies, in the linear guide rail type concrete placing device for lining trolleys, the pouring pipes are evenly and spaced on both sides of the placing trolley. The linear movement of the placing trolley enables the linear movement of the connecting pipes, thus achieving connection between the connecting pipes and the pouring pipes located on the same side. A rotary drive mechanism enables the connecting pipes to rotate relative to the placing trolley, thus achieving connection between the connecting pipes and pouring pipes located on different sides. The combination of linear movement and rotation allows for position adjustment of the connecting pipes, achieving precise alignment with the pouring pipes. During position adjustment, not only must the mating surfaces of the connecting pipes and the pouring pipes be parallel, but the central axes of the connecting straight pipe sections must also coincide, or the distance between the two central axes must be within a specified range.

[0005] When constructing a lining trolley, operators of the material placement device driven by manual remote control need to operate it for a long time in a complex environment, which is labor-intensive and difficult to guarantee the accuracy of material placement due to human factors. On the other hand, automated material placement devices have problems such as low environmental perception capabilities and poor adaptability of auxiliary material placement mechanisms such as laser levels to interference from factors such as dust and vibration in the tunnel, making it difficult to operate stably under complex working conditions.

[0006] To address the shortcomings of the existing technologies, a vision-based lining trolley sliding rail type lining material placing device and method are designed to achieve automated and precise material placing, reduce labor intensity, improve the accuracy and stability of connecting pipes and casting pipes, and enhance material placing efficiency, reliability, and safety. Summary of the Invention

[0007] This application aims to overcome the shortcomings of existing technologies, such as the need for operators to work in complex environments for extended periods with manually controlled concrete placement devices, resulting in high labor intensity and difficulty in ensuring placement accuracy due to human factors; and the limitations of automated concrete placement devices, including those with low environmental perception capabilities and poor adaptability to interference from factors such as dust and vibration in tunnels, making stable operation difficult under complex conditions. Therefore, this application provides a visual positioning-based lining trolley sliding rail concrete placement device and method, aiming to achieve automated and precise concrete placement, reduce labor intensity, improve the accuracy and stability of connecting pipes and pouring pipes, and enhance placement efficiency, effect, reliability, and safety.

[0008] The embodiments of the first aspect of this application provide a visual positioning-based lining trolley sliding rail type lining placement device, hereinafter referred to as the placement device. The placement device includes a placement trolley, a docking pipe, a machine vision mechanism, and multiple sets of pouring pipes. The placement trolley is connected to a mobile platform and can move along the extension direction of the mobile platform. The docking pipe is rotatably connected to one side of the placement trolley and includes a rotating bend and a telescopic straight pipe connected to each other. Two laser levels for assisting alignment are symmetrically arranged on the telescopic straight pipe. A cleaning component is arranged on the side of the laser level away from the rotating bend. When the telescopic straight pipe extends and retracts, it drives the cleaning component to move synchronously to clean the lens of the laser level. Multiple sets of pouring pipes are distributed on both sides of the placement trolley for docking with the telescopic straight pipe. Multiple monitoring targets are arranged above each set of pouring pipes. The monitoring targets include alignment marks for alignment with the laser levels. The machine vision mechanism is arranged above the docking pipe and connected to the placement trolley to obtain the spatial position information of the monitoring targets and calculate the optimal movement path for docking the docking pipe and the pouring pipe.

[0009] In some embodiments, a connecting pipe is fixedly connected to the interface of the casting pipe, and at least one locking rod is provided around the periphery of the connecting pipe. The middle section of the locking rod is hinged to the connecting pipe through a first hinge seat. A first elastic element is provided between the end of the locking rod away from the interface and the connecting pipe, and a hook is provided at the end of the locking rod near the interface.

[0010] In some embodiments, the telescopic straight tube includes a fixed tube and a telescopic tube that are slidably connected, and at least one locking block that matches the hook is provided on the outer periphery of the end of the telescopic tube away from the fixed tube.

[0011] In some embodiments, the hook is inverted trapezoidal and the block is trapezoidal in cross-section perpendicular to the direction of movement of the fabric carriage.

[0012] In some embodiments, the fabric-making device further includes a first driving mechanism, which includes a hydraulic cylinder and a piston rod. The hydraulic cylinder is connected to a fixed pipe, and two oil ports are provided on the cylinder wall. One end of the piston rod passes through the hydraulic cylinder and is connected to a piston located between the two oil ports, and the other end is connected to a telescopic pipe.

[0013] In some embodiments, two laser levels are connected to a fixed tube via a bracket, and a protective plate is provided on the side of the two laser levels that is far apart from each other. The protective plate is connected to the bracket.

[0014] In some embodiments, a groove is provided on the side of the support away from the rotating bend, and the extension direction of the groove is parallel to the moving direction of the fabric carriage.

[0015] In some embodiments, the cleaning component includes a moving block, a sponge block, and a water storage box. The moving block is slidably connected to a chute via a slider and is capable of reciprocating along the extension direction of the chute. The sponge block is disposed on the side of the moving block closer to the laser level and is used to contact the laser level to clean its surface. The water storage box is disposed on the side of the moving block away from the laser level and has a water inlet and a water outlet. The moving block is provided with a through hole to connect the water outlet and the sponge block.

[0016] In some embodiments, the fabric-making device further includes a second driving mechanism, which includes a first hydraulic pipe, a first hydraulic rod, a second hydraulic pipe, and a second hydraulic rod. The first hydraulic pipe is disposed on one side of the slide groove. One end of the first hydraulic rod passes through the inner cavity of the first hydraulic pipe, and the other end is placed in the slide groove and connected to the slider. A second elastic element is disposed between the side of the slider away from the first hydraulic rod and the slide groove. The second hydraulic pipe is connected to a fixed pipe, and one end is connected to the first hydraulic pipe through a conduit. One end of the second hydraulic rod passes through the inner cavity of the second hydraulic pipe, and the other end is connected to a telescopic pipe, with its extension direction parallel to the telescopic pipe's extension direction.

[0017] The second aspect of this application provides a method for placing lining material using a vision-based positioning lining trolley slide rail type placing device, including:

[0018] S101, turn on the laser level;

[0019] S102, Adjust the pose of the machine vision mechanism so that multiple monitoring targets above the pouring pipe are within the field of view of the machine vision mechanism, and obtain the current spatial position information of the docking pipe based on the position of the monitoring targets; the monitoring targets include alignment marks after alignment with the laser level, and the current spatial position information includes the horizontal distance, vertical distance and relative offset angle between the docking pipe and the pouring pipe.

[0020] S103, Analyze and determine whether the current spatial position information of the docking pipe is within the range of the preset spatial position information. The preset spatial position information is the range of spatial positions of the placing vehicle and the docking pipe obtained during the previous adjustment and testing process, which enables the docking pipe and the pouring pipe to dock well.

[0021] S104, if the current spatial location information is within the range of the preset spatial location information, drive the telescopic straight pipe to extend and connect with the pouring pipe.

[0022] In some embodiments, the fabric method further includes:

[0023] If the current spatial location information is outside the range of the preset spatial location information, then adjust the moving distance of the fabric carrier, the extension length of the telescopic straight pipe in the docking pipeline, and the rotation angle of the rotating bend according to the current spatial location information.

[0024] After the adjustment is completed, the current spatial position information of the docking pipeline is obtained again based on the position of the monitoring target;

[0025] Analyze and determine whether the current spatial location information of the docking pipeline is within the range of the preset spatial location information;

[0026] If the current spatial location information is within the range of the preset spatial location information, drive the extendable straight pipe to extend and connect with the pouring pipe.

[0027] In this embodiment, the laser level corresponds to the alignment mark. The laser level can be a laser crosshair level, and the alignment mark can be a crosshair mark. Before the docking pipe and the casting pipe are docked, the laser level is turned on. The laser level projects a cross-shaped laser line onto the target plate, which, together with the crosshair mark, forms an alignment reference monitoring target. Machine vision systems can determine the parallelism and alignment of the mating surfaces of the connecting pipes and the casting pipes by using the overlap between the cross-shaped laser lines and the cross marks, along with dual calibration using other monitoring targets. The alignment of the interfaces refers to whether the central axes of the straight pipe sections of the two pipes are located in the same plane or within a certain range. This allows the system to determine the horizontal distance (distance between central axes), vertical distance (distance between mating surfaces), and relative offset angle between the connecting pipes and the casting pipes, providing data support for their docking and enhancing the accuracy of the judgment. This assists the machine vision system in adjusting the moving distance of the material placing vehicle, the extension length of the telescopic straight pipe, and the rotation angle of the rotating bend, reducing docking errors, improving the accuracy and stability of the docking of the connecting pipes and the casting pipes, and enhancing the material placing effect and efficiency of the material placing device.

[0028] In this embodiment, by cooperating with other structures, the machine vision mechanism can achieve automated and precise docking and efficient placement of concrete in tunnel lining, reduce docking errors, improve docking effect and efficiency, thereby improving placement effect and efficiency, reducing concrete waste, lowering loss rate, and reducing tunnel construction costs. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the fabric-making device in one embodiment of this application.

[0030] Figure 2 This is a schematic diagram of the lining trolley in one embodiment of this application.

[0031] Figure 3 This is a side view of a fabric-making device according to an embodiment of this application.

[0032] Figure 4 for Figure 3 A magnified view of region A in the middle.

[0033] Figure 5 This is a front view of a fabric-making device according to an embodiment of this application.

[0034] Figure 6 This is a schematic diagram of the docking pipe in one embodiment of this application.

[0035] Figure 7 This is a side view of the connecting pipe during the laying of material in one embodiment of this application.

[0036] Figure 8 This is a side view of the connecting pipe during material laying in one embodiment of this application.

[0037] Figure 9 This is a cross-sectional view of the connecting pipe along one direction during the fabric laying process in one embodiment of this application.

[0038] Figure 10 This is a cross-sectional view of the connecting pipe along one direction during material laying, according to one embodiment of this application.

[0039] Figure 11 This is a cross-sectional view of the connecting pipe along another direction during the fabric laying process in one embodiment of this application.

[0040] Figure 12 This is a cross-sectional view of the connecting pipe in another direction during the fabric laying process in one embodiment of this application.

[0041] Figure 13 for Figure 8 A cross-sectional view along the AA direction.

[0042] Figure 14 for Figure 13 A magnified view of region B in the middle.

[0043] Figure 15 This is a schematic diagram of the locking rod in one embodiment of this application.

[0044] Figure 16 This is a schematic diagram of the structure of the bracket in one embodiment of this application.

[0045] Figure 17 This is a schematic diagram of the cleaning component in one embodiment of this application.

[0046] Figure 18 This is a cross-sectional view of a cleaning component according to an embodiment of this application.

[0047] Figure 19 This is a schematic diagram of the connecting pipe in one embodiment of this application.

[0048] Figure 20 This is a cross-sectional view of the connecting pipe in one embodiment of this application.

[0049] Figure 21 This is a schematic diagram of the sealing buffer in one embodiment of this application.

[0050] Figure 22 This is a cross-sectional view of a sealing buffer element in one embodiment of this application.

[0051] Figure 23 This is a schematic diagram of the fabric application method in one embodiment of this application.

[0052] Figure 24This is a simplified schematic diagram of image information obtained by a camera in one embodiment of this application.

[0053] Figure 25 This is a simplified schematic diagram of image information obtained by a camera in another embodiment of this application.

[0054] Figure 26 This is a simplified schematic diagram of image information obtained by a camera in another embodiment of this application.

[0055] The labels in the attached diagram are as follows: 1-Concrete trolley, 11-Conveying pipe, 2-Mobile platform, 21-Guide rail, 22-Roller, 23-First motor, 24-Large gear, 25-Small gear, 26-Transmission belt, 3-Connecting pipe, 31-Rotating bend, 32-Extendable straight pipe, 321-Fixed pipe, 322-Extendable pipe, 323-Clamping block, 33-Laser level, 34-Bracket, 341-Groove, 342-Cleaning plate, 343-Protective plate, 4-Pouring pipe, 41-Monitoring target, 411-Alignment mark, 5-Machine vision mechanism, 51-Laser rangefinder, 52-Camera, 6-Connecting pipe 601-Limiting ring, 61-Clamping rod, 62-First elastic element, 63-Hook, 64-Sealing buffer element, 65-First hinge seat, 71-Hydraulic cylinder, 72-Piston rod, 73-Oil port, 74-Piston, 8-Cleaning component, 81-Moving block, 811-Slider, 812-Through hole, 82-Sponge block, 83-Water storage box, 831-Water inlet, 832-Plug, 91-First hydraulic pipe, 92-First hydraulic rod, 93-Second elastic element, 94-Second hydraulic pipe, 95-Second hydraulic rod, 96-Conduit, 100-Liner trolley, 101-Pouring window, 102-Support frame. Detailed Implementation

[0056] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of this application.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0058] When using the terms “including,” “having,” and “comprising” as described herein, another component may be added unless explicitly qualifying terms such as “only,” “consisting of,” etc. are used. Unless otherwise stated, singular terms may include plural forms and should not be construed as having a quantity of one.

[0059] It should be understood that although the terms “first,” “second,” etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of this application, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0060] It should also be understood that, in interpreting an element, although not explicitly described, the element is interpreted as including a range of error, which should be within the acceptable deviation range of a particular value as determined by a person skilled in the art. For example, "approximately," "about," or "substantially" can mean one or more standard deviations, without limitation herein.

[0061] Furthermore, the accompanying drawings are not drawn to a 1:1 scale, and the relative dimensions of the components are shown in the drawings only as examples and not necessarily to actual scale.

[0062] In related technologies, when connecting the docking pipe and the pouring pipe via manual remote control, it is necessary to manually judge the docking position of the grout pipe. Due to factors such as blind spots and lack of operational experience, it is difficult to achieve millimeter-level precise alignment, which can easily lead to uneven concrete pouring and quality defects such as voids and misalignments. Moreover, the manual and repeated docking process is time-consuming, especially in the construction of complex tunnel sections (such as variable cross sections and curved sections), where a single material placement operation can take several hours, which seriously restricts the progress of the project. Secondly, the tunnel construction environment is humid, dusty, and harsh. When operating the robotic arm at close range, operators face risks such as falling from heights and mechanical collisions. Long-term high-intensity operation can also easily lead to fatigue.

[0063] When using traditional concrete placing devices to connect the laying pipes and the grouting pipes, the alignment of the grouting holes is often controlled by a PLC (Programmable Logic Controller) combined with displacement sensors. A preset program drives the hydraulic actuator to adjust the robotic arm's posture. However, the complex tunnel construction environment, coupled with factors such as mechanical vibration, hydraulic system slippage, and cumulative sensor errors, can easily lead to PLC control malfunctions. This results in frequent problems like concrete placing pipe misalignment and grouting hole misalignment, leading to a high failure rate and often requiring manual monitoring, severely impacting construction efficiency and quality.

[0064] To overcome the above-mentioned shortcomings, this application provides a vision-based positioning lining trolley sliding rail type laying device and laying method, referring to... Figures 1 to 26 As shown, the aim is to achieve automated and precise material placement, reduce labor intensity, improve the accuracy and stability of the connection between the connecting pipe 3 and the casting pipe 4, and improve material placement efficiency, reliability and safety.

[0065] The first aspect of this application provides a visual positioning-based lining trolley sliding rail-type concrete placement device, hereinafter referred to as the placement device. The placement device includes a placement trolley 1, a docking pipe 3, a machine vision mechanism 5, and multiple sets of pouring pipes 4. The placement trolley 1 is connected to a moving platform 2 and can move along the extension direction of the moving platform 2. The docking pipe 3 is rotatably connected to one side of the placement trolley 1 and includes a rotating bend 31 and a retractable straight pipe 32 connected to each other. Two laser levels 33 for assisting alignment are symmetrically arranged on the retractable straight pipe 32. A cleaning component 8 is arranged on the side of the laser level 33 away from the rotating bend 31. When the telescopic straight pipe 32 extends and retracts, it drives the cleaning component 8 to move synchronously, thereby cleaning the lens of the laser level 33. Multiple sets of pouring pipes 4 are distributed on both sides of the concrete placing vehicle 1 for docking with the telescopic straight pipe 32. Each set of pouring pipes 4 is equipped with multiple monitoring targets 41, including alignment marks 411 for alignment with the laser level 33. The machine vision mechanism 5 is set above the docking pipe 3 and connected to the concrete placing vehicle 1 to obtain the spatial position information of the monitoring targets 41 and calculate the optimal movement path for docking the docking pipe 3 and the pouring pipe 4, thereby achieving docking.

[0066] In this embodiment, the mobile platform 2 is located above the concrete placing trolley 1, which is slidably connected to the mobile platform 2 via a suspension. The docking pipe 3 is rotatably connected to the concrete placing trolley 1 and can rotate 180° downwards to dock with multiple sets of pouring pipes 4 on both sides of the concrete placing trolley 1 in turn, thereby realizing slurry delivery. The multiple sets of pouring pipes 4 are arranged longitudinally on the support frame 102 of the lining trolley 100. Each set of pouring pipes 4 is fixedly connected to a target plate. Multiple monitoring targets 41 are set on the side of the target plate closest to the concrete placing trolley 1 to characterize the spatial position of the pouring pipe 4. Two laser levels 33 are symmetrically arranged on the telescopic straight pipe 32 to assist in alignment, so that after the docking pipe 3 rotates 180°, it is aligned with the alignment mark 411 on the other side of the pouring pipe 4.

[0067] In this embodiment, the laser level 33 corresponds to the alignment mark 411. The laser level 33 can be a laser crosshair level, and the alignment mark 411 can be a crosshair mark. Before the docking pipe 3 and the casting pipe 4 are docked, the laser level 33 is turned on. The laser level 33 projects a cross-shaped laser line onto the target plate, which, together with the crosshair mark, forms an alignment reference monitoring target. The machine vision mechanism 5 can determine the parallelism and alignment of the docking surfaces of the connecting pipe 3 and the casting pipe 4 based on the overlap between the cross-shaped laser line and the cross mark, in conjunction with other monitoring targets 41 for dual calibration. The alignment of the interfaces refers to whether the central axes of the connecting straight pipe sections of the two pipes are located in the same plane or within a certain range. This allows the machine vision mechanism 5 to determine the horizontal distance (distance between central axes), vertical distance (distance between docking surfaces), and relative offset angle between the connecting pipe 3 and the casting pipe 4, providing data support for their docking and enhancing the accuracy of the judgment. This assists the machine vision mechanism 5 in adjusting the moving distance of the placing vehicle 1, the telescopic length of the telescopic straight pipe 32, and the rotation angle of the rotating bend 31, thereby reducing docking errors, improving the docking accuracy and stability of the connecting pipe 3 and the casting pipe 4, and improving the material placement effect and efficiency of the material placement device.

[0068] In this embodiment, after the docking pipe 3 is moved to the initial set position, the laser level 33 is activated. The emitted laser beam interacts with the alignment mark 411 on the target plate to form a special alignment reference target. Then, the machine vision mechanism 5 is driven to adjust its own posture so that multiple monitoring targets 41 above the casting pipe 4 are within the field of view. The current spatial position information of the docking pipe 3 is obtained based on the position of the monitoring targets 41. The current spatial position information includes the horizontal distance, vertical distance, and relative offset angle between the docking pipe 3 and the casting pipe 4. The machine vision mechanism 5 analyzes and determines whether the current spatial position information of the docking pipe 3 is within the range of the preset spatial position information. The preset spatial position information is the range of the spatial positions of the placing trolley 1 and the docking pipe 3 obtained during the previous adjustment and testing process, which enables good docking of the docking pipe 3 and the casting pipe 4. If the current spatial position information is within the range of the preset spatial position information, the telescopic straight pipe 32 is driven to extend and dock with the casting pipe 4.

[0069] If the current spatial location information is outside the range of the preset spatial location information, the moving distance of the concrete placing vehicle 1, the extension length of the telescopic straight pipe 32 in the docking pipe 3, and the rotation angle of the rotating bend 31 are adjusted according to the current spatial location information. After the adjustment, the current spatial location information of the docking pipe 3 is obtained again according to the position of the monitoring target 41, and it is analyzed and determined whether the current spatial location information of the docking pipe 3 is within the range of the preset spatial location information. If the current spatial location information is within the range of the preset spatial location information, the telescopic straight pipe 32 is driven to extend and dock with the pouring pipe 4. If the current spatial location information is still outside the range of the preset spatial location information, an error can be reported on the operation page to remind the operator to manually operate the docking or troubleshoot the problem.

[0070] In one example, a simplified diagram of the image information captured by machine vision device 5 is shown below. Figure 24 As shown, white represents laser crosshair marks, and gray represents crosshair alignment marks. Currently, the spatial position information is outside the range of the preset spatial position information. The relative offset angle (reflected in the image information as distance L1) and horizontal distance (L2) between the docking pipe 3 and the casting pipe 4 are both outside the range of the preset spatial position information, indicating that the placing trolley 1 has not moved into position, and the docking pipe 3 has not rotated into position. The parallelism of the docking surfaces of the docking pipe 3 and the alignment of the interfaces do not meet the docking requirements. At this time, it is necessary to adjust the moving distance of the placing trolley 1 and the rotation angle of the rotating bend 31 to make the position of the docking pipe 3 meet the docking requirements.

[0071] In one example, a simplified diagram of the image information captured by machine vision device 5 is shown below. Figure 25 As shown, the current spatial position information is outside the range of the preset spatial position information. The horizontal distance (L2) between the docking pipe 3 and the pouring pipe 4 meets the docking requirements, indicating that the placing trolley 1 has moved into place. However, the relative offset angle does not meet the requirements, indicating that the docking pipe 3 has not rotated into place. The parallelism of the docking surfaces of the docking pipe 3 and the pouring pipe 4 does not meet the docking requirements, but the alignment of the interface meets the docking requirements. At this time, it is only necessary to adjust the rotation angle of the rotating bend 31 to make the position of the docking pipe 3 meet the docking requirements.

[0072] In one example, a simplified diagram of the image information captured by machine vision device 5 is shown below. Figure 26As shown, the current spatial position information is outside the range of the preset spatial position information. The relative offset angle between the docking pipe 3 and the pouring pipe 4 meets the docking requirements, indicating that the docking pipe 3 has rotated into place. However, the horizontal distance (L2) does not meet the requirements, indicating that the placing trolley 1 has not moved into place. The parallelism of the docking surfaces of the docking pipe 3 and the pouring pipe 4 meets the docking requirements, but the alignment of the interface does not meet the docking requirements. At this time, it is only necessary to adjust the moving distance of the placing trolley 1 to make the position of the docking pipe 3 meet the docking requirements.

[0073] In related technologies, the machine vision mechanism 5 determines whether the docking pipe 3 has rotated to a horizontal alignment position so that its docking surface is level with the docking surface of the casting pipe 4. This determination is based on whether the position and distance between the front end of the casting pipe 4 and the alignment mark on the target plate are within the range of values ​​obtained after preliminary adjustments, as captured by the machine vision mechanism 5. However, existing image information with conventional alignment marks, obtained from the position and angle of the machine vision mechanism 5, has low accuracy in determining whether the docking surfaces of the casting pipe 4 and the docking pipe 3 are parallel. This results in a certain angular error between the docking surfaces, making it difficult to accurately identify and control the rotation of the docking pipe 3 to a horizontal alignment position. Furthermore, small errors in the image information can cause significant differences in the actual adjustment process of the docking pipe 3, affecting docking accuracy. Secondly, the machine vision mechanism 5 is costly, bulky, and heavy, making it unsuitable for installation on the docking pipe 3 to rotate synchronously with it. Therefore, a laser cross level is added for auxiliary alignment to improve the docking accuracy of the docking pipe 3 and the casting pipe 4.

[0074] In this embodiment, by cooperating with other structures, the machine vision mechanism 5 enables automated and precise docking and efficient placement of concrete in tunnel lining, reducing docking errors, improving docking effect and efficiency, thereby improving placement effect and efficiency, reducing concrete waste, lowering loss rate, and reducing tunnel construction costs.

[0075] In some embodiments, the concrete placing device further includes a conveying pipe 11. The inlet end of the conveying pipe 11 is connected to the trailer pump system for concrete pouring, and the outlet end is connected to the placing trolley 1. The placing trolley 1 is connected to the docking pipe 3 through a pipeline inside the placing trolley 1 to convey concrete slurry. The lining trolley 100 is provided with multiple pouring windows 101. After the docking pipe 3 and the pouring pipe 4 are docked and fixed, the concrete slurry is sequentially conveyed through the conveying pipe 11, the placing trolley 1, the docking pipe 3, and the pouring pipe 4 to the pouring window 101 for pouring. The conveying pipe 11 is a rotatable conveying pipe, which can realize the movement of the placing trolley 1 while ensuring stable delivery of concrete slurry. The support frame 102 of the lining trolley 100 is used to support and fix the moving platform 2 and multiple sets of pouring pipes 4 to ensure the working stability of the placing device.

[0076] In some embodiments, two guide rails 21 are spaced apart on the mobile platform 2. Multiple rollers 22 are fixedly connected to the side of the material placing trolley 1 near the mobile platform 2 via connecting blocks. The rollers 22 are placed within and slidably connected to the guide rails 21. A first motor 23 is located below the mobile platform 2. The drive shaft of the first motor 23 is connected to a large gear 24. Two small gears 25 mesh with the large gear 24 above it. The two small gears 25 are placed within the guide rails 21 and connected to the rolling shafts of the rollers 22 via a transmission chain or belt 26. The first motor 23 drives the large gear 24 to rotate, which in turn drives the small gears 25 to rotate. The small gears 25, through the transmission chain or belt 26, drive the rollers 22 to roll within the guide rails 21. The rollers 22 move the material placing trolley 1 relative to the mobile platform 2, thereby changing the horizontal position of the docking pipe 3 to dock with casting pipes 4 at different locations for material placement operations.

[0077] In this embodiment, the 180° rotation of the docking pipe 3 is achieved through an external gear-type rotary drive structure. The external gear-type rotary drive structure is housed within the fabric placing carriage 1 and includes a servo motor, a rotary joint, a driving gear, and a driven gear. The docking pipe 3 is rotatably connected to one side of the fabric placing carriage 1 via the rotary joint, and a driven gear is fixedly connected to the docking pipe 3. A support plate is provided inside the fabric placing carriage 1, and a servo motor is mounted on the support plate. The drive shaft of the servo motor is connected to the driving gear, which meshes with the driven gear. A corresponding gearbox can be equipped as needed. The rotation of the servo motor drives the driving gear to rotate, which in turn drives the driven gear to rotate, which in turn drives the docking pipe 3 to rotate. The rotation direction, speed, and angle of the docking pipe 3 can be controlled according to the rotation direction and speed of the servo motor.

[0078] In some embodiments, the casting pipe 4 is fixedly connected to a connecting pipe 6 at its interface. At least one engaging rod 61 is provided around the periphery of the connecting pipe 6. The middle section of the engaging rod 61 is hinged to the connecting pipe 6 via a first hinge seat 65. A first elastic element 62 is provided between the end of the engaging rod 61 away from the interface and the connecting pipe 6. A hook 63 is provided at the end of the engaging rod 61 near the interface. The telescopic straight pipe 32 includes a fixed pipe 321 and a telescopic pipe 322 that are slidably connected. At least one locking block 323, corresponding to the position of the engaging rod 61 and matching the hook 63, is provided on the outer periphery of the end of the telescopic pipe 322 away from the fixed pipe 321.

[0079] In this embodiment, the connecting pipe 6 is made of metal, and the first elastic element 62 can be a cylindrical helical spring. The material of the first elastic element 62 includes, but is not limited to, 65 steel, 60Si2Mn spring steel, 304 stainless steel, and 316 stainless steel. The diameter of the spring wire is 1mm to 3mm, the effective number of coils of the spring is 4 to 10, and the mean diameter of the spring is 15mm to 25mm. The material and specifications of the first elastic element 62 can be set according to actual needs, and this application does not limit them.

[0080] In this embodiment, when the connecting pipe 3 and the casting pipe 4 are connected, the telescopic pipe 322 extends out of the fixed pipe 321 and gradually approaches the connection interface of the casting pipe 4. The locking block 323 moves synchronously with the telescopic pipe 322 and engages with the hook 63. The locking block 323 first lifts up one end of the hook 63, and the other end of the locking rod 61 moves down to squeeze the first elastic member 62. After the locking block 323 continues to move and engages with the hook 63, the force on the other end of the locking rod 61 is released, and the first elastic member 62 recovers its elongation under the action of elastic force, so that the hook 63 falls down and engages tightly with the locking block 323.

[0081] In this embodiment, a spring-connected connecting pipe 6 and a locking rod 61 are provided at the joint of the connecting pipe 3 and the casting pipe 4. After the connecting pipe 3 and the casting pipe 4 are in place, the spring force can be used to engage the hook 63 with the locking block 323, assisting in locking the connecting pipe 3 and the casting pipe 4 and improving the stability of their connection. The cooperation of the first elastic element 62, the hook 63, and the locking block 323 can also share and absorb the radial force on the connecting pipe 3 and the casting pipe 4 during the casting process, reducing the impact and vibration generated during the casting process on the casting pipe 4, the connecting pipe 3, and the corresponding drive components, and improving the working stability and service life of the material placing device.

[0082] In this embodiment, a support component is provided below the pouring pipe 4 to ensure the stability of the pouring pipe 4 and the connecting pipe 6 during the pouring process. Under this premise, the connecting pipe 6 can also provide an upward traction force to share the downward gravity of the connecting pipe 3 during the pouring process, further improving the working stability of the connecting pipe 3, improving the connection stability of the connecting pipe 3 and the pouring pipe 4, and improving the stability of concrete pouring.

[0083] In some embodiments, the concrete placing device further includes a sealing buffer 64, which is disposed between the connecting pipe 3 and the pouring pipe 4. The sealing buffer 64 can be fixedly connected to the mating surface of the connecting pipe 3 or to the inner wall of the connecting pipe 6. The installation position of the sealing buffer 64 can be set according to actual needs, and this application does not limit it. The sealing buffer 64 can be annular in shape, used to seal the mating surface of the connecting pipe 3 and the pouring pipe 4, preventing concrete slurry leakage.

[0084] In one example, when the sealing buffer 64 is disposed on the mating surface of the docking pipe 3, the sealing buffer 64 is stepped near the outer wall of the casting pipe 4, and the diameter of the sealing buffer 64 gradually decreases along the direction close to the casting pipe 4, so as to facilitate the docking pipe 3 to enter the connecting pipe 6 and dock with the casting pipe 4, thereby improving the smoothness and stability of the docking.

[0085] In one example, a limiting ring 601 is provided on the inner wall of the connecting pipe 6. A sealing buffer 64 is fixedly connected to the side of the limiting ring 601 away from the casting pipe 4. The limiting ring 601 is used to limit the sealing buffer 64 to prevent it from falling into the casting pipe 4. Figure 21 and Figure 22 As shown, the inner wall of the sealing buffer 64 is stepped, and the inner diameter of the sealing buffer 64 gradually increases along the direction close to the casting pipe 4, so that after the docking pipe 3 and the casting pipe 4 are docked, the sealing buffer 64 can better fill the gap between the docking surface of the docking pipe 3 and the connecting pipe 6, and achieve the sealing between the docking surfaces of the docking pipe 3 and the casting pipe 4.

[0086] In this embodiment, the sealing buffer 64 can adaptively adjust the alignment error within 3mm (determined by the elastic deformation size). The stepped structure on the sealing buffer 64 can also buffer and reduce the impact generated when the docking pipe 3 and the casting pipe 4 are docked, thereby reducing the impact on the target plate and the monitoring target 41 and improving the material placement stability and operational reliability of the material placement device. The material of the sealing buffer 64 includes, but is not limited to, rubber, plastic and their compounds.

[0087] In this embodiment, the design of the connecting pipe 6, the sealing buffer 64, and the locking rod 61 can adapt to minute deformations during tunnel construction, achieving adaptive error adjustment and stable connection during the docking process. This overcomes the limitations of traditional rigid docking, improves the environmental adaptability of the concrete placing device, and extends its service life. The connecting pipe 6 can be made of metal, and the sealing buffer 64 can be made of high-strength, wear-resistant special rubber material to improve structural durability and extend the service life of the concrete placing device.

[0088] In some embodiments, in a cross section perpendicular to the direction of movement of the concrete placing vehicle 1, the hook 63 is inverted trapezoidal and the block 323 is trapezoidal. This allows for stable and smooth engagement of the hook 63 and the block 323, and also enables stable and smooth disconnection after pouring, improving the connection stability and disconnection stability of the connecting pipe 3 and the pouring pipe 4, and enhancing the operational stability of the concrete placing device.

[0089] In some embodiments, the fabric-making device further includes a first driving mechanism, which includes a hydraulic cylinder 71 and a piston rod 72. The hydraulic cylinder 71 is connected to a fixed pipe 321, and two oil ports 73 are provided on the cylinder wall. The oil ports 73 are connected to a hydraulic pump through pipelines. One end of the piston rod 72 passes through the hydraulic cylinder 71 and is connected to a piston 74 located between the two oil ports 73. The other end is connected to a telescopic pipe 322.

[0090] In this embodiment, the machine vision mechanism 5 includes a controller. After the machine vision mechanism 5 aligns the docking pipe 3 and the casting pipe 4, the controller controls the hydraulic pump to deliver oil to the oil port 73 located closer to the rotating bend 31, driving the piston rod 72 to extend out of the hydraulic cylinder 71 and move in the direction closer to the casting pipe 4. The piston rod 72 drives the telescopic pipe 322 to move synchronously until it docks with the casting pipe 4. The first driving mechanism is... Figure 11 The state shown becomes Figure 12 As shown in the diagram. When the connection needs to be disconnected after one layer of fabric is laid, the controller controls the hydraulic pump to deliver oil to the oil port 73 located closer to the pouring pipe 4, driving the piston rod 72 to retract the hydraulic cylinder 71 and move away from the pouring pipe 4. The piston rod 72 drives the telescopic tube 322 to move synchronously until the connection with the pouring pipe 4 is disconnected. The first drive mechanism is... Figure 12 The state shown becomes Figure 11 The state shown. Wherein, Figure 11 This is a schematic diagram of the first drive mechanism when the fabric is being laid. Figure 12 This is a schematic diagram of the first drive mechanism for fabric production.

[0091] In some embodiments, two laser levels 33 are respectively connected to a fixed tube 321 via a bracket 34. A protective plate 343 is provided on the side of each laser level 33 that is furthest from the other, and the protective plate 343 is connected to the bracket 34. The protective plate 343 provides protection for the laser levels 33, reducing the impact of slurry, dust, or impurities on the lens of the laser levels 33, improving the service life of the laser levels 33, and enhancing the accuracy of the spatial position information of the docking pipe 3 obtained by the machine vision mechanism 5, thereby improving docking accuracy.

[0092] In some embodiments, a groove 341 is provided on the side of the bracket 34 away from the rotating bend 31. The extension direction of the groove 341 is parallel to the moving direction of the fabric cart 1. The cleaning component 8 includes a moving block 81, a sponge block 82, and a water storage box 83. The moving block 81 is slidably connected to the groove 341 via a slider 811 and can reciprocate along the extension direction of the groove 341. The sponge block 82 is disposed on the side of the moving block 81 close to the laser level 33 and is used to contact the laser level 33 to achieve surface cleaning. The water storage box 83 is disposed on the side of the moving block 81 away from the laser level 33 and has a water inlet 831 and a water outlet. A through hole 812 is provided on the moving block 81 to connect the water outlet and the sponge block 82.

[0093] In related technologies, the lens of the laser level 33 often uses optical glass (such as K9 glass), and the surrounding sealing rings often use insulating materials such as rubber and plastic. During equipment use (such as adjusting the lens angle), the friction between different insulating materials (such as the friction between glass and rubber) can lead to electron transfer, causing the lens or surrounding components to become charged with static electricity (usually negatively charged). The dust (such as fibers and dust particles) in the lining trolley 100 construction environment is mostly neutral or weakly positively charged. According to the principle of "opposites attract," the statically charged lens will actively "capture" dust particles and firmly adhere them to its surface. The circuit board and laser module (such as a semiconductor laser) inside the laser level 33 generate weak static electricity during operation. Some of this static electricity is conducted through the metal frame, wires, etc., to the metal frame of the lens or the surface of the optical glass, keeping the lens in a "charged state" for a long time and continuously attracting dust from the air. Since the lens of the laser level 33 is directly exposed, excessive dust accumulation on the lens surface after static electricity adsorption can affect laser transmission. Therefore, a cleaning component 8 is provided to clean the lens of the laser level 33.

[0094] In the embodiments of this application, such as Figure 7 As shown, before the docking operation, the cleaning component 8 is located on one side of the laser level 33 to avoid obstructing the laser level 33, allowing it to project a cross-shaped laser line normally. This, together with the cross marker, forms an alignment monitoring target, assisting the machine vision mechanism 5 in adjusting the pose of the docking pipe 3. Figure 8 As shown, after completing the position adjustment of the docking pipe 3, when performing the concrete slurry filling operation, the moving block 81 is moved to the front of the laser level 33, so that the sponge block 82 blocks the lens of the laser level 33. This can reduce the impact of vibration and dust generated during filling on the laser level 33 and improve the service life of the laser level 33.

[0095] In this embodiment, when the connection between the disconnecting pipe 3 and the pouring pipe 4 is completed, the cleaning component 8 is moved back to the side of the laser level 33. During this process, the sponge block 82 can come into contact with the lens of the laser level 33 back and forth to clean the lens surface, reduce the probability of dust and stains adhering to the lens surface, extend the service life of the laser level 33, reduce the probability of the laser beam emitted by the laser level 33 deviating, ensure the working accuracy of the laser level 33, reduce errors, reduce the probability of dust and stains on the lens blocking part of the laser energy, resulting in a decrease in the brightness of the laser beam, and ensure the long-distance visibility of the laser beam. This ensures the clarity and accuracy of the cross mark in the image information acquired by the camera 52, so as to better assist the alignment adjustment of the connecting pipe 3, improve the docking accuracy, and improve the fabric laying effect.

[0096] In this embodiment, the cleaning component 8 is set to achieve automatic cleaning of the lens of the laser level 33, eliminating the need for manual cleaning of the lens. This reduces the time workers spend on the construction process, improves the safety and efficiency of the fabrication device (saving time), and reduces potential safety hazards.

[0097] In this embodiment, the water storage box 83 stores cleaning fluid. When the connecting pipe 3 is rotated downwards 180° to connect with the casting pipe 4 on the other side, the cleaning component 8 is inverted. The cleaning fluid in the water storage box 83 flows into the sponge block 82 through the through hole 812, replenishing the moisture of the sponge block 82 and maintaining its flexibility and cleaning effect. Cleaning fluid can be added to the water storage box 83 through the water inlet 831, which is equipped with a plug 832 to seal the water inlet 831 after water is added, preventing leakage of cleaning fluid from the water storage box 83. The cleaning fluid includes water or lens cleaning agent.

[0098] In this embodiment, the slide 341 can be positioned above or below the laser level 33. Correspondingly, the position and orientation of the cleaning component 8 follow the slide 341. The slider 811 can be positioned on the moving block 81 at any location other than the position of the sponge block 82. The slide 341 can also be positioned on the side of the cleaning component 8 away from the laser level 33 (avoiding the water inlet 831). This application does not limit this. The sponge block 82 can be made of commonly used wood pulp sponge or high-density magic sponge, which is low in cost and can be replaced periodically to ensure its cleaning effect.

[0099] In some embodiments, cleaning plates 342 are provided on both sides of the laser level 33. The cleaning plates 342 have a plurality of evenly spaced through grooves. The depth of the through grooves extends parallel to the extension direction of the telescopic straight tube 32, and the length extends perpendicular to the extension direction of the chute 341. Along the moving direction of the fabric cart 1, the projection of the cleaning plate 342 at least partially overlaps with the projection of the sponge block 82, and the width of the overlapping area along the extension direction of the telescopic straight tube 32 is less than 0.3 cm. When the moving block 81 moves back and forth, the cleaning plate 342 squeezes the sponge block 82, squeezing out excess cleaning fluid. The squeezed-out cleaning fluid, in conjunction with the cleaning fluid, cleans the dust and impurities on the surface of the sponge block 82. The flow of the cleaning fluid carries the dust and impurities away from the surface of the sponge block 82, removing tiny particles and keeping the surface of the sponge block 82 clean. This prevents scratching the laser level 33 and improves the cleaning effect of the sponge block 82 on the laser level 33. The squeezed-out cleaning fluid, dust, and impurities can flow through the channel to the other side of the cleaning plate 342, avoiding them from staying in place and causing secondary pollution to the sponge block 82.

[0100] In this embodiment, the laser level 33 can also be cleaned by means of compressed air blowing. The internal circuit board of the laser level 33 or the machine vision mechanism 5 can also be potted to improve sealing, further enhancing the stability of the fabric-laying device in harsh environments and extending its service life.

[0101] In some embodiments, the fabric-making device further includes a second driving mechanism, which includes a first hydraulic pipe 91, a first hydraulic rod 92, a second hydraulic pipe 94, and a second hydraulic rod 95. One end of the first hydraulic rod 92 passes through the inner cavity of the first hydraulic pipe 91, and the other end is placed in the slide groove 341 and connected to the slider 811. A second elastic element 93 is provided at the end of the slider 811 away from the first hydraulic rod 92. The second hydraulic pipe 94 is connected to the fixed pipe 321, and one end is connected to the first hydraulic pipe 91 through the conduit 96. One end of the second hydraulic rod 95 passes through the inner cavity of the second hydraulic pipe 94, and the other end is connected to the telescopic pipe 322. The extension direction of the second hydraulic rod 95 is parallel to the extension direction of the telescopic pipe 322.

[0102] In this embodiment, before the docking pipe 3 and the pouring pipe 4 are connected, the working state of the second drive mechanism is as follows: Figure 9As shown, the second hydraulic rod 95 is placed inside the second hydraulic pipe 94. Oil is contained in the conduit 96 and the first hydraulic pipe 91. Under the action of the oil, the first hydraulic rod 92 extends out of the first hydraulic pipe 91, pressing the slider 811 to one side of the slide groove 341 and compressing the second elastic element 93, so that the cleaning component 8 is located on one side of the laser level 33, avoiding obstruction of the laser level 33. Seals are provided between the first hydraulic rod 92 and the first hydraulic pipe 91, and between the second hydraulic rod 95 and the second hydraulic pipe 94, to improve the sealing performance of the first hydraulic pipe 91 and the second hydraulic pipe 94. The seals include, but are not limited to, gaskets and sealing rings.

[0103] In this embodiment, when the docking pipe 3 and the pouring pipe 4 are docked, the working state of the second drive mechanism is as follows: Figure 10 As shown, the telescopic tube 322 moves towards the pouring pipe 4, causing the second hydraulic rod 95 to extend out of the second hydraulic tube 94. The pressure applied to the oil by the second hydraulic tube 94 gradually decreases, reducing the pressure on the first hydraulic rod 92, slider 811, and second elastic element 93. Under the action of elastic force, the second elastic element 93 gradually elongates, squeezing the slider 811 and the first hydraulic rod 92 to the other side of the chute 341, positioning the cleaning component 8 directly in front of the laser level 33. The sponge block 82 shields the lens of the laser level 33. During concrete pouring, the telescopic tube 322 remains extended, thus keeping the sponge block 82 shielding the lens of the laser level 33. This reduces the impact of vibration and dust generated during pouring on the laser level 33, improving its service life.

[0104] In this embodiment, under the action of the second driving mechanism, the cleaning component 8 can be moved by the telescopic movement of the telescopic tube 322, thereby cleaning and protecting the laser level 33. There is no need to set up an additional motor or other driving mechanism to drive the moving block 81 to move, which can simplify the structure of the cloth-laying device and reduce the application cost of the cloth-laying device.

[0105] In this embodiment, the second elastic element 93 can be a cylindrical helical spring. The spring material includes, but is not limited to, 65 steel, 60Si2Mn spring steel, 304 stainless steel, and 316 stainless steel. The diameter of the spring wire is 1mm to 3mm, the effective number of coils is 10 to 20, and the mean diameter of the spring is 6mm to 6mm. The material and specifications of the second elastic element 93 can be set according to actual needs, and this application does not limit them.

[0106] In some embodiments, this application further includes a drive system, which includes a first motor 23 for moving the fabric carriage 1, a motor for rotating the docking pipe 3, a hydraulic pump for moving the piston rod 72, a motor for rotating the machine vision mechanism 5, and other drive devices.

[0107] In some embodiments, the machine vision mechanism 5 includes a controller, a laser rangefinder 51, and at least one camera 52. The controller controls the operation of the drive system of the fabric placement device and controls specific operating strokes, such as the moving direction and displacement of the fabric carriage 1, the extension and retraction direction and length of the telescopic straight pipe 32, and the rotation direction and angle of the rotating curved pipe 31, to perform docking operations and achieve automated and precise fabric placement. The camera 52 is used to photograph the monitoring target 41 on the target plate, and the laser rangefinder 51 is used to detect the distance between the machine vision mechanism 5 and the target plate. The camera 52, laser rangefinder 51, and controller can transmit information wirelessly or electrically and work together to obtain the current spatial position information of the docking pipe 3.

[0108] In this embodiment, the controller can be a PID (Proportional-Integral-Derivative) controller. The PID controller has millimeter-level positioning accuracy and dynamic adaptive adjustment capability, which can optimize the execution process, realize the automated and precise docking of the docking pipe 3 and the pouring pipe 4, reduce docking error, and achieve efficient material placement. It can improve the material placement effect and efficiency of the material placement device while ensuring safe concrete placement operation.

[0109] In one embodiment, the machine vision mechanism 5 includes a vertically arranged first axis and a second axis. The first axis is rotatably connected to one end of a connecting frame, and the other end of the connecting frame is fixedly connected to the fabric carriage 1. The second axis is rotatably connected to the first axis, and a camera 52 and a laser rangefinder 51 are respectively connected to both ends of the second axis. The first and second axes enable the camera 52 and the laser rangefinder 51 to rotate horizontally and vertically, achieving 360° omnidirectional monitoring of the monitoring target 41, further improving the docking accuracy of the connecting pipe 3 and the casting pipe 4. The camera 52 can be a high-precision industrial camera. The laser rangefinder 51 can be replaced with a distance sensor.

[0110] In some embodiments, the machine vision mechanism 5 includes two cameras 52, and a laser rangefinder 51 can be located between the two cameras 52. The two cameras 52 can increase the data source, reduce docking errors, and further improve the docking accuracy of the docking pipe 3 and the casting pipe 4. The controller also includes an electrically connected receiver, processor, and memory. The receiver is used to receive image data of the monitoring target 41 captured by the camera 52 and distance data measured by the laser rangefinder 51. The processor is used to process and analyze the image data and distance data to obtain the spatial position information of the monitoring target 41, such as the horizontal distance, vertical distance, and relative offset angle between the docking pipe 3 and the casting pipe 4. The memory is used to store relevant data, such as preset spatial position information and current spatial position information.

[0111] In this embodiment, the machine vision mechanism 5, in conjunction with components such as the concrete placing vehicle 1, the docking pipe 3, and the pouring pipe 4, can promote the development of tunnel lining construction towards automation and intelligence, realizing the full-process automated operation of the concrete placing device to replace manual remote control operation, which can significantly improve work efficiency; moreover, operators can remotely monitor the equipment, stay away from high-risk work areas, and reduce the accident rate; it can also reduce the time that people are in close contact with construction pollution such as dust and noise, reduce the risk of occupational diseases, and conform to the development trend of "unmanned" operation in tunnel construction, greatly reducing the labor intensity and safety risks of workers.

[0112] The material placement device provided in this application can realize a complete closed loop from perception and decision-making to execution, breaking through the limitations of traditional methods in terms of accuracy, efficiency and environmental adaptability, promoting the transformation of tunnel lining construction from experience-driven to data-driven, and has important practical value for the intelligent upgrading of the industry.

[0113] In this embodiment, by combining machine vision algorithms with a driving system, the docking error can be controlled within 3mm, improving accuracy compared to manual operation, reducing the probability of problems such as concrete grout leakage and pipeline damage, minimizing concrete waste, and avoiding rework due to human error. Based on the optimal path planning guided by the machine vision mechanism 5, the single docking time can be shortened to less than 10 minutes. Combined with the efficient motion control of the concrete placing vehicle 1 and the docking pipe 3, the overall concrete placing efficiency can be improved by more than 3 times compared to traditional manual operation, meeting the needs of rapid tunnel construction.

[0114] In this embodiment, compared to the traditional manual remote-controlled fabric laying which requires 3 to 5 skilled workers and suffers from high workload and low efficiency, the fabric laying device in this application can achieve automated operation, requiring only 1 to 2 operators for remote monitoring, which can reduce labor costs and the application cost of the fabric laying device.

[0115] The second aspect of this application provides a method for placing lining material using a visual positioning-based lining trolley slide rail type placing device, such as... Figure 23 As shown, the fabric application method includes:

[0116] S101, turn on the laser level;

[0117] S102, Adjust the pose of the machine vision mechanism so that multiple monitoring targets above the pouring pipe are within the field of view of the machine vision mechanism, and obtain the current spatial position information of the docking pipe based on the position of the monitoring targets; the monitoring targets include alignment marks after alignment with the laser level, and the current spatial position information includes the horizontal distance, vertical distance and relative offset angle between the docking pipe and the pouring pipe.

[0118] S103, Analyze and determine whether the current spatial position information of the docking pipe is within the range of the preset spatial position information. The preset spatial position information is the range of spatial positions of the placing vehicle and the docking pipe obtained during the previous adjustment and testing process, which enables the docking pipe and the pouring pipe to dock well.

[0119] S104, if the current spatial location information is within the range of the preset spatial location information, drive the telescopic straight pipe to extend and connect with the pouring pipe.

[0120] In this embodiment, an industrial camera can capture field-of-view image information, and a laser rangefinder 51 can capture spatial distance information. The step of analyzing and determining whether the current spatial position information of the monitoring target 41 is within the range of the preset spatial position information also includes analyzing the motion stroke through an intelligent algorithm to solve the spatial position (X, Y, Z) of the monitoring target 41, that is, the position along the three vertical directions, and further obtaining the driving distance of the fabric carrier 1, the rotation angle of the docking pipe 3, and the extension distance of the telescopic pipe 322.

[0121] In some embodiments, the fabric method further includes:

[0122] Step 1: If the current spatial location information is outside the range of the preset spatial location information, then adjust the moving distance of the fabric carrier, the telescopic length of the telescopic straight pipe in the docking pipeline, and the rotation angle of the rotating bend according to the current spatial location information.

[0123] Step two: After the adjustment is completed, obtain the current spatial location information of the docking pipeline again based on the position of the monitoring target;

[0124] Step 3: Analyze and determine whether the current spatial location information of the docking pipeline is within the range of the preset spatial location information;

[0125] Step 4: If the current spatial location information is within the range of the preset spatial location information, drive the telescopic straight pipe to extend and connect with the pouring pipe.

[0126] In this embodiment, the steps in step one above, which involve adjusting the moving distance of the concrete placing trolley 1, the telescopic length of the telescopic straight pipe 32, and the rotation angle of the rotating bend 31 based on the current spatial location information, specifically include: the PID controller outputting control commands to the drive system, converting the drive distance into the number of pulses of the servo motor in the drive mechanism of the concrete placing trolley 1, causing it to move to the target position; converting the rotation angle into the number of pulses of the servo motor in the drive mechanism of the rotating bend 31, causing it to rotate and align with the target pouring pipe 4; and converting the telescopic distance into the stroke signal of the hydraulic cylinder in the drive mechanism of the telescopic straight pipe 32, causing it to dock with the target pouring pipe 4. After the concrete placing operation of the target pouring pipe 4 is completed, the above operations can be repeated to perform the docking and placing operation for the next target pouring operation.

[0127] In this embodiment, the visual positioning-based lining trolley sliding rail type concrete placement device integrates machine vision dynamic perception, intelligent algorithm decision-making and high-precision drive control technology to achieve automated and precise concrete docking and efficient concrete placement for tunnel lining, reduce docking errors, improve docking effect and efficiency, thereby improving concrete placement effect and efficiency, reducing concrete waste, lowering loss rate and reducing tunnel construction costs.

[0128] In this embodiment, environmental simulation tests can be conducted in the early stage to collect image data under different lighting and dust concentrations, thereby optimizing the anti-interference capability of the vision algorithm; a high-precision time synchronization protocol and data preprocessing algorithm are adopted to improve the sensor fusion efficiency; and an algorithm upgrade interface is reserved to facilitate subsequent iterative optimization, so as to reduce the degree of interference of complex lighting and strong dust in the tunnel on the accuracy and stability of the machine vision algorithm, and reduce the probability of problems such as increased identification error of interface targets, difficulty in data synchronization and coordination of multi-sensor fusion technology under actual working conditions, and impact on docking accuracy.

[0129] 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.

[0130] 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 patent application should be determined by the appended claims.

Claims

1. A vision-based positioning lining trolley sliding rail type fabric placement device, characterized in that, include: Fabric cart, connected to the mobile platform and capable of moving along the extension direction of the mobile platform; The connecting pipe is rotatably connected to one side of the fabric carrier, including a rotating bend and a telescopic straight pipe that are connected to each other. The telescopic straight pipe includes a fixed pipe and a telescopic pipe that are slidably connected. Two laser levels are symmetrically arranged on the telescopic straight pipe. A cleaning component is arranged on the side of the laser level away from the rotating bend. When the telescopic straight pipe moves in and out, it drives the cleaning component to move synchronously, thereby cleaning the lens of the laser level. Two laser levels are connected to a fixed tube via a bracket. A protective plate is installed on the side of the two laser levels that is far apart from each other, and the protective plate is connected to the bracket. A sliding groove is installed on the side of the bracket that is far away from the rotating bend, and the extension direction of the sliding groove is parallel to the movement direction of the fabric trolley. Multiple sets of pouring pipes are distributed on both sides of the concrete placing vehicle for docking with the retractable straight pipe. Each set of pouring pipes is equipped with multiple monitoring targets, including alignment marks for alignment with the laser level. The machine vision mechanism, positioned above the docking pipe and connected to the concrete placing vehicle, is used to obtain the spatial position information of the monitoring target and calculate the optimal motion path for the docking of the docking pipe and the pouring pipe. The cleaning component includes a moving block, a sponge block, and a water tank. The moving block is slidably connected to a chute via a slider and can reciprocate along the extension direction of the chute. The sponge block is located on the side of the moving block closer to the laser level and is used to contact the laser level to clean its surface. The water tank is located on the side of the moving block away from the laser level and has a water inlet and an outlet. The moving block has a through hole to connect the outlet and the sponge block. A cleaning plate is set on both sides of the laser level. The cleaning plate has multiple evenly spaced through grooves. The depth of the through grooves extends parallel to the extension direction of the telescopic straight tube, and the length extends perpendicular to the extension direction of the chute. Along the moving direction of the fabric carriage, the projection of the cleaning plate and the projection of the sponge block at least partially overlap. When the moving block moves back and forth, the cleaning plate squeezes the sponge block, squeezing out excess cleaning liquid. The squeezed-out cleaning liquid also cleans the dust and impurities on the surface of the sponge block. The flow of the cleaning liquid carries the dust and impurities away from the surface of the sponge block. The second driving mechanism includes a first hydraulic pipe, a first hydraulic rod, a second hydraulic pipe, and a second hydraulic rod. The first hydraulic pipe is disposed on one side of the slide groove. One end of the first hydraulic rod passes through the inner cavity of the first hydraulic pipe, and the other end is placed in the slide groove and connected to the slider. A second elastic element is disposed between the side of the slider away from the first hydraulic rod and the slide groove. The second hydraulic pipe is connected to the fixed pipe, and one end is connected to the first hydraulic pipe through a conduit. One end of the second hydraulic rod passes through the inner cavity of the second hydraulic pipe, and the other end is connected to the telescopic pipe, with its extension direction parallel to the telescopic pipe's extension direction. Under the action of the second driving mechanism, the extension and retraction of the telescopic pipe drives the cleaning component to move, thereby achieving the cleaning and protection of the laser level. Before the connecting pipe and the pouring pipe are connected, the second hydraulic rod is placed inside the second hydraulic pipe. Oil is installed in the guide pipe and the first hydraulic pipe. Under the action of the oil, the first hydraulic rod extends out of the first hydraulic pipe, squeezing the slider to one side of the slide groove and compressing the second elastic element, so that the cleaning component is located on one side of the laser level, avoiding obstruction of the laser level. When the connecting pipe and the pouring pipe are connected, the telescopic pipe moves along the direction close to the pouring pipe, which drives the second hydraulic rod to extend out of the second hydraulic pipe. The pressure applied to the oil by the second hydraulic pipe gradually decreases, which reduces the pressure on the first hydraulic rod, the slider and the second elastic element. Under the action of the elastic force provided by the second elastic element, the slider and the first hydraulic rod are squeezed to the other side of the chute, so that the cleaning component is located in front of the laser level and the sponge block covers the lens of the laser level. When the filling is completed and the connection between the docking pipe and the pouring pipe is disconnected, the cleaning component is moved back to the side of the laser level. During this process, the sponge block contacts the lens of the laser level back and forth to clean the lens surface.

2. The visual positioning-based lining trolley sliding rail type fabric placement device according to claim 1, characterized in that, The interface of the casting pipe is fixedly connected to a connecting pipe. At least one locking rod is provided around the periphery of the connecting pipe. The middle section of the locking rod is hinged to the connecting pipe through a first hinge seat. A first elastic element is provided between the end of the locking rod away from the interface and the connecting pipe. A hook is provided at the end of the locking rod near the interface.

3. The visual positioning-based lining trolley sliding rail type fabric placement device according to claim 2, characterized in that, At least one locking block that matches the hook is provided on the outer periphery of the end of the telescopic tube away from the fixed tube.

4. The visual positioning-based lining trolley sliding rail type fabric placement device according to claim 3, characterized in that, In a cross section perpendicular to the direction of movement of the fabric carrier, the hook is inverted trapezoidal and the block is trapezoidal.

5. A method for placing lining trolley slide rail type lining device based on vision positioning, applied to the lining trolley slide rail type lining device based on vision positioning as described in any one of claims 1 to 4, characterized in that, The fabric application method includes: S101, turn on the laser level; S102, Adjust the pose of the machine vision mechanism so that multiple monitoring targets above the pouring pipe are within the field of view of the machine vision mechanism, and obtain the current spatial position information of the docking pipe based on the position of the monitoring targets. The monitoring target includes alignment marks after alignment with the laser level, and the current spatial position information includes the horizontal distance, vertical distance and relative offset angle between the docking pipe and the casting pipe; S103, Analyze and determine whether the current spatial position information of the docking pipe is within the range of the preset spatial position information. The preset spatial position information is the range of spatial positions of the placing vehicle and the docking pipe obtained during the previous adjustment and testing process, which enables the docking pipe and the pouring pipe to dock well. S104, if the current spatial location information is within the range of the preset spatial location information, drive the telescopic straight pipe to extend and connect with the pouring pipe.

6. The fabric placement method of the lining trolley sliding rail type fabric placement device based on vision positioning according to claim 5, characterized in that, Also includes: If the current spatial location information is outside the range of the preset spatial location information, then adjust the moving distance of the fabric carrier, the extension length of the telescopic straight pipe in the docking pipeline, and the rotation angle of the rotating bend according to the current spatial location information. After the adjustment is completed, the current spatial position information of the docking pipeline is obtained again based on the position of the monitoring target; Analyze and determine whether the current spatial location information of the docking pipeline is within the range of the preset spatial location information; If the current spatial location information is within the range of the preset spatial location information, drive the extendable straight pipe to extend and connect with the pouring pipe.

Images