Machine vision-based flexible butt joint method and system for lining trolley

Abstract

The application discloses a flexible butt joint material distribution method and system based on machine vision and relates to the technical field of tunnel engineering construction equipment. The traditional material distribution system adopts hard mechanical butt joint. In the construction process, factors such as displacement of a lining trolley and foundation settlement cause deviation of alignment of a material distribution port and a grouting pipe, which easily causes material leakage or pipe damage and affects the construction progress. The material distribution system provided by the application comprises a base, a plurality of material distribution pipes arranged on the base in a circumferential direction, a feeding pipe, a coordination structure, a machine vision structure and a position alignment stabilizing structure. A target point is arranged on one side of each material distribution pipe. The machine vision structure reads and identifies a target point image to obtain an angle at which the feeding pipe needs to be rotated to butt joint the corresponding material distribution pipe. The coordination structure assists the feeding pipe to realize flexible matching and position alignment with the material distribution pipe. When the feeding pipe is matched and positioned with the guide pipe, the position alignment stabilizing structure can clamp a stabilizing rod in the coordination structure and supply lubricating oil to the butt joint end of the feeding pipe.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction equipment technology, specifically to a machine vision-based flexible docking and material placement method and system for lining trolleys. Background Technology

[0002] With the rapid development of infrastructure construction in my country, the scale of tunnel projects such as high-speed railways, subways, and water conservancy and hydropower projects is expanding, placing higher demands on construction efficiency, quality, and safety. Traditional lining trolley placement operations rely heavily on manual operation, resulting in problems such as low positioning accuracy, poor material uniformity, and low construction efficiency, making it difficult to meet the needs of refined construction under complex geological conditions. In addition, manual operation is greatly affected by subjective factors, easily leading to quality defects such as material leakage and concrete accumulation, resulting in insufficient strength of the tunnel lining structure and high maintenance costs in the later stages.

[0003] As a core piece of equipment in tunnel construction, the precise positioning of the concrete placing boom on the tunnel lining trolley directly affects the quality of the lining structure and construction efficiency. Currently, placing devices are mostly operated manually or automatically. In disc-type tunnel lining trolleys, the feed pipe is located at the center of the equipment, while the placing pipe is located around the circumference of the feed pipe. The feed pipe needs to be rotated and aligned with the placing pipe to be connected. Then, the connecting structure at the end of the feed pipe extends to connect with the placing pipe. During this process, the positions of the feed pipe and the placing pipe are stable, and their axes are on the same horizontal plane.

[0004] Traditional automatic concrete placing booms typically use a PLC (Programmable Logic Controller) combined with displacement sensors to control the alignment of grouting holes. A preset program drives the hydraulic actuator to adjust the robotic arm's posture. However, the complex tunnel construction environment and factors such as mechanical vibration, hydraulic system slippage, and accumulated sensor errors can easily lead to PLC control malfunctions. Especially when equipment ages or experiences sudden failures, problems such as placing pipe misalignment and grouting hole misalignment can easily occur, often requiring manual monitoring.

[0005] In recent years, machine vision technology has demonstrated significant advantages in industrial positioning due to its non-contact measurement, high spatial resolution, and resistance to environmental interference. However, existing technologies still have the following problems:

[0006] Insufficient alignment accuracy: Traditional concrete placement systems often use rigid mechanical connections. During construction, factors such as trolley displacement and foundation settlement can easily lead to misalignment between the concrete placement port and the grouting pipe, resulting in material leakage or pipe damage.

[0007] Vibration and shock issues: High-frequency vibrations generated during concrete pouring, as well as rigid impacts from the movement of the robotic arm, can cause fatigue deformation of metal pipes at the connection points, shorten equipment life, and even lead to safety accidents.

[0008] Poor adaptability: The tunnel construction environment is complex, and traditional concrete placement systems are difficult to automate the placement operation. They cannot adapt and adjust themselves, and require frequent shutdowns for calibration, which affects the construction progress. Summary of the Invention

[0009] To address the aforementioned problems, this invention aims to provide a machine vision-based flexible docking and fabric placement method and system for lining trolleys, which can achieve automated and precise fabric placement, while adaptively adjusting vibration dispersion during docking and placement to avoid damage caused by vibration impact.

[0010] The main idea of ​​the technical solution adopted in this invention is as follows: A rotating structure is set on the base, and a feed pipe for conveying slurry is set on the rotating structure. The bottom end of the feed pipe is connected to the concrete pouring trailer pump assembly, and the top end is connected to the placing pipe through a matching structure. A target point is set on the placing pipe. A machine vision structure is installed on one side of the feed pipe and obtains the position information of the target point at the placing pipe through the machine vision structure. The target rotation angle of the rotating structure and the target extension stroke of the hydraulic telescopic rod are calculated to achieve automated and precise material placement.

[0011] The material distribution pipe is equipped with a guide pipe, and the matching structure includes an elastic connecting pipe at the end. The elastic connecting pipe and the guide pipe are connected by a tapered protrusion and a tapered groove, which avoids deformation and damage caused by direct rigid connection of metal pipes. At the same time, it reduces the impact of vibration and impact during operation on the connection, and improves the stability and service life of the equipment. The matching structure is also equipped with an elastic adjustment structure, which allows the elastic connecting pipe to have a certain adjustment range in both axial and radial directions, avoiding hard impact, and enhancing the sealing strength of the connection to prevent material leakage.

[0012] To improve the connection stability between the stabilizer bar and the positioning plate, an alignment stabilizing structure is also installed on the guide pipe. During the concrete pouring process, the outer wall of the elastic connecting pipe is lubricated to reduce friction. On the other hand, the pushing sealing plate can synchronously drive the clamping plates to move closer to each other, wrapping and clamping the stabilizer bar to improve the stability during the pouring process.

[0013] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0014] The machine vision-based flexible docking and material placement system for lining trolleys includes a base with several material placement tubes arranged along the circumference. The base also includes:

[0015] The rotating structure, located at the center of the base, includes a feed tube that can rotate to point to any of the distribution tubes, and each distribution tube has a target point on one side.

[0016] The machine vision structure is set on the feed pipe. The machine vision structure reads and identifies the image of the target site, and analyzes and processes it to obtain the angle that the feed pipe needs to rotate when it docks with the corresponding cloth pipe.

[0017] The matching structure, set on the feed pipe, can assist the feed pipe in achieving flexible alignment with the guide pipe set at the docking end of the distribution pipe;

[0018] The matching structure includes a connecting pipe, a connecting plate, an adjusting plate, and a flexible connecting pipe; wherein, one end of the connecting pipe is slidably connected to the feeding pipe, and the other end of the connecting pipe is fixedly connected to one end of the connecting plate; the other end of the connecting plate is slidably connected to one end of the adjusting plate, and the other end of the adjusting plate is fixedly connected to the flexible connecting pipe.

[0019] The flexible connecting tube is also provided with a tapered protrusion, and the guide tube is provided with a corresponding tapered groove. When the flexible connecting tube is connected to the guide tube, the tapered protrusion is located in the tapered groove.

[0020] The elastic adjustment structure includes a positioning plate 1 and a stabilizing rod set on the connecting plate, a positioning plate 2 set on the adjusting plate, a maintaining rod movably set through the central axis of the positioning plate 1 and the positioning plate 2, and a spring 1 sleeved on the maintaining rod, with the spring 1 located between the positioning plate 1 and the positioning plate 2.

[0021] One end of the maintaining rod is connected to a bent rod, and the free end of the bent rod is fitted with a second spring. The second spring is located inside the radial tube on the outer wall of the elastic connecting tube. The other end of the maintaining rod is connected to a limiting plate, which is located on the side of the positioning plate one away from the positioning plate two.

[0022] The positioning stabilizing structure includes an oil supply assembly and a clamping assembly mounted on the guide tube. The clamping assembly is mounted on the positioning plate four of the guide tube, and the stabilizing rod is configured to cooperate with the clamping assembly. The clamping assembly includes extension tubes mounted on both sides of the positioning plate four. One end of the extension tube is connected to an oil supply pipe, and a pusher is mounted inside the extension tube. One end of the pusher is connected to a clamping plate, and the clamping plate is located inside the positioning plate four.

[0023] When the feed pipe and guide pipe are aligned, the impact oil supply assembly causes the stabilizer bar to be wrapped by the clamping assemblies on both sides, while simultaneously supplying lubricating oil to the elastic connecting pipe.

[0024] Furthermore, based on the above technical solutions, the rotating structure includes:

[0025] The moving guide rail is a ring structure set around the feed pipe, and an arc-shaped toothed plate is set inside the moving guide rail;

[0026] The support plate is sleeved on the feed pipe, and a drive component is provided on one side of the support plate. The output end of the drive component is connected to a drive gear, which meshes with the arc-shaped toothed plate.

[0027] Furthermore, based on the above technical solution, a hydraulic telescopic rod is provided on the housing of the machine vision structure, and the inner rod of the hydraulic telescopic rod is connected to the connecting pipe.

[0028] Furthermore, the oil supply assembly includes an oil storage tank installed on the outer wall of the guide pipe. The oil storage tank is connected to the clamping assembly through an oil delivery pipe. A pressure transmission component is slidably connected inside the oil storage tank, and one end of the pressure transmission component extends into the inside of the guide pipe.

[0029] Further, based on the above technical solution, the pushing component includes a short rod and a sealing disc connected together. A spring four is sleeved on the short rod. One end of the spring four is connected to the sealing disc, and the other end is connected to the inner wall of the extension tube near the clamping plate.

[0030] Furthermore, the alignment stabilization structure also includes a supply component, which includes a support tube at the bottom of the extension tube, a supply tube inside the support tube, one end of the supply tube being connected to the extension tube, and the other end extending to the inner wall of the guide tube. A circumferential groove is formed on the inner wall of the guide tube along the circumferential direction, and the circumferential groove is connected to the supply tube.

[0031] The machine vision-based flexible docking and material placement method for lining trolleys is implemented using a machine vision-based flexible docking and material placement system for lining trolleys. The specific steps are as follows:

[0032] S1. Adjust the pose of the machine vision structure so that the target site corresponding to the guide tube to be docked is exposed within the field of view of the machine vision structure.

[0033] S2. Use machine vision structures to obtain images of target sites in order to obtain the location information of the target sites;

[0034] S3. Calculate the target rotation angle of the feed pipe and the target extension stroke of the hydraulic telescopic rod based on the position information of the target site, and generate rotation angle control command and extension stroke control command respectively.

[0035] S4. Based on the rotation angle control command and the telescopic stroke control command, start the drive component and the hydraulic telescopic rod to achieve precise alignment between the feed pipe and the guide pipe.

[0036] Based on the above technical solution, further, in S3, the calculation of the target rotation angle of the feed pipe and the target extension stroke of the hydraulic telescopic rod according to the position information of the target site includes the following steps:

[0037] Calculation of the positional error of the top end of the feed tube;

[0038] Based on pose error, perform adaptive motion compensation control for machine vision.

[0039] Visual-motion coupling error correction calculations are performed to obtain the target rotation angle of the feed pipe and the target extension stroke of the hydraulic telescopic rod.

[0040] Based on the above technical solutions, the specific steps for machine vision adaptive motion compensation control based on pose error are as follows: an incremental PID controller with feedforward compensation is used to generate the control quantity of the hydraulic telescopic rod, and the control parameters of the rotating structure are dynamically adjusted.

[0041] Based on the above technical solutions, the formula for controlling the hydraulic telescopic rod is further as follows:

[0042] ;

[0043] ;

[0044] ;

[0045] in, It is a control vector that drives the output of the hydraulic telescopic rod. yes The pose error vector at time t. yes The pose error vector at time t; for The pose error vector at time t; for The pose error vector at time t; To handle the saturation of the integral term, the limit is set to... Within the range; This represents the minimum pose error. This represents the maximum pose error. Let be the norm of the rate of change of error. Sampling time; For component-wise sign function vectors; Here is the gain matrix for the incremental PID controller, consisting of proportional gain, integral gain, and derivative gain, respectively. This is the feedforward compensation coefficient matrix.

[0046] The beneficial effects of this invention are:

[0047] 1. The overall system architecture includes a machine vision structure, a rotation structure, a alignment structure, an elastic adjustment structure, and a positioning and stabilizing structure. The machine vision structure is responsible for acquiring the target position information of the concrete placement tube and performing calculations and analysis based on the visual information to generate control commands to control the rotation and alignment structures. The rotation and alignment structures enable precise concrete placement. The elastic adjustment structure plays a role at the connection points, ensuring the accuracy and stability of the connection. During concrete pouring, the positioning and stabilizing structure lubricates the outer wall of the elastic connecting tube, reducing friction. Furthermore, the pushing sealing disc synchronously moves the clamping plates closer together, providing a wrapping clamping effect on the stabilizing rod, improving stability during the pouring process. All parts cooperate to form a complete automated concrete placement system.

[0048] 2. The machine vision system utilizes a high-resolution, high-frame-rate industrial camera with a suitable lens to ensure clear capture of the target image. The camera frame rate must meet real-time requirements, and the resolution should guarantee accurate identification of the target's location. Simultaneously, a suitable lighting system should be configured to improve image contrast and clarity, adapting to different lighting conditions in the construction environment.

[0049] 3. The rotating structure is responsible for driving the feed tube to rotate, and a high-precision drive motor is used to accurately control the rotation angle.

[0050] 4. An elastic connecting pipe made of elastic material is used at the connection between the material placing pipe and the material supply pipe. The elastic material has good flexibility and recoverability, allowing for angle adjustment and deformation within a certain range to accommodate docking errors caused by factors such as trolley displacement and foundation settlement. At the same time, the elastic material can reduce the impact of vibration and impact during operation on the connection.

[0051] The system incorporates an elastic adjustment structure, including axial and radial elastic elements. The axial elastic element allows the elastic connecting tube to expand and contract axially within a certain range, while the radial elastic element provides a certain adjustment range in the radial direction. This design avoids hard impacts and enhances the sealing strength at the connection point through the pre-tightening force of the elastic elements, preventing material leakage.

[0052] A slope and tapered protrusion are designed at the docking point. During the docking process, the slope and tapered protrusion guide the connecting pipes to align accurately, making the docking smoother and more precise. Simultaneously, a stabilizing bar is installed on the outer side. During docking, the stabilizing bar extends into the constrained positioning plate.

[0053] 5. To improve the connection stability between the stabilizer bar and the positioning plate four, an alignment stabilizing structure is also installed on the guide pipe. During the concrete pouring process, the pressure block located inside the guide pipe is impacted, causing it to overcome the elastic force of the spring three and move upward, driving the pressure plate to move upward synchronously. The pressure in the oil tank increases, which in turn increases the pressure of the lubricating oil, pushing the sealing plate and exposing the supply pipe below the sealing plate. The lubricating oil flows into the supply pipe under the influence of pressure and gravity, and fills the sealing cavity formed by the circumferential groove and the elastic connecting pipe, lubricating the outer wall of the elastic connecting pipe and reducing friction. On the other hand, pushing the sealing plate can synchronously drive the clamping plates to move closer to each other, wrapping and clamping the stabilizer bar, improving the stability during the pouring process.

[0054] After the concrete pouring process is completed, the impact force on the pressure block gradually decreases until it becomes zero. The restoring force of spring three causes the pressure block to move downward, reducing the pressure inside the oil storage tank. Through the negative pressure, the lubricating oil in the oil storage ring is drawn into the oil storage tank through the replenishment pipe. The pushing force of the lubricating oil on the sealing plate decreases, and spring four causes the clamping plate to reset. The sealing plate resets and seals the replenishment pipe.

[0055] When the flexible connecting tube separates from the guide tube, the lubricating oil in the circumferential groove and the supply tube lubricates the outer wall of the flexible connecting tube in a coating-like manner, so that it can easily overcome friction and possible deviations during the next mating connection, and smoothly insert into the guide tube.

[0056] The clamping plate increases the friction on the stabilizer bar, thereby improving the stability of the alignment structure. At the same time, when vibration occurs, it can disperse the vibration to the guide tubes and connecting tubes on both sides to avoid damage. Attached Figure Description

[0057] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0058] Figure 2 This is a three-dimensional structural schematic diagram of the present invention from another angle;

[0059] Figure 3 This is a schematic diagram of the three-dimensional structure of the moving guide rail of the present invention;

[0060] Figure 4 This is a three-dimensional structural diagram illustrating the connection relationship of the rotating structure of the present invention;

[0061] Figure 5 This is a partial three-dimensional structural schematic diagram of the coordination structure of the present invention;

[0062] Figure 6 for Figure 5 Enlarged schematic diagram of structure A;

[0063] Figure 7This is a three-dimensional structural diagram of the coordination structure in the docking state of the present invention;

[0064] Figure 8 for Figure 7 Enlarged schematic diagram of structure B;

[0065] Figure 9 for Figure 7 A magnified schematic diagram of the C-structure;

[0066] Figure 10 This is a schematic diagram of the three-dimensional structure of the guide tube of the present invention;

[0067] Figure 11 This is a three-dimensional structural diagram of the connection relationship of the elastic connecting tubes of the present invention;

[0068] Figure 12 This is a three-dimensional cross-sectional structural diagram of the coordination structure connection state of the present invention;

[0069] Figure 13 for Figure 12 A magnified schematic diagram of the D structure;

[0070] Figure 14 This is a three-dimensional structural diagram of the clamping component of the present invention;

[0071] Figure 15 This is a schematic diagram of the three-dimensional structure of the connecting disk of the present invention;

[0072] Figure 16 This is a schematic diagram showing the connection relationship between the extension tube and the supply tube of the present invention;

[0073] Figure 17 This is a flowchart illustrating the control principle of the machine vision structure of the present invention.

[0074] Among them: 1. Base; 101. Support column; 102. Support ring; 103. Support frame; 104. Arc ring; 105. Machine vision structure; 106. Target site;

[0075] 2. Fabric tube;

[0076] 3. Guide tube; 301. Conical groove; 302. Inner tube;

[0077] 4. Rotating structure; 401. Rotary joint; 402. Feeding pipe; 403. Moving guide rail; 403-1. Arc groove; 403-2. Arc toothed plate; 404. Support plate; 405. Arc plate; 406. Motor; 407. Drive gear;

[0078] 5. Matching structure; 501. Connecting pipe; 502. Connecting disc; 502-1. Circular groove; 502-2. Sliding groove; 503. Adjusting disc; 504. Flexible connecting pipe; 504-1. Annular protrusion; 504-2. Conical protrusion; 504-3. Radial pipe; 505. Hydraulic telescopic rod; 505-1. Inner rod;

[0079] 6. Elastic adjustment structure; 601. Positioning plate one; 602. Positioning plate two; 603. Holding rod; 604. Spring one; 605. Limiting plate; 606. Bending rod; 607. Spring two; 608. Positioning plate three; 609. Positioning plate four; 610. Stabilizing rod; 611. Extension tube;

[0080] 7. Alignment stabilization structure; 701. Oil supply assembly; 701-1. Pressure hole; 701-2. Pressure block; 701-3. Connecting rod; 701-4. Pressure plate; 701-5. Fixing ring; 701-6. Oil reservoir; 701-7. Spring three; 701-8. Replenishment pipe; 701-9. Oil reservoir ring; 702. Oil delivery pipe; 703. Clamping assembly; 703-1. Clamping plate; 703-2. Short rod; 703-3. Sealing plate; 703-4. Spring four; 704. Replenishment assembly; 704-1. Support pipe; 704-2. Replenishment pipe; 704-3. Circumferential groove. Detailed Implementation

[0081] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0082] The inventors discovered that the precise positioning of the concrete placing boom of the tunnel lining trolley, a core piece of equipment in tunnel construction, directly affects the quality of the lining structure and construction efficiency. Currently, placing devices are mostly operated manually or automatically. However, traditional automatic placing booms often use PLCs combined with displacement sensors to control the alignment of grouting holes, and drive the hydraulic actuator to adjust the posture of the robotic arm through a preset program. However, the tunnel construction environment is complex, and factors such as mechanical vibration, hydraulic system sluggishness, and cumulative sensor errors can easily lead to PLC control inaccuracies. Especially when the equipment is aging or experiencing sudden failures, problems such as placing boom misalignment and grouting hole misalignment can easily occur, often requiring manual monitoring.

[0083] Based on the above findings, this application proposes a machine vision-based flexible docking and material placement method and system for lining trolleys. A rotating structure 4 is set on the base 1, and a material supply pipe 402 for conveying slurry is set on the rotating structure 4. The bottom end of the material supply pipe 402 is connected to the concrete pouring pump assembly, and the top end is docked with the material placement pipe 2 through a matching structure 5. A target point 106 is set on the material placement pipe 2. A machine vision structure 105 is installed on one side of the material supply pipe 402. The machine vision structure 105 obtains the position information of the target point 106 at the material placement pipe 2, and automatically calculates the target rotation angle of the rotating structure 4 and the target extension stroke of the hydraulic telescopic rod 505 to achieve automated and precise material placement. The material distribution pipe 2 is equipped with a guide pipe 3, and the matching structure 5 includes an elastic connecting pipe 504 located at the end. The elastic connecting pipe 504 and the guide pipe 3 are connected by a tapered protrusion 504-2 and a tapered groove 301 to avoid deformation and damage caused by direct rigid connection of metal pipes. At the same time, it reduces the impact of vibration and impact during operation on the connection, and improves the stability and service life of the equipment. The matching structure 5 is also equipped with an elastic adjustment structure 6, which allows the elastic connecting pipe 504 to have a certain adjustment range in both the axial and radial directions, avoiding hard impact, and enhancing the sealing strength of the connection to prevent material leakage.

[0084] Example 1: See Figure 1 - Figure 17 This application discloses a machine vision-based flexible docking and material placement system for a lining trolley, including a base 1, which is circular and has multiple support columns 101 fixedly mounted on its bottom. An annular support ring 102 is mounted on the base 1, coaxially with the base 1. Several support frames 103 are arranged around the support ring 102, and a material placement pipe 2 for injection is mounted on each support frame 103. A guide pipe 3 is fixedly connected to one side of the material placement pipe 2, and the guide pipe 3 is located on the side closest to the center of the base 1.

[0085] Specifically, the support frame 103 includes an I-shaped base frame at the bottom and an L-shaped connecting frame at the top. One end of the base frame is fixedly connected to the upper surface of the base 1, and the other end is fixedly connected to the base plate of the connecting frame. The fabric tube 2 is mounted on the connecting frame and fixed by an arc-shaped ring 104 to prevent movement. Both ends of the arc-shaped ring 104 are fixed to the base plate of the connecting frame with bolts. The side plate of the connecting frame is located on the side closest to the center of the base 1. A circular hole is opened on the side plate, through which the fabric tube 2 passes, and the side plate fixes the fabric tube 2. A guide tube 3 is fixedly connected to the side of the fabric tube 2 closest to the center of the base 1.

[0086] The base 1 is also equipped with a rotating structure 4, including a rotary joint 401 located at the center. The structure of the rotary joint 401 is similar to that of a bearing, with the outer ring fixed to the base 1 and the inner ring able to rotate freely. The inner ring of the rotary joint 401 is connected to a feed pipe 402, which is a 90-degree bend. One end of the feed pipe 402 is connected to the concrete pouring trailer pump assembly, and the other end is equipped with a matching structure 5, which is connected to the guide pipe 3 to facilitate the next step of material placement. The trailer pump assembly adopts an existing structure, and this application does not make any improvements; therefore, it will not be described in detail here.

[0087] A movable guide rail 403 is provided around the rotary joint 401. The movable guide rail 403 has a ring structure and an arc-shaped groove 403-1. A support plate 404 is also provided on the rotary joint 401. A machine vision structure 105 is provided on the support plate 404. The machine vision structure 105 includes a square housing, which is located above the movable guide rail 403. An arc-shaped plate 405 is provided at the bottom of the housing, which is adapted to the arc-shaped groove 403-1. A feed pipe 402 passes through the support plate 404, and the support plate 404 is fixedly connected to the feed pipe 402.

[0088] A motor 406 is installed on one side of the housing. The output end of the motor 406 passes through the support plate 404 and is connected to a drive gear 407. When the motor 406 rotates, it can drive the drive gear 407 to rotate synchronously. An arc-shaped toothed plate 403-2 is provided on the inner side of the moving guide rail 403. The drive gear 407 meshes with the arc-shaped toothed plate 403-2. When the motor 406 rotates, it can drive the drive gear 407 to rotate synchronously. In turn, due to the meshing relationship between the drive gear 407 and the arc-shaped toothed plate 403-2, the support plate 404 and the feed pipe 402 are rotated.

[0089] Meanwhile, the housing is located below the extended horizontal section of the feed pipe 402 and is provided with an arc-shaped ring 104, which fixes the extended horizontal section of the feed pipe 402 to improve its stability.

[0090] In addition, the machine vision structure 105 is used to identify the position of the guide tube 3. In this embodiment, the machine vision structure 105 can control the start, stop, and rotation direction of the motor 406.

[0091] Furthermore, the connecting frame above the support frame 103 is provided with target sites 106 for identification, and the target sites 106 are symmetrically arranged on both sides of the guide tube 3.

[0092] The machine vision structure 105 includes an image acquisition module, an image processing module, and a decision execution module. The image acquisition module uses a camera to acquire images of the target site; the image processing module processes the acquired images to obtain the position information of the target site 106, performs calculations and analysis, and generates control commands; the decision execution module controls the movement of the motor 406.

[0093] The image acquisition module includes an industrial camera and a light source. Currently, industrial camera technology is mature, and high-resolution (5 megapixels and above) and high-frame-rate (100fps and above) industrial cameras are widely used in industrial inspection, meeting the requirement for clear acquisition of 106 target sites. Regarding lens selection, a suitable fixed-focus or zoom lens can be chosen based on the actual working distance and field of view to ensure image integrity. In terms of the light source system design, LED strip lights and ring lights can provide stable and uniform illumination. Considering the characteristics of the tunnel construction environment, dustproof and waterproof light sources are used, and through reasonable lighting arrangements, typically direct illumination, image contrast can be effectively improved, shadow interference eliminated, and a solid foundation laid for image recognition.

[0094] If the machine vision structure 105 identifies the position information of the target point 106, the motor 406 rotates, driving the drive gear 407 to rotate synchronously. The meshing relationship between the drive gear 407 and the arc-shaped toothed plate 403-2 then drives the support plate 404 and the feed tube 402 to rotate, thus achieving precise positioning. If the machine vision structure 105 does not identify the position information of the target point 106, the drive motor 406 first drives the drive gear 407 to rotate synchronously, which in turn drives the support plate 404 and the feed tube 402 to rotate 180 degrees. Then, the machine vision structure 105 re-identifies the target point 106, and the subsequent steps are the same as described above.

[0095] Example 2: Based on Example 1, the fabric system further includes a matching structure 5. The matching structure 5 includes a connecting pipe 501, a connecting disc 502, an adjusting disc 503, and an elastic connecting pipe 504 connected in sequence. The connecting pipe 501 is slidably connected to the feed pipe 402, with one end of the connecting pipe 501 located inside the feed pipe 402, and the other end of the connecting pipe 501 fixedly connected to the connecting disc 502. The connecting disc 502 is slidably connected to the adjusting disc 503, and the adjusting disc 503 is fixedly connected to the elastic connecting pipe 504. When the matching structure 5 is connected to the guide pipe 3, the elastic connecting pipe 504 is inserted into the guide pipe 3 to achieve a stable connection.

[0096] Specifically, two hydraulic telescopic rods 505 are provided on the housing. The hydraulic telescopic rods 505 are symmetrically arranged on both sides of the feed pipe 402, and the outer shell of the hydraulic telescopic rod 505 is fixedly connected to the housing. The inner rod 505-1 of the hydraulic telescopic rod 505 is connected to the fixed plates on both sides of the connecting pipe 501. When the inner rod 505-1 of the hydraulic telescopic rod 505 extends outward due to the internal pressure, it can drive the connecting pipe 501 to slide towards the guide pipe 3, thereby pushing the connecting plate 502, adjusting plate 503 and elastic connecting pipe 504 connected to the connecting pipe 501 to move towards the guide pipe 3, thereby achieving docking and facilitating subsequent material laying. When the hydraulic telescopic rod 505 shortens the inner rod 505-1 inward due to the internal pressure, it can drive the connecting pipe 501 to slide away from the guide pipe 3, thereby driving the connecting plate 502, adjusting plate 503 and elastic connecting pipe 504 connected to the connecting pipe 501 to move away from the guide pipe 3, thereby disengaging the connection and canceling the fabric.

[0097] Furthermore, the connecting plate 502 has an annular structure, and its inner diameter is the same as that of the connecting pipe 501. A circular groove 502-1 is formed on the inner side of the end of the connecting plate 502 that connects to the connecting pipe 501. The diameter of the circular groove 502-1 is the same as the outer diameter of the connecting pipe 501. An annular sliding groove 502-2 is formed at the other end of the connecting plate 502. The adjusting plate 503 is inserted into the sliding groove 502-2 and slides within it.

[0098] An annular protrusion 504-1 is provided on the outer wall of the flexible connecting pipe 504 to enhance its strength and maintain its shape. The annular protrusion 504-1 is located on the side near the adjusting disc 503. The flexible connecting pipe 504 also has a conical protrusion 504-2, located on the side away from the adjusting disc 503, with a larger diameter at the end closer to the adjusting disc 503 and a smaller diameter at the other end. The flexible connecting pipe 504 is made of rubber with a Shore hardness of 65-85, such as polyurethane rubber. Polyurethane rubber is the preferred material for high-wear and high-pressure conditions, with wear resistance several times or even higher than that of natural rubber, effectively resisting the strong erosion of high-speed concrete particles. Specifically, when high pumping pressure is used on the construction site, rubber with a Shore hardness of 75-85 is used, offering advantages such as stronger surface scratch resistance and compression resistance.

[0099] A conical groove 301 is correspondingly provided on the guide tube 3, and the conical protrusion 504-2 is designed to facilitate connection with the guide tube 3. Furthermore, the inner wall of the guide tube 3 is provided with a chamfered surface, which facilitates adaptive insertion of the guide tube 3 when there is a deviation during insertion of the elastic connecting tube 504, preventing material leakage; it also facilitates cleaning after use. An inner tube 302 is also provided inside the guide tube 3. The outer diameter of the inner tube 302 is the same as the outer diameter of the elastic connecting tube 504, and the inner diameter of the inner tube 302 is the same as the inner diameter of the elastic connecting tube 504. When the elastic connecting tube 504 is inserted into the guide tube 3, the sides of the elastic connecting tube 504 and the inner tube 302 that are closest to each other abut against each other. A sealing protrusion can also be provided on the elastic connecting tube 504 along the circumferential direction, located between the conical protrusions 504-2, to improve the sealing performance between the elastic connecting tube 504 and the guide tube 3.

[0100] During concrete pumping, the pressure inside the elastic connecting pipe 504 increases, and under the action of radial expansion force, it further adheres to the inner wall of the guide pipe 3. The contact pressure increases synchronously with the increase of the internal pressure of the elastic connecting pipe 504, which is the "self-sealing effect". A dynamic sealing balance is formed, and the sealing performance of the elastic connecting pipe 504 and the guide pipe 3 is enhanced as the internal pressure increases.

[0101] In order to control the position of the connecting plate 502 and the adjusting plate 503, several sets of elastic adjustment structures 6 are provided on the outside of the connecting plate 502, so that the elastic connecting pipe 504 has a certain adjustment range in both the axial and radial directions, avoiding hard impacts, while enhancing the sealing strength of the connection and preventing material leakage.

[0102] The elastic adjustment structure 6 includes a first positioning plate 601 and a second positioning plate 602 respectively disposed on the connecting plate 502 and the adjusting plate 503, with the first positioning plate 601 and the second positioning plate 602 arranged in parallel. A holding rod 603 is provided through the first positioning plate 601 and the second positioning plate 602, and the holding rod 603 is slidably connected to the first positioning plate 601 and the second positioning plate 602. A first spring 604 is sleeved on the holding rod 603, and the first spring 604 is located between the first positioning plate 601 and the second positioning plate 602. One end of the maintaining rod 603 is located outside the positioning plate 601 and is limited by the limiting plate 605 fixedly connected to the maintaining rod 603. The other end is fixedly connected to a bent rod 606 with a bending angle of 90 degrees. A second spring 607 is sleeved on the free end of the bent rod 606. The second spring 607 is located inside the radial tube 504-3 on the outer wall of the elastic connecting tube 504, with one end connected to the bent rod 606 and the other end connected to the bottom of the radial tube 504-3. The radial tube 504-3 is made of nitrile rubber, which has moderate elasticity, an elongation of 100% to 200%, can withstand deformation under certain pressure, and is wear-resistant, compression-resistant, and has high mechanical strength; it is also moderately priced and has good processability. The radial tube 504-3 and the second spring 607 can help the elastic connecting tube 504 maintain a circular shape. When the elastic connecting tube 504 deforms, the second spring 607 pulls it to deform away from the center, thus improving its service life.

[0103] Spring 1 (604) has a wire diameter of 1.5–3 mm, a pitch of 5–7 mm, 6–10 coils, and an outer diameter of 15–18 mm. It is made of 304 stainless steel. Spring 2 (607) has a wire diameter of 1–2 mm, a pitch of 3–4 mm, 2–4 effective coils, and a pitch diameter of 7 mm. It is also made of 304 stainless steel. In practical applications, the specific parameters of Spring 1 (604) and Spring 2 (607) need to be calculated based on the actual working conditions and specific force analysis.

[0104] In the initial state, due to the length limitation of the maintaining rod 603, the spring 604 is in a stable compressed state when no external force is applied, and the positions of the connecting plate 502 and the adjusting plate 503 are in a relatively stable state. Figure 5 When the matching structure 5 is not in the docking state, the spring 604 is not affected by external force. At this time, the limiting plate 605 and the positioning plate 601 are in contact and there is no gap between them. At this time, the total length of the adjusting plate 503 and the connecting plate 502 is the longest, which is due to the restoring force caused by the compression of the spring 604.

[0105] Figure 12 With the matching structure 5 already connected, the spring 604 is further compressed due to external force. At this time, the limiting plate 605 and the positioning plate 601 are not in contact, and there is a gap between them. At this time, the total length of the adjusting plate 503 and the connecting plate 502 becomes shorter.

[0106] In addition, this initial compression setting is also to maintain the stability of the initial state of the matching structure 5 before docking during actual engineering use, and to avoid axial shaking that would affect the accuracy of the machine vision mechanism in calculating the displacement length.

[0107] Furthermore, in order to maintain the stability of the docking, a positioning plate three 608 is also provided on the connecting plate 502. Three positioning plates three 608 are evenly arranged along the outer circumference of the connecting plate 502. A stabilizing rod 610 is fixedly installed on the positioning plate three 608. A positioning plate four 609 is provided at the corresponding position on the guide tube 3. A connecting hole is provided on the positioning plate four 609. When the stabilizing rod 610 moves with the connecting plate 502 to the side closer to the guide tube 3, the stabilizing rod 610 passes through the connecting hole.

[0108] When fabric is needed, the hydraulic telescopic rod 505 is first extended according to the target extension stroke calculated by the machine vision structure 105. The hydraulic telescopic rod 505 extends and pushes the connecting pipe 501, connecting plate 502, adjusting plate 503, and elastic connecting tube 504 towards the guide tube 3. When the elastic connecting tube 504 contacts the inner tube 302, the inner tube 302 restricts the elastic connecting tube 504 from moving further. At this time, if the hydraulic telescopic rod 505 stops moving, the connecting pipe 501, connecting plate 502, adjusting plate 503, and elastic connecting tube 504 maintain their initial relative positions. If the hydraulic telescopic rod 505 continues to extend, the inner tube 302 generates a squeezing force on the elastic connecting tube 504 pointing towards the elastic connecting tube 504. The connecting pipe 501 and connecting plate 502 continue to move towards the guide tube 3, and the relative positions of the adjusting plate 503, elastic connecting tube 504, and connecting pipe 501 and connecting plate 502 change. At this time, the adjusting plate 503 and elastic connecting tube 504... Pipe 504 can no longer move to the right, while connecting pipe 501 and connecting disc 502 continue to move closer to guide pipe 3, causing the relative position of adjusting disc 503 and connecting disc 502 to change. The part of adjusting disc 503 inside sliding groove 502-2 becomes longer, and the exposed part of adjusting disc 503 becomes shorter. The distance between positioning plate 1 601 and positioning plate 2 602 becomes shorter, and spring 1 604 is further compressed, shortening the total length of connecting disc 502 and adjusting disc 503. When hydraulic telescopic rod 505 stops extending, the restoring force of spring 1 604 acts on the structures on both sides. At this time, the connecting pipe 501 and connecting disc 502 on the left side are still pushed by hydraulic telescopic rod 505 towards guide pipe 3, while the elastic connecting pipe 504 on the right side is squeezed by inner tube 302 towards elastic connecting pipe 504. The elastic connecting pipe 504 deforms, improving the sealing performance of elastic connecting pipe 504 and guide pipe 3, while reducing damage caused by vibration.

[0109] If the flexible connecting pipe 504 enters a state of fatigue failure due to repeated use, a small amount of concrete may overflow from the connection between the flexible connecting pipe 504 and the guide pipe 3. For the part with the concrete adhering, the surface can be cleaned with a high-pressure water gun to remove the concrete clumps or it can be scraped clean with a special tool.

[0110] Example 3: Based on Example 2, in order to improve the connection stability between the stabilizer bar 610 and the connecting hole, an alignment stabilization structure 7 is also provided on the guide tube 3. The alignment stabilization structure 7 includes an oil supply assembly 701, an oil delivery pipe 702, a clamping assembly 703, and a replenishment assembly 704.

[0111] The oil supply assembly 701 includes a stepped pressure hole 701-1 opened radially along the guide pipe 3 and a pressure transmission component. The pressure transmission component includes a pressure block 701-2, a connecting rod 701-3, a pressure plate 701-4, and a spring 701-7. The pressure block 701-2 is slidably connected to the inner side of the pressure hole 701-1. The connecting rod 701-3 and the pressure plate 701-4 are fixedly connected to the pressure block 701-2. A fixing ring 701-5 is fixedly provided on the outer side of the pressure hole 701-1. The fixing ring 701-5 is fixedly connected to the outer wall of the guide pipe 3. An oil storage tank 701-6 is bolted to the fixing ring 701-5. The connecting rod 701-3 passes through the fixing ring 701-5 and extends into the oil storage tank 701-6, so that the pressure plate 701-4 can slide up and down inside the oil storage tank 701-6. A spring 701-7 is fitted onto the connecting rod 701-3. One end of the spring 701-7 is connected to the pressure block 701-2, and the other end is connected to the fixing ring 701-5. When the pressure block 701-2 moves up and down, it can cause the spring 701-7 to stretch and shorten, thus assisting the pressure block 701-2 in resetting. The pressure plate 701-4 fits tightly against the inner wall of the oil reservoir 701-6, preventing the lubricating oil inside the oil reservoir 701-6 from flowing below the pressure plate 701-4. The diameter of the pressure block 701-2 is larger than the diameter of the pressure plate 701-4. Since pressure equals the product of pressure intensity and area, and the pressure of the pressure block 701-2 and the pressure plate 701-4 is the same, the pressure of the pressure block 701-2 is less than the pressure of the pressure plate 701-4. The bottom side of the pressure block 701-2 that contacts the concrete is designed as a frustum shape. This facilitates the flow of concrete and, through the inclined surface of the frustum, converts the impact received by the pressure block 701-2 into the power for the pressure block 701-2 to move upward.

[0112] A replenishment opening is provided above the oil storage tank 701-6, and a replenishment pipe 701-8 is detachably installed through the replenishment opening. A one-way valve is installed inside the replenishment pipe 701-8, which can only flow into the oil storage tank 701-6. An oil storage ring 701-9 is sleeved on the outer periphery of the guide pipe 3. The oil storage ring 701-9 is connected to the replenishment pipe 701-8. When the pressure inside the oil storage tank 701-6 decreases, the lubricating oil in the oil storage ring 701-9 can be drawn into the oil storage tank 701-6 through the replenishment pipe 701-8 by the negative pressure. A sealing plug is provided on the oil storage ring 701-9. Opening the sealing plug can replenish the lubricating oil inside the oil storage ring 701-9.

[0113] The oil pipeline 702 is connected to the oil storage tank 701-6, and the lubricating oil inside the oil storage tank 701-6 can be transported to the outside through the oil pipeline 702.

[0114] Two sets of clamping assemblies 703 are symmetrically arranged, including a clamping plate 703-1 located in the connecting hole. The inner side of the clamping plate 703-1 is arc-shaped. The clamping plate 703-1 is used to clamp the stabilizing rod 610. The free end of the stabilizing rod 610 is wavy for easy clamping. One end of the clamping plate 703-1 is connected to a pushing member, which includes a short rod 703-2, a sealing plate 703-3, and a spring 703-4. The sealing plate 703-3 and the clamping plate 703-1 are connected by the short rod 703-2, and the spring 703-4 is sleeved on the short rod 703-2. Extension tubes 611 are respectively provided on both sides of the positioning plate 609. The extension tubes 611 are connected to the connecting holes. The short rod 703-2, spring 703-4, and sealing disc 703-3 slide inside the extension tubes 611. One end of spring 703-4 is connected to the sealing disc 703-3, and the other end is connected to the inner wall of the extension tube 611 near the clamping plate 703-1. The output end of the oil supply pipe 702 is connected to the extension tubes 611.

[0115] The supply assembly 704 includes a support tube 704-1 disposed at the bottom of the extension tube 611, and a supply tube 704-2 disposed inside the support tube 704-1. One end of the supply tube 704-2 is connected to the extension tube 611, and the other end extends to the inner wall of the guide tube 3. A circumferential groove 704-3 is formed on the inner wall of the guide tube 3 along the circumferential direction, and the circumferential groove 704-3 is connected to the supply tube 704-2.

[0116] When the stabilizer bar 610 moves with the connecting plate 502 towards the side closer to the guide tube 3, the stabilizer bar 610 passes through the connecting hole and is located between the clamping plates 703-1 on both sides. At this time, the clamping plates 703-1 are both located on the outside, and the movement of the stabilizer bar 610 is not resisted. In the initial state, the spring three 701-7 and the spring four 703-4 are in the extended state, the lower end of the pressure block 701-2 is located outside the pressure hole 701-1, the level of the lubricating oil in the oil tank 701-6 is greater than that in the oil supply pipe 702, and the lubricating oil enters the extension pipe 611 through the oil supply pipe 702. However, because the pressure of the lubricating oil is insufficient to push the sealing plate 703-3, it does not flow into the supply pipe 704-2.

[0117] During concrete pouring, the pressure block 701-2 located inside the guide pipe 3 is impacted, causing it to move upward against the elastic force of the spring 701-7, which in turn drives the pressure plate 701-4 to move upward synchronously. The pressure inside the oil storage tank 701-6 increases, resulting in increased lubricating oil pressure. This pushes the sealing plate 703-3, exposing the supply pipe 704-2 below the sealing plate 703-3. Lubricating oil flows into the supply pipe 704-2 under the influence of pressure and gravity, filling the sealing cavity formed by the circumferential groove 704-3 and the elastic connecting pipe 504. This lubricates the outer wall of the elastic connecting pipe 504, reducing friction. On the other hand, pushing the sealing plate 703-3 synchronously causes the clamping plates 703-1 to move closer together, providing a wrapping clamping effect on the stabilizing rod 610 and improving stability during the pouring process.

[0118] After the concrete pouring process is completed, the impact force on the pressure block 701-2 gradually decreases until it becomes zero. The restoring force of the spring 701-7 causes the pressure block 701-2 to move downward, reducing the pressure in the oil storage tank 701-6. Through the negative pressure, the lubricating oil in the oil storage ring 701-9 is drawn into the oil storage tank 701-6 through the replenishment pipe 701-8. The pushing force of the lubricating oil on the sealing disc 703-3 decreases, and the restoring force of the spring 703-4 causes the spring 703-4 to extend. Since one side is connected to the inner wall of the extension pipe 611, it cannot extend further. Therefore, it can only extend towards the sealing disc 703-3 on the other side. Thus, the extension of the spring 703-4 can drive the sealing disc 703-3 to reset. Furthermore, due to the connection between the sealing disc 703-3, the short rod 703-2, and the clamping plate 703-1, the clamping plate 703-1 is reset. The resetting of the sealing disc 703-3 can seal the replenishment pipe 704-2.

[0119] When the flexible connecting tube 504 separates from the guide tube 3, the lubricating oil in the circumferential groove 704-3 and the supply tube 704-2 lubricates the outer wall of the flexible connecting tube 504 in a coating manner, so that it can easily overcome friction and possible deviations during the next mating connection and smoothly insert into the guide tube 3.

[0120] Furthermore, the clamping plate 703-1 clamps the stabilizer bar 610, which increases the frictional force on the stabilizer bar 610 and improves the stability of the matching structure 5. At the same time, when vibration occurs, it can disperse the vibration to the guide tube 3 and the connecting tube 501 on both sides to avoid damage.

[0121] The lubricating oil capacity of the single docking in the replenishment component 704 is 2-3ml, and the lubricating oil capacity in the oil storage ring 701-9 can be used for 100-120 dockings, and can work continuously for about a week without replenishing the lubricating oil.

[0122] Example 4: Implementing a machine vision-based flexible docking and material placement method for lining trolleys using the scheme described in Example 3. The specific steps are as follows:

[0123] S1. Adjust the pose of the machine vision structure 105 so that the target point 106 on the guide tube 3 to be docked is exposed within the field of view of the machine vision structure 105; S2. Use the machine vision structure 105 to acquire an image of the target point 106 on the guide tube 3 to obtain the position information of the target point 106; S3. Calculate the target rotation angle of the feed tube 402 and the target extension stroke of the hydraulic telescopic rod 505 based on the position information of the target point 106, and generate rotation angle control commands and extension stroke control commands respectively; S4. According to the rotation angle control commands and extension stroke control commands, start the drive component and the hydraulic telescopic rod 505 to achieve precise alignment between the feed tube 402 and the guide tube 3.

[0124] The image processing module of the machine vision structure 105 calculates the target rotation angle of the rotating structure 4 and the target extension stroke of the hydraulic telescopic rod 505 based on the position information of the target site 106 obtained in S1. It then generates rotation angle control commands and extension stroke control commands, thereby enabling the decision execution module to control the movement of the rotating structure 4 and the coordination structure 5.

[0125] The control principle of the machine vision structure 105 specifically includes the following steps: Step 1: Calculate the three-dimensional coordinates of the target features; Step 2: Calculate the pose error of the top end of the feed tube 402; Step 3: Perform machine vision adaptive motion compensation control; Step 4: Perform vision-motion coupling error correction calculation to obtain the target rotation angle of the feed tube 402 and the target extension stroke of the hydraulic telescopic rod 505.

[0126] Furthermore, the positional relationship between the target site 106 and the guide tube 3 is determined based on the actual distance. In this application, the horizontal distance between the target site 106 and the axis of the guide tube 3 is 60mm, and the vertical distance is 170mm. In actual calculation, the three-dimensional coordinates of the guide tube 3 to be docked can be calculated based on the three-dimensional coordinates of the target site 106. The positional conversion between the target site 106 and the guide tube 3 was not substituted into the subsequent calculations.

[0127] Step 1: Calculate the three-dimensional coordinates of the target features.

[0128] The machine vision structure 105 installed on the feed pipe 402 acquires synchronous images of the target position 106, and uses the PnP (Perspective n Point) algorithm to solve the spatial transformation matrix from the target coordinate system to the camera coordinate system to obtain the three-dimensional coordinates of the target position 106.

[0129] ;

[0130] in, Let be the homogeneous coordinates of target site 106 on the camera image plane, where , Image coordinates; This is the camera intrinsic parameter matrix within the machine vision structure 105. , , The camera is in Focal length of direction, These are the coordinates of the camera's optical center on the image plane; for The rotation matrix represents the rotation transformation from the target coordinate system to the camera coordinate system; for The translation vector represents the position of the origin of the target coordinate system in the camera coordinate system; Here are the homogeneous coordinates of target site 106 in the world coordinate system; This represents the transpose of a vector.

[0131] The machine vision structure 105 acquires images of target sites 106 and obtains the image coordinates of multiple non-coplanar target points. Using the known world coordinates of the target The PnP algorithm is used to solve the camera extrinsic parameters. and .

[0132] The target's coordinates in the camera coordinate system are:

[0133] ;

[0134] Camera Insider The target camera coordinates are output by pre-determining the projection relationship through calibration plate experiments to ensure accuracy. This is used to calculate the actual position and orientation of the feed tube 402 in step two.

[0135] Step 2: Calculation of the positional error of the top end of the feed tube 402.

[0136] Calculate the error between the target pose and the actual pose of the top of the feed tube 402 relative to the target coordinate system to provide a basis for subsequent motion control.

[0137] ;

[0138] ;

[0139] ;

[0140] ;

[0141] in, The pose error is the error between the target pose and the actual pose of the top of the feed tube 402 relative to the target coordinate system. The target pose represents the desired position and orientation of the top end of the feed tube 402 in the target coordinate system; The actual pose is calculated using the PnP results from step one and the forward kinematics model.

[0142] The target locations are respectively Coordinates of direction; The actual locations are respectively Coordinates of direction; These are quaternions representing the target attitude and the actual attitude, respectively. The quaternion difference is used to convert it into an error angle vector.

[0143] Specifically, target pose The position of the target site 106 corresponding to the guide tube 3 is preset and determined through the design or calibration process.

[0144] Actual pose The calculation first involves obtaining the target's coordinates in the camera coordinate system in step one. Transformation matrix from camera to feed pipe 402 base coordinate system ,Will Convert to a base coordinate system and, using the forward kinematics model of the feed tube 402, calculate the actual pose of the end effector. Pose error This indicates the displacement and rotation amount that need to be adjusted at the top of the feed pipe 402. Input this into the PID controller in step three.

[0145] Step 3: Compensation control for machine vision adaptive motion.

[0146] Based on the pose error, an incremental PID controller with feedforward compensation is used to generate the control quantity of the hydraulic telescopic rod 505 and dynamically adjust the control parameters of the rotating structure 4.

[0147] The control formula for hydraulic telescopic boom 505 is as follows:

[0148] ;

[0149] ;

[0150] ;

[0151] in, It is a control vector that drives the output of the hydraulic telescopic rod 505; yes The pose error vector at time t is obtained from step two; yes The pose error vector at time t; for The pose error vector at time t; for The pose error vector at time t; To handle the saturation of the integral term, the limit is set to... Within the range; This represents the minimum pose error. This represents the maximum pose error. Let be the norm of the rate of change of error. Sampling time; For component-wise sign function vectors; Here is the PID gain matrix, consisting of proportional gain, integral gain, and derivative gain, respectively. This is the feedforward compensation coefficient matrix, used to enhance the dynamic response.

[0152] Adjustment of 4 parameters of rotating structure:

[0153] ;

[0154] in, This is the initial scaling gain matrix; Let be the moment of inertia of the fabric tube 2; For the quality of the end of the 402 feed pipe; This refers to the working arm length of the hydraulic telescopic rod 505; It is the damping factor; The reference moment of inertia.

[0155] In the PID control process, the incremental PID controller adjusts the position error... The control quantity of the hydraulic telescopic rod 505 is generated through proportional gain, integral gain, derivative gain, and feedforward term. . feedforward term It can improve the response to rapidly changing errors. Integral saturation is achieved through... The function limits the integral term to prevent control quantity overflow. Regarding parameter adjustment, the proportional gain... The control output is adaptively adjusted based on the dynamic parameters of the feed tube 2 (moment of inertia, end mass, arm length, and damping factor) to ensure control stability. The hydraulic telescopic rod 505 is extended and retracted after adjustment. Motor 406 is used for control of rotating structure 4.

[0156] It is important to note the PID parameters. and Through experimental debugging, it was determined that the initial value can be estimated based on the system's dynamic characteristics. The dynamic adjustment formula is calculated using real-time sensor data from encoders, force sensors, and other sensors. Ensure gain is adapted to mechanical conditions. Sampling time Typically in the millisecond range, it needs to be matched with the control system hardware.

[0157] Step 4: Calculation of vision-motion coupling error correction.

[0158] By transforming the camera coordinate system with the base coordinate system of the feed tube 402, and using a Kalman filter to correct for vibration-induced errors, the target rotation angle of the feed tube 402 and the target extension stroke of the hydraulic telescopic rod 505 are output.

[0159] Coordinate system transformation:

[0160] ;

[0161] in, This is the homogeneous transformation matrix from the camera coordinate system to the feed tube 402 base coordinate system; The transformation matrix from the base coordinate system to the end coordinate system of the feed pipe 402 is calculated for the forward kinematics model of the feed pipe 402. This is the calibration matrix for the camera and the rotary joint 401 at the end of the feed tube 402.

[0162] Kalman filter pose estimation:

[0163] ;

[0164] in, This is the pose state vector after Kalman filter correction; This represents the predicted state of the Kalman filter; The observation vector contains visual pose measurements (from the PnP algorithm) and IMU inertial data; The observation matrix maps the state to the observation space; The Kalman gain is adaptively updated based on the vibration spectrum.

[0165] Compensated pose error:

[0166] ;

[0167] in, This is the compensated pose error vector; The Jacobian matrix maps the pose error to the actuator space (target rotation angle and target extension stroke). The target pose represents the desired position and orientation of the top end of the feed tube 402 in the target coordinate system.

[0168] Actuator space mapping:

[0169] ;

[0170] in, This is the compensation amount for the rotation angle of the feed pipe 402; This is the compensation amount for the extension stroke of the hydraulic telescopic rod 505.

[0171] Target rotation angle and target extension / retraction stroke:

[0172] ;

[0173] ;

[0174] in, These are the target rotation angle and the target extension / retraction stroke, respectively. These represent the current rotation angle and the current telescopic stroke, respectively.

[0175] Coordinate transformation is achieved through... The coordinate system transformation formula establishes the relationship between the camera coordinate system and the 402 base coordinate system of the feed tube, mapping the visual measurement results to the actuator space to ensure consistency between visual data and motion control. Kalman filtering corrects pose errors caused by mechanical vibration by fusing visual measurements (PnP results from step one) and IMU data, outputting a more stable pose estimate. Error mapping is performed using the compensated pose error... Through the Jacobian matrix The control quantity mapped to the actuator (rotation angle compensation quantity) and telescopic stroke compensation amount The target output is the target rotation angle of the feed tube 402, generated based on the current state. And the target telescopic stroke of the hydraulic telescopic rod 505 The drive motor 406 and the hydraulic telescopic rod 505 perform the operation.

[0176] Calculation logic:

[0177] Step 1: Calculate the target's 3D pose using the PnP algorithm to provide basic data for subsequent error calculation. The output is... and , which represents the transformation from the target coordinate system to the camera coordinate system.

[0178] Step 2: Based on the target pose from Step 1 and the actual pose of the feed tube 402, calculate the pose error vector. This provides input for the control algorithm.

[0179] Step 3: Using a PID controller and dynamically adjusted gain, the pose error is converted into control commands for the hydraulic telescopic boom 505. And optimize the control effect based on the system's dynamic parameters.

[0180] Step 4: Correct vibration errors through coordinate transformation and Kalman filtering, map the compensated pose error to the rotation angle and extension stroke of the actuator, and finally output the target control quantity. , .

[0181] In summary, the overall steps of the machine vision-based flexible docking method for lining trolleys provided by this invention are as follows:

[0182] S1. Adjust the pose of the machine vision structure 105 so that the target point 106 on the guide tube 3 to be docked is exposed within the field of view of the machine vision structure 105.

[0183] S2. Use the machine vision structure 105 to obtain an image of the target site 106 on the guide tube 3 to obtain the position information of the target site 106; this is achieved through step one in embodiment four.

[0184] S3. Based on the position information of the target point 106, the target rotation angle of the rotating structure 4 and the target extension stroke of the hydraulic telescopic rod 505 are calculated, and rotation angle control commands and extension stroke control commands are generated respectively; this is achieved through steps two, three and four in embodiment four.

[0185] S4. The rotation angle control command controls the motor 406 to move. The rotation of the motor 406 drives the drive gear 407 to rotate synchronously. Then, due to the meshing relationship between the drive gear 407 and the arc-shaped toothed plate 403-2, the support plate 404 and the feed pipe 402 are rotated, so as to achieve precise alignment between the feed pipe 402 and the guide pipe 3.

[0186] After the feed pipe 402 is aligned with the guide pipe 3, the target extension stroke of the hydraulic telescopic rod 505 is calculated according to the machine vision structure 105. Based on the extension stroke control command, the hydraulic telescopic rod 505 extends and pushes the connecting pipe 501, connecting disc 502, adjusting disc 503, and elastic connecting pipe 504 towards the guide pipe 3. When the elastic connecting pipe 504 contacts the inner pipe 302, the inner pipe 302 restricts the elastic connecting pipe 504 from moving further. At this time, the hydraulic telescopic rod 505 continues to extend, and the inner pipe 302 exerts a squeezing force on the elastic connecting pipe 504, pointing towards the elastic connecting pipe 504. The connecting pipe 501 and the connecting disc 502... 02 continues to move closer to the guide tube 3, and the spring 604 is further compressed, shortening the total length of the connecting plate 502 and the adjusting plate 503. When the hydraulic telescopic rod 505 stops extending, the restoring force of the spring 604 acts on the structures on both sides. At this time, the left connecting pipe 501 and the connecting plate 502 are still subjected to the thrust of the hydraulic telescopic rod 505 pointing towards the guide tube 3, while the right elastic connecting pipe 504 is subjected to the squeezing force of the inner tube 302 pointing towards the elastic connecting pipe 504. The elastic connecting pipe 504 deforms, improving the sealing performance of the elastic connecting pipe 504 and the guide tube 3, while reducing damage caused by vibration. When the stabilizer bar 610 moves towards the guide pipe 3 along with the connecting plate 502, the stabilizer bar 610 passes through the connecting hole. During the concrete pouring process, the pressure block 701-2 located inside the guide pipe 3 is impacted, causing it to overcome the elastic force of the spring 701-7 and move upward, driving the pressure plate 701-4 to move upward synchronously. The pressure inside the oil tank 701-6 increases, resulting in an increase in the lubricating oil pressure, which can push the sealing plate 703-3, exposing the supply pipe 704-2 below the sealing plate 703-3. The lubricating oil flows into the supply pipe under the influence of pressure and gravity. The tube 704-2 is filled with a sealed cavity formed by the circumferential groove 704-3 and the elastic connecting tube 504. The outer wall of the elastic connecting tube 504 is lubricated to reduce friction. On the other hand, pushing the sealing disc 703-3 can simultaneously drive the clamping plates 703-1 to move closer to each other, and perform a wrapping clamping on the stabilizing rod 610 to improve the stability during the injection process. The increased friction on the stabilizing rod 610 can improve the stability of the matching structure 5. At the same time, when vibration occurs, it can disperse the vibration to the guide tubes 3 and the connecting tube 501 on both sides to avoid damage.

[0187] After the concrete pouring process is completed, the impact force on the pressure block 701-2 gradually decreases until it becomes zero. The restoring force of the spring 701-7 causes the pressure block 701-2 to move downward, reducing the pressure in the oil storage tank 701-6. Through the negative pressure, the lubricating oil in the oil storage ring 701-9 is drawn into the oil storage tank 701-6 through the replenishment pipe 701-8. The pushing force of the lubricating oil on the sealing disc 703-3 decreases, and the spring 703-4 causes the clamping plate 703-1 to reset. The sealing disc 703-3 resets again and seals the replenishment pipe 704-2.

[0188] When the flexible connecting tube 504 separates from the guide tube 3, the lubricating oil in the circumferential groove 704-3 and the supply tube 704-2 lubricates the outer wall of the flexible connecting tube 504 in a coating manner, so that it can easily overcome friction and possible deviations during the next mating connection and smoothly insert into the guide tube 3.

[0189] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A flexible butt-distribution system for a machine vision-based lining trolley, comprising a base, a plurality of distribution pipes being arranged on the base in a circumferential direction, characterized in that, The base is further provided with: A rotating structure is located at the center of the base, which includes a feeding pipe that can be rotated to point to any one of the cloth pipes, and each cloth pipe is provided with a target site on one side; A machine vision structure is provided on the feeding pipe, which reads and recognizes the image of the target site, analyzes and processes to obtain the angle at which the feeding pipe needs to be rotated when the feeding pipe is connected with the corresponding cloth pipe; A coordination structure is provided on the feeding pipe, which can assist the feeding pipe to realize flexible matching with the guide pipe provided on the connecting end of the cloth pipe; The coordination structure includes a connecting pipe, a connecting disc, an adjusting disc and an elastic connecting pipe; one end of the connecting pipe is slidably connected with the feeding pipe, and the other end of the connecting pipe is fixedly connected with one end of the connecting disc; the other end of the connecting disc is slidably connected with one end of the adjusting disc, and the other end of the adjusting disc is fixedly connected with the elastic connecting pipe; A tapered protrusion is further provided on the elastic connecting pipe, and a tapered groove is correspondingly provided on the guide pipe, and when the elastic connecting pipe is connected with the guide pipe, the tapered protrusion is located in the tapered groove; An elastic adjusting structure includes positioning plates one and three provided on the connecting disc, a stable rod is fixedly provided on the positioning plate three, a positioning plate two is provided on the adjusting disc, a maintaining rod is movably provided along the center axis of the positioning plate one and the positioning plate two, a spring one is sleeved on the maintaining rod, and the spring one is located between the positioning plate one and the positioning plate two; One end of the maintaining rod is connected with a bent rod, a spring two is sleeved on the free end of the bent rod, and the spring two is located inside a radial pipe on the outer wall of the elastic connecting pipe; the other end of the maintaining rod is connected with a limiting plate, and the limiting plate is located on the side of the positioning plate one away from the positioning plate two; A positioning and stabilizing structure includes an oil supply assembly and a clamping assembly provided on the guide pipe, the clamping assembly is provided on a positioning plate four of the guide pipe, and the stable rod is arranged in cooperation with the clamping assembly; the clamping assembly includes extension pipes provided on both sides of the positioning plate four, one end of the extension pipe is connected with an oil delivery pipe, a pushing piece is provided inside the extension pipe, one end of the pushing piece is connected with a clamping plate, and the clamping plate is located inside the positioning plate four; When the feeding pipe is matched and positioned with the guide pipe, the oil supply assembly is impacted, so that the stable rod is wrapped by the clamping assemblies on both sides, and the elastic connecting pipe is supplemented with lubricating oil at the same time.

2. The machine vision-based flexible splicing system of claim 1, wherein, The rotating structure includes: A moving guide rail is an annular structure provided on the periphery of the feeding pipe, and an arc-shaped tooth plate is provided inside the moving guide rail; A supporting plate is sleeved on the feeding pipe, and one side of the supporting plate is provided with a driving piece, an output end of the driving piece is connected with a driving gear, and the driving gear is engaged with the arc-shaped tooth plate.

3. The machine vision-based flexible splicing system of claim 2, wherein: A hydraulic telescopic rod is provided on the housing of the machine vision structure, and an inner rod of the hydraulic telescopic rod is connected with the connecting pipe.

4. The machine vision-based flexible splicing system of claim 3, wherein: The oil supply assembly includes an oil storage tank provided on the outer wall of the guide pipe, the oil storage tank is connected with the clamping assembly through the oil delivery pipe, and a pressure transmission piece is slidably connected inside the oil storage tank.

5. The machine vision-based flexible splicing system of claim 4, wherein: The pushing piece includes a short rod and a sealing disc connected with each other, a spring four is sleeved on the short rod, one end of the spring four is connected with the sealing disc, and the other end of the spring four is connected with the inner wall of the extension pipe close to the clamping plate.

6. The machine vision-based flexible splicing system of claim 5, wherein: The stable structure also comprises a supply assembly, the supply assembly comprising a support pipe arranged at the bottom of the extension pipe, a supply pipe arranged in the support pipe, one end of the supply pipe being in communication with the extension pipe and the other end extending to the inner wall of the guide pipe, a circumferential groove being arranged on the inner wall of the guide pipe in the circumferential direction, the circumferential groove being in communication with the supply pipe.

7. A flexible butt-dressing method for a machine vision-based lining trolley, characterized in that, The specific steps of the flexible docking material distribution system based on the machine vision lining trolley are as follows: S1, adjusting the pose of the machine vision structure so that the target point corresponding to the guide pipe to be docked is exposed in the field of view of the machine vision structure; S2, acquiring the image of the target point by using the machine vision structure to obtain the position information of the target point; S3, calculating the target rotation angle of the supply pipe and the target extension stroke of the hydraulic telescopic rod according to the position information of the target point, and generating a rotation angle control instruction and an extension stroke control instruction respectively; S4, starting the driving member and the hydraulic telescopic rod to realize the accurate coordination of the supply pipe and the guide pipe according to the rotation angle control instruction and the extension stroke control instruction.

8. The machine vision-based flexible butt-dressing method of claim 7, wherein, The calculation of the target rotation angle of the supply pipe and the target extension stroke of the hydraulic telescopic rod according to the position information of the target point in S3 comprises the following steps: calculating the pose error of the top end of the supply pipe; compensating the control of the adaptive motion of the machine vision based on the pose error; performing vision-motion coupling error correction calculation to obtain the target rotation angle of the supply pipe and the target extension stroke of the hydraulic telescopic rod.

9. The machine vision-based flexible butt-dressing method of claim 8, wherein, The specific steps of compensating the control of the adaptive motion of the machine vision based on the pose error are as follows: using an incremental PID controller with feedforward compensation to generate the control amount of the hydraulic telescopic rod, and dynamically adjusting the control parameters of the rotation structure.

10. The machine vision-based flexible butt-dressing method of claim 9, wherein, The control amount formula of the hydraulic telescopic rod is: ； ； ； wherein, is the control vector, driving the output of the hydraulic telescopic rod; is the pose error vector at time k; is the pose error vector at time k-1; is the pose error vector at time k-1; is the pose error vector at time k-1; is the pose error vector at time k-1; is the pose error vector at time k-1; is the saturation processing of the integral term, limited in is the minimum value of the pose error, is the maximum value of the pose error; is the norm of the error rate, is the sampling time; is the vector of the sign function by component; , , is the gain matrix of the incremental PID controller, respectively the proportional gain, the integral gain and the derivative gain; is the feedforward compensation coefficient matrix.​

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