Tunnel arc-shaped side wall plate dismounting equipment and control method thereof

Abstract

The application discloses a tunnel arc-shaped side wall plate dismounting equipment and a control method thereof, and relates to the technical field of tunnel engineering. The method comprises the following steps: in response to a control instruction of the tunnel arc-shaped side wall plate dismounting equipment, determining a side wall plate processing area and a side wall plate processing requirement of the tunnel arc-shaped side wall plate dismounting equipment; acquiring point cloud data of the side wall plate processing area, and adjusting a swing arm angle between a main connecting arm and an auxiliary connecting arm based on the point cloud data; determining a wall plate to be processed, controlling the tunnel arc-shaped side wall plate dismounting equipment to load the wall plate to be processed, and processing the wall plate to be processed according to the side wall plate processing requirement. The application can adjust the swing arm angle between the main connecting arm and the auxiliary connecting arm according to the point cloud data of the side wall plate processing area, reduce the loss of the wall plate to be processed, improve the loading stability of the wall plate to be processed, and then control the tunnel arc-shaped side wall plate dismounting equipment to process the wall plate to be processed according to the side wall plate processing requirement, thereby improving the dismounting efficiency of the wall plate to be processed and saving labor cost.

Description

Technical Field

[0001] This invention relates to the field of tunnel control technology, and in particular to a device for disassembling and assembling curved sidewall panels in tunnels and its control method. Background Technology

[0002] The installation, maintenance, and replacement of sidewall decorative panels are an important part of tunnel maintenance projects. The efficiency and quality of the installation and removal of sidewall decorative panels are closely related to the tunnel maintenance effect.

[0003] Currently, sidewall decorative panels are generally installed and removed manually by workers during tunnel closures, such as at night or during maintenance periods. Workers manually install or remove the panels, requiring constant monitoring of their condition and adjustments to ensure proper fit and quality. However, this manual method is slow, labor-intensive, time-consuming, and costly. Furthermore, the quality of panel installation and removal is limited by the workers' experience. Summary of the Invention

[0004] This invention provides a tunnel curved sidewall panel disassembly and assembly device and its control method. It can adjust the swing arm angle between the main connecting arm and the auxiliary connecting arm according to the point cloud data of the sidewall panel processing area, reduce the wear of the wall panel to be processed, improve the loading stability of the wall panel to be processed, and then control the tunnel curved sidewall panel disassembly and assembly device to process the wall panel to be processed according to the sidewall panel processing requirements, thereby improving the disassembly and assembly efficiency and quality of the wall panel to be processed and saving labor costs.

[0005] According to one aspect of the present invention, a control method for a tunnel curved sidewall panel dismantling and assembly device is provided. The tunnel curved sidewall panel dismantling and assembly device includes a main connecting arm and an auxiliary connecting arm, which are hingedly connected. The method includes: In response to the control commands of the tunnel curved sidewall panel dismantling and assembly equipment, determine the sidewall panel processing area and sidewall panel processing requirements of the tunnel curved sidewall panel dismantling and assembly equipment; Acquire point cloud data of the side wall panel processing area, and adjust the swing arm angle between the main connecting arm and the auxiliary connecting arm based on the point cloud data; Identify the wall panels to be treated, control the tunnel curved side wall panel dismantling and assembly equipment to load the wall panels to be treated, and process the wall panels according to the side wall panel processing requirements.

[0006] According to another aspect of the present invention, a control device for a tunnel curved sidewall panel dismantling and assembly device is provided. The tunnel curved sidewall panel dismantling and assembly device includes a main connecting arm and an auxiliary connecting arm, which are hinged together. The control device is used to implement the control method of the tunnel curved sidewall panel dismantling and assembly device in any embodiment of the present invention. The device includes: The information determination module is used to determine the side wall processing area and side wall processing requirements of the tunnel curved side wall panel dismantling and assembly equipment in response to the control commands of the equipment. Angle determination module is used to acquire point cloud data of the side wall panel processing area and adjust the swing arm angle between the main connecting arm and the auxiliary connecting arm based on the point cloud data. The side wall panel processing module is used to identify the wall panels to be processed, control the tunnel curved side wall panel dismantling and assembly equipment to load the wall panels to be processed, and process the wall panels to be processed according to the side wall panel processing requirements.

[0007] According to another aspect of the present invention, a tunnel arc-shaped sidewall panel disassembly and assembly device is provided, which is used to implement the control method of the tunnel arc-shaped sidewall panel disassembly and assembly device in any embodiment of the present invention.

[0008] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by at least one processor, which is then executed by the at least one processor to enable the at least one processor to execute the control method of the tunnel arc sidewall panel disassembly and assembly device in any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the control method of the tunnel arc sidewall panel disassembly and assembly device in any embodiment of the present invention.

[0010] According to another aspect of the present invention, a computer program product is provided, the computer program product including a computer program, which, when executed by a processor, implements the control method of the tunnel arc sidewall panel disassembly and assembly device according to any embodiment of the present invention.

[0011] The control method of the tunnel curved sidewall panel dismantling and assembly equipment of the present invention includes: responding to the control command of the tunnel curved sidewall panel dismantling and assembly equipment, determining the sidewall panel processing area and sidewall panel processing requirements of the tunnel curved sidewall panel dismantling and assembly equipment; acquiring point cloud data of the sidewall panel processing area, and adjusting the swing arm angle between the main connecting arm and the auxiliary connecting arm based on the point cloud data; determining the wall panel to be processed, controlling the tunnel curved sidewall panel dismantling and assembly equipment to load the wall panel to be processed, and processing the wall panel to be processed according to the sidewall panel processing requirements. This invention determines the sidewall panel processing area and processing requirements based on control commands from the tunnel curved sidewall panel dismantling and assembly equipment. It then acquires point cloud data of the processing area and adjusts the swing arm angle between the main and auxiliary connecting arms based on this data. This ensures the curved contact surface between the main and auxiliary connecting arms better matches the sidewall panel to be processed, reducing wear and tear and improving loading stability. Finally, after loading the sidewall panel, the equipment is controlled to process it according to the processing requirements, effectively improving dismantling efficiency and quality while saving labor costs. This invention solves the problems of slow construction speed, high labor requirements, long maintenance periods, high maintenance costs, and limited dismantling quality of sidewall decorative panels due to the reliance on operator experience.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in this invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a structural schematic diagram of a tunnel arc-shaped sidewall panel disassembly and assembly device provided by the present invention; Figure 2 This is a flowchart illustrating a control method for a tunnel arc-shaped sidewall panel disassembly and assembly device provided by the present invention; Figure 3 This is a flowchart illustrating another control method for a tunnel arc-shaped sidewall panel disassembly and assembly device provided by the present invention; Figure 4 This is a schematic diagram of the control device for a tunnel arc-shaped sidewall panel disassembly and assembly equipment provided by the present invention; Figure 5This is a schematic diagram of the structure of an electronic device provided by the present invention.

[0015] Figure label: 1-Main connecting arm, 2-Auxiliary connecting arm, 2A-First auxiliary connecting arm, 2B-Second auxiliary connecting arm, 3-Mechanical arm connection interface, 4-Diagram of tunnel curved wall, 5-Swing arm hinge joint, 6-Curvature adjustment actuator, 7-Flexible suction cup assembly, 8-Force sensor, 9-First vacuum suction claw, 10-Second vacuum suction claw, 11-Safety claw. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0017] It should be noted that the terms "first," "second," "initial," "intermediate," "candidate," "alternate," "target," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0018] The acquisition, storage, use, and processing of data in the technical solution of this invention all comply with relevant national laws and regulations. Specifically, the user information collected in this invention is information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of related data all comply with relevant national and regional laws, regulations, and standards, and necessary confidentiality measures are taken. This does not violate public order and good morals, and corresponding operation entry points are provided for users to choose to authorize or reject automated decision-making results; if the user chooses to reject, the process proceeds to the expert decision-making process. It should be noted that certain software, components, models, and other existing industry solutions may be mentioned in the embodiments of this application. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used the relevant content of such solutions.

[0019] During tunnel maintenance, the upkeep and replacement of sidewall decorative panels face numerous technical challenges, including: 1) Difficulty in adapting to curved surfaces: Tunnel sidewalls are often arc-shaped or non-standard curved surfaces, while decorative panels are typically flat and brittle. Traditional flat-plate suction equipment cannot fit the curved walls, and forced suction can easily cause the panels to crack due to stress concentration. 2) High safety risks: The working environment at heights inside tunnels is harsh. Relying solely on vacuum suction cups carries the risk of suction failure due to power outages, air leaks, or dirty walls. If the panels fall, it will cause serious safety accidents. 3) Outdated disassembly and assembly processes and lack of force perception: It is difficult to control the clamping force when installing new panels, and it is difficult to overcome the rust and adhesion between the back of the panels and the keel when disassembling old panels. Forceful pulling is often used, resulting in broken panels that cannot be recycled. 4) Short working window: Tunnel maintenance is usually carried out only at night when a single lane is closed, requiring extremely high equipment efficiency and adaptability to narrow spaces. This invention designs an automated end effector (i.e., a tunnel curved sidewall panel disassembly and assembly device) capable of actively adapting to wall curvature, possessing flexible force control sensing, and featuring a dual safety guarantee mechanism. It boasts the following technical advantages: 1) Active curvature fitting: Employing a hinged variable topology structure, the actuator actively adjusts the arrangement arc of the suction cup array to precisely match the tunnel wall / decorative panel. 2) Scalable safety redundancy: An independent actuator-driven telescopic L-shaped safety claw is installed at the outermost suction cup, solving the interference problem during adsorption and providing physical fall protection. 3) Flexible force position control: Integrating multi-dimensional force sensors to achieve "soft contact" and uniform force distribution between the panel and the wall. 4) Assisted disassembly process: Combining micro-vibration technology to achieve non-destructive peeling of old panels.

[0020] Figure 1This is a structural schematic diagram of a tunnel curved sidewall panel dismantling and assembly equipment provided by the present invention. The tunnel curved sidewall panel dismantling and assembly equipment of the present invention is an automated operation device that can perform high-altitude rapid installation, replacement and non-destructive dismantling of decorative panels (e.g., cement fiberboard, calcium silicate board, etc.) on curved walls inside highway or railway tunnels. Figure 1 The number 4 in the diagram represents the curved wall of the tunnel. Figure 1 The diagram shows the structure of the end effector section of the tunnel curved sidewall panel dismantling and assembly equipment. This equipment includes a mobile chassis (equipped with automatic leveling to adapt to the tunnel's cross slope), a multi-degree-of-freedom robotic arm, and other components. Figure 1 The end effector shown is referenced. Figure 1 The end effector of the tunnel curved sidewall panel dismantling and assembly equipment includes a main connecting arm 1, an auxiliary connecting arm 2, a robotic arm connection interface 3, a swing arm hinge joint 5, a curvature adjustment actuator 6, a flexible suction cup assembly 7, a force sensor 8, a first vacuum suction claw 9, a second vacuum suction claw 10, and a safety claw 11. The main connecting arm 1 is the base. The auxiliary connecting arm 2 includes a first auxiliary connecting arm 2A and a second auxiliary connecting arm 2B. The main connecting arm 1 and the auxiliary connecting arm 2 are connected via the swing arm hinge joint 5. The first auxiliary connecting arm 2A and the second auxiliary connecting arm 2B can rotate around the swing arm hinge joint 5 to form an arch, better conforming to the curved wall surface. The robotic arm connection interface 3 connects to the lifting robotic arm and can move the main connecting arm 1, the auxiliary connecting arm 2, and the decorative panel suctioned by the auxiliary connecting arm 2. The curvature adjustment actuator 6 is a built-in screw / spring mechanism that can be used to drive the swing arm (i.e., the connecting arm). The flexible suction cup assembly 7 includes a locking suction unit and at least one vacuum suction unit. Figure 1 The tunnel curved sidewall panel dismantling and assembly equipment shown includes a locking adsorption unit and a vacuum adsorption unit. The locking adsorption unit refers to the first vacuum adsorption claw 9 (i.e., a safety claw extension actuator, such as a cylinder or electric push rod). The vacuum adsorption unit includes a second vacuum adsorption claw 10 (i.e., a safety claw extension actuator) and a safety claw 11 (i.e., an L-shaped safety claw located at the outermost ends on both sides for physically supporting the panel). Both the first vacuum adsorption claw 9 and the second vacuum adsorption claw 10 are vacuum suction cups. Force sensors 8 are located at the suction cup connection points. Each vacuum adsorption claw is equipped with a force sensor 8 to monitor normal pressure / tension.

[0021] The tunnel arc-shaped sidewall panel disassembly and assembly equipment of the present invention has the following advantages: 1) Variable curvature fitting mechanism: By controlling the curvature adjustment actuator 6 located in the main connecting arm 1, the first auxiliary connecting arm 2A and the second auxiliary connecting arm 2B are pushed or pulled to rotate around the swing arm hinge joint 5, so that the line connecting the four suction cups (i.e., vacuum suction claws) distributed on the swing arm is no longer a straight line, but forms a variable angle broken line or fitting arc, thereby actively matching the curvature radius of the tunnel wall. 2) Scalable safety redundancy mechanism: L-shaped safety claws 11 are provided on the outermost sides of the left and right arms (i.e., the first auxiliary connecting arm 2A and the second auxiliary connecting arm 2B). Furthermore, in order to avoid interference at the tip of the safety claw when the suction cups adsorb the flat panel, each safety claw is driven by an independent telescopic actuator. 3) Avoidance state (before adsorption): The telescopic actuator retracts, pulling the tip of the L-shaped safety claw 11 back to the rear of the suction cup sealing plane, ensuring the suction cup can adhere to the board without obstruction. Working state (after adsorption): The telescopic actuator extends, pushing the L-shaped safety claw 11 forward to wrap around the bottom edge of the board, forming a physical support barrier. 4) Flexible sensing mechanism: A force sensor 8 is installed at the base of each suction cup to provide real-time feedback on the contact pressure or pull-out resistance between the suction cup and the board / wall, providing data support for the control system to adjust the pull-out data in a timely manner, reducing board damage and improving the installation and removal effect, service life, and utilization rate of the decorative board.

[0022] Under the installation conditions of new panels for tunnel curved walls, the specific process of installing decorative panels using tunnel curved sidewall panel disassembly and assembly equipment includes: 1) Curvature scanning and pre-adjustment: For example, when the robot arrives at the workstation, it uses the laser radar built into the equipment to scan the wall in front and calculate the radius of curvature; the controller drives the curvature adjustment actuator to open the swing arm (i.e., the auxiliary connecting arm) to the corresponding angle and pre-set the curvature of the suction cup array (i.e., each first vacuum suction claw and each second vacuum suction claw). 2) Grasping and safety locking: For example, when the robotic arm (i.e., the multi-degree-of-freedom robotic arm on the main connecting arm) moves to the top of the floor panel, the telescopic actuator is controlled to retract, so that the safety claw is in an avoidance state, the suction cups (i.e., each first vacuum suction claw and each second vacuum suction claw) press down to contact the panel and establish a vacuum. After confirming that the vacuum is established, the telescopic actuator is controlled to extend, so that the safety claw is locked into the bottom edge of the panel, completing the physical locking. 3) Force-controlled flexible bonding: The robotic arm lifts the panel close to the wall, entering "force-controlled mode." The robotic arm slowly adjusts its posture and advances, while the controller monitors the values ​​of each force sensor in real time, automatically fine-tuning the posture of the robotic arm's end until the pressure values ​​of each sensor rise evenly and reach the preset clamping threshold, achieving a flexible "soft landing" of the decorative panel onto the curved wall. 4) Fixing and removal: Maintaining the flexible clamping state, screws are tightened manually or with auxiliary tools. After installation, the telescopic actuator retracts the safety claw and releases the vacuum, allowing the robotic arm to withdraw, completing the decorative panel installation process.

[0023] In the case of dismantling old panels on the tunnel's curved sidewall, the specific process of dismantling decorative panels using the tunnel curved sidewall panel dismantling and assembly equipment includes: 1) Adhesion and pre-protection: The end effector is adjusted to fit the curvature, the safety claw is in a retracted and yielding state, the suction cup adheres to the surface of the old panel and establishes vacuum adsorption; after successful adsorption, the telescopic actuator is immediately extended so that the safety claw is placed below the bottom edge of the old panel, ready for support. 2) Vibration-assisted peeling: The micro-high frequency vibration motor integrated in the suction cup assembly is turned on, and the rust and adhesion between the back of the panel and the keel are loosened by vibration. 3) Force-controlled pulling: The robotic arm slowly applies a pulling force backward (i.e., away from the installation position of the old panel), while monitoring the feedback value of the force sensor; if the pulling resistance is too high, the system pauses the pulling and increases the vibration, and can also adaptively retreat a certain distance until the resistance drops to a safe range, and then pull out smoothly to prevent the panel from breaking brittlely. 4) Safe recycling: When the board is detached from the wall, even if there is a brief slippage, the extended safety claw can hold the board firmly to ensure its safety. The robotic arm will then transport the old board back to the ground, completing the disassembly process of the decorative board.

[0024] Figure 2 This is a flowchart illustrating a control method for a tunnel curved sidewall panel disassembly and assembly device provided by the present invention. This embodiment is adaptable to adjusting the arm swing angle of the sidewall panel disassembly and assembly device based on the surface information of the area to be processed, thereby performing the sidewall panel disassembly and assembly task with high quality and efficiency. This method can be executed by the control method device for the tunnel curved sidewall panel disassembly and assembly device provided by the present invention. This device can be implemented in hardware and / or software. In a specific embodiment, the device can be integrated into an electronic device, which can be the tunnel curved sidewall panel disassembly and assembly device itself, such as an automated flexible disassembly and assembly robot for tunnel curved sidewall panels. The following embodiments will illustrate this using the integration of the device into an electronic device as an example. (Refer to...) Figure 2 The method specifically includes the following steps: S101. In response to the control command of the tunnel curved sidewall panel dismantling and assembly equipment, determine the sidewall panel processing area and sidewall panel processing requirements of the tunnel curved sidewall panel dismantling and assembly equipment.

[0025] The tunnel curved sidewall panel dismantling and assembly equipment can be used to perform both decorative panel installation and dismantling tasks. The control commands for this equipment serve as the initiation information for the decorative panel installation / dismantling tasks, instructing the equipment to perform either task. Specifically, the control commands include sidewall panel installation commands and dismantling commands. The installation commands instruct the equipment to install the decorative panels, while the dismantling commands instruct it to dismantle them. The control commands contain construction information; parsing these commands reveals the sidewall panel processing area and processing requirements. The side wall panel treatment area can be understood as the location where decorative panels need to be installed / removed. The side wall panel treatment requirements can be understood as the purpose of side wall panel treatment, including side wall panel installation requirements and side wall panel removal requirements. Side wall panel installation requirements indicate that decorative panels need to be installed in the side wall panel treatment area, and side wall panel removal requirements indicate that there are decorative panels in the side wall panel treatment area that need to be removed, so as to initiate the decorative panel installation / removal task in a targeted manner.

[0026] In one specific implementation, in response to the control commands of the tunnel curved sidewall panel dismantling and assembly equipment, the sidewall panel processing area and sidewall panel processing requirements of the equipment are determined. This includes: in response to the sidewall panel installation commands of the equipment, determining the sidewall panel processing requirements as sidewall panel installation requirements, and determining the sidewall panel processing area based on the sidewall panel installation position in the sidewall panel installation commands; and in response to the sidewall panel dismantling commands of the equipment, determining the sidewall panel processing requirements as sidewall panel dismantling requirements, and determining the sidewall panel processing area based on the sidewall panel dismantling position in the dismantling commands. The advantage of this setup is that it accurately and efficiently determines the sidewall panel processing area and sidewall panel installation / dismantling requirements based on the control commands of the tunnel curved sidewall panel dismantling and assembly equipment. This allows the equipment to accurately and efficiently perform the decorative panel installation / dismantling tasks, eliminating the need for manual intervention during the installation / dismantling process, effectively saving labor costs and improving the efficiency of decorative panel installation / dismantling.

[0027] S102. Obtain point cloud data of the side wall panel processing area, and adjust the swing arm angle between the main connecting arm and the auxiliary connecting arm based on the point cloud data.

[0028] The acquisition of point cloud data of the side wall panel processing area can be understood as the original point cloud data of the tunnel side wall / decorative panel to be disassembled obtained after scanning the side wall panel processing area on the tunnel side wall with LiDAR. Processing the original point cloud data of the tunnel side wall / decorative panel to be disassembled can obtain the surface mathematical model of the tunnel side wall / decorative panel to be disassembled, so that the main connecting arm and the auxiliary connecting arm can better fit the arch of the tunnel side wall / decorative panel to be disassembled, and obtain the swing arm angle between the main connecting arm and the auxiliary connecting arm.

[0029] This invention only scans the side wall panel processing area, which can effectively save the workload of lidar and improve the efficiency of determining the arm swing angle. Furthermore, this invention processes the original point cloud data, which can handle local unevenness or non-standard curvature and improve the calculation accuracy of the arm swing angle.

[0030] Combination Figure 1 It can be seen that the first auxiliary connecting arm is connected to the first end of the main connecting arm, and the second auxiliary connecting arm is connected to the second end of the main connecting arm. The auxiliary connecting arm can rotate around the swing arm hinge joint and presents different angles with the main connecting arm. That is, there is an included angle between the main connecting arm and each auxiliary connecting arm. Therefore, the swing arm angle between the main connecting arm and the auxiliary connecting arm includes the swing arm angle between the main connecting arm and the first auxiliary connecting arm and the swing arm angle between the main connecting arm and the second auxiliary connecting arm.

[0031] In one embodiment, point cloud data of the side wall panel processing area is acquired, and the swing arm angle between the main connecting arm and the auxiliary connecting arm is adjusted based on the point cloud data, including the following A1, A2 and A3.

[0032] A1) Obtain the point cloud data of the side wall panel processing area and construct a surface model of the side wall panel processing area based on the point cloud data.

[0033] This invention constructs a surface model based on point cloud data of the side wall panel processing area. It can handle not only standard cylindrical wall / panel surfaces but also those with localized unevenness or non-standard curvature. This invention does not assume that the wall / panel surface (i.e., the decorative panel surface) of the area to be processed (i.e., the side wall panel processing area) is a standard cylindrical surface. A non-uniform rational B-spline algorithm is used to construct the surface model of the side wall panel processing area. Specifically, the curved surface model of the side wall panel treatment area. Where p and q represent the spline degree, i represents the number of sampling points in the u direction, n represents the maximum number of sampling points in the u direction, j represents the number of sampling points in the v direction, and m represents the maximum number of sampling points in the v direction. Indicates the control vertex. Indicates the weighting factor. Describes the p-th order B-spline basis function in the u direction. This represents the q-th order B-spline basis function in the v direction. Using this surface model, the normal vector at any point on the wall / panel surface can be calculated.

[0034] A2) Using the principle of minimum stress, based on the curved surface model of the side wall panel processing area and the connecting arm information of the tunnel arc side wall panel disassembly and assembly equipment, determine the first angle data between the main connecting arm and the first auxiliary connecting arm and the second angle data between the main connecting arm and the second auxiliary connecting arm.

[0035] The number of auxiliary connecting arms, the size of the main connecting arms, the size of the auxiliary connecting arms, and the rotation angles of the main and auxiliary connecting arms vary among different tunnel curved sidewall panel assembly and disassembly equipment. For the same curved surface model, the curvature conforming to the wall is fixed. If the number of auxiliary connecting arms, the size of the main connecting arms, the size of the auxiliary connecting arms, and the rotation angles of the main and auxiliary connecting arms are different, then the arm swing angle between the main and auxiliary connecting arms will also be different. For example, when the curved surface model, the number of auxiliary connecting arms, the size of the auxiliary connecting arms, and the rotation angles of the main and auxiliary connecting arms are the same, the longer the main connecting arm, the smaller the arm swing angle between the main and auxiliary connecting arms; the shorter the main connecting arm, the larger the arm swing angle between the main and auxiliary connecting arms. The connecting arm information of the tunnel curved sidewall panel dismantling and assembly equipment can be understood as the number of auxiliary connecting arms, the size of the main connecting arm, the size of the auxiliary connecting arm, and the rotation angles of the main and auxiliary connecting arms. This information is used to calculate the arm swing angle on the equipment that best fits the curve of the wall surface, reducing damage during the handling and installation of the decorative panels. The first angle data between the main connecting arm and the first auxiliary connecting arm can be understood as the rotation angle between the main connecting arm and the first auxiliary connecting arm. The second angle data between the main connecting arm and the second auxiliary connecting arm can also be understood as the rotation angle between the main connecting arm and the second auxiliary connecting arm. The purpose of this setting is to use quantitative data to adjust the camber between the main connecting arm and the first auxiliary connecting arm, as well as the camber between the main connecting arm and the second auxiliary connecting arm, to precisely adjust the fit between the tunnel curved sidewall panel dismantling and assembly equipment and the wall / decorative panel, improving the handling of the decorative panels.

[0036] The tunnel arc-shaped sidewall panel disassembly and assembly device of the present invention includes multiple vacuum suction claws. Utilizing the principle of minimum stress, based on the curved surface model of the sidewall panel processing area and the connecting arm information of the tunnel arc-shaped sidewall panel disassembly and assembly device, it determines the first angle data between the main connecting arm and the first auxiliary connecting arm and the second angle data between the main connecting arm and the second auxiliary connecting arm. Before gripping the panel, it can calculate the optimal spatial distribution of the suction cup array in a globally optimal manner, preventing brittle panels from breaking due to forced adhesion.

[0037] This invention can construct a minimum stress pose optimization function and use this function to adjust the arm swing angle. Arm swing angle Where k represents the number of suction cups, and the number of suction cups is 4. This represents the kinematic coordinates of the center of the k-th suction cup. Indicates the coordinates of the corresponding points on the wall / panel surface. To estimate the bending stress of the sheet metal, , This is a weighting coefficient for bonding error and internal stress, which can be used to balance bonding quality and safety requirements. Specifically, the first term in the formula is the bonding error term. The coordinates of the k-th suction cup center are calculated based on the forward kinematics solution. curved surface The smaller this term is, the tighter the suction cup adheres. The second term in the formula is the internal stress penalty term. This is the estimated bending stress (calculated based on the board's elastic modulus and local curvature difference) caused by curvature mismatch at the k-th suction cup. A smaller value for this term indicates a lower risk of board breakage. If only the bonding error is considered, the tunnel curved sidewall panel disassembly and assembly equipment might attempt to press the decorative panel against the sidewall regardless of wall unevenness, potentially damaging the board. Conversely, if only the internal stress penalty is considered, the equipment would maintain the board's most natural, extended shape, reducing the bonding effect. This invention comprehensively considers both the bonding error and internal stress penalty terms, controlling the board's fit to the sidewall as closely as possible without causing breakage.

[0038] A3) Adjust the arm swing angle between the main connecting arm and the first auxiliary connecting arm based on the first angle data, and adjust the arm swing angle between the main connecting arm and the second auxiliary connecting arm based on the second angle data.

[0039] Specifically, step A3 essentially involves adjusting the swing angle between the main connecting arm and the first auxiliary connecting arm to the first angle data, and adjusting the swing angle between the main connecting arm and the second auxiliary connecting arm to the second angle data. The advantage of this setup is that it quantifies the swing angle between the main connecting arm and the auxiliary connecting arm, improving the control accuracy of the tunnel curved sidewall panel assembly and disassembly equipment.

[0040] S103. Determine the wall panel to be treated, control the tunnel arc side wall panel dismantling and assembly equipment to load the wall panel to be treated, and process the wall panel to be treated according to the side wall panel processing requirements.

[0041] Regardless of whether it's installation or dismantling, the tunnel curved sidewall panel assembly / disassembly equipment needs to load panels. The panels to be processed can be understood as those that need to be loaded by the equipment. In installation mode, these are decorative panels to be installed into the sidewall panel processing area; in dismantling mode, they are decorative panels to be removed from the processing area. Controlling the loading of the panels by the equipment involves controlling the suction cups to adhere to the panels and the safety claws to lock the edges of the panels. Processing the panels according to their processing requirements means installing them into the processing area or removing them from the processing area as needed. This setup aims to achieve efficient, precise, and high-quality real-time tunnel maintenance engineering.

[0042] In the installation process, the wall panel to be treated refers to the decorative panel that needs to be installed in the side wall panel treatment area. It can be determined based on the correspondence between the decorative panel and the side wall panel treatment area (e.g., curvature correspondence) or based on the installation instructions issued by the staff (the installation instructions include unique attribute information such as the number and name of the decorative panel that needs to be installed in the side wall panel treatment area).

[0043] In one specific implementation, determining the wall panel to be processed includes: when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel installation command, determining the wall panel to be processed based on the sidewall panel identification information in the sidewall panel installation command; or, determining the curvature data of the sidewall panel installation position and determining the wall panel to be processed based on the curvature data of the sidewall panel installation position; when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel removal command, determining the wall panel loaded at the sidewall panel installation position as the wall panel to be processed. The purpose of this setup is to quickly and accurately determine the wall panel to be processed.

[0044] The side wall panel identification information can be understood as the unique attribute information such as the number and name of the decorative panel to be installed in the side wall panel treatment area. This information allows for the selection of the decorative panel to be used for installation from a large pool of panels; the selected panel is the wall panel to be treated. For example, assuming the decorative panels to be installed include panel 1, panel 2, and panel 3, with panel 1 numbered B1 and curvature C1, panel 2 numbered B2 and curvature C2, and panel 3 numbered B3 and curvature C3, if the side wall panel identification information in the side wall panel installation instruction is B2, then the wall panel to be treated is panel 2; if it is B3, then it is panel 3; and if it is B1, then it is panel 1. Furthermore, if the side wall panel installation instruction does not include side wall panel identification information, then the curvature data of the side wall panel installation position is obtained, and the wall panel to be processed is determined based on the determined curvature data. For example, when the curvature data of the side wall panel installation position is C1, the wall panel to be processed is determined to be decorative panel 1; when the curvature data of the side wall panel installation position is C2, the wall panel to be processed is determined to be decorative panel 2; and when the curvature data of the side wall panel installation position is C3, the wall panel to be processed is determined to be decorative panel 3.

[0045] Combination Figure 1 It is known that the auxiliary connecting arm includes a locking adsorption unit and at least one vacuum adsorption unit. The vacuum adsorption unit includes a first vacuum adsorption claw, and the locking adsorption unit includes a second vacuum adsorption claw and a safety claw. The safety claw is located on the side of the second vacuum adsorption claw away from the main connecting arm.

[0046] In one specific implementation, controlling the loading of the tunnel curved sidewall panel dismantling and assembly equipment for the wall panel to be treated includes: opening the safety claws and controlling the first vacuum suction claw and the second vacuum suction claw to contact the wall panel to be treated; when both the first vacuum suction claw and the second vacuum suction claw have established a vacuum relationship with the wall panel to be treated (i.e., both the first vacuum suction claw and the second vacuum suction claw have successfully adsorbed the wall panel to be treated), controlling the safety claws to fix the wall panel to be treated. The advantage of this setup is that it ensures the loading stability of the wall panel to be treated through a dual fixing method. On the one hand, multiple vacuum suction claws are used to fix the wall panel to be treated; on the other hand, L-shaped safety claws located at both ends physically lock and lift the wall panel to be treated, effectively reducing the probability of the wall panel to be treated slipping and improving the safety of the wall panel to be treated.

[0047] After the tunnel curved sidewall panel dismantling and assembly equipment loads the wall panel to be processed, the method of the present invention further includes: obtaining the first pressure data of the tunnel curved sidewall panel dismantling and assembly equipment; and adjusting the swing arm angle between the main connecting arm and the auxiliary connecting arm based on the first pressure data using the principle of minimum stress.

[0048] The first pressure data can be understood as the pressure data of each suction cup in the tunnel arc-shaped sidewall panel disassembly and assembly equipment after the wall panel to be treated is loaded. After the tunnel arc-shaped sidewall panel disassembly and assembly equipment is loaded with the wall panel to be treated, the present invention will adjust the swing arm angle between the main connecting arm and the auxiliary connecting arm based on the first pressure data using the principle of minimum stress. That is, the swing arm angle between the main connecting arm and the auxiliary connecting arm will be finely adjusted and optimized so that each suction cup in the tunnel arc-shaped sidewall panel disassembly and assembly equipment is evenly stressed and the interaction force between the tunnel arc-shaped sidewall panel disassembly and assembly equipment and the wall panel to be treated is controlled from the perspective of minimizing the global stress, thereby reducing the possibility of the wall panel to be treated cracking.

[0049] On the one hand, when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel installation command, the wall panel to be processed is processed according to the sidewall panel processing requirements, including: determining the stiffness data and reference contact force data of the tunnel curved sidewall panel dismantling and assembly equipment according to the sidewall panel installation requirements, and controlling the auxiliary connecting arm of the tunnel curved sidewall panel dismantling and assembly equipment to operate based on the stiffness data; when the tunnel curved sidewall panel dismantling and assembly equipment contacts the wall panel to be processed, the second pressure data of the tunnel curved sidewall panel dismantling and assembly equipment is acquired in real time, and the stiffness data is adjusted according to the second pressure data and the reference contact force data.

[0050] When the connecting arm carrying the plate approaches the wall according to the arm swing angle formula, a second-order variable impedance control strategy is adopted to avoid rigid collisions, making the end effector of the robotic arm exhibit "spring-damped" characteristics. The dynamic interaction process between the end effector of the connecting arm and the environment follows a dynamic model. , This indicates the actual pose of the end of the connecting arm. This represents the desired pose of the end of the connecting arm. The first derivative represents the actual pose of the end of the connecting arm. The first derivative represents the desired pose of the end of the connecting arm. The second derivative represents the actual pose of the end of the connecting arm. The second derivative represents the desired pose of the end of the connecting arm. Indicates target inertia, Represents the damping matrix. Represents the stiffness matrix. This represents the real-time contact force fed back by the force sensor, which is also the second pressure data of the tunnel curved sidewall panel disassembly and assembly equipment.

[0051] The stiffness matrix establishes a direct coupling relationship between the contact force and the flexibility of the robotic arm. The adaptive law of the stiffness matrix is: ,in, This indicates that the tunnel curved sidewall panel dismantling and assembly equipment is not in contact with the panel; at this time, the equipment maintains high rigidity. To ensure positioning accuracy This indicates that the equipment for disassembling and assembling the tunnel's curved sidewall panels is in contact with the panels, and once contact force is detected... The stiffness instantly switches to low stiffness. This involves the robotic arm softening to accommodate wall surface errors. Subsequently, the actual contact force between the tunnel's curved sidewall panel disassembly and assembly equipment and the panel is determined. and expected contact force Deviation, adjustment parameters (That is, adjusting the gain) and adjusting parameters (i.e., dead zone function) dynamically adjust the stiffness data of the tunnel curved side wall panel disassembly and assembly equipment to ensure that the suction cup finally adheres to the wall with a constant preload. This setting allows the suction cup to exhibit spring characteristics at the moment of contact with the wall and automatically adapt to the wall error, reducing panel wear.

[0052] The stiffness data of the tunnel curved sidewall panel assembly / disassembly equipment can be understood as the stiffness of the equipment in its natural state, i.e., high stiffness. The reference contact force data for the equipment is the expected contact force between the equipment and the panel. The second pressure data is the pressure value between the equipment and the panel, detected in real-time by a force sensor. The purpose of dynamically adjusting the stiffness data based on the second pressure data is to enable the tunnel curved sidewall panel disassembly and assembly equipment to automatically adapt to wall surface errors and achieve a soft fit.

[0053] On the other hand, when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel dismantling command, the wall panel to be processed is processed according to the sidewall panel processing requirements, including: determining the pull-out information of the tunnel curved sidewall panel dismantling and assembly equipment according to the sidewall panel dismantling requirements, and controlling the tunnel curved sidewall panel dismantling and assembly equipment to dismantle the wall panel to be processed based on the pull-out information; acquiring the third pressure data of the tunnel curved sidewall panel dismantling and assembly equipment and the crack data of the wall panel to be processed, and determining the peeling information of the wall panel to be processed based on the third pressure data and the crack data; when the peeling information does not meet the safe peeling conditions, suspending the dismantling task of the tunnel curved sidewall panel dismantling and assembly equipment, and adjusting the pull-out information according to the peeling information.

[0054] Among them, the pulling information can be understood as the control parameters when the tunnel arc sidewall panel dismantling and assembly equipment dismantles the wall panel to be treated, including but not limited to the pulling force and pulling speed, so as to uniformly and stably pull the wall panel to be treated away from the sidewall panel treatment area and complete the dismantling task of the wall panel to be treated.

[0055] Specifically, the pull-out information of the tunnel curved sidewall panel dismantling and assembly equipment is determined based on the dismantling requirements of the sidewall panels. This includes: determining whether the dismantling requirements include the identification information of the wall panel to be treated; if the requirements include the identification information, the pull-out information of the dismantling and assembly equipment is determined based on the identification information; if the requirements do not include the identification information, the curvature data and type information of the wall panel to be treated are determined, and the pull-out information is determined based on this data. The purpose of this setup is to determine the most suitable pull-out information for the wall panel to be treated based on its identification information or its curvature data and type information, ensuring effective dismantling while minimizing pull-out damage and increasing the reusability of the wall panel.

[0056] Different types and curvatures of decorative panels can withstand different pull-out forces; therefore, their pull-out information differs. The identification information of the wall panel to be treated includes unique attributes such as the panel number and name, which distinguish each panel. Based on this identification information, the panel requiring installation can be located, and its pull-out force information can be determined. This pull-out force information is the pull-out information for the tunnel curved sidewall panel dismantling and assembly equipment, including but not limited to pull-out force and pull-out speed. If the sidewall panel dismantling requirements do not include the identification information of the wall panel to be treated, the curvature data and type information of the wall panel can be determined. Based on this data, a match can be made between the curvature data, type information, and pull-out force information, or the pull-out force information can be determined based on similar panel types.

[0057] When pulling out the old panel (i.e., the wall panel to be treated), the force sensor is controlled to collect the tensile force data (i.e., the third pressure data) in real time, and the acoustic emission sensor added to the safety claw is controlled to collect the energy of the acoustic emission signal (i.e., crack data). Then, based on the third pressure data and crack data, the peeling information of the wall panel to be treated (i.e., the amount of peeling damage of the wall panel to be treated) is calculated. The peeling task of the wall panel to be treated is quantitatively judged to determine whether it meets the safe peeling conditions (i.e., peeling safety index). If the peeling information does not meet the safe peeling conditions, the dismantling task of the tunnel arc side wall panel dismantling and assembly equipment is suspended to avoid serious damage to the panel. Then, the pulling information is adjusted according to the peeling information (e.g., adaptively reducing the pulling force, reducing the pulling speed, etc.) to safely peel the panel.

[0058] Specifically, amount of peeling damage , and Indicates the calculated coefficients. Indicates the maximum tensile force. This represents the rate of change of tensile force, which can be determined based on the third pressure data. The instantaneous energy of the acoustic emission signal can be determined based on crack data, where t represents time. The first term in the formula represents the instantaneous moment; a sudden drop often indicates adhesive slippage. The second term in the formula represents the accumulation of micro-damage, and its short-time integral characterizes the activity of microcrack propagation within the board.

[0059] In one embodiment, the present invention uses the amount of peeling damage as a feedback signal to adjust the pulling speed of the robotic arm in real time. This forms an admittance control loop. The specific adjustment method is as follows: ;in, This represents the safe peel threshold, that is, the maximum amount of peel damage. Indicates the pulling speed at the next moment. This indicates a safe state, maintaining the current speed (i.e., the nominal speed). Indicates the nominal speed. Represents stiffness data, Indicates the adjustment factor. Indicates the amount of peeling damage. The first derivative represents the amount of peeling damage. This indicates a danger warning; the sheet material is about to break, requiring proactive slowing down or backing away. For example, rapidly reducing the drawing speed based on the deviation and its rate of change. It can even output negative speed to make the robotic arm retreat slightly in the opposite direction, thereby actively releasing the critical stress in the plate and achieving non-destructive disassembly.

[0060] The above embodiments can determine the sidewall panel processing area and processing requirements based on the control commands of the tunnel curved sidewall panel dismantling and assembly equipment. Then, point cloud data of the sidewall panel processing area is acquired, and the swing arm angle between the main connecting arm and the auxiliary connecting arm is adjusted based on this data. This ensures that the curved contact surface between the main and auxiliary connecting arms of the tunnel curved sidewall panel dismantling and assembly equipment better matches the wall panel to be processed, reducing wear and tear and improving loading stability. Finally, after loading the wall panel to be processed, the equipment is controlled to process the wall panel according to the processing requirements, effectively improving the dismantling and assembly efficiency and quality, and saving labor costs. This solves the problems of slow construction speed, high labor requirements, long maintenance period, high maintenance costs, and limited dismantling and assembly quality of sidewall decorative panels due to the limitations imposed by the operators' experience.

[0061] Tunnel construction inevitably involves errors, such as formwork deformation during concrete pouring, subsequent settlement, and localized construction defects (protrusions or depressions). This results in the actual wall surface not being a perfect, standard cylindrical surface, but rather an "unknown curved surface" full of uncertainty. However, the curvature of factory-prefabricated panels is relatively standard and known. When installing the panels, a "relatively standard panel" is attached to a "wall full of errors." This application plans the actions based on the "source of error" (i.e., the wall surface), rather than the decorative panel. The reason for this design is that if the posture of the tunnel curved sidewall panel dismantling and assembly equipment (including but not limited to loading and unloading robots) is set according to the panel curvature, it is equivalent to assuming the wall surface is perfect. When the robot brings the panel close to a real, protruding wall surface, the protruding parts will first press against a certain point of the panel, while other parts remain suspended, instantly creating a huge stress concentration at the contact point. Planning actions based on the decorative panel is suitable for flexible materials (e.g., rubber pads, thin steel plates). However, this approach is ineffective for brittle materials (such as ceramic slabs and cement fiberboard), as it will damage the material. Specifically, impedance control (i.e., variable stiffness) is essentially a "reactive" control method. It requires detecting the contact force first, calculating the force, and then instructing the motor to adapt by becoming "softer" based on the calculation result. This process has a certain time lag, but brittle materials have almost no plastic deformation stage. Once the local stress exceeds the limit, they will not bend but will directly shatter (e.g., chipping or breaking). If there is a small protrusion in the middle of the wall, and the robot presses down with a perfect arc, the center of the material will hit the protrusion. In the instant before impedance control takes effect, all the enormous pressure is concentrated on this point. For brittle materials, this instantaneous impact will cause the material to shatter.

[0062] Secondly, the solution of this invention first scans the point cloud data of the side wall panel area to reconstruct and "see" the protrusion; then adjusts the angle of the suction cup so that the overall shape of the panel slightly "accommodates" the protrusion. Although the adhesion is not perfect, it can ensure that the panel is firmly installed and that no point is subjected to excessive force. The robot slowly approaches with this "pre-optimized" safe posture, and at the final contact, it uses a variable impedance control method to handle the remaining tiny error and achieve a soft landing, which maximizes the adhesion effect while ensuring the safety of the panel adhesion.

[0063] Figure 3 This is a flowchart illustrating another control method for a tunnel curved sidewall panel disassembly and assembly device provided by the present invention. Based on the above embodiments, this embodiment provides a preferred control method for a tunnel curved sidewall panel disassembly and assembly device with more complete process details. Specifically, as shown... Figure 3 As shown, the method includes: S201. In response to the control command of the tunnel curved sidewall panel dismantling and assembly equipment, determine the sidewall panel processing area and sidewall panel processing requirements of the tunnel curved sidewall panel dismantling and assembly equipment.

[0064] The control commands for the tunnel curved sidewall panel dismantling and assembly equipment include sidewall panel installation commands and sidewall panel dismantling commands; the sidewall panel processing requirements include sidewall panel installation requirements and sidewall panel dismantling requirements.

[0065] Specifically, when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel installation command, the sidewall panel processing requirement is determined as the sidewall panel installation requirement, and the sidewall panel processing area is determined based on the sidewall panel installation position in the sidewall panel installation command; when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel dismantling command, the sidewall panel processing requirement is determined as the sidewall panel dismantling requirement, and the sidewall panel processing area is determined based on the sidewall panel dismantling position in the sidewall panel dismantling command.

[0066] S202. Obtain point cloud data of the side wall panel processing area and construct a surface model of the side wall panel processing area based on the point cloud data.

[0067] S203. Using the principle of minimum stress, based on the curved surface model of the side wall panel processing area and the connecting arm information of the tunnel arc side wall panel disassembly and assembly equipment, determine the first angle data between the main connecting arm and the first auxiliary connecting arm and the second angle data between the main connecting arm and the second auxiliary connecting arm.

[0068] S204. Adjust the arm swing angle between the main connecting arm and the first auxiliary connecting arm based on the first angle data, and adjust the arm swing angle between the main connecting arm and the second auxiliary connecting arm based on the second angle data.

[0069] S205. Identify the wall panels to be treated.

[0070] Specifically, when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel installation command, the wall panel to be processed is determined according to the sidewall panel identification information in the sidewall panel installation command, or the curvature data of the sidewall panel installation position is determined and the wall panel to be processed is determined according to the curvature data of the sidewall panel installation position; when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel dismantling command, the wall panel loaded at the sidewall panel installation position is determined to be the wall panel to be processed.

[0071] S206. Open the safety claw and control the first vacuum adsorption claw and the second vacuum adsorption claw to contact the wall panel to be treated.

[0072] S207. When both the first vacuum adsorption claw and the second vacuum adsorption claw establish a vacuum relationship with the wall panel to be treated, control the safety claw to fix the wall panel to be treated.

[0073] S208. Process the wall panels to be processed according to the side wall panel processing requirements.

[0074] When installing the side wall panel, S208 specifically includes: determining the stiffness data and reference contact force data of the tunnel curved side wall panel disassembly and assembly equipment according to the side wall panel installation requirements, and controlling the auxiliary connecting arm of the tunnel curved side wall panel disassembly and assembly equipment to operate based on the stiffness data; when the tunnel curved side wall panel disassembly and assembly equipment contacts the wall panel to be processed, acquiring the second pressure data of the tunnel curved side wall panel disassembly and assembly equipment in real time, and adjusting the stiffness data according to the second pressure data and reference contact force data.

[0075] When disassembling the sidewall panel, S208 specifically includes: determining the pull-out information of the tunnel curved sidewall panel disassembly and assembly equipment according to the sidewall panel disassembly requirements, and controlling the tunnel curved sidewall panel disassembly and assembly equipment to disassemble the wall panel to be treated based on the pull-out information; acquiring the third pressure data of the tunnel curved sidewall panel disassembly and assembly equipment and the crack data of the wall panel to be treated, and determining the peeling information of the wall panel to be treated based on the third pressure data and crack data; when the peeling information does not meet the safe peeling conditions, suspending the disassembly task of the tunnel curved sidewall panel disassembly and assembly equipment, and adjusting the pull-out information according to the peeling information.

[0076] Figure 4 This is a structural schematic diagram of a control method device for a tunnel arc-shaped sidewall panel disassembly and assembly equipment provided by the present invention. Figure 4 As shown, the device includes: The information determination module 301 is used to determine the side wall processing area and side wall processing requirements of the tunnel arc side wall panel dismantling and assembly equipment in response to the control command of the equipment.

[0077] The angle determination module 302 is used to acquire point cloud data of the side wall panel processing area and adjust the swing arm angle between the main connecting arm and the auxiliary connecting arm based on the point cloud data.

[0078] The side wall panel processing module 303 is used to determine the wall panel to be processed, control the tunnel arc side wall panel dismantling and assembly equipment to load the wall panel to be processed, and process the wall panel to be processed according to the side wall panel processing requirements.

[0079] Optionally, the control commands for the tunnel curved sidewall panel assembly / disassembly equipment include sidewall panel installation commands and sidewall panel disassembly commands; the sidewall panel processing requirements include sidewall panel installation requirements and sidewall panel disassembly requirements. The information determination module 301 is specifically used to: respond to the sidewall panel installation command of the tunnel curved sidewall panel assembly / disassembly equipment, determine the sidewall panel processing requirement as a sidewall panel installation requirement, and determine the sidewall panel processing area based on the sidewall panel installation position in the sidewall panel installation command; respond to the sidewall panel disassembly command of the tunnel curved sidewall panel assembly / disassembly equipment, determine the sidewall panel processing requirement as a sidewall panel disassembly requirement, and determine the sidewall panel processing area based on the sidewall panel disassembly position in the sidewall panel disassembly command.

[0080] Optionally, the auxiliary connecting arm includes a first auxiliary connecting arm and a second auxiliary connecting arm. The first auxiliary connecting arm connects to the first end of the main connecting arm, and the second auxiliary connecting arm connects to the second end of the main connecting arm. The swing angle between the main connecting arm and the auxiliary connecting arm includes the swing angle between the main connecting arm and the first auxiliary connecting arm, and the swing angle between the main connecting arm and the second auxiliary connecting arm. The angle determination module 302 is specifically used for: acquiring point cloud data of the side wall panel processing area, and constructing a curved surface model of the side wall panel processing area based on the point cloud data; using the principle of minimum stress, determining the first angle data between the main connecting arm and the first auxiliary connecting arm, and the second angle data between the main connecting arm and the second auxiliary connecting arm, based on the curved surface model of the side wall panel processing area and the connecting arm information of the tunnel curved side wall panel disassembly and assembly equipment; adjusting the swing angle between the main connecting arm and the first auxiliary connecting arm based on the first angle data, and adjusting the swing angle between the main connecting arm and the second auxiliary connecting arm based on the second angle data.

[0081] Optionally, the sidewall panel processing module 303 is specifically used for: when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel installation command, determining the wall panel to be processed according to the sidewall panel identification information in the sidewall panel installation command, or determining the curvature data of the sidewall panel installation position and determining the wall panel to be processed according to the curvature data of the sidewall panel installation position; when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel dismantling command, determining the wall panel loaded at the sidewall panel installation position as the wall panel to be processed.

[0082] Optionally, the auxiliary connecting arm includes a locking adsorption unit and at least one vacuum adsorption unit. The vacuum adsorption unit includes a first vacuum adsorption claw, and the locking adsorption unit includes a second vacuum adsorption claw and a safety claw. The safety claw is located on the side of the second vacuum adsorption claw away from the main connecting arm. The side wall panel processing module 303 is specifically used to: open the safety claw and control the first and second vacuum adsorption claws to contact the wall panel to be processed; when both the first and second vacuum adsorption claws establish a vacuum relationship with the wall panel to be processed, control the safety claw to fix the wall panel to be processed.

[0083] Optionally, after the tunnel curved sidewall panel dismantling and assembly equipment loads the wall panel to be processed, the sidewall panel processing module 303 is also used to: obtain the first pressure data of the tunnel curved sidewall panel dismantling and assembly equipment; and, based on the first pressure data and using the principle of minimum stress, adjust the swing arm angle between the main connecting arm and the auxiliary connecting arm.

[0084] Optionally, when the control command for the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel installation command, the sidewall panel processing module 303 is specifically used to: determine the stiffness data and reference contact force data of the tunnel curved sidewall panel dismantling and assembly equipment according to the sidewall panel installation requirements, and control the auxiliary connecting arm of the tunnel curved sidewall panel dismantling and assembly equipment to operate based on the stiffness data; when the tunnel curved sidewall panel dismantling and assembly equipment contacts the wall panel to be processed, acquire the second pressure data of the tunnel curved sidewall panel dismantling and assembly equipment in real time, and adjust the stiffness data according to the second pressure data and the reference contact force data.

[0085] Optionally, when the control command of the tunnel curved sidewall panel dismantling and assembly equipment is a sidewall panel dismantling command, the sidewall panel processing module 303 is specifically used to: determine the pull-out information of the tunnel curved sidewall panel dismantling and assembly equipment according to the sidewall panel dismantling requirements, and control the tunnel curved sidewall panel dismantling and assembly equipment to dismantle the wall panel to be processed based on the pull-out information; acquire the third pressure data of the tunnel curved sidewall panel dismantling and assembly equipment and the crack data of the wall panel to be processed, and determine the peeling information of the wall panel to be processed based on the third pressure data and the crack data; when the peeling information does not meet the safe peeling conditions, suspend the dismantling task of the tunnel curved sidewall panel dismantling and assembly equipment, and adjust the pull-out information according to the peeling information.

[0086] Optionally, when determining the pull-out information of the tunnel curved sidewall panel dismantling and assembly equipment based on the sidewall panel dismantling requirements, the sidewall panel processing module 303 is specifically used to: determine whether the sidewall panel dismantling requirements include the identification information of the wall panel to be processed; if the sidewall panel dismantling requirements include the identification information of the wall panel to be processed, then determine the pull-out information of the tunnel curved sidewall panel dismantling and assembly equipment based on the identification information; if the sidewall panel dismantling requirements do not include the identification information of the wall panel to be processed, then determine the curvature data and type information of the wall panel to be processed, and determine the pull-out information of the tunnel curved sidewall panel dismantling and assembly equipment based on the curvature data and type information of the wall panel to be processed.

[0087] The control method and device for the tunnel arc-shaped sidewall panel disassembly and assembly equipment provided by the present invention can execute the control method for the tunnel arc-shaped sidewall panel disassembly and assembly equipment provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0088] Figure 5This is a schematic diagram of the structure of an electronic device provided by the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0089] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the read-only memory 12 or loaded from the storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, read-only memory 12, and RAM 13 are interconnected via a bus 14. An input / output interface 15 is also connected to the bus 14.

[0090] Multiple components in electronic device 10 are connected to input / output interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of monitors, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0091] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, central processing units, graphics processing units, various special-purpose artificial intelligence computing chips, various processors running machine learning model algorithms, digital signal processors, and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the control method for a tunnel curved sidewall panel dismantling device.

[0092] In some embodiments, the control method for the tunnel curved sidewall panel removal and assembly device can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via read-only memory 12 and / or communication unit 19. When the computer program is loaded into random access memory 13 and executed by processor 11, one or more steps of the control method for the tunnel curved sidewall panel removal and assembly device described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the control method for the tunnel curved sidewall panel removal and assembly device by any other suitable means (e.g., by means of firmware).

[0093] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays, application-specific integrated circuits (ASICs), application-specific standard products (ASICs), systems-on-a-chip (SoCs), payload programmable logic devices, computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0094] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0095] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory / flash memory, optical fibers, portable compact disk read-only memory, optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0096] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a cathode ray tube or liquid crystal display) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (voice input and / or tactile input).

[0097] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0098] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product within the cloud computing service system to address the shortcomings of traditional physical hosts and virtual private servers, such as high management difficulty and weak business scalability.

[0099] In one specific embodiment, the present invention also includes a computer program product, which includes a computer program that, when executed by a processor, implements the control method for the tunnel arc-shaped sidewall panel disassembly and assembly device of any embodiment of the present invention.

[0100] In the implementation of a computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​as well as conventional procedural programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including local area networks (LANs) or wide area networks (WANs), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0101] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0102] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method for a tunnel arc-shaped sidewall panel disassembly and assembly device, characterized in that, The tunnel curved sidewall panel dismantling and assembly equipment includes a main connecting arm and an auxiliary connecting arm, which are hinged together; the method includes: In response to the control command of the tunnel arc-shaped sidewall panel dismantling and assembly equipment, the sidewall panel processing area and sidewall panel processing requirements of the tunnel arc-shaped sidewall panel dismantling and assembly equipment are determined; Acquire point cloud data of the side wall panel processing area, and adjust the swing arm angle between the main connecting arm and the auxiliary connecting arm based on the point cloud data; Identify the wall panel to be processed, control the tunnel arc-shaped side wall panel dismantling and assembly equipment to load the wall panel to be processed, and process the wall panel to be processed according to the side wall panel processing requirements.

2. The method according to claim 1, characterized in that, The control commands for the tunnel arc-shaped sidewall panel dismantling and assembly equipment include sidewall panel installation commands and sidewall panel dismantling commands; the sidewall panel processing requirements include sidewall panel installation requirements and sidewall panel dismantling requirements. Accordingly, in response to the control command of the tunnel curved sidewall panel dismantling and assembly equipment, determining the sidewall panel processing area and sidewall panel processing requirements of the tunnel curved sidewall panel dismantling and assembly equipment includes: In response to the side wall panel installation command of the tunnel arc side wall panel disassembly and assembly equipment, the side wall panel processing requirement is determined to be the side wall panel installation requirement, and the side wall panel processing area is determined based on the side wall panel installation position in the side wall panel installation command; In response to the side wall panel disassembly command of the tunnel arc side wall panel disassembly and assembly equipment, the side wall panel processing requirement is determined as the side wall panel disassembly requirement, and the side wall panel processing area is determined based on the side wall panel disassembly position in the side wall panel disassembly command.

3. The method according to claim 1, characterized in that, The auxiliary connecting arm includes a first auxiliary connecting arm and a second auxiliary connecting arm. The first auxiliary connecting arm is connected to the first end of the main connecting arm, and the second auxiliary connecting arm is connected to the second end of the main connecting arm. The swing angle between the main connecting arm and the auxiliary connecting arm includes the swing angle between the main connecting arm and the first auxiliary connecting arm and the swing angle between the main connecting arm and the second auxiliary connecting arm. Accordingly, acquiring point cloud data of the sidewall panel processing area and adjusting the swing arm angle between the main connecting arm and the auxiliary connecting arm based on the point cloud data includes: Obtain point cloud data of the side wall panel processing area, and construct a surface model of the side wall panel processing area based on the point cloud data; Using the principle of minimum stress, based on the curved surface model of the sidewall panel processing area and the connecting arm information of the tunnel arc sidewall panel disassembly and assembly equipment, the first angle data between the main connecting arm and the first auxiliary connecting arm and the second angle data between the main connecting arm and the second auxiliary connecting arm are determined. The arm swing angle between the main connecting arm and the first auxiliary connecting arm is adjusted based on the first angle data, and the arm swing angle between the main connecting arm and the second auxiliary connecting arm is adjusted based on the second angle data.

4. The method according to claim 2, characterized in that, The process of determining the wall panel to be processed includes: When the control command of the tunnel arc-shaped sidewall panel disassembly and assembly equipment is the sidewall panel installation command, the wall panel to be processed is determined according to the sidewall panel identification information in the sidewall panel installation command, or the curvature data of the sidewall panel installation position is determined, and the wall panel to be processed is determined according to the curvature data of the sidewall panel installation position. When the control command of the tunnel arc-shaped sidewall panel dismantling and assembly equipment is the sidewall panel dismantling command, the wall panel loaded at the sidewall panel installation position is determined to be the wall panel to be processed.

5. The method according to claim 1, characterized in that, The auxiliary connecting arm includes a locking adsorption unit and at least one vacuum adsorption unit. The vacuum adsorption unit includes a first vacuum adsorption claw, and the locking adsorption unit includes a second vacuum adsorption claw and a safety claw. The safety claw is located on the side of the second vacuum adsorption claw away from the main connecting arm. Accordingly, the process of controlling the tunnel arc-shaped sidewall panel disassembly and assembly equipment to load the wall panel to be processed includes: Open the safety claw and control the first vacuum suction claw and the second vacuum suction claw to contact the wall panel to be treated; When both the first vacuum adsorption claw and the second vacuum adsorption claw establish a vacuum relationship with the wall panel to be treated, the safety claw is controlled to fix the wall panel to be treated.

6. The method according to claim 1, characterized in that, After the tunnel curved sidewall panel dismantling and assembly equipment loads the wall panel to be processed, the method further includes: Obtain the first pressure data of the tunnel arc-shaped sidewall panel disassembly and assembly equipment; Based on the first pressure data and utilizing the principle of minimum stress, the swing arm angle between the main connecting arm and the auxiliary connecting arm is adjusted.

7. The method according to claim 2, characterized in that, When the control command of the tunnel arc-shaped sidewall panel disassembly and assembly equipment is the sidewall panel installation command, the step of processing the wall panel to be processed according to the sidewall panel processing requirements includes: The stiffness data and reference contact force data of the tunnel arc-shaped sidewall panel disassembly and assembly equipment are determined according to the sidewall panel installation requirements, and the auxiliary connecting arm of the tunnel arc-shaped sidewall panel disassembly and assembly equipment is controlled to operate based on the stiffness data. When the tunnel curved sidewall panel disassembly and assembly equipment contacts the wall panel to be processed, the second pressure data of the tunnel curved sidewall panel disassembly and assembly equipment is acquired in real time, and the stiffness data is adjusted according to the second pressure data and the reference contact force data.

8. The method according to claim 2, characterized in that, When the control command of the tunnel arc-shaped sidewall panel disassembly and assembly equipment is the sidewall panel disassembly command, the step of processing the wall panel to be processed according to the sidewall panel processing requirements includes: The pull-out information of the tunnel arc-shaped sidewall panel dismantling and assembly equipment is determined according to the sidewall panel dismantling requirements, and the tunnel arc-shaped sidewall panel dismantling and assembly equipment is controlled to dismantle the wall panel to be processed based on the pull-out information; The third pressure data of the tunnel arc-shaped sidewall panel disassembly and assembly equipment and the crack data of the wall panel to be treated are obtained, and the peeling information of the wall panel to be treated is determined based on the third pressure data and the crack data. When the peeling information does not meet the safe peeling conditions, the disassembly task of the tunnel arc sidewall panel disassembly and assembly equipment is suspended, and the pull-out information is adjusted according to the peeling information.

9. The method according to claim 8, characterized in that, The step of determining the pull-out information of the tunnel arc-shaped sidewall panel disassembly and assembly equipment based on the sidewall panel disassembly requirements includes: Determine whether the side wall panel dismantling requirement includes the identification information of the wall panel to be processed; If the side wall panel disassembly requirement includes the identification information of the wall panel to be processed, then the pull-out information of the tunnel arc side wall panel disassembly and assembly equipment is determined based on the identification information; If the side wall panel disassembly requirements do not include the identification information of the wall panel to be processed, then the curvature data and type information of the wall panel to be processed are determined, and the pull-out information of the tunnel arc side wall panel disassembly and assembly equipment is determined based on the curvature data and type information of the wall panel to be processed.

10. A device for disassembling and assembling tunnel arc-shaped sidewall panels, characterized in that, The tunnel arc-shaped sidewall panel disassembly and assembly equipment is used to implement the control method for the tunnel arc-shaped sidewall panel disassembly and assembly equipment as described in any one of claims 1 to 9.

Images