CN-122014286-A - Automatic segment grabbing method and shield tunneling machine

CN122014286ACN 122014286 ACN122014286 ACN 122014286ACN-122014286-A

Abstract

The invention discloses an automatic segment grabbing method and a shield tunneling machine, which solve the problems of low segment grabbing efficiency and low safety in the prior art. The automatic segment grabbing method comprises the steps of S1 hardware layout, S2 safe segment grabbing image acquisition range calibration, S3 laser radar and assembly machine coordinate system conversion, S4 segment position posture identification by the laser radar, S5 calculation to obtain segment position posture relative to the assembly machine through coordinate system conversion, S6 control the assembly machine to move above the segment according to the segment position posture relative to the assembly machine, and image acquisition device acquisition segment surface geometric characteristics and recheck segment position posture relative to the assembly machine.

Inventors

LIN FULONG
HE FEI
DONG YUE
GUO JUNKE
ZHAO ZHICHENG
WEI XIAOLONG
HOU LINPENG
DONG RENLONG
MENG XIANGBO

Assignees

中铁工程装备集团有限公司

Dates

Publication Date: 20260512
Application Date: 20260324

Claims (10)

1. A method for automatically grabbing a duct piece is characterized by comprising the following steps of S1, arranging a laser radar at the lower part of a walking beam of an assembling machine, enabling the operation range of the laser radar to cover the duct piece on a duct piece trolley positioned in a grabbing area, arranging an image acquisition device on a grabbing head of the assembling machine, and enabling the visual field of the image acquisition device to cover the geometrical characteristics of the surface of the duct piece; S2, calibrating an image acquisition range of the safe grabbing segment, namely controlling a grabbing head of an assembly machine to reach right above the segment, recording an initial position of geometric features of the segment surface in an image of an image acquisition device, moving the grabbing head back and forth to a maximum allowable grabbing deviation position designed by the segment and the grabbing head, recording the position of the geometric features of the segment surface in the image of the image acquisition device, taking the position as a deviation boundary of the safe grabbing segment, and determining a grabbing safety range; S3, converting a coordinate system of the laser radar and the assembling machine, namely, sticking reflective targets on grabbing heads of the laser radar and the assembling machine, and respectively measuring positions of the two reflective targets through a total station 、 Position of lidar relative to the coordinate system of the assembler ; S4: laser radar recognizing segment position and posture After the duct piece moves in place through the duct piece trolley, the laser radar scans the surface of the duct piece to obtain target duct piece point cloud, and the position and the posture of the duct piece relative to the laser radar are calculated by utilizing a point cloud matching algorithm ; S5, calculating the position and the posture of the duct piece relative to the splicing machine through coordinate system conversion ; S6, controlling the splicing machine to move above the pipe piece according to the position and the posture of the pipe piece relative to the splicing machine, collecting geometrical characteristics of the surface of the pipe piece by the image collecting device, checking the posture of the pipe piece relative to the splicing machine again, and when the pipe piece is in a safety range, enabling the grabbing and lifting head to fall down for grabbing the pipe piece.
2. The automatic segment grabbing method according to claim 1, wherein in the step S1, the laser radar and the walking beam of the splicing machine are kept relatively fixed, and the laser radar corresponds to the splicing machine and the segment trolley located in the grabbing area.
3. The automatic segment grabbing method according to claim 1, wherein the segment surface geometric feature in the step S2 is a slot hole or a corner of the segment prefabricated on the segment surface.
4. The automatic segment grabbing method according to any one of claims 1-3, wherein the specific process of calculating the position and posture of the segment relative to the laser radar by using the point cloud matching algorithm in the step S4 is as follows: s4.1, target segment point cloud acquired by laser radar is The original point cloud of the segment is as follows when the segment is at the ideal grabbing site According to the target segment point cloud Segment origin point cloud Solving to obtain rigid transformation matrix Wherein Is a rotation transformation matrix which is a rotation transformation matrix, Is a translation vector; S4.2 according to the rigid body transformation matrix Obtaining rough position and posture of the duct piece relative to the laser radar ; S4.3 pair rotation transformation matrix Translation vector Iterative updating is carried out, and a high-precision rotation transformation matrix is output The duct piece is positioned and posture relative to the laser radar 。
5. The automatic segment grabbing method according to claim 4, wherein in step S4.3, initial pose estimation is set according to the position of the segment relative to the shield tunneling machine , , Then, local optimization is carried out by using a method of iteration closest points, and a high-precision posture is obtained And 。
6. The automatic segment grabbing method as claimed in claim 5, wherein the initial pose estimation is performed The local optimization process by using the iterative closest point method comprises the following steps of , In the target segment point cloud Find the nearest point Form a corresponding pair of Constructing least square objective function, minimizing the sum of squares of the distances between the target point and the corresponding point, then centering and SVD to solve the optimal R, t, then iteratively updating until the transformation increment is smaller than the threshold value, the objective function is reduced to be smaller than the threshold value and the maximum iteration number is reached, and finally outputting high precision 。
7. The automatic segment grabbing method according to claim 1 or 5, wherein the coordinate system in step S5 is converted into: 。
8. The automatic segment grabbing method according to claim 7, wherein in the step S6, the image acquisition device acquires segment surface geometric features, and verifies whether the position of the segment surface geometric features in the picture is within the grabbing safety range defined in the step S2, when the segment surface geometric features are within the defined safety range, the grabbing head drops to grab the segment, and otherwise, the grabbing head is not allowed to drop.
9. The automatic segment grabbing method according to claim 1, wherein the laser radar is an area array laser radar, and the image acquisition device is an industrial area array camera.
10. A shield tunneling machine is characterized by comprising an assembling machine and an assembling machine walking beam arranged on a shield body, wherein the assembling machine can axially move along the assembling machine walking beam, and the automatic segment grabbing method according to any one of claims 1-7 is adopted for segment grabbing during operation.

Description

Automatic segment grabbing method and shield tunneling machine Technical Field The invention relates to the technical field of shield machines, in particular to a segment grabbing method. Background The shield/TBM (tunnel boring machine) is used as core equipment of underground engineering, and the construction efficiency and the quality of the formed tunnel directly depend on the precision and the reliability of segment assembly. The segment assembly is a key procedure in shield construction and mainly comprises the steps of segment grabbing, space delivery, pose adjustment, positioning and installation and the like. Under the traditional operation mode, the steps are highly dependent on the experience judgment and manual control of operators, and the problems of high labor intensity, severe operation environment (high dust, high humidity and strong vibration), human error accumulation and the like exist. In recent years, with the development of intelligent construction technology, shield/TBM manufacturers and scientific research institutions at home and abroad gradually develop the development work of an automatic duct piece assembly system, and attempt to replace manual operation by an automatic and intelligent means so as to improve construction efficiency, guarantee operation safety and improve construction quality. In order to overcome the defect of manual assembly, part of research institutions propose an automatic assembly scheme based on a single sensing mode, such as an automatic grabbing method and an automatic grabbing system for a shield segment assembly machine, with the publication number of CN107152295B, wherein the scheme adopts an industrial camera to collect segment images, the segment features are identified through a visual algorithm, and the relative pose is calculated, but the single sensing mode lacks redundancy check, so that positioning errors are easy to occur under complex working conditions, and potential safety hazards such as segment collision, grabbing and falling are caused. Therefore, how to obviously improve the assembly efficiency on the premise of ensuring the operation safety is a key technical problem to be solved in the current segment automatic assembly technical field. Disclosure of Invention Aiming at the defects in the background art, the invention provides an automatic segment grabbing method and a shield machine, which solve the problems of low segment grabbing efficiency and low safety in the prior art. The technical scheme includes that the automatic segment grabbing method is achieved by the aid of the hardware arrangement, wherein the hardware arrangement is that a laser radar is arranged at the lower portion of a walking beam of an assembling machine, so that an operation range of the laser radar can cover segments on segment trolleys located in grabbing areas, and an image acquisition device is arranged on a grabbing head of the assembling machine, so that the visual field of the image acquisition device can cover geometric features of the surfaces of segments. And S2, calibrating an image acquisition range of the safe grabbing duct piece, namely controlling the grabbing head of the splicing machine to reach the position right above the duct piece, recording the initial position of the geometrical characteristic of the surface of the duct piece in the image of the image acquisition device, moving the grabbing head back and forth to the maximum allowable grabbing deviation position designed by the duct piece and the grabbing head, recording the position of the geometrical characteristic of the surface of the duct piece in the image of the image acquisition device, taking the position as the deviation boundary of the safe grabbing duct piece, and determining the grabbing safety range. S3, converting a coordinate system of the laser radar and the assembling machine, namely, sticking reflective targets on grabbing heads of the laser radar and the assembling machine, and respectively measuring positions of the two reflective targets through a total station、Position of lidar relative to the coordinate system of the assembler。 S4: laser radar recognizing segment position and postureAfter the duct piece moves in place through the duct piece trolley, the laser radar scans the surface of the duct piece to obtain target duct piece point cloud, and the position and the posture of the duct piece relative to the laser radar are calculated by utilizing a point cloud matching algorithm。 S5, calculating the position and the posture of the duct piece relative to the splicing machine through coordinate system conversion。 S6, controlling the splicing machine to move above the pipe piece according to the position and the posture of the pipe piece relative to the splicing machine, collecting geometrical characteristics of the surface of the pipe piece by the image collecting device, checking the posture of the pipe piece relative to the splicing machine again, and when the pipe