摘要
针对盾构管片自动化拼装中的管片位姿检测问题,提出了一种无需事先标记管片且适用于几何参数未知的盾构管片自动化拼装方案,并推导了管片位姿检测算法。该方案利用安装在拼装机器人末端执行器抓取板上的5个线激光传感器分别对管片的直边和弧边进行照射,通过检测线激光照射在管片边缘而产生的偏折点的3D坐标,逐步计算出管片在拼装过程中相对于拼装机器人的基坐标系的位姿,再据此计算出机器人将待拼装管片拼装至期望位姿时,机器人末端执行器相对于基坐标系的位姿,从而实现管片的自动化拼装。为了验证该算法的有效性,在实验室环境中搭建了基于线激光传感器的管片自动拼装实验平台,并利用该平台进行了管片自动拼装实验。实验结果表明,提出的盾构管片自动拼装方法在管片定位方面表现出较小的误差,且管片拼装最大错台为1.50 mm,最大间隙为0.96 mm,符合工程要求。这为盾构管片的自动化拼装提供了一种有效的技术解决方案。
Objective Shield method is a common method for subway tunnel excavation.In shield construction,the segment assembly process is mostly completed by manual operation.In the case of complex motion conditions of segment erector,manual operation of the erector seriously affects the efficiency and quality of segment assembly,and brings hidden dangers to safety construction.Therefore,it is necessary to realize the automatic assembly of shield segments,and improve the efficiency and accuracy of assembly,so as to speed up the tunneling speed and improve the safety of tunnel construction.Determining the position and pose of the target segment is the premise of realizing the automatic assembly of segments.At present,relevant researchers have proposed some shield segment positioning schemes based on vision or line laser sensors.However,these algorithms need to manually arrange the target on the shield segments or know the geometric size of the shield segments in engineering applications,which have high requirements for target layout and segment production.As a result,additional operation procedures and inevitable shield segment assembly errors are brought.Aiming at the problems of segment position and pose detection in the automatic shield segment assembly,a scheme of shield segment automatic assembly without marking segments in advance and suitable for unknown geometric parameters is proposed,and the segment position and pose detection algorithm is derived,which provides an effective technical solution for the segment position and pose detection in the automatic shield segment assembly engineering.Methods The installation layout of five line laser sensors,which are utilized to measure the position and pose of shield segments and the segment assembly process are reasonably designed.Specifically,these sensors,installed on the grasping plate of the end effector of the assembly robot are used to illuminate the straight and arc edges of the segments respectively,and the 3D coordinates of the deflection points generated by the li
作者
吴委员
邓斌
王涛涌
崔望朔
赵恒
朱晨
贺泊宁
WU Weiyuan;DENG Bin;WANG Taoyong;CUI Wangshuo;ZHAO Heng;ZHU Chen;HE Boning(School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China;School of Mechanical Engineering,Tianjin University,Tianjin 300072,China;International Institute for Innovative Design and Intelligent Manufacturing of Tianjin University,Shaoxing 312000,China;China Railway Construction Heavy Industry Co.Ltd,Changsha 410100,China)
出处
《红外与激光工程》
EI
CSCD
北大核心
2024年第8期65-77,共13页
Infrared and Laser Engineering
基金
国家重点研发计划项目(2022YFC3802300)。
关键词
线激光传感器
位姿检测
盾构管片
拼装机
line laser sensor
pose detection
shield segment
segment erector
