基于线激光传感器的盾构管片位姿检测方法

Position and posture detection method of shield segments using line laser sensors

针对盾构管片初始摆放误差与拼装累积误差问题,提出一种新的管片位姿检测方案。该方案无须在管片上添加额外标记点,利用安装在管片拼装机器人上的3个线激光传感器对管片边缘进行扫描,根据边缘点的相对位置坐标计算管片上特征点的坐标,并依此推导出待安装管片的抓取位姿和安装位姿表达式。使用SolidWorks软件建立三维模型以提供算例,比较不同检测点位置对位姿计算精度的影响,验证该方案的可行性。研究结果表明:本文提供方案计算得到的管片位姿误差较小,可以满足盾构管片抓取和安装要求;增大管片边缘扫描点的距离能够提高姿态检测精度。

Considering the initial placement error and the cumulative error in segment assembly,a new method for detecting the position and pose of the shield segment was proposed.Three line laser sensors on the segment erector were used to scan the edges of the shield segment without any additional marks,and the coordinates of feature points on the segment were calculated through the relative position coordinates of edge points.According to the position coordinates of the feature points,the grasping pose and installation pose of the segment to be installed were deduced.With the SolidWorks software,the three-dimensional model was used to provide an example to compare the pose accuracy of different detection points and the feasibility of the scheme was verified.The results show that the position errors and orientation errors of the segment calculated by the scheme are small.This method can meet the requirements of the capture and installation of shield segments.Increasing the distance of the scanning points on the segment can improve the pose detecting accuracy.