基于轮廓测量仪的K形盾构管片位姿测量方法

Position and Posture Measurement Method of K-Type Shield Degment Using Profilometer

针对K形盾构管片智能拼装问题,提出基于4组激光轮廓测量仪的位姿检测方案,并推导K形盾构管片位姿测量算法。该算法可根据圆弧边两个检测点和侧斜边两个检测点确定K形管片3个特征点的坐标,进而确定管片坐标系与拼装机器人基坐标的位姿关系。根据获得的K形盾构管片位姿信息,设计眼固定构型的伺服控制律。在实验室环境中控制智能管片拼装机器人,成功实现了K形盾构管片的高精度快速伺服拼装。

For the purpose of finishing intelligent assembling tasks of the K-type shield segment, the scheme of position and posture measurement composed of four laser profilometer is proposed firstly, then the position and posture measurement algorithm for the K-type shield segment is derived, which can be used to determine 3D coordinates of the K-type segment’s three feature points according to two detection points on the arc edge and two detection points on each side slope. Finally, the eye fixed servo control law using position and posture information between segment frame and base frame of the assembling robot is designed. The experimental results in the laboratory environment show that the measurement algorithm together with the corresponding control law can successfully control the intelligent assembling robot to realize servo assembling tasks for K-type shield segment precisely and fastly.