CN209925010U - Shield constructs section of jurisdiction position control device based on machine vision - Google Patents
Shield constructs section of jurisdiction position control device based on machine vision Download PDFInfo
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- CN209925010U CN209925010U CN201922154205.6U CN201922154205U CN209925010U CN 209925010 U CN209925010 U CN 209925010U CN 201922154205 U CN201922154205 U CN 201922154205U CN 209925010 U CN209925010 U CN 209925010U
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- 238000012544 monitoring process Methods 0.000 claims abstract description 29
- 230000005641 tunneling Effects 0.000 claims description 4
- 239000011248 coating agent Substances 0.000 claims 1
- 238000000576 coating method Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 20
- 238000010276 construction Methods 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 7
- 230000001105 regulatory effect Effects 0.000 description 7
- 238000005507 spraying Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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Abstract
The application discloses shield constructs section of jurisdiction position control device based on machine vision includes: the position monitoring component is used for monitoring the placing position of the duct piece in real time; the controller is used for comparing the data monitored by the position monitoring component with the initial setting position and controlling the multi-degree-of-freedom adjusting component in real time according to the comparison result; the multi-degree-of-freedom adjusting component is used for automatically adjusting the current position of the duct piece to an initial setting position; the multi-degree-of-freedom adjustment component comprises: a base plate; the speed reduction gear is positioned on the bottom plate and is used for driving the segment to rotate in the horizontal direction; the stepping motor is connected with the reduction gear and is used for driving the reduction gear to rotate under the control of the controller; and the arc-shaped duct piece placing groove is positioned on the reduction gear and used for placing duct pieces. According to the method for introducing the machine vision, the position of the duct piece is monitored in real time through the position monitoring component, the position of the duct piece is automatically adjusted to the initial setting position through the multi-degree-of-freedom adjusting component, the working efficiency is high, and the accuracy is high.
Description
Technical Field
The utility model relates to an engineering machine tool designs technical field, especially relates to a shield constructs section of jurisdiction position control device based on machine vision.
Background
With the continuous development of subway construction technology, shield construction has become a common subway construction method. The automation degree of the shield machine is related to the safety, economy and construction efficiency of the whole construction project, the manual assembling method of the duct piece restricts the shield machine from stepping into the automatic construction step at present, and the construction operation mode of the duct piece also influences the speed of the whole construction to a great extent.
In the current shield segment assembling process, the segment to be grabbed is roughly transferred to the lower part of the assembling machine, and the segment grabbing is completed by utilizing a remote controller through real-time observation of operators in the grabbing process, so that the initial placement position of the segment to be grabbed does not have strict requirements, and the allowable position has deviation. However, the method for grabbing the duct piece by manually observing the splicing machine operated at a close distance by eyes is not only slow, but also has great potential safety hazard to splicing workers. In order to improve the operation efficiency and realize automatic grabbing of the duct piece, the position of the duct piece to be grabbed is required to be very fixed every time, so that the duct piece can be automatically grabbed from the fixed position by the erector in a teaching mode, however, the position is fixed by a common mechanical tool, so that a large error still exists, and the mechanical tool is deformed due to the rigidity of a mechanical structure and the like, so that the generated positioning is inaccurate.
Therefore, how to reduce the dependency on the positioning of the mechanical tool, the placing position of the pipe piece to be grabbed is fixed, and the positioning precision is high, so that the automatic grabbing of the pipe piece is realized, and the technical problem to be solved by the technical personnel in the field is needed.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a shield constructs section of jurisdiction position control device based on machine vision can realize that the accurate positioning of section of jurisdiction position is placed, and is little to the dependence of mechanical frock location, and work efficiency is fast, and does not need artificial intervention. The specific scheme is as follows:
a shield constructs section of jurisdiction position control device based on machine vision includes:
the position monitoring component is used for monitoring the placing position of the duct piece in real time;
the controller is used for comparing the data monitored by the position monitoring component with an initial setting position and controlling the multi-degree-of-freedom adjusting component in real time according to a comparison result;
the multi-degree-of-freedom adjusting component is used for automatically adjusting the current position of the duct piece to the initial setting position; the multiple degree of freedom adjustment member includes:
a base plate;
the reduction gear is positioned on the bottom plate and used for driving the duct piece to rotate in the horizontal direction;
the stepping motor is connected with the reduction gear and is used for driving the reduction gear to rotate under the control of the controller;
and the circular arc-shaped duct piece placing groove is positioned on the reduction gear and used for placing the duct pieces.
Preferably, in the above-mentioned shield based on machine vision of the embodiment of the present invention segment position control device, the position monitoring part includes:
the industrial camera is used for acquiring the horizontal rotation angle of the duct piece in real time;
the first laser ranging sensor and the second laser ranging sensor are used for measuring the distance between the first laser ranging sensor and the duct piece in real time and calculating the angle between the axis of the duct piece and the plane where the camera laser ranging sensor support is located;
the camera laser ranging sensor support is fixed on a beam of the shield tunneling machine and used for installing the industrial camera, the first laser ranging sensor and the second laser ranging sensor.
Preferably, in the embodiment of the utility model provides an among the above-mentioned shield based on machine vision constructs section of jurisdiction position control device, industry camera is located first laser rangefinder sensor with second laser rangefinder sensor's intermediate position.
Preferably, in the above-mentioned shield based on machine vision of the embodiment of the present invention segments position control device, the multiple degree of freedom adjusting part further includes:
and the rubber rotating roller is arranged on the inner side of the arc-shaped duct piece placing groove and is used for adjusting the rotation of the duct piece in the circumferential direction.
Preferably, in the above-mentioned shield based on machine vision of the embodiment of the present invention segments position control device, the multiple degree of freedom adjusting part further includes:
the first hydraulic cylinder is positioned below the circular arc-shaped duct piece placing groove and used for adjusting an included angle between the axis of the circular arc-shaped duct piece placing groove and the surface of the platform under the control of the controller;
the platform is fixedly arranged above the reduction gear and used for placing the first hydraulic cylinder.
Preferably, in the above-mentioned shield based on machine vision of the embodiment of the present invention segments position control device, the multiple degree of freedom adjusting part further includes:
the second hydraulic cylinder is positioned on the side edge of the bottom plate and used for adjusting the arc-shaped duct piece placing groove to move forwards and backwards in the tunnel under the control of the controller;
the second hydraulic cylinder support is used for mounting the second hydraulic cylinder;
and the sliding guide rail is positioned below the bottom plate and used for placing the second hydraulic cylinder support and the bottom plate.
Preferably, in the above-mentioned shield based on machine vision of the embodiment of the utility model provides a section of jurisdiction position control device, still include:
a capture bolt located on the segment.
Preferably, in the shield segment position adjusting device based on machine vision provided by the embodiment of the present invention, the surface of the snatching bolt is sprayed with an inverted triangle spraying mark;
the industrial camera is also used for acquiring the coordinate values of the inverted triangle corner points in the marks sprayed on the surfaces of the grabbing and lifting bolts in real time.
According to the above technical scheme, the utility model provides a shield constructs section of jurisdiction position control device based on machine vision, include: the position monitoring component is used for monitoring the placing position of the duct piece in real time; the controller is used for controlling the multi-degree-of-freedom adjusting component in real time through data monitored by the position monitoring component; the multi-degree-of-freedom adjusting component is used for automatically adjusting the current position of the duct piece to an initial setting position; the multi-degree-of-freedom adjustment component comprises: a base plate; the speed reduction gear is positioned on the bottom plate and is used for driving the segment to rotate in the horizontal direction; the stepping motor is connected with the reduction gear and is used for driving the reduction gear to rotate under the control of the controller; and the arc-shaped duct piece placing groove is positioned on the reduction gear and used for placing duct pieces.
The utility model discloses introduce machine vision's method, position through position monitoring part real-time supervision section of jurisdiction, come the position of automatic adjustment section of jurisdiction through multi freedom adjusting part, make and wait to snatch the section of jurisdiction and be in fixed position at every turn, and positioning accuracy is high, the dependence to mechanical fixture location is little, the inaccurate problem in location of mechanical fixture because reasons such as rigid deformation produce has been overcome, even mechanical structure has taken place deformation because reasons such as rigidity, the device still can realize the accurate regulation of section of jurisdiction position very accurately, make the position of section of jurisdiction coincide completely with the initial set position, and, real-time automatically regulated's process does not need the manual work to intervene, the kludge of being convenient for carries out the automation of section of jurisdiction through fixed orbit and snatchs, work efficiency is fast, the accuracy. Simultaneously, used the multi freedom regulating part including reduction gear, step motor and convex section of jurisdiction standing groove in this application, owing to adopt step motor drive reduction gear work, can progressively reduce in the adjustment, eliminate section of jurisdiction and target position deviation value.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a shield segment position adjusting device based on machine vision according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an arc-shaped duct piece placing groove provided in the embodiment of the present invention;
fig. 3 is a top view of a circular arc-shaped duct piece placing groove for placing duct pieces and a grabbing and lifting bolt provided by the embodiment of the present invention;
fig. 4 is a mark schematic diagram of the grabbing bolt surface spraying provided by the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model provides a shield constructs section of jurisdiction position control device based on machine vision, as shown in figure 1, include:
the position monitoring component 1 is used for monitoring the placement position of the duct piece 2 in real time;
the controller is used for comparing the data monitored by the position monitoring part 1 with the initial setting position and controlling the multi-freedom-degree adjusting part 3 in real time according to the comparison result;
the multi-degree-of-freedom adjusting component 3 is used for automatically adjusting the current position of the duct piece 2 to an initial setting position; wherein, the multi freedom degree adjusting part 3 includes:
a bottom plate 31;
a reduction gear 32 located on the bottom plate 31 for driving the segment 2 to rotate in the horizontal direction;
the stepping motor is connected with the reduction gear 32 and used for driving the reduction gear 32 to rotate under the control of the controller so as to provide power for the reduction gear 32;
and the circular arc-shaped segment placing groove 33 is positioned on the reduction gear 32 and used for placing the segment.
The circular arc-shaped segment placement groove 33 may be a segment placement table having a circular arc-shaped groove-like structure on one surface. The position of segment 2 can be adjusted by rotating reduction gear 32 under the drive of the stepping motor.
The embodiment of the utility model provides an among the above-mentioned shield constructs section of jurisdiction position control device based on machine vision, introduce machine vision's method, position through position monitoring part real-time supervision section of jurisdiction, come the position of automatic adjustment section of jurisdiction through multi freedom adjusting part, make and wait to snatch the section of jurisdiction and be in fixed position at every turn, and positioning accuracy is high, the dependence to mechanical fixture location is little, even mechanical structure has taken place deformation because reasons such as rigidity, the device still can realize the accurate regulation of section of jurisdiction position very accurately, make the position of section of jurisdiction coincide completely with the initial set position, and, real-time automatically regulated's process does not need the manual work to intervene, the kludge of being convenient for carries out the automation of section of jurisdiction through fixed orbit and snatchs, work efficiency is fast, the. Simultaneously, used the multi freedom regulating part including reduction gear, step motor and convex section of jurisdiction standing groove in this application, owing to adopt step motor drive reduction gear work, can progressively reduce in the adjustment, eliminate section of jurisdiction and target position deviation value.
In specific implementation, the embodiment of the present invention provides an above-mentioned shield based on machine vision constructs section of jurisdiction position control device, as shown in fig. 1, position monitoring part 1 can include: the industrial camera 11 is used for acquiring the horizontal rotation angle of the duct piece 2 in real time; the first laser ranging sensor 12 and the second laser ranging sensor 13 are used for measuring the distance between the segment 2 and the first laser ranging sensor and calculating the angle between the axis of the segment 2 and the plane (which can be understood as a truss plane) where the camera laser ranging sensor support 14 is located; and the camera laser ranging sensor support 14 is fixed on a beam of the shield tunneling machine and used for mounting the industrial camera 11, the first laser ranging sensor 12 and the second laser ranging sensor 13. It should be noted that the axis of the segment is fixed for the segment, a plurality of segments can be spliced into a ring, and the axis of the segment can just pass through the center of the ring, which can be regarded as the central symmetry axis of the ring.
Specifically, use an industry camera and two laser rangefinder sensors to come the condition of placing of real-time supervision section of jurisdiction, the monitoring value that acquires includes the angle value that industry camera acquireed, the angle value that two laser rangefinder sensors calculated, the numerical value rate of accuracy is higher, the controller is through the current position of these monitoring value control multi freedom adjusting part adjustment section of jurisdiction, make it and initial setting position completely unanimous, improved the precision of the fixed position that the section of jurisdiction is located, and then realized the accurate positioning of section of jurisdiction position and placed. Preferably, to facilitate the measurement, the industrial camera may be located at a middle position of the first laser ranging sensor and the second laser ranging sensor.
Further, when the shield segment position adjusting device is implemented specifically, in the shield segment position adjusting device based on machine vision provided in the embodiment of the present invention, as shown in fig. 2, the multiple degree of freedom adjusting component 3 may further include: and a rubber roller 34 mounted inside the circular arc-shaped segment placing groove 33 for regulating the rotation of the segment 2 in the circumferential direction. That is, the rotation of the rubber roller 34 can also adjust the position of the segment 2.
Further, when the shield segment position adjusting device is implemented specifically, in the shield segment position adjusting device based on machine vision provided in the embodiment of the present invention, as shown in fig. 1, the multiple degree of freedom adjusting component 3 may further include: a first hydraulic cylinder 35, which is located below the circular arc-shaped segment placing groove 33 and is used for adjusting an included angle between the axis of the circular arc-shaped segment placing groove 33 (which is also fixed) and the surface of the platform 36 under the control of the controller; and a platform 36 fixedly installed above the reduction gear 32 for placing the first hydraulic cylinder 35.
It should be noted that the number of the first hydraulic cylinders 35 may be four, and the four hydraulic cylinders are respectively distributed at the positions of the four corners at the bottom of the circular arc-shaped segment placing groove 33; the position of the segment 2 can also be adjusted by the extension and retraction of the first hydraulic cylinder 35.
Furthermore, in the embodiment of the present invention, in the shield segment position adjusting device based on machine vision, as shown in fig. 1, the multiple degree of freedom adjusting component 3 may further include: a second hydraulic cylinder 37, located at the side of the bottom plate 31, for adjusting the forward and backward movement of the circular arc-shaped segment placing groove 33 in the tunnel under the control of the controller; a second cylinder support 38 for mounting the second cylinder 37; and a slide guide 39, which is located below the base plate 31 and extends in the same direction as the tunnel, for placing the second cylinder support 38 and the base plate 31.
It should be noted that the second hydraulic cylinder 37 may be located at the middle position of the side edge of the bottom plate 31, the bottom of the second hydraulic cylinder 37 is a sliding guide 39, and the bottom plate 31 can move on the sliding guide 39 by the extension and contraction of the second hydraulic cylinder 37, so as to adjust the position of the duct piece 2.
In addition, when the specific implementation is implemented, in the shield segment position adjustment device based on machine vision provided in the embodiments of the present invention, as shown in fig. 3 and 4, the shield segment position adjustment device may further include: and a grab bolt 4 located on the segment 2. The surface of the grabbing bolt 4 can be sprayed with inverted triangle spraying marks 41; the industrial camera 11 can also be used for acquiring coordinate values of the inverted triangle corner points in the marks sprayed on the surfaces of the grabbing and lifting bolts 4 in real time, and after the coordinate values are compared with data in the initial setting position, if deviation exists, the controller can control the stepping motor to drive the reduction gear to rotate so as to adjust the position of the segment 2.
The embodiment of the utility model provides an above-mentioned shield constructs section of jurisdiction position control device based on machine vision's regulation method step can be as follows:
firstly, transferring and placing initial duct pieces into an arc-shaped duct piece placing groove through a crane; the purpose is to carry out preliminary mechanical positioning on the initial segment;
step two, adjusting and setting the initial duct piece to a fixed position in a manual mode; the purpose is to set the initial setting position of the segment to be grabbed;
step three, starting a position monitoring component to carry out data monitoring; specifically, starting an industrial camera, and measuring the rotation angle of the initial duct piece at an initial set position and the coordinate value of an inverted triangle corner point in a mark sprayed on the surface of the grabbing and lifting bolt; starting the two laser ranging sensors, measuring the distances from the two laser ranging sensors to the initial segment at the initial setting position, and calculating the horizontal pitch angle of the initial segment in the axial direction;
after the initial segment is grabbed, transferring the next segment into the arc-shaped segment placing groove; at this time, the current segment position may deviate from the initial segment position, and the current segment position needs to be adjusted;
starting an industrial camera and two laser ranging sensors, acquiring the horizontal rotation angle of the current segment, the coordinates of the inverted triangle corner points in the marks sprayed on the surfaces of the grabbing and lifting bolts and the horizontal pitch angle of the current segment in real time, comparing the coordinates with the data (namely the initial setting position) of the initial segment, and calculating a deviation value;
step six, the controller controls the extension and retraction of the first hydraulic cylinder and the second hydraulic cylinder, the operation of the stepping motor and the rotation of the rubber roller according to the deviation value to gradually eliminate the deviation value; specifically, when the X coordinate has deviation, starting the rotation of the rubber roller and/or the expansion and contraction of the second hydraulic cylinder until the deviation reaches a set threshold; when Y coordinate has deviation, controlling the first hydraulic cylinder to stretch until the deviation reaches a set threshold; when the inverted triangle angle sprayed on the surface of the grabbing and lifting bolt has deviation, controlling the operation of the stepping motor to control the rotation of the reduction gear until the angle deviation reaches a set threshold value; when the height values measured by the two laser ranging sensors have deviation, controlling the first hydraulic cylinder to stretch until the height deviation reaches a set threshold value; when the deviation value of all parameters reaches the set threshold value, the automatic adjustment process is finished, and the current segment to be grabbed is adjusted to the position completely coinciding with the initial segment relative to the shield tunneling machine.
To sum up, the embodiment of the utility model provides a shield constructs section of jurisdiction position control device based on machine vision, include: the position monitoring component is used for monitoring the placing position of the duct piece in real time; the controller is used for controlling the multi-degree-of-freedom adjusting component in real time through data monitored by the position monitoring component; and the multi-degree-of-freedom adjusting component is used for automatically adjusting the current position of the duct piece to an initial setting position. The method of introducing machine vision like this, through the position of position monitoring part real-time supervision section of jurisdiction, come the position of automatically regulated section of jurisdiction through multi freedom adjusting part, make and wait to snatch the section of jurisdiction and be in fixed position at every turn, and positioning accuracy is high, the dependence to mechanical fixture location is little, the inaccurate problem in location that mechanical fixture produced because reasons such as rigid deformation, even mechanical structure has taken place deformation because reasons such as rigidity, the device still can realize the accurate regulation of section of jurisdiction position very accurately, make the position of section of jurisdiction coincide completely with the initial set position, and, real-time automatically regulated's process does not need the manual intervention, be convenient for the erector carries out the automation of section of jurisdiction through fixed orbit and snatchs, high work efficiency, high accuracy.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The shield segment position adjusting device based on machine vision provided by the utility model is introduced in detail, and the principle and the implementation mode of the utility model are explained by applying specific examples, and the explanation of the above embodiments is only used for helping to understand the method and the core idea of the utility model; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (8)
1. The utility model provides a shield constructs section of jurisdiction position control device based on machine vision, its characterized in that includes:
the position monitoring component is used for monitoring the placing position of the duct piece in real time;
the controller is used for comparing the data monitored by the position monitoring component with an initial setting position and controlling the multi-degree-of-freedom adjusting component in real time according to a comparison result;
the multi-degree-of-freedom adjusting component is used for automatically adjusting the current position of the duct piece to the initial setting position; the multiple degree of freedom adjustment member includes:
a base plate;
the reduction gear is positioned on the bottom plate and used for driving the duct piece to rotate in the horizontal direction;
the stepping motor is connected with the reduction gear and is used for driving the reduction gear to rotate under the control of the controller;
and the circular arc-shaped duct piece placing groove is positioned on the reduction gear and used for placing the duct pieces.
2. The machine vision-based shield segment position adjustment device according to claim 1, wherein the position monitoring means comprises:
the industrial camera is used for acquiring the horizontal rotation angle of the duct piece in real time;
the first laser ranging sensor and the second laser ranging sensor are used for measuring the distance between the first laser ranging sensor and the duct piece in real time and calculating the angle between the axis of the duct piece and the plane where the camera laser ranging sensor support is located;
the camera laser ranging sensor support is fixed on a beam of the shield tunneling machine and used for installing the industrial camera, the first laser ranging sensor and the second laser ranging sensor.
3. The machine vision-based shield segment position adjusting device of claim 2, wherein the industrial camera is located at a position intermediate to the first laser ranging sensor and the second laser ranging sensor.
4. The shield segment position adjusting device based on machine vision according to claim 1, characterized in that the multiple degree of freedom adjusting component further comprises:
and the rubber rotating roller is arranged on the inner side of the arc-shaped duct piece placing groove and is used for adjusting the rotation of the duct piece in the circumferential direction.
5. The machine vision-based shield segment position adjusting device of claim 4, wherein the multiple degree of freedom adjusting component further comprises:
the first hydraulic cylinder is positioned below the circular arc-shaped duct piece placing groove and used for adjusting an included angle between the axis of the circular arc-shaped duct piece placing groove and the surface of the platform under the control of the controller;
the platform is fixedly arranged above the reduction gear and used for placing the first hydraulic cylinder.
6. The machine vision-based shield segment position adjusting device of claim 5, wherein the multiple degree of freedom adjusting component further comprises:
the second hydraulic cylinder is positioned on the side edge of the bottom plate and used for adjusting the arc-shaped duct piece placing groove to move forwards and backwards in the tunnel under the control of the controller;
the second hydraulic cylinder support is used for mounting the second hydraulic cylinder;
and the sliding guide rail is positioned below the bottom plate and used for placing the second hydraulic cylinder support and the bottom plate.
7. The shield segment position adjusting device based on machine vision according to claim 2, characterized by further comprising:
a capture bolt located on the segment.
8. The shield segment position adjusting device based on machine vision of claim 7, wherein the surface of the grabbing and lifting bolt is coated with an inverted triangle coating mark;
the industrial camera is also used for acquiring the coordinate values of the inverted triangle corner points in the marks sprayed on the surfaces of the grabbing and lifting bolts in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922154205.6U CN209925010U (en) | 2019-12-05 | 2019-12-05 | Shield constructs section of jurisdiction position control device based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922154205.6U CN209925010U (en) | 2019-12-05 | 2019-12-05 | Shield constructs section of jurisdiction position control device based on machine vision |
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| CN209925010U true CN209925010U (en) | 2020-01-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460851A (en) * | 2021-06-02 | 2021-10-01 | 天津大学 | Automatic segment grabbing and transporting system and method based on monocular vision and laser |
| CN117468366A (en) * | 2023-12-27 | 2024-01-30 | 中铁六局集团有限公司 | Construction tool capable of automatically hoisting module precast slab and adjusting space precision |
-
2019
- 2019-12-05 CN CN201922154205.6U patent/CN209925010U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460851A (en) * | 2021-06-02 | 2021-10-01 | 天津大学 | Automatic segment grabbing and transporting system and method based on monocular vision and laser |
| CN113460851B (en) * | 2021-06-02 | 2023-03-10 | 天津大学 | Segment automatic grabbing and transporting system and method based on monocular vision and laser |
| CN117468366A (en) * | 2023-12-27 | 2024-01-30 | 中铁六局集团有限公司 | Construction tool capable of automatically hoisting module precast slab and adjusting space precision |
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