Automatic segment splicing method and system based on shield segment erector

The invention relates to an automatic segment splicing method and system based on a shield segment erector, and relates to the technical field of shield segment erector splicing control. According to the method, a duct piece erector transports a grabbed duct piece to a position near a specified expected splicing position under the control of a trajectory planning and tracking algorithm, and the relative pose of a spliced duct piece and the grabbed duct piece is detected through a contour measuring instrument sensing system; according to the motion switching servo control mode, the z-axis of the grabbing segment is controlled to coincide with the z-axis of the spliced segment according to the poses of the spliced segment and the grabbing segment, and then under the condition that the axes of the grabbing segment and the spliced segment are kept to coincide, the rotation and axial pressing actions of the grabbing segment are controlled. Alignment and circular seam elimination of bolt hole positions of the splic