Batch full-automatic binding control system and method thereof

Abstract

The embodiment of the invention discloses a batch full-automatic binding control system and a method thereof. The system is characterized in that a control unit calculates the placement position of a reinforcing steel bar by constructing a coordinate system with the upper left corner of a platform as the original point, the ground plane as the horizontal plane, the x-axis parallel to a portal frame, the y-axis perpendicular to the portal frame and the z-axis perpendicular to the ground; and the fixing groove system provides a groove position for fixing the transverse bar according to the calculated placing position. The grabbing sensing subsystem identifies the reinforcing steel bars and determines the three-dimensional coordinates of the reinforcing steel bars; the grabbing subsystem sequentially grabs all the transverse ribs and places the transverse ribs in the groove positions, and then grabs the vertical ribs and places the vertical ribs in the designated positions. The binding sensing subsystem identifies the cross knot and determines the position of the cross knot after the vertical rib is placed each time; and the binding subsystem binds the reinforcing steel bars according to the position of the cross knot and the coordinates of the cross point. By means of the system, full-automatic steel bar grabbing and binding and finished product moving can be achieved, and the steel bar binding efficiency and precision are improved.

Description

Technical Field

[0001] The invention relates to a steel bar binding control system, and more specifically to a batch full-automatic binding control system and method thereof. Background Art

[0002] When existing rebar tying robots are working, the rebars need to be placed and fixed in place first; after completing this preparation, the robot will move to the designated tying point above the rebar and use the manipulator to tie the steel wire at this point. Since existing robots can only tie at one point, each tying takes several seconds, resulting in a long overall operation time. The actual construction site may have dozens to hundreds of rebar points that need to be tied for floor slabs or other components, so the time required to complete all tying tasks is also correspondingly longer.

[0003] In addition, the working scenario of the existing rebar tying robot is based on the premise that the rebars have been placed and fixed. In actual construction sites, rebars are usually scattered on the ground, and manual labor is required to take out the rebars one by one and place and fix them according to the rebar arrangement method of the floor slab design. This process is not only time-consuming and labor-intensive, but also errors may occur when manually fixing and placing the rebars, which in turn affects the operating accuracy of the tying robot and the firmness of the tying foundation. Therefore, the preliminary preparation work for the tying robot requires a lot of human resources, and because the manipulator can only perform single-point tying, this working method is not only inefficient, but also not precise enough.

[0004] Therefore, it is necessary to develop a new system to realize fully automatic steel bar grabbing, tying and moving finished products, and improve the efficiency and accuracy of steel bar tying. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide a batch fully automatic lashing control system and method thereof.

[0006] To achieve the above-mentioned object, the present invention adopts the following technical scheme: a batch fully automatic lashing control system, comprising: a control unit, a moving subsystem, a fixed slot subsystem, a grasping sensing subsystem, a grasping subsystem, a lashing sensing subsystem, and a lashing subsystem; The control unit is used to construct a coordinate system and calculate the placement position of the steel bars based on the coordinate system, wherein the coordinate system takes the upper left corner of the control platform as the origin, the ground plane as the horizontal plane, the x-axis is parallel to the gantry, the y-axis is perpendicular to the gantry, and the z-axis is perpendicular to the ground; the steel bars include vertically placed vertical bars and horizontally placed transverse bars; the placement position includes the placement position of each transverse bar, the placement position of the vertical bars, and the coordinates of the cross intersection; The fixing slot system is used to provide a slot for fixing the transverse reinforcement according to the placement position calculated by the control unit; The grasping sensing subsystem is used to identify the steel bars and determine the locations of the steel bars, wherein the locations of the steel bars include the three-dimensional coordinates of the steel bar grasping points calculated by different coordinate transformations; The grabbing subsystem is used to grab all the transverse bars in sequence from the location of the steel bars determined by the grabbing sensing subsystem, and after placing all the transverse bars in the slots, grab the vertical bars in sequence and place the vertical bars in the designated locations; The lashing sensing subsystem is used to identify the cross knot and determine the location of the cross knot after each placement of the vertical reinforcement; The binding subsystem is used to bind the steel bars at the location of the cross knot according to the location of the cross knot and the coordinates of the cross intersection determined by the binding sensing subsystem.

[0007] Its further technical solution is: the mobile subsystem includes two vertical reinforcement gantry frames, one horizontal reinforcement gantry frame and a mobile platform, and the vertical reinforcement gantry frames and the horizontal reinforcement gantry frame are respectively connected to the mobile platform; Among them, the vertical reinforcement gantry is used to move the vertical reinforcement; the transverse reinforcement gantry is used to move the transverse reinforcement.

[0008] Its further technical solution is: the grabbing subsystem includes a grabbing mechanical arm arranged on the transverse reinforcement gantry and a grabbing mechanical arm arranged on the vertical reinforcement gantry; The tying subsystem comprises a tying mechanical arm arranged on the transverse reinforcement gantry.

[0009] Its further technical solution is: the grasping sensing subsystem includes a first plane camera arranged on the vertical rib gantry and the horizontal rib gantry and a first depth camera arranged on the grasping mechanical arm; The first plane camera is used to capture and identify the steel bar to be grasped, determine the position of the steel bar to be grasped, and send the position of the steel bar to be grasped to the grasping subsystem, so that the grasping subsystem moves to the position of the steel bar to be grasped; The first depth camera is used to analyze and determine the grasping point of the steel bar to be grasped when the grasping subsystem moves to the position where the steel bar to be grasped is located, and then determine the three-dimensional coordinates of the grasping point and send them to the grasping subsystem, and when the grasping subsystem moves to the three-dimensional coordinates, provide real-time feedback of the three-dimensional coordinates of the grasping point until the grasping subsystem grasps the steel bar; The three-dimensional coordinates of the grasping point are determined according to the transformation relationship between the reference coordinates of the grasping subsystem and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot, wherein the reference coordinates of the grasping subsystem take the z-axis perpendicular to the chassis, and the x and y axes parallel to the chassis; the coordinate system of the lower arm of the grasping robot takes the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane; the coordinate system of the upper arm of the grasping robot takes the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane; the coordinate system of the first depth camera takes the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane.

[0010] Its further technical solution is: the lashing sensing subsystem comprises a second plane camera arranged on the cross-bar gantry and a second depth camera arranged on the lashing mechanical arm; Wherein, the second depth camera is used to identify and preliminarily locate the position of the cross knot, and send the preliminarily determined position to the tying subsystem, so that the tying subsystem moves to the cross knot according to the preliminarily determined position and the coordinates of the cross intersection point; The second depth camera is used to analyze the position of the cross knot to the local coordinates of the depth camera when the binding subsystem moves to the preliminarily determined position to determine the position of the cross knot, and send the position of the cross knot to the binding subsystem, so that the binding subsystem moves to the position of the cross knot and binds the steel bars at the position of the cross knot.

[0011] The present invention also provides a control method executed by the above-mentioned batch fully automatic lashing control system, comprising: The control unit receives the construction drawings or parameters, constructs a coordinate system, and calculates the placement of the steel bars based on the coordinate system; Arrange the slots for fixing the transverse reinforcement according to the placement position; The grasping sensing subsystem identifies the transverse reinforcement and determines the position of the transverse reinforcement, and the grasping subsystem grasps all the transverse reinforcements in sequence according to the determined position of the transverse reinforcement and places all the transverse reinforcements into the slots; The grasping sensing subsystem identifies the vertical reinforcement and determines the position of the vertical reinforcement, and the grasping subsystem grasps the vertical reinforcement in sequence according to the determined position of the vertical reinforcement and places the vertical reinforcement at the designated position; The binding sensing subsystem identifies the cross knot and determines the location of the cross knot, and the binding subsystem binds the steel bars at the location of the cross knot in combination with the coordinates of the cross intersection in the placement position; Determine whether all vertical reinforcements have been fixed; If all the vertical bars are not fixed, the grasping sensing subsystem is executed to identify the vertical bars and determine the positions of the vertical bars, and the grasping subsystem grasps the vertical bars in sequence according to the determined positions of the vertical bars and places the vertical bars at designated positions.

[0012] A further technical solution is: the control unit receives construction drawings or parameters, constructs a coordinate system, and calculates the placement position of the steel bars based on the coordinate system, including: The control unit receives the construction drawings or parameters and extracts the length, width, shape, placement spacing and quantity of the steel bars to obtain relevant information of the steel bars; The control unit analyzes the relevant information of the steel bars, constructs a coordinate system, and calculates the placement coordinates of each steel bar and the coordinates of the cross points based on the coordinate system; The control unit analyzes the steel bar related information and calculates the placement coordinates of each steel bar and the coordinates of the cross intersection, including: The control unit establishes a coordinate system, wherein the coordinate system takes the upper left corner of the control platform as the origin, the ground plane as the horizontal plane, the x-axis is parallel to the gantry, the y-axis is perpendicular to the gantry, and the z-axis is perpendicular to the ground; The control unit calculates the coordinates of both ends of each transverse reinforcement and vertical reinforcement according to the length and spacing of the transverse reinforcement and vertical reinforcement in the steel bar related information, and determines the position of the cross intersection.

[0013] The further technical solution is: the grasping sensing subsystem identifies the transverse reinforcement and determines the position of the transverse reinforcement, and the grasping subsystem grasps all the transverse reinforcements in sequence according to the determined position of the transverse reinforcement, and places all the transverse reinforcements into the slots, including: Move the cross-rebar gantry to the plane camera of the grasping sensing subsystem to identify the cross-rebar to be grasped; The grasping sensing subsystem determines the position of the cross bar, guides the cross bar gantry to move to the best grasping position, and the grasping robot arm approaches the cross bar; When the grasping robot arm approaches the horizontal rib, the depth camera identifies the precise position of the horizontal rib; Calculate the three-dimensional coordinates of the grasping point; The grasping subsystem adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the transverse reinforcement; When the grasping subsystem finishes grasping the transverse reinforcement, it places the transverse reinforcement into the slot; Determining whether all the transverse ribs are placed in the slots; If the transverse reinforcement is not completely placed in the slot, the moving transverse reinforcement gantry to the plane camera of the grasping sensing subsystem identifies the transverse reinforcement to be grasped; If all the horizontal bars are placed in the slots, the grasping sensing subsystem identifies the vertical bars and determines their positions, and the grasping subsystem grasps the vertical bars in sequence according to the determined positions of the vertical bars and places the vertical bars at designated positions.

[0014] A further technical solution is: the calculation of the three-dimensional coordinates of the grasping point includes: Set the reference coordinates of the grasping subsystem, the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot, and the coordinate system of the first depth camera; The grasping position in the coordinate system of the upper arm of the grasping robot is determined according to the transformation relationship between the reference coordinates of the grasping subsystem and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot to obtain the three-dimensional coordinates of the grasping point.

[0015] A further technical solution is: the grasping sensing subsystem identifies the vertical reinforcement and determines the position of the vertical reinforcement, and the grasping subsystem grasps the vertical reinforcement in sequence according to the determined position of the vertical reinforcement and places the vertical reinforcement at the designated position, including: Move the vertical reinforcement gantry to the plane camera of the grasping perception subsystem to identify the vertical reinforcement to be grasped; The grasping sensing subsystem determines the position of the vertical reinforcement, guides the vertical reinforcement gantry to move to the best grasping position, and the grasping robot arm approaches the vertical reinforcement; When the grabbing robot arm approaches the vertical rib, the depth camera identifies the precise position of the vertical rib; Calculate the three-dimensional coordinates of the grasping point; The grasping subsystem adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the vertical reinforcement; After the grasping subsystem finishes grasping the vertical reinforcement, the vertical reinforcement is placed at the placement position of the vertical reinforcement in the placement position.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention is provided with a control unit, a moving subsystem, a fixed slot subsystem, a grasping sensing subsystem, a grasping subsystem, a binding sensing subsystem and a binding subsystem, wherein the control unit calculates the placement position of the steel bars by constructing a coordinate system, the coordinate system takes the upper left corner of the control platform as the origin, the x-axis is parallel to the gantry, the y-axis is perpendicular to the gantry, and the z-axis is perpendicular to the ground; the fixed slot subsystem provides a slot position for fixing the horizontal bars according to the calculated placement position; the grasping sensing subsystem identifies the steel bars and determines their three-dimensional coordinates, the grasping subsystem grasps the horizontal bars and vertical bars in sequence and places them at the designated position; the binding sensing subsystem identifies the cross knot and determines its position, and the binding subsystem binds the steel bars according to this information; the fully automatic grasping, binding and moving of the steel bars are realized, and the efficiency and accuracy of the steel bar binding are improved.

[0017] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0019] Figure 1 A schematic block diagram of a batch fully automatic lashing control system provided by an embodiment of the present invention; Figure 2 A schematic flow chart of a control method for a batch fully automatic lashing control system provided by an embodiment of the present invention; Figure 3 A schematic diagram of a sub-flow chart of a control method of a batch fully automatic lashing control system provided by an embodiment of the present invention; Figure 4 A schematic diagram of a sub-flow chart of a control method of a batch fully automatic lashing control system provided by an embodiment of the present invention; Figure 5 A schematic diagram of a sub-flow chart of a control method of a batch fully automatic lashing control system provided by an embodiment of the present invention; Figure 6 A schematic diagram of a sub-flow chart of a control method of a batch fully automatic lashing control system provided by an embodiment of the present invention; Figure 7 A schematic diagram of a coordinate system established by a control unit provided in an embodiment of the present invention; Figure 8 A schematic diagram of the reference coordinates of the grasping subsystem, the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot, and the coordinate system of the first depth camera provided in an embodiment of the present invention; Description of the symbols in the figure: 10. Control unit; 20. Mobile subsystem; 30. Fixed slot subsystem; 40. Grasping sensing subsystem; 50. Grasping subsystem; 60. Binding sensing subsystem; 70. Binding subsystem. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0022] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0023] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0024] When existing steel bar tying robots are performing steel bar tying operations, personnel are required to place and fix the steel bars in place first. After that, the robot will move to the designated tying point above the steel bars and control the manipulator to tie the wires. Since a large amount of manpower is required to arrange the steel bars in the early stage of the operation, and the manipulator can only tie at a single point, the operation is inefficient, time-consuming, and has low precision.

[0025] To this end, the present embodiment provides a batch fully automatic binding control system and method thereof, wherein the control system realizes fully automatic steel bar grabbing and binding by integrating multiple subsystems, thereby improving efficiency and accuracy. The control unit 10 accurately calculates the placement position of the steel bars based on the constructed coordinate system, and the fixed groove system provides an accurate fixed position. The grabbing sensing subsystem 40 and the grabbing subsystem 50 efficiently identify and grab the steel bars and place them accurately. The binding sensing subsystem 60 identifies and locates the cross knot, and the binding subsystem 70 binds it accurately. The coordinated work of each system makes the steel bar processing process fully automated, reduces manual intervention, and improves work efficiency and binding accuracy.

[0026] In addition, the control system controls the fully automatic batch grabbing and tying system for steel bars, wherein the fully automatic batch grabbing and tying system for steel bars includes at least two groups of gantries, each of which is composed of a horizontal beam, a vertical beam and a moving device. The vertical beam moves up and down through the lifting device to adjust the operating height of the horizontal beam; the horizontal beam of the gantry is provided with a grabbing mechanical arm and a tying mechanical arm, the grabbing mechanical arm is used to grab the scattered steel bars, and the tying mechanical arm is used to tie the cross points; the number of grabbing mechanical arms and tying mechanical arms depends on the specific situation, at least 2 grabbing and 1 tying. That is, each gantry is equipped with at least 2 grabbing mechanical arms and 1 tying mechanical arm, and the specific number can be adjusted according to demand; each gantry has 4 grabbing mechanical arms (No. 1, No. 2, No. 3, No. 4 from left to right) and 2 tying mechanical arms (No. 1 and No. 2 from left to right); and the interval between the gantries is set to the length of half a steel bar to ensure that the mechanical arms of the front and rear gantries can be accurately aligned.

[0027] The fully automatic batch grabbing and tying system for steel bars realizes batch grabbing and tying of steel bars through the coordinated work of multiple gantries. The core functions of the fully automatic batch grabbing and tying system for steel bars include efficient grabbing and precise tying of steel bars, as well as transfer of steel bars after construction. Specifically, when the fully automatic batch grabbing and tying system for steel bars is grabbing steel bars, two gantries are aligned front and back and move back and forth to the top of the workstation where the steel bars are located; the crossbeam of the gantry is controlled to move down to the appropriate height so that the mechanical arm can reach the steel bars; the grabbing mechanical arm is controlled to move down to the placement position of the steel bars; each gantry grabs 4 steel bars at the same time, adjusts the gripping force after grabbing, and raises the steel bars to the working height of the gantry; moves the gantry to move the grabbed steel bars to the designated placement position. Next, the crossbeam is controlled to move downward so that the grabbing robot arm can place the steel bars accurately at the predetermined position. When tying, the tying robot arm is started, and the robot arm moves to the exact position of the intersection of the steel bars to start tying. Each gantry is equipped with two tying robot arms. The two gantries work at the same time and can complete the operation of 2×2×2=8 tying points at the same time. The tying robot arm has a 360-degree rotation function and can perform all-round tying of the surrounding points. Finally, after tying is completed, the tying robot arm is controlled to reset to ensure that it returns to its initial state. The grabbing robot arm is used to grasp the tied steel bars again. The tied steel bars are moved to the position for pouring concrete for subsequent construction.

[0028] Compared with the single-point robot binding device, the fully automatic steel bar batch grabbing and binding system works through multiple gantries simultaneously, which greatly improves the working efficiency and can complete the grabbing, binding and transfer of steel bars in a short time; it can accurately control the grabbing and binding process, improve the stability and binding accuracy of the steel bars; it can be configured with 4-6 gantries according to the scale and needs of the construction site to adapt to large-scale construction environments; during the binding process, the grabbing robot arm continuously fixes the position of the steel bars to ensure the stability of the steel bars during binding, making it convenient for the binding robot arm to accurately find the binding points.

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0030] See also Figure 1 The batch fully automatic lashing control system comprises: a control unit 10, a moving subsystem 20, a fixing slot subsystem 30, a grabbing sensing subsystem 40, a grabbing subsystem 50, a lashing sensing subsystem 60, and a lashing subsystem 70; The control unit 10 is used to construct a coordinate system and calculate the placement position of the steel bars based on the coordinate system, wherein the coordinate system takes the upper left corner of the control platform as the origin, the ground plane as the horizontal plane, the x-axis is parallel to the gantry, the y-axis is perpendicular to the gantry, and the z-axis is perpendicular to the ground; the steel bars include vertical bars placed vertically and horizontal bars placed horizontally; the placement position includes the placement position of each horizontal bar, the placement position of the vertical bars, and the coordinates of the cross intersection; A fixing slot system, used to provide a slot for fixing the transverse reinforcement according to the placement position calculated by the control unit 10; A grasping sensing subsystem 40 is used to identify the steel bar and determine the location of the steel bar, the location of the steel bar includes the three-dimensional coordinates of the steel bar grasping point calculated by different coordinate transformations; The grabbing subsystem 50 is used to grab all the transverse bars in sequence from the location of the steel bars determined by the grabbing sensing subsystem 40, and after placing all the transverse bars in the slots, grab the vertical bars in sequence and place the vertical bars in the designated locations; The lashing sensing subsystem 60 is used to identify the cross knot and determine the location of the cross knot after each placement of the vertical reinforcement; The tying subsystem 70 is used to determine the location of the cross knot and the coordinates of the cross intersection according to the tying sensing subsystem 60.

[0031] The above-mentioned control system constructs a coordinate system through the control unit 10 to calculate the accurate placement position of the steel bars; the moving subsystem 20 adjusts the position of the gantry and other equipment; the fixed slot subsystem 30 provides a fixed slot according to the calculated position to ensure the correct placement of the transverse reinforcement, and the design of the slot ensures that the transverse reinforcement can be placed firmly and ready for binding; the grasping sensing subsystem 40 identifies the position of the steel bars; the grasping subsystem 50 grasps the transverse reinforcement in sequence and places it in the slot, and then grasps the vertical reinforcement and places it in the specified position; the binding sensing subsystem 60 identifies the cross knot position; the binding subsystem 70 performs precise binding at the identified cross knot position.

[0032] That is, it automatically identifies the steel bars piled on the ground, grabs the steel bars with a grabbing robot arm and places them in the matching slots, then identifies the cross-intersection points of the steel bars, and uses the steel bar tying robot arm to tie them. By setting different numbers of robots, the efficiency of steel bar tying can be effectively changed, and finally the tied steel bar structure is sent out; manual intervention is reduced, and the construction efficiency is significantly improved through automated grabbing, placement and tying; accurate coordinate calculation and position adjustment are used to ensure accurate placement and tying of steel bars, thereby improving the stability and safety of the structure; the high-precision positioning and recognition functions of the grabbing sensing subsystem 40 and the tying sensing subsystem 60 reduce the risk of incorrect tying; operations are performed according to a fixed process to ensure that the quality of each tying is consistent and meets the design requirements; automated operations reduce reliance on manual operations and reduce the labor intensity and cost of construction personnel; the system can complete the tying of a large number of steel bars in a short time, shortening the construction period; the system can adjust the number and position of gantries according to construction needs to adapt to construction projects of different sizes.

[0033] In one embodiment, the control unit 10 is composed of a small computer and is mainly responsible for the following functions: Human-computer interaction: processing user instructions, setting parameters and reading drawings; users input instructions and parameters through the mouse and keyboard; drawings are input into the computer through the USB interface in CAD format.

[0034] Process control and scheduling: The control unit 10 manages the operation processes of each subsystem, coordinates their work, and performs system scheduling tasks.

[0035] Operational Analysis: Performs the necessary data processing and analysis to ensure that the system operates as expected.

[0036] In this embodiment, each subsystem is an independent control module responsible for specific functions such as moving, grasping, fixing, or tying. The subsystems are connected to the control unit 10 via the CANopen protocol to form a unified system network; the instructions of the control unit 10 are transmitted in the format of predefined hexadecimal combination numbers; each subsystem sends a heartbeat signal every 0.5 seconds; if the heartbeat signal of a certain subsystem stops, the control unit 10 will immediately stop the operation of the entire system to ensure the safety of the system.

[0037] In addition, the control unit 10 establishes a world coordinate system at the upper left corner of the platform, that is, a coordinate system with the upper left corner of the control platform as the origin, the ground plane as the horizontal plane, the x-axis parallel to the gantry, the y-axis perpendicular to the gantry, and the z-axis perpendicular to the ground, for global positioning. The control unit 10 is responsible for converting the local coordinate system of the robotic arm into the world (global) coordinate system to ensure precise positioning and operation.

[0038] In one embodiment, the placement positions include the left and right coordinates of each horizontal bar, the left and right coordinates of each vertical bar, and the coordinates of the cross intersection point, that is, the placement positions of each horizontal bar, the placement positions of each vertical bar, and the coordinates of the cross intersection point; the placement positions can be determined through the following process: The control unit 10 reads the construction drawings (cad files) or parameters through human-computer interaction. According to the drawings or parameters, the control unit 10 obtains information such as the length, width, shape, spacing to be placed, and quantity to be placed of the steel bars according to the file format. Then, the control unit 10 calculates the coordinates of the placement of each steel bar and calculates the coordinates of the cross intersection point according to the parameter information. The coordinate system constructed by the control unit 10 has the upper left corner of the entire control platform as the origin, as Figure 7 shown, with the ground plane as the horizontal plane, the x-axis parallel to the gantry, the y-axis perpendicular to the gantry, and the z-axis perpendicular to the ground. Assume that both the horizontal bar and the vertical bar are straight steel bars, the length of the horizontal bar is L1, the length of the vertical bar is L2, and the height of the fixed groove is h above the ground plane. The number of horizontal bars to be placed is N1, then the spacing is L2 / N1, the number of vertical bars to be placed is N2, and the spacing is x. Then the left and right coordinates of each horizontal bar are (0, n*L2 / N1, h), (L1, n*L2 / N1, h), 0 n < N1, where n represents the nth horizontal bar.

[0039] The coordinates of the cross intersection point refer to the coordinates of the intersection point of the cross knot.

[0040] The left and right coordinates of each vertical bar are (m*x, 0, h), (m*x, L2, h), 0 m < N2, where m represents the mth vertical bar.

[0041] The coordinates of the cross knot are (m*x, n*L2 / N1, h), where 0 < n < N1 and 0 < m < N2, and m and n represent the IDs of the horizontal and vertical steel bars respectively.

[0042] In another embodiment, when the horizontal steel bar is of other shapes, the corresponding coordinates can also be obtained in the above manner.

[0043] In one embodiment, the above-mentioned mobile subsystem 20 includes two vertical steel bar gantries, one horizontal steel bar gantry, and a mobile platform, and the vertical steel bar gantries and the horizontal steel bar gantry are respectively connected to the mobile platform; Among them, the vertical steel bar gantry is used to move the vertical steel bar; the horizontal steel bar gantry is used to move the horizontal steel bar.

[0044] Specifically, the construction drawings are input into the control unit 10 through the human-machine interaction interface; the control unit 10 analyzes the drawings to obtain the dimensions, shapes of the vertical and horizontal steel bars, and their placement intervals on the platform; the control unit 10 calculates the specific placement positions of the vertical and horizontal steel bars based on the analyzed parameters; after the grasping subsystem 50 grasps the vertical or horizontal steel bar, the control unit 10 guides the mobile subsystem 20 to be moved to the calculated corresponding position.

[0045] Accurate placement positions are obtained through calculation to ensure that the steel bars are accurately placed according to the design drawings; the automated gantry movement and grasping system improve the construction efficiency and reduce the need for manual intervention; the system can be quickly adjusted according to different construction drawings to adapt to various construction requirements; the safety mechanisms included in the system design, such as heartbeat monitoring, help prevent risks in case of failures or abnormal states and ensure construction safety.

[0046] In one embodiment, the above-mentioned fixed slot subsystem 30 provides the fixed positions of the horizontal steel bars to ensure that their intervals and postures meet the design requirements; specifically, according to the parameters calculated by the control unit 10, the fixed slot system adjusts the fixed intervals and postures of the horizontal steel bars; during the binding process, first, a group of horizontal steel bars are fixed at a predetermined interval and posture according to the design requirements; after all the horizontal steel bars are fixed in the slots, the vertical steel bars are placed in sequence for binding.

[0047] The slots provided by the fixed slot subsystem 30 can ensure that the horizontal steel bars are accurately fixed at the designed intervals and postures, which helps to improve the structural stability; the process of fixing the horizontal steel bars first and then binding the vertical steel bars optimizes the construction steps and reduces the adjustment time; the fixed slot subsystem 30 ensures the consistency of each construction and reduces human errors; automatically adjusting the position of the fixed slots according to the design parameters improves the automation level and accuracy of the construction.

[0048] In one embodiment, the above-mentioned grasping subsystem 50 includes a grasping robotic arm arranged on the horizontal steel bar gantry and a grasping robotic arm arranged on the vertical steel bar gantry.

[0049] Before grabbing and tying the steel bars, the vertical bars should be stacked on the side of the platform, perpendicular to the gantry; the horizontal bars should be stacked in front of the platform, parallel to the gantry; when grabbing the steel bars, whether it is the horizontal bars or the vertical bars, the grabbing sensing subsystem 40 locates the specific position of the steel bars; the grabbing subsystem 50 grabs the steel bars through the feedback system; the grabbing subsystem 50 places the steel bars at the predetermined target position according to the placement position of the control unit 10.

[0050] The grabbing subsystem 50 can ensure that the vertical and horizontal reinforcements are stacked in the exact position as required by the design, thereby improving construction accuracy; the systematic grabbing and placement process reduces manual intervention and speeds up construction; the automated grabbing and placement process reduces human errors and improves the consistency and reliability of construction; the correct stacking position ensures the effective use of the platform space and improves overall construction efficiency.

[0051] In one embodiment, the grasping sensing subsystem 40 includes a first plane camera disposed on the vertical rib gantry and the horizontal rib gantry and a first depth camera disposed on the grasping robot arm; The first plane camera is used to capture and identify the steel bar to be grasped, determine the position of the steel bar to be grasped, and send the position of the steel bar to be grasped to the grasping subsystem 50, so that the grasping subsystem 50 moves to the position of the steel bar to be grasped; The first depth camera is used to analyze and determine the grasping point of the steel bar to be grasped when the grasping subsystem 50 moves to the position where the steel bar to be grasped is located, and then determine the three-dimensional coordinates of the grasping point and send them to the grasping subsystem 50. When the grasping subsystem 50 moves to the three-dimensional coordinates, the three-dimensional coordinates of the grasping point are fed back in real time until the grasping subsystem 50 grasps the steel bar; The three-dimensional coordinates of the grasping point are determined according to the transformation relationship between the reference coordinates of the grasping subsystem 50 and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot, wherein the reference coordinates of the grasping subsystem 50 have the z-axis perpendicular to the chassis, and the x and y axes parallel to the chassis; the coordinate system of the lower arm of the grasping robot has the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane; the coordinate system of the upper arm of the grasping robot has the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane; the coordinate system of the first depth camera has the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane.

[0052] In this embodiment, the grasping sensing subsystem 40 first determines the distribution of steel bars and the grasping target through the first plane camera, and then notifies the grasping subsystem 50 to reach the initial position. After reaching the initial position, the first depth camera will accurately measure the relative position of the robot arm and the steel bar, and help the grasping subsystem 50 to grasp the steel bar accurately through continuous feedback.

[0053] Specifically, the first plane camera first identifies and locates the position of the steel bar to ensure that the grasping subsystem 50 can accurately reach the target area; the first depth camera further provides accurate three-dimensional coordinates and grasping point information, significantly improving the accuracy of the grasping operation; the first depth camera provides real-time three-dimensional coordinate feedback, so that the grasping subsystem 50 can dynamically adjust the grasping strategy to ensure high-precision operation in complex environments; the first plane camera helps to determine the approximate position of the steel bar, thereby reducing the time and movement path of the grasping subsystem 50 when searching for the target; after the grasping subsystem 50 approaches the target, the first depth camera further analyzes the specific grasping point, optimizes the grasping action path, and reduces the probability of failure caused by position error; the system realizes the conversion relationship between different devices through multiple coordinate systems. The precise docking between them allows for flexible adjustment of position and posture in complex grasping tasks; the coordinate systems between the grasping robot arm and the depth camera are compatible, supporting complex spatial calculations and adjustments, allowing the system to adapt to various steel bar grasping tasks of different shapes and positions; by automatically identifying and locating steel bars, manual intervention and adjustments are reduced, the level of automation is improved, and work efficiency is improved; real-time feedback and precise grasping point positioning reduce the number of repeated adjustments and trial and error, saving time and resources; the real-time feedback provided by the first depth camera can help the grasping subsystem 50 to correct the grasping action in time, thereby improving the stability and reliability of the system in actual operation; the collaborative work of the first plane camera and the depth camera ensures the system's comprehensive perception and precise control of the environment, reducing the occurrence of errors and failures.

[0054] In general, the grasping perception subsystem 40 improves the overall performance and efficiency of the grasping task through precise positioning and real-time feedback mechanisms, enabling the system to maintain a high level of operational accuracy and stability in complex working environments.

[0055] In one embodiment, the above-mentioned tying subsystem 70 includes a tying robot arm arranged on a transverse reinforcement gantry.

[0056] In this embodiment, after a vertical reinforcement is placed at a determined position, the binding sensing subsystem 60 provides the binding subsystem 70 with the position of the cross knot to be tied; the binding subsystem 70 continuously adjusts its position through sensing feedback and reaches the binding position, and binds the steel bars at the cross knot.

[0057] In one embodiment, the above-mentioned lashing sensing subsystem 60 includes a second plane camera disposed on the cross-rib gantry and a second depth camera disposed on the lashing mechanical arm; Wherein, the second depth camera is used for identifying and preliminarily locating the position of the cross knot, and sending the preliminarily determined position to the lashing subsystem 70, so that the lashing subsystem 70 moves to the cross knot according to the preliminarily determined position and the coordinates of the cross intersection; The second depth camera is used to analyze the position of the cross knot to the local coordinates of the depth camera when the binding subsystem 70 moves to the preliminarily determined position to determine the position of the cross knot, and send the position of the cross knot to the binding subsystem 70, so that the binding subsystem 70 moves to the position of the cross knot and binds the steel bars at the position of the cross knot.

[0058] In this embodiment, the tying sensing subsystem 60 first determines the cross knot position of the steel bar through the second plane camera, and then notifies the tying subsystem 70 to reach the preliminary position. The tying subsystem 70 will combine the cross intersection coordinates and the second plane camera to determine the cross knot position of the steel bar and move to the approximate position of the cross knot. After arriving, the second depth camera will accurately measure the distance information between the robot arm and the cross knot, and help the tying subsystem 70 to accurately tie the steel bar through continuous feedback.

[0059] The combined use of the second plane camera and the second depth camera ensures accurate identification and preliminary positioning of the cross knot position, reducing positioning errors; after the second depth camera preliminarily determines the position, it automatically transmits the information to the tying subsystem 70, reducing manual intervention and improving operational efficiency; when the tying subsystem 70 moves to the preliminarily determined position, the second depth camera further analyzes the specific position of the cross knot to achieve high-precision tying operations; through the dual steps of preliminary positioning and precise analysis, tying errors caused by positioning errors are reduced, thereby improving the overall tying quality and reliability.

[0060] In one embodiment, the control process of the above-mentioned batch fully automatic lashing control system is as follows: First, the construction drawings or parameters are input, the control unit 10 determines the placement position, and the fixed slot subsystem 30 determines the slot position. The grabbing subsystem 50 grabs the transverse reinforcement with the assistance of the grabbing sensing subsystem 40, and the moving subsystem 20 moves the transverse reinforcement gantry to the determined position. The grabbing subsystem 50 grabs the transverse reinforcement and places it in the slot position, and repeats the above grabbing process until all the transverse reinforcements are placed in the slot position; then, the grabbing subsystem 50 grabs the vertical reinforcement with the assistance of the grabbing sensing subsystem 40, and the moving subsystem 20 moves the vertical reinforcement gantry to the specified position, and places the vertical reinforcement in the corresponding position, that is, the position specified by the placement position. After each vertical reinforcement is placed, the tying sensing subsystem 60 identifies the cross knot, and the tying subsystem 70 ties all the cross knots. Thereafter, when the vertical reinforcement is not all placed, the grabbing, moving and tying of the cross knots of the vertical reinforcement are repeated until all the vertical reinforcements are placed. After all the cross knots are tied, the tied steel bars can be removed.

[0061] Specifically, the process of grabbing and placing the transverse reinforcement is as follows: First, the horizontal reinforcement gantry is moved until the first plane camera captures and identifies the horizontal reinforcement. After the grasping perception subsystem 40 determines the position of the horizontal reinforcement, it notifies the gantry to move to the best position so that the two grasping manipulators can grasp it reasonably. Then, the grasping perception subsystem 40 guides the grasping manipulator to approach the horizontal reinforcement until the second depth camera recognizes the horizontal reinforcement; the second depth camera analyzes the grasping points of the horizontal reinforcement (usually the two ends of the horizontal reinforcement) and provides the three-dimensional coordinates of these grasping points; the grasping perception subsystem 40 transmits these coordinates to the grasping system, which calculates the direction and distance that the manipulator needs to move and rotate; the grasping manipulator moves and grasps the horizontal reinforcement according to the calculation results. This process is continuously adjusted through the perception feedback of the grasping perception subsystem 40 until the horizontal reinforcement is successfully grasped; after the grasping is completed, the control system moves the grasping manipulator back to the original position and places the horizontal reinforcement in the slot.

[0062] The three-dimensional coordinates of the above-mentioned grasping points are determined by the following process: Set the reference coordinates of the grasping subsystem 50, the coordinate system of the grasping robot lower arm, the coordinate system of the grasping robot upper arm, and the coordinate system of the first depth camera, such as Figure 8As shown, the ellipse in the figure is the base of the robot arm, the rectangle is the upper and lower arms of the robot arm, the upper one is the lower arm, and the square below the upper arm represents the first depth camera; let O be the reference coordinate of the grasping subsystem 50, with the z axis perpendicular to the chassis, and the x and y axes parallel to the chassis; O1 is the coordinate system of the lower arm of the grasping robot arm, with the z axis parallel to the lower arm, the x axis parallel to the degree of freedom plane, and the y axis perpendicular to the degree of freedom plane; O2 is the coordinate system of the upper arm of the grasping robot arm, with the z axis parallel to the lower arm, the x axis parallel to the degree of freedom plane, and the y axis perpendicular to the degree of freedom plane; O3 is the coordinate system of the first depth camera, and the xyz three-axis direction is consistent with the grasping robot The coordinate system O2 of the upper arm of the grasping robot arm is consistent; the transformation from the coordinate system O1 to the coordinate system O includes translation along the z axis and rotation around the three axes xyz. According to the known rotation angle and translation, let the rotation matrix be R1, the translation amount be t1, and let the coordinates of the point under the coordinate system O1 be a1=(x1, y1, z1), then the coordinate transformation formula from O1 to O can be obtained; according to the transformation relationship between the reference coordinates of the grasping subsystem 50 and the coordinate system of the lower arm of the grasping robot arm, the coordinate system of the upper arm of the grasping robot arm and the coordinate system of the lower arm of the grasping robot arm, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot arm, the grasping position coordinates in the coordinate system of the grasping robot arm are determined. Specifically, the coordinate transformation formula from O1 to O is: , where a is the vector representation of the coordinates in the O coordinate system, a = (x, y, z); similarly, the coordinate transformation from O2 to O1 can be obtained as ; Where R2 is the rotation matrix, t2 is the translation vector, and a2=(x2, y2, z2) is the point coordinate in the coordinate system O2; Similarly, the coordinate transformation from O3 to O2 can be obtained as , where e=[1, 0; 0, 1], t3 is the translation vector, and a3=(x3, y3, z3) is the coordinate in the coordinate system O3. Combining the above transformation formula, the three-dimensional coordinates of the grasping point can be calculated.

[0063] After all the horizontal reinforcements are fixed, the vertical reinforcements can be grabbed and placed in the same way as the horizontal reinforcements. I will not go into details here.

[0064] When a vertical reinforcement is placed at the placement coordinate position of the vertical reinforcement in the calculated placement position, the vertical reinforcement and the horizontal reinforcement form N1-1 cross intersections, that is, cross knots. According to the positions of the cross intersections calculated in advance, the cross points are quickly located in cooperation with the second plane camera. The second depth camera on the tying robot captures the cross knot, and the tying sensing subsystem 60 identifies and calculates the position of the cross knot in the local coordinate system of the second depth camera, and then notifies the tying robot to approach the cross knot. Through continuous feedback and adjustment, until the tying robot reaches the appropriate position, the tying of the cross knot is finally completed.

[0065] The above-mentioned batch fully automatic binding control system is provided with a control unit 10, a moving subsystem 20, a fixed slot subsystem 30, a grasping sensing subsystem 40, a grasping subsystem 50, a binding sensing subsystem 60 and a binding subsystem 70, wherein the control unit 10 calculates the placement position of the steel bars by constructing a coordinate system, the coordinate system takes the upper left corner of the control platform as the origin, the x-axis is parallel to the gantry, the y-axis is perpendicular to the gantry, and the z-axis is perpendicular to the ground; the fixed slot subsystem 30 provides the slot position for fixing the horizontal reinforcement according to the calculated placement position; the grasping sensing subsystem 40 identifies the steel bars and determines their three-dimensional coordinates, the grasping subsystem 50 grasps the horizontal and vertical reinforcements in sequence and places them at the specified position; the binding sensing subsystem 60 identifies the cross knot and determines its position, and the binding subsystem 70 binds the steel bars according to this information; the fully automatic grasping, binding and moving of the steel bars are realized, and the efficiency and accuracy of the steel bar binding are improved.

[0066] In one embodiment, see Figure 2 , a control method executed by the above-mentioned batch fully automatic lashing control system is also provided, comprising steps S110 to S170.

[0067] S110, the control unit 10 receives the construction drawings or parameters, constructs a coordinate system, and calculates the placement position of the steel bars based on the coordinate system.

[0068] In one embodiment, see Figure 3 The above-mentioned step S110 may include steps S111~S112.

[0069] S111, the control unit 10 receives the construction drawings or parameters, and extracts the length, width, shape, placement spacing and quantity of the steel bars to obtain steel bar related information; S112, the control unit 10 parses the steel bar related information, constructs a coordinate system, and calculates the placement coordinates of each steel bar and the coordinates of the cross intersection based on the coordinate system.

[0070] The control unit 10 analyzes the steel bar related information and calculates the placement coordinates of each steel bar and the coordinates of the cross intersection, including: The control unit 10 establishes a coordinate system, wherein the coordinate system takes the upper left corner of the control platform as the origin, the ground plane as the horizontal plane, the x-axis is parallel to the gantry, the y-axis is perpendicular to the gantry, and the z-axis is perpendicular to the ground; The control unit 10 calculates the coordinates of both ends of each transverse reinforcement and vertical reinforcement according to the length and spacing of the transverse reinforcement and vertical reinforcement in the steel bar related information, and determines the position of the cross intersection.

[0071] S120, configuring slots for fixing the transverse reinforcement according to the placement position; S130, the grasping sensing subsystem 40 identifies the transverse reinforcement and determines the position of the transverse reinforcement, and the grasping subsystem 50 grasps all the transverse reinforcements in sequence according to the determined position of the transverse reinforcement and places all the transverse reinforcements into the slots.

[0072] In one embodiment, see Figure 4 The above-mentioned step S130 may include steps S131~S137.

[0073] S131, moving the transverse reinforcement gantry to the plane camera of the grasping sensing subsystem 40 to identify the transverse reinforcement to be grasped; S132, the grasping sensing subsystem 40 determines the position of the transverse reinforcement, guides the transverse reinforcement gantry to move to the best grasping position, and the grasping mechanical arm approaches the transverse reinforcement; S133, when the grabbing robot arm approaches the horizontal rib, the depth camera identifies the precise position of the horizontal rib; S134, calculating the three-dimensional coordinates of the grasping point.

[0074] In one embodiment, see Figure 5 , the above-mentioned step S134 may include steps S1341~S1342.

[0075] S1341, setting the reference coordinates of the grasping subsystem 50, the coordinate system of the grasping robot lower arm, the coordinate system of the grasping robot upper arm, and the coordinate system of the first depth camera; S1342. Determine the grasping position in the coordinate system of the upper arm of the grasping robot according to the transformation relationship between the reference coordinates of the grasping subsystem 50 and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot to obtain the three-dimensional coordinates of the grasping point.

[0076] In this embodiment, the transformation relationship between the reference coordinates of the grasping subsystem 50 and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot can be expressed by the transformation formula of the reference coordinates of the grasping subsystem 50 and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot.

[0077] S135, the grasping subsystem 50 adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the transverse rib; S136, when the grabbing subsystem 50 finishes grabbing the transverse reinforcement, the transverse reinforcement is placed in the slot; S137, determining whether all the transverse ribs are placed in the slots; If the transverse ribs are not all placed in the slots, executing step S131; If all the transverse ribs are placed in the slots, the step S140 is executed.

[0078] S140, the grasping sensing subsystem 40 identifies the vertical reinforcement and determines the position of the vertical reinforcement, and the grasping subsystem 50 grasps the vertical reinforcement in sequence according to the determined position of the vertical reinforcement and places the vertical reinforcement at the designated position.

[0079] In one embodiment, see Figure 6 The above-mentioned step S140 may include steps S141~S146.

[0080] S141, moving the vertical reinforcement gantry to the plane camera of the grasping sensing subsystem 40 to identify the vertical reinforcement to be grasped; S142, the grasping sensing subsystem 40 determines the position of the vertical reinforcement, guides the vertical reinforcement gantry to move to the best grasping position, and the grasping mechanical arm approaches the vertical reinforcement; S143, when the grabbing robot arm approaches the vertical rib, the depth camera identifies the precise position of the vertical rib; S144, calculating the three-dimensional coordinates of the grasping point; S145, the grasping subsystem 50 adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the vertical reinforcement; S146, after the grabbing subsystem 50 finishes grabbing the vertical reinforcement, it places the vertical reinforcement at the placement position of the vertical reinforcement in the placement position.

[0081] The implementation details of the above steps S141 to S146 are consistent with those of steps S131 to S136, and are not repeated here.

[0082] S150, the tying sensing subsystem 60 identifies the cross knot and determines the location of the cross knot, and the tying subsystem 70 ties the steel bars at the location of the cross knot in combination with the coordinates of the cross intersection in the placement position; S160, judging whether all vertical bars are fixed; If all the vertical bars are not fixed, the grasping sensing subsystem 40 is executed to identify the vertical bars and determine the positions of the vertical bars, and the grasping subsystem 50 grasps the vertical bars in sequence according to the determined positions of the vertical bars and places the vertical bars at designated positions.

[0083] S170. If all vertical reinforcements are not fixed, remove the tied reinforcements.

[0084] It should be noted that technical personnel in the relevant field can clearly understand that the specific implementation process of the control method of the above-mentioned batch fully automatic lashing control system can refer to the corresponding description in the aforementioned batch fully automatic lashing control system embodiment, and for the convenience and brevity of description, it will not be repeated here.

[0085] The above control method receives construction drawings or parameters through the control unit 10, constructs a coordinate system and calculates the placement position of the steel bars; configures the slots for fixing the horizontal bars according to the placement position; the grasping sensing subsystem 40 identifies the position of the horizontal bars, and the grasping subsystem 50 grasps all the horizontal bars in sequence and places them in the slots; the grasping sensing subsystem 40 identifies the position of the vertical bars, and the grasping subsystem 50 grasps the vertical bars in sequence and places them in the specified positions; the binding sensing subsystem 60 identifies the cross knot and determines its position, and the binding subsystem 70 binds it in combination with the coordinates of the cross intersection. If the vertical bars are not completely fixed, the grasping and placement process is repeated to realize fully automatic grasping, binding and moving of the steel bars, thereby improving the efficiency and accuracy of steel bar binding.

[0086] In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0087] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the system of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0088] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. Batch fully automatic lashing control system, characterized by: include: Control unit, mobile subsystem, fixed slot subsystem, grabbing sensing subsystem, grabbing subsystem, lashing sensing subsystem, lashing subsystem; The control unit is used to construct a coordinate system and calculate the placement position of the steel bars based on the coordinate system, wherein the coordinate system takes the upper left corner of the control platform as the origin, the ground plane as the horizontal plane, the x-axis is parallel to the gantry, the y-axis is perpendicular to the gantry, and the z-axis is perpendicular to the ground; the steel bars include vertically placed vertical bars and horizontally placed transverse bars; the placement position includes the placement position of each transverse bar, the placement position of the vertical bars, and the coordinates of the cross intersection; The fixing slot system is used to provide a slot for fixing the transverse reinforcement according to the placement position calculated by the control unit; The grasping sensing subsystem is used to identify the steel bars and determine the locations of the steel bars, wherein the locations of the steel bars include the three-dimensional coordinates of the steel bar grasping points calculated by different coordinate transformations; The grabbing subsystem is used to grab all the transverse bars in sequence from the location of the steel bars determined by the grabbing sensing subsystem, and after placing all the transverse bars in the slots, grab the vertical bars in sequence and place the vertical bars in the designated locations; The lashing sensing subsystem is used to identify the cross knot and determine the location of the cross knot after each placement of the vertical reinforcement; The binding subsystem is used to bind the steel bars at the location of the cross knot according to the location of the cross knot and the coordinates of the cross intersection determined by the binding sensing subsystem.

2. A batch fully automatic lashing control system according to claim 1, characterized in that: The mobile subsystem includes two vertical reinforcement gantry frames, one horizontal reinforcement gantry frame and a mobile platform, and the vertical reinforcement gantry frames and the horizontal reinforcement gantry frame are respectively connected to the mobile platform; Among them, the vertical reinforcement gantry is used to move the vertical reinforcement; the transverse reinforcement gantry is used to move the transverse reinforcement.

3. A batch fully automatic lashing control system according to claim 2, characterized in that: The grabbing subsystem includes a grabbing mechanical arm arranged on the transverse reinforcement gantry and a grabbing mechanical arm arranged on the vertical reinforcement gantry; The tying subsystem comprises a tying mechanical arm arranged on the transverse reinforcement gantry.

4. A batch fully automatic lashing control system according to claim 3, characterized in that: The grasping sensing subsystem includes a first plane camera arranged on the vertical rib gantry and the horizontal rib gantry and a first depth camera arranged on the grasping mechanical arm; The first plane camera is used to capture and identify the steel bar to be grasped, determine the position of the steel bar to be grasped, and send the position of the steel bar to be grasped to the grasping subsystem, so that the grasping subsystem moves to the position of the steel bar to be grasped; The first depth camera is used to analyze and determine the grasping point of the steel bar to be grasped when the grasping subsystem moves to the position where the steel bar to be grasped is located, and then determine the three-dimensional coordinates of the grasping point and send them to the grasping subsystem, and when the grasping subsystem moves to the three-dimensional coordinates, provide real-time feedback of the three-dimensional coordinates of the grasping point until the grasping subsystem grasps the steel bar; The three-dimensional coordinates of the grasping point are determined according to the transformation relationship between the reference coordinates of the grasping subsystem and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot, wherein the reference coordinates of the grasping subsystem take the z-axis perpendicular to the chassis, and the x and y axes parallel to the chassis; the coordinate system of the lower arm of the grasping robot takes the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane; the coordinate system of the upper arm of the grasping robot takes the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane; the coordinate system of the first depth camera takes the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane.

5. A batch fully automatic lashing control system according to claim 3, characterized in that: The lashing sensing subsystem includes a second plane camera disposed on the cross-bar gantry and a second depth camera disposed on the lashing mechanical arm; Wherein, the second depth camera is used to identify and preliminarily locate the position of the cross knot, and send the preliminarily determined position to the tying subsystem, so that the tying subsystem moves to the cross knot according to the preliminarily determined position and the coordinates of the cross intersection point; The second depth camera is used to analyze the position of the cross knot to the local coordinates of the depth camera when the binding subsystem moves to the preliminarily determined position to determine the position of the cross knot, and send the position of the cross knot to the binding subsystem, so that the binding subsystem moves to the position of the cross knot and binds the steel bars at the position of the cross knot.

6. A control method executed by the batch fully automatic lashing control system according to any one of claims 1 to 5, characterized in that: include: The control unit receives the construction drawings or parameters, constructs a coordinate system, and calculates the placement of the steel bars based on the coordinate system; Arrange the slots for fixing the transverse reinforcement according to the placement position; The grasping sensing subsystem identifies the transverse reinforcement and determines the position of the transverse reinforcement, and the grasping subsystem grasps all the transverse reinforcements in sequence according to the determined position of the transverse reinforcement and places all the transverse reinforcements into the slots; The grasping sensing subsystem identifies the vertical reinforcement and determines the position of the vertical reinforcement, and the grasping subsystem grasps the vertical reinforcement in sequence according to the determined position of the vertical reinforcement and places the vertical reinforcement at the designated position; The binding sensing subsystem identifies the cross knot and determines the location of the cross knot, and the binding subsystem binds the steel bars at the location of the cross knot in combination with the coordinates of the cross intersection in the placement position; Determine whether all vertical reinforcements have been fixed; If all the vertical bars are not fixed, the grasping sensing subsystem is executed to identify the vertical bars and determine the positions of the vertical bars, and the grasping subsystem grasps the vertical bars in sequence according to the determined positions of the vertical bars and places the vertical bars at designated positions.

7. The control method of the batch fully automatic lashing control system according to claim 6 is characterized in that: The control unit receives the construction drawings or parameters, constructs a coordinate system, and calculates the placement position of the steel bars based on the coordinate system, including: The control unit receives the construction drawings or parameters and extracts the length, width, shape, placement spacing and quantity of the steel bars to obtain relevant information of the steel bars; The control unit analyzes the relevant information of the steel bars, constructs a coordinate system, and calculates the placement coordinates of each steel bar and the coordinates of the cross points based on the coordinate system; The control unit analyzes the steel bar related information and calculates the placement coordinates of each steel bar and the coordinates of the cross intersection, including: The control unit establishes a coordinate system, wherein the coordinate system takes the upper left corner of the control platform as the origin, the ground plane as the horizontal plane, the x-axis is parallel to the gantry, the y-axis is perpendicular to the gantry, and the z-axis is perpendicular to the ground; The control unit calculates the coordinates of both ends of each transverse reinforcement and vertical reinforcement according to the length and spacing of the transverse reinforcement and vertical reinforcement in the steel bar related information, and determines the position of the cross intersection.

8. The control method of the batch fully automatic lashing control system according to claim 6 is characterized in that: The grasping sensing subsystem identifies the transverse reinforcement and determines the position of the transverse reinforcement, and the grasping subsystem grasps all the transverse reinforcements in sequence according to the determined position of the transverse reinforcement and places all the transverse reinforcements in the slots, including: Move the cross-rebar gantry to the plane camera of the grasping sensing subsystem to identify the cross-rebar to be grasped; The grasping sensing subsystem determines the position of the cross bar, guides the cross bar gantry to move to the best grasping position, and the grasping robot arm approaches the cross bar; When the grasping robot arm approaches the horizontal rib, the depth camera identifies the precise position of the horizontal rib; Calculate the three-dimensional coordinates of the grasping point; The grasping subsystem adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the transverse reinforcement; When the grasping subsystem finishes grasping the transverse reinforcement, it places the transverse reinforcement into the slot; Determining whether all the transverse ribs are placed in the slots; If the transverse reinforcement is not completely placed in the slot, the moving transverse reinforcement gantry to the plane camera of the grasping sensing subsystem identifies the transverse reinforcement to be grasped; If all the horizontal bars are placed in the slots, the grasping sensing subsystem identifies the vertical bars and determines their positions, and the grasping subsystem grasps the vertical bars in sequence according to the determined positions of the vertical bars and places the vertical bars at designated positions.

9. The control method of the batch fully automatic lashing control system according to claim 8 is characterized in that: The calculating of the three-dimensional coordinates of the grasping point comprises: Set the reference coordinates of the grasping subsystem, the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot, and the coordinate system of the first depth camera; The grasping position in the coordinate system of the upper arm of the grasping robot is determined according to the transformation relationship between the reference coordinates of the grasping subsystem and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot to obtain the three-dimensional coordinates of the grasping point.

10. The control method of the batch fully automatic lashing control system according to claim 9 is characterized in that: The grasping sensing subsystem identifies the vertical reinforcement and determines the position of the vertical reinforcement, and the grasping subsystem grasps the vertical reinforcement in sequence according to the determined position of the vertical reinforcement and places the vertical reinforcement at the designated position, including: Move the vertical reinforcement gantry to the plane camera of the grasping perception subsystem to identify the vertical reinforcement to be grasped; The grasping sensing subsystem determines the position of the vertical reinforcement, guides the vertical reinforcement gantry to move to the best grasping position, and the grasping robot arm approaches the vertical reinforcement; When the grabbing robot arm approaches the vertical rib, the depth camera identifies the precise position of the vertical rib; Calculate the three-dimensional coordinates of the grasping point; The grasping subsystem adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the vertical reinforcement; After the grasping subsystem finishes grasping the vertical reinforcement, the vertical reinforcement is placed at the placement position of the vertical reinforcement in the placement position.

Images