System and method for automatically identifying steel bar spacing to achieve straightening and deviation correction

Abstract

The present invention relates to a system and method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction, the method comprising the following steps: when using a robot to automatically tie steel bars, obtaining an image of the steel bars to be tied; processing the obtained image of the steel bars to be tied to obtain the spacing between two adjacent steel bars; judging whether the spacing between the two adjacent steel bars exceeds a set range, if it exceeds the set range, adjusting the position of another steel bar based on the steel bar currently to be tied by the robot, so that the spacing between the two steel bars is within the set range. The present invention automatically adjusts the position of the steel bars when the spacing between the steel bars exceeds the set range, realizes straightening and deviation correction of the steel bars, ensures that the robot can walk along the steel bars without manual intervention, and effectively solves the problem of the robot being unable to walk due to the displacement of the steel bars.

Description

Technical Field

[0001] The invention relates to the technical field of steel bar binding, and in particular to a system and method for automatically identifying steel bar spacing to achieve straightening and deviation correction. Background Art

[0002] At present, on-site steel bar binding at construction sites is still in the manual stage. Manual identification of binding points and manual steel bar binding are prone to problems such as missed binding and broken binding wires, which consumes a lot of manpower and material resources. In addition, due to the labor shortage and the aging population, there are fewer and fewer construction workers. Therefore, the use of automation is the only way to solve the shortage of on-site construction workers in the future.

[0003] With the popularization of automation technology, more and more automatic binding tools have been produced. For example, Chinese patent CN111576885A proposes an intelligent binding construction method for steel bar binding robots. It uses laser scanning to establish a BIM model, sets the initial position in the BIM model, and plans the action path. However, the workflow is complicated, the spacing of the steel bar layout is uncertain, and the robot's movement may be forcibly stopped, so the practical value is not high.

[0004] Another Chinese patent CN111877769A proposes a steel mesh walking robot that can walk on a steel mesh and automatically tie the steel bars through an automatic tying mechanism arranged thereon. However, this steel mesh walking robot walks along the steel bars. If the steel bars are displaced or the steel mesh walking robot touches the steel bars when walking across the steel mesh and causes the steel bars to tilt, the walking direction of the steel mesh walking robot will be offset. When the offset of the steel bars is large, the steel mesh walking robot will be unable to continue walking, and manual intervention is required for adjustment. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide a system and method for automatically identifying the spacing between steel bars to achieve straightening and correction, so as to solve the problem that the existing steel bar binding robot cannot adjust the position offset of the steel bars, and when the steel bar position is offset, it is easy for the robot to be unable to continue moving and manual intervention is required for adjustment.

[0006] The technical solution to achieve the above purpose is:

[0007] The present invention provides a method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction, comprising the following steps:

[0008] When the robot is used for automatic steel bar tying, an image of the steel bars to be tied is obtained;

[0009] Processing the acquired image of the steel bars to be tied to obtain the distance between two adjacent steel bars;

[0010] It is determined whether the spacing between the two adjacent steel bars exceeds the set range. If it exceeds the set range, the position of another steel bar is adjusted based on the steel bar currently to be tied by the robot so that the spacing between the two steel bars is within the set range.

[0011] The method of the present invention can judge the distance between two adjacent steel bars when the robot automatically binds the steel bars, and automatically adjust the position of the steel bars when the distance between the steel bars exceeds the set range, thereby realizing straightening and deviation correction of the steel bars, ensuring that the robot can walk along the steel bars without human intervention, and effectively solving the problem of the robot being unable to walk due to the deviation of the steel bars.

[0012] A further improvement of the method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction of the present invention is that it also includes:

[0013] Providing a deviation correction mechanism, and installing the deviation correction mechanism on the robot;

[0014] When the position of the steel bar needs to be adjusted, the corresponding steel bar is pushed by the deviation correction mechanism to achieve the position adjustment of the steel bar.

[0015] A further improvement of the method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction of the present invention is that the deviation correction mechanism is installed on the robot through a lifting drive component, and the lifting drive component drives the deviation correction mechanism to move up and down for adjustment.

[0016] A further improvement of the method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction of the present invention is that the deviation correction mechanism is installed on the front and rear sides of the robot, and the deviation correction mechanism includes a first driving wheel and a second driving wheel that can be moved and adjusted in the lateral direction;

[0017] When adjusting the position of the steel bar, the first driving wheel pushes the corresponding steel bar to be adjusted toward the direction of the steel bar used as the reference, and the second driving wheel pushes the corresponding steel bar to be adjusted away from the steel bar used as the reference, thereby achieving the position adjustment of the steel bar.

[0018] A further improvement of the method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction of the present invention is that, when acquiring an image of the steel bars to be tied, an RGB image and a depth image are acquired;

[0019] When processing the image, two adjacent steel bars are marked with measuring points in the RGB image, and the pixel coordinates of the marked measuring points are obtained;

[0020] Identifying corresponding measurement points in the depth image and obtaining depth information of the identified measurement points;

[0021] Calculate the spatial coordinates of the measuring point according to the pixel coordinates and the depth coordinates of the measuring point;

[0022] The distance between two measuring points is calculated using the spatial coordinates of the measuring points as the spacing between two adjacent steel bars.

[0023] The present invention also provides a system for automatically identifying the spacing between steel bars to achieve straightening and deviation correction, comprising:

[0024] An image acquisition unit, used to acquire images of the steel bars to be tied when the robot is used to automatically tie the steel bars;

[0025] A spacing calculation unit, connected to the image acquisition unit, is used to process the acquired image of the steel bars to be tied and obtain the spacing between two adjacent steel bars;

[0026] The processing unit is connected to the spacing calculation unit and is used to determine whether the spacing between two adjacent steel bars exceeds a set range. If it exceeds the set range, the position of another steel bar is adjusted based on the steel bar currently to be tied by the robot so that the spacing between the two steel bars is within the set range.

[0027] A further improvement of the system for automatically identifying the spacing between steel bars to achieve straightening and correction of the present invention is that it also includes a correction mechanism installed on the robot, and the processing unit is control-connected to the correction mechanism, which controls the correction mechanism to push the corresponding steel bars to achieve the position adjustment of the steel bars.

[0028] A further improvement of the system for automatically identifying the spacing between steel bars to achieve straightening and deviation correction of the present invention is that the deviation correction mechanism is installed on the robot through a lifting drive member;

[0029] The processing unit is control-connected with the lifting drive member, and the processing unit can control the lifting drive member to perform lifting adjustment so as to move the deviation-correcting mechanism up and down.

[0030] A further improvement of the system for automatically identifying the spacing between steel bars to achieve straightening and deviation correction of the present invention is that there are two deviation correction mechanisms, which are arranged on the front and rear sides of the robot, and the deviation correction mechanisms include a first driving wheel and a second driving wheel that can be moved and adjusted in the lateral direction;

[0031] When adjusting the position of the steel bar, the processing unit controls the first driving wheel to push the corresponding steel bar to be adjusted toward the direction of the steel bar serving as the reference, and controls the second driving wheel to push the corresponding steel bar to be adjusted toward the direction away from the steel bar serving as the reference, thereby achieving the position adjustment of the steel bar.

[0032] A further improvement of the system for automatically identifying the spacing between steel bars to achieve straightening and deviation correction of the present invention is that the image of the steel bars to be tied collected by the image acquisition unit includes an RGB image and a depth image;

[0033] The spacing calculation unit is used to mark the measurement points of two adjacent steel bars in the RGB image and obtain the pixel coordinates of the marked measurement points; mark the corresponding measurement points in the depth image and obtain the depth information of the marked measurement points; calculate the spatial coordinates of the measurement points according to the pixel coordinates and depth coordinates of the measurement points; and use the spatial coordinates of the measurement points to calculate the distance between the two measurement points as the spacing between the two adjacent steel bars. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The present invention is a flow chart of a method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction.

[0035] Figure 2 This is a system diagram of the system for automatically identifying the spacing between steel bars to achieve straightening and deviation correction according to the present invention.

[0036] Figure 3 This is a schematic diagram of the structure of a robot tying steel bars in a system and method for automatically identifying steel bar spacing to achieve straightening and deviation correction according to the present invention.

[0037] Figure 4 The present invention is a schematic diagram of the structure of the deviation correction mechanism in the system and method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0039] See also Figure 1 The present invention provides a system and method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction. The system and method can provide the steel bar automatic binding robot with the function of straightening and deviation correction. When the steel bars are found to be offset, the steel bars can be automatically corrected to ensure the accurate position of the steel bars. On the one hand, the binding quality of the steel bars can be guaranteed. On the other hand, the robot can be ensured to move smoothly along the steel bars to avoid the robot being unable to move due to the offset of the steel bars. No human intervention is required, and the whole process is automated, which has a high practical use value. The system and method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction of the present invention are described below in conjunction with the accompanying drawings.

[0040] See also Figure 2 , showing the system diagram of the system of the present invention for automatically identifying the spacing between steel bars to achieve straightening and deviation correction. Figure 2 , the system of the present invention for automatically identifying the spacing between steel bars to achieve straightening and deviation correction is described.

[0041] like Figure 2 As shown, the system for automatically identifying the spacing between steel bars to achieve straightening and deviation correction of the present invention includes an image acquisition unit 21, a spacing calculation unit 22 and a processing unit 23. The image acquisition unit 21 is used to collect images of the steel bars to be tied when the robot is used to automatically tie the steel bars; the spacing calculation unit 22 is connected to the image acquisition unit 21, and is used to process the acquired image of the steel bars to be tied and obtain the spacing between two adjacent steel bars; the processing unit 23 is connected to the spacing calculation unit 22, and is used to determine whether the obtained spacing between two adjacent steel bars exceeds a set range. If it exceeds the set range, the position of another steel bar is adjusted based on the steel bar to be currently tied by the robot, so that the spacing between the two steel bars is within the set range.

[0042] Preferably, the setting range is determined based on the standard spacing of the steel bars and the error range. When a steel bar is offset, the steel bar may be relatively closer to the reference steel bar. At this time, the calculated spacing is less than the lower value of the setting range. When adjusting, the corresponding steel bar can be pushed in the direction away from the reference steel bar. The meat steel bar is relatively farther away from the reference steel bar. At this time, the calculated spacing is greater than the higher value of the setting range. When adjusting, the corresponding steel bar can be pushed in the direction close to the reference steel bar. The error range is preferably 1 cm, and the setting range is equal to the standard spacing ±1 cm. If the standard spacing is 15 cm, the setting range is between 14 and 16 cm. When the calculated actual spacing is less than 14 or greater than 16, the actual spacing exceeds the setting range.

[0043] In a specific embodiment of the present invention, Figure 3 As shown, when the robot 30 is used to automatically tie the steel mesh 10, the robot 30 will start tying from one side of the steel mesh 10. At this time, in order to ensure the accurate position of the first steel bar of the steel mesh 10, the first steel bar can be corrected when the steel mesh is set. The correction can be performed manually, so that the first steel bar is used as the initial reference steel bar. The first steel bar can be used to straighten and correct the deviation of the second steel bar. In this way, all steel bars can be straightened and corrected to ensure that the position of the steel bar is within the allowable error range.

[0044] The robot 30 used for tying steel bars of the present invention is provided with running wheels at the bottom, and the robot 30 is used to walk on the corresponding steel bars. The spacing between the two relative running wheels is designed to be twice the spacing between two adjacent steel bars, and the running wheels are placed on the corresponding two steel bars. A steel bar is also provided at the middle position below the robot 30. The steel bar corresponding to the middle position of the robot 30 is the steel bar to be adjusted. The steel bar below the running wheel on one side is the steel bar to be tied currently, that is, the reference steel bar, and the steel bar to be adjusted is the next steel bar to be tied.

[0045] In a specific embodiment of the present invention, Figure 3 As shown, the system of the present invention further includes a correction mechanism 24 installed on the robot 30, and the processing unit 23 is control-connected with the correction mechanism 24, and the position adjustment of the steel bars is achieved by controlling the correction mechanism 24 to push the corresponding steel bars.

[0046] Specifically, when the processing unit 23 determines that the distance between two adjacent steel bars is greater than the upper value of the set range, the processing unit 23 controls the deviation correction mechanism 24 to push the corresponding steel bar in the direction close to the reference steel bar to adjust the position of the steel bar. When the processing unit 23 determines that the distance between two adjacent steel bars is less than the lower value of the set range, the processing unit 23 controls the deviation correction mechanism 24 to push the corresponding steel bar in the direction away from the reference steel bar to adjust the position of the steel bar.

[0047] Furthermore, the processing unit 23 is also used to calculate the difference between the spacing between two adjacent steel bars and the standard spacing, and use the difference to adjust the position of the steel bars. When adjusting the position of the steel bars, the difference is used to control the correction mechanism 24 to push the corresponding steel bars so that the distance moved by the corresponding steel bars is equal to the difference, thereby ensuring that the steel bars can be adjusted into place, that is, the spacing between two adjacent steel bars after the steel bars are adjusted is within the set range.

[0048] Furthermore, if Figure 3 and Figure 4 As shown, the correction mechanism 24 is installed on the robot 30 through a lifting drive 25, and the processing unit 23 is connected to the lifting drive 25. The processing unit 23 can control the lifting drive 25 to lift and adjust, thereby moving the correction mechanism 24 up and down. When the robot 30 is tying steel bars and walking on the steel bars, the correction mechanism 24 needs to be located above the steel mesh 10 to prevent the correction mechanism 24 from hindering the movement of the robot 30. At this time, the processing unit 23 controls the lifting drive 25 to move upward and then moves the correction mechanism 24 upward to the top of the steel mesh 10, and the correction mechanism 24 will not hinder the walking of the robot 30. When the steel bar needs to be corrected, the processing unit 23 controls the lifting drive 25 to move downward and then moves the correction mechanism 24 downward to the position of the corresponding steel bar to be adjusted, so that the correction mechanism 24 can push the steel bar accordingly.

[0049] Furthermore, there are two correcting mechanisms 24, which are arranged on the front and rear sides of the robot 30, so that the two correcting mechanisms 24 can synchronously push the steel bar to ensure that the steel bar is straightened and corrected in place. When the steel bar is horizontally offset by a certain distance, the two correcting mechanisms 24 are used to synchronously push the steel bar to move horizontally, so that the steel bar is adjusted in place. When the steel bar is tilted, that is, the steel bar is offset by a certain angle, one correcting mechanism 24 is used to resist the steel bar, and the other correcting mechanism 24 is used to push the steel bar, so that the steel bar is straightened.

[0050] Specifically, the correction mechanism 24 includes a first driving wheel 242 and a second driving wheel 243 that can be moved and adjusted in the transverse direction. When adjusting the position of the steel bar, the processing unit 23 controls the first driving wheel 242 to push the corresponding steel bar to be adjusted toward the direction of the steel bar used as the reference, and controls the second driving wheel 243 to push the corresponding steel bar to be adjusted toward the direction away from the steel bar used as the reference, thereby realizing the position adjustment of the steel bar.

[0051] When adjusting the position of the steel bar, the first driving wheel 242 and the second driving wheel 243 are located on both sides of the steel bar. When adjusting the position of the steel bar, the processing unit 23 can select which driving wheel to control to operate according to the direction of the steel bar adjustment. When the deviation correction mechanism 24 is used to support the steel bar, the processing unit can control the first driving wheel 242 and the second driving wheel 243 to move toward each other to clamp the steel bar.

[0052] Preferably, the correction mechanism 24 includes a transverse track 241, and a slider is provided on the top of the first drive wheel 242 and the second drive wheel 243. The slider is slidably arranged on the transverse track 241, so that the first drive wheel 242 and the second drive wheel 243 can be moved and adjusted along the transverse track 241. A driving member is provided at the end of the transverse track 241 to drive the corresponding drive wheel, and the corresponding drive wheel can be driven to move and adjust along the transverse track 241 through the driving member. The lifting drive member 25 is preferably a cylinder, which is connected to the top of the transverse track 241, and the transverse track 241 is driven by the cylinder to move up and down. Figure 3 and Figure 4 As shown, the top of the robot 30 is fixedly connected to a mounting column 26, the top of the mounting column 26 is fixedly connected to a mounting seat 261, the top of the lifting drive member 25 is fixedly connected to the mounting seat 261, and the lifting drive member 25 is vertically arranged.

[0053] In a specific embodiment of the present invention, the image of the steel bars to be tied collected by the image acquisition unit 21 includes an RGB image and a depth image;

[0054] The spacing calculation unit 22 is used to mark the measurement points of two adjacent steel bars in the RGB image and obtain the pixel coordinates of the marked measurement points; mark the corresponding measurement points in the depth image and obtain the depth information of the marked measurement points; calculate the spatial coordinates of the measurement points based on the pixel coordinates and depth coordinates of the measurement points; and use the spatial coordinates of the measurement points to calculate the distance between the two measurement points as the spacing between the two adjacent steel bars.

[0055] Preferably, the image acquisition unit 21 is a depth camera installed on the robot 30. The depth camera is preferably installed at the position of the running wheels of the robot 30 to obtain the image of the steel bars at the running wheels and then obtain the spacing of the steel bars.

[0056] The pixel coordinates of the RGB camera and the depth camera on the depth camera are inconsistent. First, the points of the depth camera spatial coordinate system are converted to the RGB camera spatial coordinate system, and then the RGB image and depth image with consistent coordinates are obtained; the measurement points marked on the RGB image are the intersection points of the steel bars. One measurement point is located on the reference steel bar, and the other measurement point is located on the steel bar to be adjusted. The two measurement points are set relative to each other, so that the distance between the two measurement points is the spacing between the two steel bars. The pixel coordinates of the two measurement points can be obtained in the RGB image. The depth information of the corresponding two measurement points can be obtained on the depth image; according to the pinhole imaging principle, if the mapping coordinates of the measurement point in the pixel coordinate system are known, and the distance is known, the position of the measurement point can be determined. Based on this, the spatial coordinates are calculated according to the following formula:

[0057]

[0058] In the above formula, x, y, z are the spatial coordinates of the measurement point, u, v are the pixel coordinates of the measurement point, cx, xy are W / 2, H / 2 respectively, where W and H are the width and height of the image respectively, and fx and fy are the focal lengths of the camera on the x-axis and y-axis respectively. The coordinates of the measurement point A are (xa, ya, za), and the coordinates of the measurement point B are (xb, yb, zb). Then, according to the formula d = √((xa-xb)^2+(ya-yb)^2+(za-zb)^2), the distance between the two points can be obtained, that is, the distance between the two steel bars.

[0059] The steel mesh includes transverse steel bars and longitudinal steel bars. If the longitudinal steel bars are located above the transverse steel bars, the robot 30 will walk along the longitudinal steel bars when tying the steel bars. The captured image is the image of the longitudinal steel bars. When marking the measuring points, the measuring points are marked on two adjacent longitudinal steel bars, and the positions of the two measuring points correspond to one transverse steel bar. When judging whether the longitudinal steel bars are tilted, four measuring points are marked on the image, where the positions of two measuring points correspond to one transverse steel bar, and the positions of the other two measuring points correspond to another transverse steel bar, thereby obtaining the spacing between the two steel bars. If the spacing between the two steel bars is equal, it indicates that the longitudinal steel bars are not tilted. If the spacing between the two steel bars is unequal, the tilt direction of the steel bars can be obtained, thereby adjusting the steel bars.

[0060] The present invention also provides a method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction, which is described below.

[0061] like Figure 1As shown, the straightening and deflection correction method of the present invention comprises the following steps:

[0062] Execute step S11, when the robot is used to automatically tie the steel bars, obtain an image of the steel bars to be tied; then execute step S12;

[0063] Execute step S12, process the acquired image of the steel bars to be tied to obtain the distance between two adjacent steel bars; then execute step S13;

[0064] Execute step S13 to determine whether the spacing between the two adjacent steel bars exceeds the set range. If it exceeds the set range, adjust the position of another steel bar based on the steel bar currently to be tied by the robot so that the spacing between the two steel bars is within the set range.

[0065] In a specific embodiment of the present invention, it also includes:

[0066] Provide a correction mechanism and install the correction mechanism on the robot;

[0067] When the position of the steel bar needs to be adjusted, the corresponding steel bar is pushed by the deviation correction mechanism to achieve the position adjustment of the steel bar.

[0068] In a specific embodiment of the present invention, the deviation correction mechanism is installed on the robot via a lifting drive component, and the deviation correction mechanism is driven by the lifting drive component to move up and down for adjustment.

[0069] In a specific embodiment of the present invention, the deviation correction mechanism is installed on the front and rear sides of the robot, and the deviation correction mechanism includes a first driving wheel and a second driving wheel that can be moved and adjusted in the lateral direction;

[0070] When adjusting the position of the steel bar, the first driving wheel pushes the corresponding steel bar to be adjusted toward the direction of the steel bar used as the reference, and the second driving wheel pushes the corresponding steel bar to be adjusted away from the steel bar used as the reference, thereby achieving the position adjustment of the steel bar.

[0071] In a specific embodiment of the present invention, when acquiring an image of the steel bars to be tied, an RGB image and a depth image are acquired;

[0072] When processing the image, the measurement points of two adjacent steel bars are marked in the RGB image, and the pixel coordinates of the marked measurement points are obtained;

[0073] Identify the corresponding measurement point in the depth image and obtain the depth information of the identified measurement point;

[0074] The spatial coordinates of the measuring point are calculated according to the pixel coordinates and depth coordinates of the measuring point;

[0075] The distance between two measuring points is calculated using the spatial coordinates of the measuring points as the spacing between two adjacent steel bars.

[0076] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction, characterized in that: The steps include: When the robot is used for automatic steel bar tying, an image of the steel bars to be tied is obtained; Processing the acquired image of the steel bars to be tied to obtain the distance between two adjacent steel bars; Determine whether the distance between the two adjacent steel bars exceeds a set range. If so, adjust the position of another steel bar based on the steel bar currently to be tied by the robot so that the distance between the two steel bars is within the set range. Also includes: Providing a deviation correction mechanism, and installing the deviation correction mechanism on the robot; When the position of the steel bar needs to be adjusted, the corresponding steel bar is pushed by the deviation correction mechanism to achieve the position adjustment of the steel bar; The deviation correction mechanism is installed on the robot through a lifting drive member, and the deviation correction mechanism is driven by the lifting drive member to move up and down for adjustment; The correction mechanism is installed on the front and rear sides of the robot, and the correction mechanism includes a first driving wheel and a second driving wheel that can be moved and adjusted in the lateral direction; When adjusting the position of the steel bar, the first driving wheel pushes the corresponding steel bar to be adjusted toward the direction of the steel bar as the reference, and the second driving wheel pushes the corresponding steel bar to be adjusted away from the steel bar as the reference, thereby achieving the position adjustment of the steel bar; When using a robot for automatic steel bar tying, let the robot start tying from one side of the steel mesh and calibrate the first steel bar as the initial reference steel bar; The robot walks on the corresponding steel bars through the running wheels set at the bottom. The distance between the two opposite running wheels is designed to be twice the distance between two adjacent steel bars. The steel bar in the middle position below the robot is the steel bar to be adjusted. When the steel bar is horizontally offset by a certain distance, two correcting mechanisms are used to synchronously push the steel bar to move horizontally, so that the steel bar is adjusted into place; when the steel bar is inclined, that is, the steel bar is offset by a certain angle, one correcting mechanism is used to hold the steel bar, and the other correcting mechanism is used to push the steel bar, so that the steel bar is straightened; The deviation correction mechanism includes a transverse track, and a slider is provided on the top of the first driving wheel and the second driving wheel. The slider is slidably arranged on the transverse track, and the first driving wheel and the second driving wheel can be moved and adjusted along the transverse track; A driving member is provided at the end of the transverse track to drive the corresponding driving wheel, and the driving member can drive the corresponding driving wheel to move and adjust along the transverse track; The lifting drive member is a cylinder connected to the top of the transverse track, and the transverse track is driven by the cylinder to move up and down for adjustment.

2. The method for automatically identifying the spacing between steel bars to achieve straightening and deviation correction as claimed in claim 1, characterized in that: When acquiring an image of the steel bars to be tied, an RGB image and a depth image are acquired; When processing the image, two adjacent steel bars are marked with measuring points in the RGB image, and the pixel coordinates of the marked measuring points are obtained; Identifying corresponding measurement points in the depth image and obtaining depth information of the identified measurement points; Calculate the spatial coordinates of the measuring point according to the pixel coordinates and the depth coordinates of the measuring point; The distance between two measuring points is calculated using the spatial coordinates of the measuring points as the spacing between two adjacent steel bars.

3. A system for automatically identifying the spacing between steel bars to achieve straightening and deviation correction, characterized in that: include: An image acquisition unit, used to acquire images of the steel bars to be tied when the robot is used to automatically tie the steel bars; A spacing calculation unit, connected to the image acquisition unit, is used to process the acquired image of the steel bars to be tied and obtain the spacing between two adjacent steel bars; a processing unit connected to the spacing calculation unit, and used to determine whether the spacing between two adjacent steel bars exceeds a set range; if it exceeds the set range, the position of another steel bar is adjusted based on the steel bar currently to be tied by the robot, so that the spacing between the two steel bars is within the set range; It also includes a correction mechanism installed on the robot, the processing unit is connected to the correction mechanism, and the correction mechanism is controlled to push the corresponding steel bar to adjust the position of the steel bar; The deviation correction mechanism is installed on the robot through a lifting drive member; The processing unit is connected to the lifting drive member, and the processing unit can control the lifting drive member to perform lifting adjustment so as to move the correction mechanism up and down; There are two deviation-correcting mechanisms, which are arranged at the front and rear sides of the robot, and the deviation-correcting mechanisms include a first driving wheel and a second driving wheel which can be moved and adjusted in the lateral direction; When adjusting the position of the steel bar, the processing unit controls the first driving wheel to push the corresponding steel bar to be adjusted toward the direction of the steel bar as the reference, and controls the second driving wheel to push the corresponding steel bar to be adjusted toward the direction away from the steel bar as the reference, thereby achieving the position adjustment of the steel bar; When using a robot for automatic steel bar tying, let the robot start tying from one side of the steel mesh and calibrate the first steel bar as the initial reference steel bar; The robot walks on the corresponding steel bars through the running wheels set at the bottom. The distance between the two opposite running wheels is designed to be twice the distance between two adjacent steel bars. The steel bar in the middle position below the robot is the steel bar to be adjusted. When the steel bar is horizontally offset by a certain distance, two correcting mechanisms are used to synchronously push the steel bar to move horizontally, so that the steel bar is adjusted into place; when the steel bar is inclined, that is, the steel bar is offset by a certain angle, one correcting mechanism is used to hold the steel bar, and the other correcting mechanism is used to push the steel bar, so that the steel bar is straightened; The deviation correction mechanism includes a transverse track, and a slider is provided on the top of the first driving wheel and the second driving wheel. The slider is slidably arranged on the transverse track, and the first driving wheel and the second driving wheel can be moved and adjusted along the transverse track; A driving member is provided at the end of the transverse track to drive the corresponding driving wheel, and the driving member can drive the corresponding driving wheel to move and adjust along the transverse track; The lifting drive member is a cylinder connected to the top of the transverse track, and the transverse track is driven by the cylinder to move up and down for adjustment.

4. The system for automatically identifying the spacing between steel bars and realizing straightening and deviation correction as claimed in claim 3, characterized in that: The image of the steel bars to be tied collected by the image acquisition unit includes an RGB image and a depth image; The spacing calculation unit is used to mark the measurement points of two adjacent steel bars in the RGB image and obtain the pixel coordinates of the marked measurement points; mark the corresponding measurement points in the depth image and obtain the depth information of the marked measurement points; calculate the spatial coordinates of the measurement points according to the pixel coordinates and depth coordinates of the measurement points; and use the spatial coordinates of the measurement points to calculate the distance between the two measurement points as the spacing between the two adjacent steel bars.

Images