A portable intelligent steel bar bending robot based on visual recognition

Abstract

The present invention discloses a portable intelligent steel bar bending robot based on visual recognition, including a visual recognition device, at least including two image acquisition devices, for collecting picture information of color identification set on the steel bar from both sides of the steel bar, and sending the picture information to the master control device; the color identification is set at one end of the steel bar, and is composed of at least four different colors and evenly spaced annular color bands, the width of each color band is greater than the spacing between adjacent color bands, and the color identification is set in a one-to-one correspondence with the number and bending processing information of the steel bar; the steel bar color identification is identified by image, the corresponding steel bar number is matched, and then the processing information of the current steel bar is retrieved through remote docking with the steel bar processing cloud management platform, and the processing instruction is sent to the PLC. In addition, for steel bars of different specifications and diameters, the die head can be automatically switched, which improves the efficiency and quality of steel bar bending on the construction site.

Description

Technical Field

[0001] The invention relates to the technical field of electromechanical engineering, and in particular to automated processing of steel bars during construction of projects such as house construction. Background Art

[0002] At present, there are two main types of steel bar processing equipment in the field of building construction: one is manual equipment at the construction site, and the other is automated equipment for centralized processing in a factory far away from the construction site. The automation level of the steel bar processing equipment at the construction site is low, and there is no corresponding management system. This type of processing equipment is inefficient and wasteful, which greatly restricts the project construction progress and cost. The automated equipment for centralized steel bar processing in the factory is more efficient and achieves a certain degree of system management in the factory, but the equipment is large in size and heavy in weight, which is not convenient to carry, and cannot respond to the on-site material replenishment needs in a timely manner, and cannot achieve flexibility and on-site production needs of colleges and universities. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a portable intelligent steel bar bending robot based on visual recognition to achieve flexible bending processing of steel bars with multiple diameters at the construction site, in view of the low level of automation and intelligence of traditional manual steel bar processing equipment and the large volume and weight of automated equipment for centralized steel bar processing in factories. This not only shortens the processing time, but also effectively avoids wrong material processing and missing material processing. It can also make up for the shortcomings of material replenishment and repair at the construction site under the centralized distribution mode, and has great potential application value in the application scenario of steel bar processing in the field of housing construction.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is:

[0005] A portable intelligent steel bar bending robot based on visual recognition, characterized by comprising:

[0006] The visual recognition device includes at least two image acquisition devices, which are used to collect picture information of color marks set on the steel bars from both sides of the steel bars, and send the picture information to the master control device; the color mark is set at one end of the steel bar, and is composed of at least four different colors and evenly spaced annular color bands, the width of each color band is greater than the spacing between adjacent color bands, and the color mark is set in one-to-one correspondence with the number and bending processing information of the steel bar;

[0007] A feeding device, used to receive the steel bars to be processed and provide power to transport them in the discharge direction;

[0008] A sizing device, used to measure the length of the steel bar when the steel bar to be processed passes through and transmit the size data to the master control device;

[0009] The bending device is used to switch the bending die heads of different steel bar models according to the size information and color identification of the steel bar feed to complete the steel bar bending process;

[0010] The master control device includes at least a PLC module and an industrial control integrated computer, which is used to receive the image information sent by the visual recognition device and the size information of the sizing device, identify the color mark on the steel bar and match the corresponding steel bar number; retrieve the processing information of the current steel bar, send the processing instruction to the PLC module through the industrial control integrated computer, control the feeding device and the bending device, automatically switch the die head, and realize the automatic bending processing of the steel bar.

[0011] In the above technical scheme, the four different color markings on the steel bars to be processed are all painted in a circle, and the width of each color band is equal, and the spacing between adjacent color bands is half the width of each color band; the arrangement and combination information of the four different color bands is stored on the industrial control all-in-one machine and corresponds one by one to the number and bending processing information on the corresponding steel bar material list.

[0012] In the above technical solution, the image acquisition device of the visual recognition device is a CCD industrial camera.

[0013] In the above technical solution, two image acquisition devices are arranged on both sides of the feeding end of the steel bar and are connected to the industrial control integrated machine of the master control device through a signal line.

[0014] In the above technical solution, a protective cover is arranged outside the two image acquisition devices, and the steel bars can pass through the protective cover; the two image acquisition devices are supported by a fixed bracket and arranged on both sides of the feeding end of the steel bars, and the fixed bracket enables the two image acquisition devices to be located inside the protective cover.

[0015] In the above technical solution, the protective cover is a protective cover made of transparent material.

[0016] The above technical solution also includes a steel bar processing cloud management platform, which is used to store steel bar material list information, steel bar numbering information, steel bar color identification image information, and processing information instructions of the feeding device, sizing device and bending device through cloud storage space; the steel bar processing cloud management platform wirelessly communicates with the master control device.

[0017] In the above technical solution, the master control device includes a scanning gun, which is used to scan the material list on the bundled steel bars to be processed, and transmit the material list information to the steel bar cloud management platform for verification in order to decide whether to unbundle the steel bars.

[0018] In the above technical solution, the scanner is a wireless or Bluetooth scanner for QR codes or bar codes.

[0019] In the above technical scheme, the master control device also includes a control box and a wireless router; the wireless router is installed in the control box, and the signal receiving antenna of the wireless router extends out of the control box; the barcode scanner is a wireless Bluetooth type, installed on the outside of the control box, and the barcode scanner holder is connected to the industrial control all-in-one computer through a USB cable to realize power supply and data input; the PLC module is installed in the control box, and the Ethernet module on the PLC module is connected to the industrial control all-in-one computer through a network cable and the wireless router to realize the issuance of steel bar processing instructions; the industrial control all-in-one computer is installed in the control box, and data docking is realized with the steel bar processing cloud management platform through the wireless router, and all steel bar material list information, steel bar color identification image information processing and equipment processing instructions are collected and processed by the industrial control computer.

[0020] In the above technical solution, the bending device is provided with movable running wheels.

[0021] In the above technical solution, the portable intelligent steel bar bending robot bending steel bars includes the following steps:

[0022] Step 1: The operator uses a scanner to scan the material list on the bundle of steel bars to be processed. The robot control system running on the industrial computer retrieves the material list information from the steel bar cloud management platform through the wireless router. After the information is verified to be correct, the operator unbundles the steel bars;

[0023] Step 2: The operator places the end of one of the steel bars with the color mark to the feeding port of the feeding mechanism. Two image acquisition devices take pictures to obtain the color mark pictures, and transmit the digital signal of the pictures to the industrial control integrated computer. The industrial control integrated computer analyzes and identifies the steel bar number and retrieves the bending processing information of the current steel bar.

[0024] Step 3: The industrial control integrated machine converts the processing information into processing instructions, sends them to the PLC module, and the die switching mechanism of the bending device lifts the corresponding die into place;

[0025] Step 4. The PLC module transmits signals to the actuator motors of the feeding device, sizing device and bending device. The steel bars move in the discharging direction. At the same time, the sizing device transmits the length dimension information of the steel bar feeding to the industrial control integrated machine in real time. After the steel bars are in place, the working disk of the bending device rotates to complete the steel bar bending.

[0026] Step 5: The industrial control integrated machine determines whether the processing is completed. If it is completed, the steel bars are transported along the discharge direction, the operator receives the materials, and the unloading is completed.

[0027] The CCD industrial camera can identify four paint colors (red, yellow, white, and blue) on the steel bars to be processed. Each color mark is painted in a circle with a width of 10 mm. The spacing between the four color marks is 5 mm. The CCD industrial camera can recognize different arrangements and combinations of four colors (a total of 256), and transmit the image signal to the industrial control all-in-one computer. The image recognition algorithm software running on the industrial control all-in-one computer analyzes and obtains the number on the steel bar material list corresponding to the color mark.

[0028] The feeding device includes a driving motor, a transmission gear, a roller, and a tensioning spring. The tensioning spring provides pre-pressure for the roller. When the steel bars to be processed enter the feeding device, they are transported in the discharging direction by the power provided by the driving motor and the transmission gear.

[0029] The sizing device comprises a meter wheel and a sizing bracket. The sizing bracket is installed at the feed end, and the meter wheel is installed on the sizing bracket. When the steel bar to be processed passes through, the meter wheel transmits the size data to the industrial control integrated machine through the signal line.

[0030] The bending device includes a frame, a driving motor, a transmission mechanism, a working disk, and a die switching mechanism. The driving motor is installed at the bottom of the frame; the working disk is installed at the upper part of the frame, and the power provided by the driving motor is transmitted by the transmission mechanism; the die switching mechanism is installed in the middle of the machine, and the corresponding die is switched according to the diameter specification of the steel bar.

[0031] In the above scheme, the meter wheel transmits the read steel bar feeding length dimension to the industrial control integrated machine through the serial communication cable. After the industrial control integrated machine determines that the steel bar feeding is in place, it sends the processing instruction to the PLC.

[0032] In the above scheme, the lower part of the frame of the bending device is equipped with walking wheels to achieve portability and change of position at the construction site. The upper part of the frame of the bending device is equipped with a handle welded on the frame to facilitate the operator to move. The transmission mechanism includes a V-belt pulley, a spur gear and a worm gear. The driving motor drives the working disk to rotate after being reduced by the V-belt pulley, two pairs of spur gears and the worm gear. The die head switching mechanism includes a servo motor, a lead screw and a die head. The servo motor drives the lead screw to lift the die head to achieve the switching of the die head.

[0033] In summary, the present invention relates to a portable intelligent steel bar bending robot based on visual recognition, including a master control device, a visual recognition device, a feeding device, a sizing device, and a bending device. The master control device includes a control box, a 4G wireless router, a QR code scanner (wireless Bluetooth), a PLC, and an industrial control integrated machine. The industrial control integrated machine obtains the QR code data of the steel bar material list through the QR code scanner, and then connects to the steel bar processing cloud management platform through the 4G wireless router to realize data exchange. After the industrial control integrated machine obtains the steel bar processing information, it sends instructions to the PLC, and the PLC executes the processing instructions; the visual recognition device includes a CCD industrial camera, a signal line, a power line, a fixed bracket, and a protective cover. The CCD industrial camera recognizes the color mark on the steel bar, and the image information is transmitted to the industrial control integrated machine through the signal line.

[0034] Furthermore, the bending device includes a driving motor, a transmission belt, a worm gear, a transmission gear, a working disk, a die head and a die head lifting cylinder. Three groups of die heads are arranged on the working disk. The die heads are switched by the die head lifting cylinder to realize bending processing of steel bars with different diameters.

[0035] The present invention utilizes a CCD industrial camera to identify color marks on steel bars, obtains the numbers of the steel bars on a material list, retrieves corresponding processing information, and then sends processing instructions to a system execution unit to achieve automated bending processing of the steel bars.

[0036] The device uses a CCD industrial camera to identify the color of the steel bar, matches the corresponding steel bar number, and then retrieves the current steel bar processing information through remote docking with the steel bar processing cloud management platform, and sends the processing instructions to the PLC. In addition, the die head can be automatically switched for steel bars of different specifications and diameters, which improves the efficiency and quality of steel bar bending.

[0037] The beneficial effects of the present invention are:

[0038] The portable intelligent steel bar bending robot of the present invention utilizes image recognition technology to realize accurate extraction of steel bar information, which not only shortens the processing time but also effectively avoids wrong material processing and missing material processing.

[0039] The portable intelligent steel bar bending robot of the present invention utilizes industrial Internet technology. The robot control system connects data with the steel bar processing cloud management platform in real time, receives material list information and feedbacks processing completion information in real time, and can directly convert processing information into processing instructions and send them to the robot actuator.

[0040] The portable intelligent steel bar bending robot of the present invention realizes the flexible bending processing of steel bars with various diameters, and the automatic die head switching device can automatically change the die head according to the diameter size of the incoming steel bars, thereby greatly improving the processing efficiency.

[0041] The portable intelligent steel bar bending robot of the present invention is used in conjunction with the centralized processing of steel bar factories to avoid the high empty vehicle rate and high transportation cost during transportation due to the shape differences of finished steel bars. In addition, it can also make up for the shortcomings of material replenishment and repair at the construction site under the centralized distribution mode, and has great potential application value in the application scenario of steel bar processing in the field of housing construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0043] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0044] Figure 2 It is a schematic diagram of the installation positions of various components of the present invention.

[0045] Figure 3 It is a schematic diagram of the communication and control system of the present invention.

[0046] In the accompanying drawings, the components represented by each reference numeral are listed as follows: 100, general control device, 200, visual recognition device, 300, feeding device, 400, sizing device, 500, bending device, 600, steel bar; 700, steel bar processing cloud management platform. DETAILED DESCRIPTION

[0047] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0048] A portable intelligent steel bar bending robot based on visual recognition implemented in the present invention, such as Figure 1 and 2 As shown, it includes a master control device 100, a visual recognition device 200, a feeding device 300, a sizing device 400, and a bending device 500. In this embodiment, the feeding direction of the steel bar 600 is set from the feeding end on the left to the bending end on the right. In other embodiments not specified, the feeding direction can also be set as needed.

[0049] like Figure 3As shown, the master control device 100 includes a control box 101, a wireless router 102 (3G, 4G or 5G or even higher levels are all possible, and the present invention preferably uses 4G), a QR code or bar code scanner (wireless Bluetooth) 103, a PLC module 104 and an industrial control integrated machine 105. The control box 101 is installed on the robot, preferably fixed on the bending device frame or on a rotatable bracket on the side of the frame to adapt to the touch display; the wireless router 102 is installed in the control box 101, and the signal receiving antenna of the wireless router 102 extends out of the control box 101; the QR code or bar code scanner (wireless Bluetooth) 103 3 is installed on the outside of the control box 101, and the barcode scanner holder is connected to the industrial control all-in-one machine 105 through a USB cable to realize power supply and data input; the PLC module 104 is installed in the control box 101, and the Ethernet module thereon is connected to the industrial control all-in-one machine 105 through a network cable and the wireless router 102 to realize the issuance of steel bar processing instructions; the industrial control all-in-one machine 105 is installed in the control box 101, and data is connected to the steel bar processing cloud management platform 700 through the wireless router 102. All steel bar material list information, steel bar identification image information processing and equipment processing instructions are collected and processed by the industrial control all-in-one machine 105.

[0050] The visual recognition device 200 includes a CCD industrial camera 201, a signal line, a power line, a fixed bracket 202, and a protective cover 203. The protective cover 203 is installed at the feeding end of the robot; the fixed bracket 202 is installed in the protective cover 203 and fixed by bolts; the CCD industrial camera 201 is set on the fixed bracket 202, and the number is 2, distributed on both sides of the steel bar to accurately identify the color marking on the steel bar; the CCD industrial camera 201 is used to identify the picture information of the steel bar, and transmit the digital signal of the picture information to the industrial control all-in-one machine 105 through the signal line.

[0051] The feeding device 300 includes a driving motor, a transmission gear, a roller, and a tension spring. The tension spring provides pre-pressure for the roller. When the steel bar to be processed enters the feeding device, it is transported in the discharge direction by the power provided by the driving motor and the transmission gear. This is basically the same as the conventional feeding device configuration in the prior art, and will not be described in detail.

[0052] The sizing device 400 includes a meter wheel and a sizing induction bracket 401. The sizing induction bracket 401 is installed at the feed end. The meter wheel is installed on the sizing bracket for precise length measurement. When the steel bar to be processed passes through, the meter wheel transmits the size data to the industrial control integrated machine through the signal line. This is basically the same as the conventional sizing device setting in the prior art, and will not be repeated.

[0053] The bending device 500 includes a frame 501 similar to a machine tool platform, a drive motor, a transmission mechanism, a working disk, and a die switching mechanism. The drive motor is installed at the bottom of the frame; the working disk is installed at the top of the frame 501, and the power provided by the drive motor is transmitted by the transmission mechanism; the die switching mechanism is installed in the middle of the frame, and switches the corresponding die according to the diameter specification of the steel bar. This is basically the same as the setting of the steel bar bending device in the prior art, and will not be repeated.

[0054] As an original embodiment of the present invention, the CCD industrial camera 201 of the present invention can identify four paint colors (such as red, yellow, white, and blue) on the steel bars to be processed, each color is painted with a circle of color identification and the color identification width is 10mm (it can also be other width values), and the spacing between the four color identifications is 5mm (the spacing can be varied, but is less than the above width, and in the present invention it is half of the color identification width). The CCD industrial camera 201 can identify different permutations and combinations of the four colors (a total of 256). A color mark is applied to one end of each steel bar to record the steel bar number and bending processing information of the steel bar.

[0055] The collected image signal is transmitted to the industrial control integrated machine, and the image recognition algorithm software running on the industrial control integrated machine analyzes and obtains the number on the steel bar material list corresponding to the color mark and the corresponding bending processing information.

[0056] The meter wheel transmits the read steel bar feeding length dimension to the industrial control integrated machine through the serial communication cable. After the industrial control integrated machine determines that the steel bar feeding is in place, it sends the processing instruction to the PLC module.

[0057] The frame 501 of the bending device 500 is provided with a walking wheel 502 at the bottom to achieve the effect of portability and movement, and a handle is provided at the top, which is welded on the frame to facilitate the operator to move. The transmission mechanism includes a V-belt pulley, a spur gear and a worm gear. The driving motor drives the working disk to rotate after being decelerated by the V-belt pulley, two pairs of spur gears and the worm gear. The die head switching mechanism includes a servo motor, a lead screw and a die head. The servo motor drives the lead screw to lift the die head to achieve the switching of the die head.

[0058] The above-mentioned portable intelligent steel bar bending robot based on visual recognition includes the following processing steps:

[0059] Step 1. The operator uses a QR code scanner (wireless Bluetooth) to scan the material list on the bundle of steel bars to be processed. The robot control system running on the industrial control all-in-one computer retrieves the material list information from the steel bar cloud management platform through the wireless router. After the information is verified to be correct, the operator unbundles the steel bars.

[0060] Step 2: The operator places the color-marked end of one of the steel bars into the feeding port of the feeding mechanism. The CCD industrial camera takes a picture to obtain the color-marked image, and transmits the digital signal of the image to the industrial control computer. The robot control system analyzes and identifies the steel bar number and retrieves the bending processing information of the current steel bar.

[0061] Step 3: The robot control system converts the processing information into processing instructions, sends them to the PLC module, and the die switching mechanism lifts the corresponding die into place.

[0062] Step 4: The PLC module transmits signals to each execution motor, and the steel bar moves in the discharge direction. At the same time, the meter wheel transmits the length dimension information of the steel bar feed to the robot control system in real time. After the steel bar is in place, the working disk rotates to complete the steel bar bending.

[0063] Step 5: The robot control system determines whether the processing is completed. If it is completed, the steel bars are transported along the discharge direction, the operator receives the materials, and the unloading is completed.

[0064] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0065] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A portable intelligent steel bar bending robot based on visual recognition, characterized in that: The visual recognition device includes at least two image acquisition devices, which are used to collect picture information of color marks set on the steel bars from both sides of the steel bars, and send the picture information to the master control device; the color mark is set at one end of the steel bar, and is composed of at least four different colors and evenly spaced annular color bands, the width of each color band is greater than the spacing between adjacent color bands, and the color mark is set in one-to-one correspondence with the number and bending processing information of the steel bar; A feeding device, used to receive the steel bars to be processed and provide power to transport them in the discharge direction; The sizing device is used to measure the length of the steel bar when it passes through and transmit the size data to the master control device; The bending device is used to switch the bending die heads of different steel bar models according to the size information and color identification of the steel bar feed to complete the steel bar bending process; It also includes a steel bar processing cloud management platform, which is used to store steel bar material list information, steel bar number information, steel bar color identification picture information, and processing information of a feeding device, a sizing device, and a bending device through a cloud storage space; the master control device communicates wirelessly with the steel bar processing cloud management platform to remotely retrieve steel bar information; The master control device includes at least a PLC module and an industrial control integrated computer, which is used to receive the image information sent by the visual recognition device and the size information of the sizing device, identify the color mark on the steel bar and match the corresponding steel bar number; retrieve the processing information of the current steel bar, and the industrial control integrated computer converts the processing information into processing instructions, which are sent to the PLC module to control the feeding device and the bending device, automatically switch the die head, and realize the automatic bending processing of the steel bar.

2. The portable intelligent steel bar bending robot based on visual recognition according to claim 1 is characterized in that The four different color markings on the steel bars to be processed are all painted in a circle, and the width of each color band is equal, and the spacing between adjacent color bands is half the width of each color band; the arrangement and combination information of the four different color bands is stored on the industrial control all-in-one computer and corresponds one by one to the number and bending processing information on the corresponding steel bar material list.

3. The portable intelligent steel bar bending robot based on visual recognition according to claim 1 is characterized in that Two image acquisition devices are arranged on both sides of the feeding end of the steel bars and are connected to the industrial control integrated computer of the master control device through a signal line.

4. The portable intelligent steel bar bending robot based on visual recognition according to claim 1 is characterized in that A protective cover is arranged outside the two image acquisition devices, and the steel bars can pass through the protective cover; the two image acquisition devices are arranged on both sides of the feeding end of the steel bars through fixed brackets, and the fixed brackets enable the two image acquisition devices to be located in the protective cover.

5. The portable intelligent steel bar bending robot based on visual recognition according to claim 4 is characterized in that The protective cover is made of a transparent material.

6. The portable intelligent steel bar bending robot based on visual recognition according to claim 1 is characterized in that The master control device includes a scanning gun, which is used to scan the material list on the bundled steel bars to be processed, and transmit the material list information to the steel bar cloud management platform for verification in order to decide whether to unbundle the steel bars.

7. The portable intelligent steel bar bending robot based on visual recognition according to claim 1 is characterized in that The master control device also includes a control box and a wireless router; the wireless router is installed in the control box, and the signal receiving antenna of the wireless router extends out of the control box; the barcode scanner is a wireless Bluetooth type, installed on the outside of the control box, and the barcode scanner holder is connected to the industrial control all-in-one computer through a USB cable to realize power supply and data input; the PLC module is installed in the control box, and the Ethernet module on the PLC module is connected to the industrial control all-in-one computer through a network cable and the wireless router to realize the issuance of steel bar processing instructions; the industrial control all-in-one computer is installed in the control box, and data docking is realized with the steel bar processing cloud management platform through the wireless router, and all steel bar material list information, steel bar color identification image information processing and equipment processing instructions are collected and processed by the industrial control computer.

8. The portable intelligent steel bar bending robot based on visual recognition according to claim 1 is characterized in that The bending device is provided with traveling wheels which can move and walk.

9. The portable intelligent steel bar bending robot based on visual recognition according to claim 7 is characterized in that The portable intelligent steel bar bending robot bending steel bars comprises the following steps: Step 1: The operator uses a scanner to scan the material list on the bundle of steel bars to be processed. The robot control system running on the industrial computer retrieves the material list information from the steel bar cloud management platform through the wireless router. After the information is verified to be correct, the operator unbundles the steel bars; Step 2: The operator places the end of one of the steel bars with the color mark to the feeding port of the feeding mechanism. Two image acquisition devices take pictures to obtain the image information of the color mark, and transmit the digital signal of the picture to the industrial control integrated computer. The industrial control integrated computer analyzes and identifies the steel bar number and retrieves the bending processing information of the current steel bar. Step 3: The industrial control integrated machine converts the processing information into processing instructions, sends them to the PLC module, and the die switching mechanism of the bending device lifts the corresponding die into place; Step 4: The PLC module transmits signals to the actuator motors of the feeding device, the sizing device and the bending device, and the steel bar moves in the discharging direction. At the same time, the sizing device transmits the length dimension information of the steel bar feeding to the industrial control integrated machine in real time. After the steel bar is in place, the working disk of the bending device rotates to complete the steel bar bending. Step 5: The industrial control integrated machine determines whether the processing is completed. If it is completed, the steel bars are transported along the discharge direction, the operator receives the materials, and the unloading is completed.

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