A PC stair hoisting positioning method and system, storage medium and intelligent terminal

Abstract

The application relates to a PC stair hoisting positioning method and system, a storage medium and an intelligent terminal, relates to the field of PC components, and comprises the following steps: acquiring shooting image information; analyzing arc characteristic information and whole-circle characteristic information in the shooting image information; judging whether the whole-circle characteristic information exists; if the whole-circle characteristic information exists, vertically falling the PC stair until the whole-circle characteristic information does not exist; if the whole-circle characteristic information does not exist, horizontally moving the PC stair until the whole-circle characteristic information appears; and falling a preset standard falling height information when a boundary line of the shooting image information and the whole-circle characteristic information coincide. The application improves the problem that the falling process of the hoisted PC stair needs to be commanded by a construction worker, threatening the personal safety of the construction worker, and has the effects of reducing the hidden danger to the personal safety in the PC stair hoisting process and improving the safety and intelligentization of the PC stair hoisting process.

Description

TECHNICAL FIELD

[0001] The application relates to the field of PC components, in particular to a PC stair hoisting positioning method and system, a storage medium and an intelligent terminal. BACKGROUND

[0002] PC is a component used in the fields of building, transportation, water conservancy and the like, and is also called "precast concrete component". For example, precast reinforced concrete column foundation, precast steel structure steel column foundation, street lamp advertising column reinforced concrete foundation, precast floor slab and the like. Correspondingly, the conventional cast-in-situ concrete requires on-site molding, on-site pouring and on-site maintenance. Concrete precast components have a wide range of applications in the fields of building, transportation, water conservancy and the like, and play an important role in the economic development of the country.

[0003] In the related art, floors in a building are connected through stairs, and the existing stairs are constructed by on-site pouring. The two ends of the stairs are fixedly connected to the opposite side walls of two platform plates at different heights. Before construction, a pouring plate and a steel cage need to be made, and the construction period is long and the construction cost is high. In order to reduce the construction cost and period, precast assembly stairs (i.e. PC stairs) are used in most buildings. After precasting, the PC stairs are transported to the site by a transport vehicle, and then the PC stairs are transported to the corresponding floor by a tower crane and then connected and poured, which improves the construction efficiency and reduces construction noise and dust, thereby playing an environmental protection role.

[0004] According to the related art described above, the inventors believe that, in the hoisting process of the PC stairs, the construction personnel usually personally arrive at the corresponding area, command the falling process of the hoisted PC stairs, so that the PC stairs reach the specified position, and then the alignment column on the floor plate is inserted into the alignment hole on the PC stairs to realize alignment. In the hoisting process, the construction personnel may be hit due to mistakes, threatening the personal safety of the construction personnel, and there is still room for improvement. SUMMARY

[0005] In order to improve the problem that the falling process of the hoisted PC stairs needs to be commanded by the construction personnel, threatening the personal safety of the construction personnel, the application provides a PC stair hoisting positioning method, system, storage medium and intelligent terminal.

[0006] In a first aspect, the application provides a PC stair hoisting positioning method, which adopts the following technical solution:

[0007] A PC stair hoisting positioning method, comprising:

[0008] acquiring shooting image information;

[0009] analyzing arc feature information and whole circle feature information in the shooting image information;

[0010] determining whether the whole-circle feature information exists;

[0011] if the whole-circle feature information exists, vertically lowering the PC stair until the whole-circle feature information does not exist;

[0012] if the whole-circle feature information does not exist, horizontally moving the PC stair until the whole-circle feature information appears;

[0013] when the boundary line of the photographed image information and the whole-circle feature information coincide, lowering a preset standard lowering height information, so that the alignment column is inserted into the alignment hole.

[0014] By using the above technical solution, the position close to the alignment is ensured in the lowering process through the situation of the multiple concentric circles in the image, without human judgment, the hidden danger to the personal safety in the PC stair hoisting process is reduced, and the safety and intelligentization of the PC stair hoisting process are improved.

[0015] Optionally, if the whole-circle feature information does not exist, the method of horizontally moving the PC stair until the whole-circle feature information appears comprises:

[0016] obtaining intersection information of the arc line feature information and the boundary line of the photographed image information;

[0017] arbitrarily selecting two intersection information corresponding to the arc line feature information, defining the intersection information on one of the arc line feature information as first intersection information and second intersection information, and defining the intersection information on the other arc line feature information as third intersection information and fourth intersection information;

[0018] forming first straight line information, second straight line information, third straight line information and fourth straight line information through the intersection information, wherein the first straight line information passes through the first intersection information and the third intersection information, the second straight line information passes through the second intersection information and the fourth intersection information, the third straight line information passes through the first intersection information and the fourth intersection information, and the fourth straight line information passes through the second intersection information and the third intersection information;

[0019] analyzing the intersection of the first straight line information and the second straight line information, and defining the intersection as first moving intersection information;

[0020] analyzing the intersection of the third straight line information and the fourth straight line information, and defining the intersection as second moving intersection information;

[0021] forming moving straight line information through the first moving intersection information and the second moving intersection information;

[0022] horizontally moving the PC stair along the direction of the moving straight line information until the whole-circle feature information appears.

[0023] By adopting the technical scheme, the direction in which the PC stairs need to be moved is determined through the connecting line of the intersection of different arcs, so that the PC stairs are not moved blindly during the moving process, and the moving direction is more definite relative to random moving, and the efficiency of hoisting the PC stairs is improved.

[0024] Optionally, the method of moving the PC stairs horizontally along the moving straight line information until the whole-circle characteristic information appears comprises:

[0025] analyzing the intersection of the moving straight line information and the first intersection information and the second intersection information and the arc characteristic information corresponding to the first intersection information and the second intersection information, and defining the intersection as starting point intersection information;

[0026] forming vertical straight line information according to the first intersection information and the second intersection information, and analyzing the intersection of the vertical straight line information and the moving straight line information, and defining the intersection as ending point intersection information;

[0027] forming moving direction information from the starting point intersection information to the ending point intersection information;

[0028] moving the PC stairs horizontally along the moving direction information until the whole-circle characteristic information appears.

[0029] By adopting the technical scheme, when the moving straight line information is known, there are still two directions, and by analyzing the starting point intersection information and the ending point intersection information, it is determined that one of the two directions is correct, so that the moving direction is further determined, and the efficiency of hoisting the PC stairs is improved.

[0030] Optionally, if the whole-circle characteristic information exists, the method of vertically falling the PC stairs until the whole-circle characteristic information does not exist comprises:

[0031] judging whether the arc characteristic information exists;

[0032] if the arc characteristic information exists, moving the PC stairs along the vertical straight line information by a preset interval distance information, and then re-determining the moving straight line information and the moving direction information, defining the moving straight line information as checked moving straight line information, and defining the moving direction information as subsequent moving direction information;

[0033] maintaining the position of the moving straight line information in the photographed image information, and defining the moving straight line information after the moving as updated moving straight line information;

[0034] determining the intersection of two straight lines according to the checked moving straight line information and the moving straight line information, and defining the intersection as center information;

[0035] determining the intersection of two straight lines according to the checked moving straight line information and the updated moving straight line information, and defining the intersection as photographed center information;

[0036] According to the mobile straight line information and the updated mobile straight line information, a distance value in the photographed image information is calculated, and the distance value is defined as interval distance information in the figure;

[0037] According to the photographed center information and the circle center information, mobile distance information in the figure is determined;

[0038] According to the interval distance information in the figure, the interval distance information and the mobile distance information in the figure, actual mobile distance information is calculated;

[0039] After the PC stair along the subsequent mobile direction information is horizontally moved by the actual mobile distance information, the photographed center information and the circle center information are made consistent in position, and then the PC stair is vertically dropped until the whole circle characteristic information does not exist;

[0040] If not, the PC stair is vertically dropped until the whole circle characteristic information does not exist.

[0041] By adopting the technical scheme, the current scale is determined by determining the distance of the mobile in the figure and the distance of the actual PC stair mobile, so that the distance of the alignment column at the bottom of the PC stair is determined, and then the distance value of the position moved from the interval distance information to the circle center is determined according to the distance, so that not only the direction is determined but also the mobile distance is determined, the steps of the photograph analysis in the subsequent process are reduced, and the efficiency of the PC stair hoisting is further improved.

[0042] Optionally, if the whole circle characteristic information exists and the arc line characteristic information does not exist, the method that the PC stair is vertically dropped until the whole circle characteristic information does not exist comprises:

[0043] The PC stair is moved along a straight line at will until the whole circle characteristic information and the boundary line of the photographed image information intersect to form two intersection point information;

[0044] According to the two intersection point information, connection line information is determined;

[0045] According to the connection line information, vertical direction information in two opposite directions is determined;

[0046] Along one of the vertical direction information, horizontal movement is performed until the intersection point information only exists one, and then reverse movement is performed until the intersection point information again becomes one, a distance value of the reverse movement is obtained, and the distance value is defined as test distance information;

[0047] A median value of the test distance information is calculated, and the median value is defined as median distance information;

[0048] After the median distance information is moved again in the reverse direction when the intersection point information again becomes one, then the PC stair is vertically dropped;

[0049] When the boundary line of the photographed image information coincides with the whole-circle characteristic information, the PC stair falls vertically.

[0050] By adopting the technical scheme, the intersection point formed by moving the PC stair is used to make the straight line moving with the center of the photographed image information pass through the center of the circle, so as to determine the deviation distance between the center and the center of the circle, and then move according to the deviation distance to align the center and the center of the circle, thereby improving the alignment efficiency.

[0051] Optionally, the method for verifying the photographed image information comprises:

[0052] When the intersection point information becomes one again by moving to the intersection point information and then moving the median distance information in the reverse direction again, the PC stair is vertically lowered, and then it is determined whether the boundary line of the photographed image information intersects with the whole-circle characteristic information;

[0053] If the intersection exists, the two intersection points are determined, and the intersection point information is defined as the short-side intersection point information;

[0054] The short-side straight line information is determined according to the short-side intersection point information;

[0055] The angle of the PC stair is adjusted based on the short-side straight line information until the boundary line of the photographed image information coincides with the whole-circle characteristic information;

[0056] If the intersection does not exist, the PC stair is continuously lowered vertically.

[0057] By adopting the technical scheme, when the center and the center of the circle are theoretically aligned, the photographed image information corresponding to the center is continuously reduced, and when the whole-circle characteristic information has only two intersection points, it is determined that the center and the center of the circle have a relative inclination relationship, and then the angle of the PC stair is adjusted to make the center and the center of the circle perpendicular to each other, thereby improving the angle adjustment efficiency and the alignment efficiency in the hoisting process.

[0058] Optionally, the method for adjusting the angle of the PC stair based on the short-side straight line information comprises:

[0059] The steel wire rope number information and the height information are obtained;

[0060] The difference between the height information corresponding to two arbitrarily selected steel wire rope number information is calculated, the selected two steel wire rope number information is defined as the screened steel wire rope number group information, and the difference is defined as the height difference value information;

[0061] The screened steel wire rope number group information is matched and analyzed according to the balance difference value information stored in the preset balance database to determine the balance difference value corresponding to the screened steel wire rope number group information, and the balance difference value is defined as the standard difference value information;

[0062] determining whether the height difference value information is consistent with the standard difference value information;

[0063] if consistent, outputting the alignment column tilt information and not adjusting the angle of the PC stair;

[0064] if inconsistent, adjusting the angle of the PC stair until the boundary line of the photographed image information and the whole circle characteristic information coincide to obtain the adjustment angle information;

[0065] performing matching analysis on the adjustment height information and the adjustment angle information stored in the preset adjustment database to determine the height to which each steel wire number information corresponding to the adjustment angle information should be adjusted, and defining the adjustment height as actual adjustment height information;

[0066] calculating actual height information according to the height information and the actual adjustment height information, and updating the height difference value information, and defining the height difference value information as actual height difference value information;

[0067] determining whether the actual height difference value information is consistent with the standard difference value information;

[0068] if consistent, outputting the PC stair tilt information and adjusting the angle of the PC stair with the short side straight line information as the axis;

[0069] if inconsistent, outputting the PC stair tilt information and the alignment column tilt information at the same time and not adjusting the angle of the PC stair.

[0070] By using the above technical solution, the source of the tilt problem is determined from which component by determining the current length of the steel wire and the adjusted length, thereby avoiding the situation that the PC stair is tilted after installation due to the tilt of the alignment column, and improving the accuracy of the tilt determination.

[0071] In a second aspect, the application provides a PC stair hoisting positioning system, which adopts the following technical solution:

[0072] A PC stair hoisting positioning system, comprising:

[0073] an acquisition module, configured to acquire photographed image information, arc line characteristic information, arc line number information, whole circle characteristic information, intersection point information, first intersection point information, second intersection point information, third intersection point information, fourth intersection point information, steel wire number information and height information;

[0074] a memory, configured to store a program of a control method of any of the PC stair hoisting positioning methods;

[0075] a processor, the program in the memory can be loaded and executed by the processor, and the control method of any of the PC stair hoisting positioning methods is implemented.

[0076] By adopting the technical scheme, the situation of the plurality of concentric circles in the image is ensured to approach the aligned position in the falling process, human judgment is not required, the hidden danger to personal safety in the PC stair hoisting process is reduced, and the safety and intelligence of the PC stair hoisting process are improved.

[0077] In a third aspect, the application provides an intelligent terminal, which adopts the technical scheme as follows:

[0078] The intelligent terminal comprises a memory and a processor, and the memory stores a computer program capable of being loaded by the processor and executing any of the PC stair hoisting positioning methods.

[0079] By adopting the technical scheme, the situation of the plurality of concentric circles in the image is ensured to approach the aligned position in the falling process, human judgment is not required, the hidden danger to personal safety in the PC stair hoisting process is reduced, and the safety and intelligence of the PC stair hoisting process are improved.

[0080] In a fourth aspect, the application provides a computer storage medium, which can store a corresponding program and has the characteristics of high detection accuracy and high controllability of action.

[0081] The computer readable storage medium adopts the technical scheme as follows:

[0082] The computer readable storage medium stores a computer program capable of being loaded by the processor and executing any of the PC stair hoisting positioning methods.

[0083] By adopting the technical scheme, the situation of the plurality of concentric circles in the image is ensured to approach the aligned position in the falling process, human judgment is not required, the hidden danger to personal safety in the PC stair hoisting process is reduced, and the safety and intelligence of the PC stair hoisting process are improved.

[0084] In summary, the application has the following at least beneficial technical effects:

[0085] 1. The plurality of concentric circles ensure to approach the aligned position in the falling process, the hidden danger to personal safety in the PC stair hoisting process is reduced, and the safety and intelligence of the PC stair hoisting process are improved.

[0086] 2. The connecting line of the intersection points of different arc shapes determines the direction in which the PC stair needs to move, so that the PC stair is not moved blindly in the moving process, the moving direction is more definite than random movement, and the efficiency of the PC stair hoisting is improved.

[0087] 3. When there are only two intersection points of the whole circle feature information, it is determined that there is a relative inclination between the two, and then the angle of the PC stair is adjusted to make the two perpendicular to each other, thereby improving the angle adjustment efficiency and alignment efficiency in the hoisting process. BRIEF DESCRIPTION OF DRAWINGS

[0088] Figure 1 is a flowchart of a PC stair hoisting positioning method in an embodiment of the present application.

[0089] Figure 2 is a schematic diagram of a PC stair hoisting device in an embodiment of the present application.

[0090] Figure 3 is a top view of a PC stair bottom surface in an embodiment of the present application.

[0091] Figure 4 is a flowchart of a method for horizontally moving the PC stair until the whole circle feature information appears if the whole circle feature information does not exist in an embodiment of the present application.

[0092] Figure 5 is a flowchart of a method for horizontally moving the PC stair along the direction of the moving straight line information until the whole circle feature information appears if the number is greater than 1 in an embodiment of the present application.

[0093] Figure 6 is a flowchart of a method for vertically dropping the PC stair until the whole circle feature information does not exist if the whole circle feature information exists in an embodiment of the present application.

[0094] Figure 7 is a flowchart of a method for vertically dropping the PC stair until the whole circle feature information does not exist if the whole circle feature information exists and the arc feature information does not exist in an embodiment of the present application.

[0095] Figure 8 is a flowchart of a method for photographing image information verification in an embodiment of the present application.

[0096] Figure 9 is a flowchart of a method for adjusting the angle of the PC stair with the short side straight line information as the axis in an embodiment of the present application.

[0097] Figure 10 is a system module diagram of a PC stair hoisting positioning method in an embodiment of the present application. DETAILED DESCRIPTION

[0098] In order to make the purpose, technical solutions and advantages of the present application more clear and explicit, the following further describes the present application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. Figures 1-10 ​

[0099] This application discloses a method for hoisting and positioning a PC staircase. (Refer to...) Figure 1 A method for hoisting and positioning PC stairs includes:

[0100] Step 100: Acquire captured image information.

[0101] The image information refers to images captured from the alignment column. It is important to note here that... Figure 2 As shown, the camera is located inside the alignment column, so that the shooting angle is circular, and there is a pattern on the bottom surface of the PC staircase and the alignment column. Figure 3 The circular lines shown are concentric with each other, and the distance between each adjacent arc is the same. The diameter of the middle circle is the diameter of the alignment hole.

[0102] Step 101: Analyze the arc feature information and the whole circle feature information in the captured image information.

[0103] Arc feature information refers to the information of an arc whose two ends are not closed. Circle feature information refers to the information of an arc without any open endpoints. The analysis process involves identifying arcs that differ from the background color, then determining whether endpoints exist along the arc length direction, and finally classifying them as either arc feature information or circle feature information.

[0104] Step 102: Determine if the feature information of the whole circle exists.

[0105] The purpose of the judgment is to determine whether the alignment line is close to the alignment hole.

[0106] Step 1021: If it exists, then let the PC staircase fall vertically until the whole circle feature information no longer exists.

[0107] If it exists, it means that it is close to or aligned with the alignment hole at this time, and there is at least a possibility of alignment. You can continue to move closer and then keep adjusting.

[0108] Step 1022: If it does not exist, move the PC staircase horizontally until a complete circle feature appears.

[0109] If it does not exist, it means that the alignment post is not aligned with the alignment hole at all. In this case, it needs to be moved horizontally to make adjustment so that there is at least a possibility of alignment.

[0110] Step 103: When the boundary line of the captured image information and the feature information of the whole circle coincide, the preset standard drop height information is dropped so that the alignment post is inserted into the alignment hole.

[0111] The standard falling height information is the information of the distance between the bottom of the PC stairs and the alignment column when the boundary line of the photographed image information and the whole circle characteristic information coincide, which is measured by human. It should be noted that the size of the notch for placing the camera is smaller than the outer diameter of the alignment column, so when the boundary line of the photographed image information and the whole circle characteristic information coincide, the diameter of the boundary line is larger than the size of the notch at this time, and the alignment column has not been inserted into the alignment hole and has a certain distance, which is a fixed value determined by the notch and the outer diameter of the alignment column.

[0112] When the boundary line of the photographed image information and the whole circle characteristic information coincide, it means that the hole center of the alignment hole and the axis of the alignment column have been aligned to a certain interval distance, so the alignment column can be directly dropped into the alignment hole.

[0113] It should be noted that when the alignment column is inserted into the alignment hole, the internal camera can be taken out from the opening of the notch to facilitate repeated use by the user. The circular line can be drawn and does not cause great waste.

[0114] Referring to Figure 4 , if the whole circle characteristic information does not exist, the method for moving the PC stairs horizontally until the whole circle characteristic information appears includes:

[0115] Step 200: Obtain intersection information of the arc line characteristic information and the boundary line of the photographed image information.

[0116] The intersection information is the intersection of the arc line characteristic information and the boundary line of the photographed image information, as shown in Figure 3 D region is the photographed image information, and the outline of the D region is the dashed line region. The solid line in the D region is the arc line characteristic information. The acquisition method is an image analysis method.

[0117] Step 201: Arbitrarily select two intersection information corresponding to the arc line characteristic information, define the intersection information on one of the arc line characteristic information as first intersection information and second intersection information, and define the intersection information on the other arc line characteristic information as third intersection information and fourth intersection information.

[0118] Since the range of the photographed image information is necessarily greater than or equal to the size of the alignment hole, when the whole circle characteristic information does not exist in the photographed image information, there are necessarily more than or equal to 2 numbers of arc line characteristic information, as shown in Figure 3 The C region is 2, and the D region is 3. Therefore, the number of intersection information is at least 4.

[0119] Step 202: Forming first straight line information, second straight line information, third straight line information and fourth straight line information through the intersection point information, wherein the first straight line information passes through the first intersection point information and the third intersection point information, the second straight line information passes through the second intersection point information and the fourth intersection point information, the third straight line information passes through the first intersection point information and the fourth intersection point information, and the fourth straight line information passes through the second intersection point information and the third intersection point information.

[0120] Step 203: Analyzing the intersection point of the first straight line information and the second straight line information, and defining the intersection point as the first moving intersection point information.

[0121] Step 204: Analyzing the intersection point of the third straight line information and the fourth straight line information, and defining the intersection point as the second moving intersection point information.

[0122] Step 205: Forming moving straight line information through the first moving intersection point information and the second moving intersection point information.

[0123] Since the perpendicular bisector of the straight line formed by the two intersection points on the circle must pass through the center of the circle, when the two intersection points are both intersection points on the photographed image information and the whole circle, the perpendicular bisector about the two points passes through the centers of the photographed image information and the whole circle, so the two intersection points are symmetrical about the perpendicular bisector, the first straight line information and the second straight line information are symmetrical about the perpendicular bisector, the third straight line information and the fourth straight line information are symmetrical about the perpendicular bisector, so the intersection point of the first straight line information and the second straight line information must be on the perpendicular bisector, and the intersection point of the third straight line information and the fourth straight line information is also on the perpendicular bisector, so the perpendicular bisector can be determined through the two intersection points.

[0124] Step 206: Horizontally moving the PC stair along the direction of the moving straight line information until the whole circle characteristic information appears.

[0125] Referring to Figure 5 , the method of horizontally moving the PC stair along the direction of the moving straight line information until the whole circle characteristic information appears includes:

[0126] Step 300: Analyzing the intersection point of the moving straight line information and the arc characteristic information corresponding to the first intersection point information and the second intersection point information, and defining the intersection point as the starting point intersection point information.

[0127] Here, the first intersection point information and the second intersection point information are randomly selected, and the third intersection point information and the fourth intersection point information can also be selected.

[0128] Step 301: Forming vertical straight line information according to the first intersection point information and the second intersection point information, and analyzing the intersection point of the vertical straight line information and the moving straight line information, and defining the intersection point as the ending point intersection point information.

[0129] The vertical straight line information is a straight line passing through the first intersection information and the second intersection information. Here, the vertical straight line information is a straight line corresponding to the first intersection information and the second intersection information. When the starting point intersection information is a point on the arc feature information corresponding to the third intersection information and the fourth intersection information, the vertical straight line information is a straight line passing through the third intersection information and the fourth intersection information.

[0130] Step 302: Forming movement direction information from the starting point intersection information to the ending point intersection information.

[0131] The movement direction information is a direction from the starting point intersection information to the ending point intersection information. Since the shape of the arc feature information is outward convex away from the center of the circle, the angle from any point on the arc to the concave direction is the direction close to the center of the circle. Since the movement straight line information in step 206 has two directions, it is possible to move away from the center of the circle. Therefore, after determining the movement direction information, this problem can be avoided.

[0132] Step 303: Horizontally moving the PC staircase in the direction of the movement direction information until the whole circle feature information appears.

[0133] Reference Figure 6 If the whole circle feature information exists, the method of vertically falling the PC staircase until the whole circle feature information does not exist includes:

[0134] Step 400: Determining whether the arc feature information exists.

[0135] Step 4001: If the arc feature information exists, moving the PC staircase by a preset interval distance information along the vertical straight line information, and then re-determining the movement straight line information and the movement direction information. The movement straight line information is defined as the check movement straight line information, and the movement direction information is defined as the subsequent movement direction information.

[0136] The interval distance information is information of a preset length in a certain direction, for example, moving one diameter difference to the left. The purpose of the movement is to generate another two different intersection points on a whole circle, thereby generating another movement straight line information and movement direction information. The check movement straight line information is determined by the method of steps 200-205, and the subsequent movement direction information is determined by steps 300-303.

[0137] Step 4002: If the arc feature information does not exist, vertically falling the PC staircase until the whole circle feature information does not exist.

[0138] If the arc feature information does not exist, it means that there is only one whole circle feature at this time, and the alignment degree is high at this time. Continue to fall and then take other measures.

[0139] Step 401: Maintaining the position of the movement straight line information in the photographed image information, and defining the moved movement straight line information as the updated movement straight line information.

[0140] The updating moving straight line information is the information of the straight line after the moving straight line information moves according to the interval distance information.

[0141] Step 402: Determine the intersection point of the two straight lines according to the collation moving straight line information and the moving straight line information, and define the intersection point as the center information of the whole circle feature information.

[0142] Since the collation moving straight line information is also the center of the whole circle feature information, the two straight lines passing through the center can determine the center of the whole circle feature information.

[0143] Step 403: Determine the intersection point of the two straight lines according to the collation moving straight line information and the updating moving straight line information, and define the intersection point as the shooting center information.

[0144] The collation moving straight line information is a straight line passing through the center of the shooting center information, and the updating moving straight line information is also a straight line passing through the center of the shooting center information, so the intersection point of the two straight lines is the shooting center information.

[0145] Step 404: Calculate the distance value in the shooting image information according to the moving straight line information and the updating moving straight line information, and define the distance value as the interval distance information in the figure.

[0146] The interval distance information in the figure is obtained by measuring any two corresponding points according to the actual moving distance, and it should be noted that it is not the perpendicular distance of the two straight lines, but the distance of the two corresponding points moving in the direction of the interval distance information.

[0147] Step 405: Determine the moving distance information in the figure according to the shooting center information and the center information.

[0148] The moving distance information in the figure is the distance between the center and the shooting center.

[0149] Step 406: Calculate the actual moving distance information according to the interval distance information in the figure, the interval distance information and the moving distance information in the figure.

[0150] The actual moving distance information is the distance that the PC staircase needs to move in the actual scene when moving the moving distance information in the figure in the figure.

[0151] Step 407: Move the PC staircase horizontally along the subsequent moving direction information by the actual moving distance information, so that the positions corresponding to the shooting center information and the center information are consistent, and then vertically drop until the whole circle feature information does not exist.

[0152] Reference Figure 7 If the whole circle feature information exists and the arc feature information does not exist, the method for vertically dropping the PC staircase until the whole circle feature information does not exist includes:

[0153] Step 500: Move the PC stairs along a straight line until the intersection of the boundary line of the whole circle feature information and the photographed image information has two intersection point information.

[0154] The intersection point information is the intersection point when the boundary line of the whole circle feature information and the photographed image information intersects, and the number is two.

[0155] Step 501: Determine the connecting line information according to the two intersection point information.

[0156] The connecting line information is a straight line passing through the two intersection point information.

[0157] Step 502: Determine the vertical direction information in two opposite directions according to the connecting line information.

[0158] The vertical direction information is the direction perpendicular to the connecting line information.

[0159] Step 503: Move horizontally along one of the vertical direction information until there is only one intersection point information, and then move reversely until the intersection point information becomes one again, obtain the distance value of the reverse movement, and define the distance value as the test distance information.

[0160] The test distance information is the distance information measured from the beginning of the horizontal movement along one of the vertical direction information until there is only one intersection point information, and the end of the reverse movement until the intersection point information becomes one again. Here, when the intersection point information is one, the two are tangent at the intersection point information, and the distance of the reverse movement is the diameter difference between the two.

[0161] Step 504: Calculate the median of the test distance information, and define the median as the median distance information.

[0162] Step 505: Move the PC stairs vertically downward after moving the median distance information reversely again when the intersection point information becomes one again.

[0163] When moving horizontally along one of the vertical direction information until there is only one intersection point information, and then moving reversely until the intersection point information becomes one again, at this time, the two circles are similar circles with the intersection point as the starting point of the enlargement. The distance between the centers of the two circles is the difference between the radii, that is, half of the measured distance information.

[0164] Therefore, moving the median distance information reversely again when the intersection point information becomes one again makes the two circles concentric.

[0165] Step 506: Drop the standard drop height information when the boundary line of the photographed image information and the whole circle feature information coincide, so that the alignment column is inserted into the alignment hole.

[0166] The purpose of this step is to verify whether the two are concentric after step 505.

[0167] Reference Figure 8 It also includes a method for verifying image information, which includes:

[0168] Step 600: After moving along the intersection point information and it becomes a single point again, move the median distance information in the opposite direction again, and then after the PC staircase falls vertically, determine whether the boundary line of the captured image information intersects with the feature information of the whole circle.

[0169] The purpose of this assessment is to verify whether the aligning columns are parallel to the PC staircase.

[0170] Step 6001: If they intersect, determine the information of the two intersecting points and define the information of the intersection points as the short side intersection points.

[0171] like Figure 3 As shown in region E, the area included in the image information after the PC staircase tilts is elliptical. Of course, the circular feature information in the image is also elliptical. Since the centers of the two regions have been aligned in steps 500-506, even if one is an ellipse and the other a circle, it is still a centrally symmetrical pattern. One of them must be a circle, and their movement direction must be along a straight line passing through the center of the circle. Therefore, their intersection point must be on the same straight line passing through the circle. Thus, after steps 500-506, they share the same center. When falling vertically, the center of the image information remains unchanged, while the region continuously shrinks proportionally, thus producing... Figure 3 In region E shown, two intersecting intersection points are generated. Since the two points on the shorter side of the ellipse are the points with the smallest distance between two symmetrical points, the points on the shorter side intersect with the feature information of the whole circle first.

[0172] Step 6002: If they do not intersect, continue falling vertically.

[0173] Step 601: Determine the short side line information based on the intersection point information of the short sides.

[0174] The short side line information is the line passing through the intersection point of the two short sides. The long side direction information is the direction with the short side line information as the axis.

[0175] Step 602: Adjust the angle of the PC staircase using the short side straight line information as the axis until the boundary line of the captured image information coincides with the feature information of the whole circle.

[0176] This refers to the location on the PC staircase where the short side straight line information is located.

[0177] Reference Figure 9The method for adjusting the angle of the PC stairs with the short-side straight line information as the axis comprises the following steps:

[0178] Step 700: Obtain the wire rope number information and the height information.

[0179] The wire rope number information is the information of the number of the wire rope, and the number is used to determine which wire rope it is. The height information is the information of the length of the wire rope extending from the wire collecting device, which is then converted into the height information.

[0180] Step 701: Arbitrarily select two wire rope number information to calculate the difference of the corresponding height information, define the selected two wire rope number information as the screening wire rope number group information, and define the difference as the height difference information.

[0181] Step 702: Perform matching analysis according to the balance difference information stored in the preset balance database and the screening wire rope number group information to determine the balance difference corresponding to the screening wire rope number group information, and define the balance difference as the standard difference information.

[0182] The standard difference information is the information of the difference of the height corresponding to the screening wire rope number group information when the PC stairs are placed horizontally. The database stores the mapping relationship between the balance difference information and the screening wire rope number group information, which is obtained by measuring the length and height of each wire rope after the PC stairs are placed horizontally. When the system receives the corresponding screening wire rope number group information, it automatically finds the corresponding balance difference in the database and outputs the standard difference information.

[0183] Step 703: Determine whether the height difference information is consistent with the standard difference information.

[0184] The purpose of the determination is to determine whether the PC stairs are placed flat.

[0185] Step 7031: If consistent, output the alignment column tilt information and do not adjust the angle of the PC stairs.

[0186] The alignment column tilt information is the problem with the alignment column, which is caused by the tilt of the alignment column, resulting in the intersection of the boundary line of the photographed image information and the whole circle feature information. If consistent, it means that the PC stairs have been placed flat.

[0187] Step 7032: If not consistent, adjust the angle of the PC stairs until the boundary line of the photographed image information and the whole circle feature information coincide to obtain the adjustment angle information.

[0188] The adjustment angle information is information of an angle needed to adjust the angle of the PC stair until the boundary line of the photographed image information and the whole-circle feature information coincide. If they do not coincide, it is determined that the PC stair is indeed tilted, but further checking is needed to determine whether the alignment column is also tilted.

[0189] Step 704: Perform matching analysis on the adjustment height information and the adjustment angle information stored in the preset adjustment database to determine the height to which each steel wire number information corresponding to the adjustment angle information should be adjusted, and define the adjustment height as actual adjustment height information.

[0190] The actual adjustment height information is information of a height to which each steel wire number information should be adjusted according to the adjustment angle information. The database stores a mapping relationship between the adjustment height information and the adjustment angle information, which is obtained by workers through experiments according to actual conditions.

[0191] Step 705: Calculate actual height information according to the height information and the actual adjustment height information, and update the height difference value information, which is defined as actual height difference value information.

[0192] The actual height information is a height after the height information is adjusted according to the actual adjustment height information. The updating manner is to adjust the actual height information in the manner of step 701.

[0193] Step 706: Determine whether the actual height difference value information is consistent with the standard difference value information.

[0194] The purpose of the determination is to determine whether the PC stair is still tilted.

[0195] Step 7061: If the actual height difference value information is consistent with the standard difference value information, output the PC stair tilt information and adjust the angle of the PC stair with the short straight line information as the axis.

[0196] Step 7062: If the actual height difference value information is not consistent with the standard difference value information, output the PC stair tilt information and the alignment column tilt information, and do not adjust the angle of the PC stair.

[0197] Based on the same inventive concept, the embodiment of the present application provides a PC stair hoisting positioning system.

[0198] With reference to Figure 10 A PC stair hoisting positioning system comprises:

[0199] An acquisition module is configured to acquire photographed image information, arc line feature information, arc line number information, whole-circle feature information, intersection information, first intersection information, second intersection information, third intersection information, fourth intersection information, steel wire number information, and height information.

[0200] A memory for storing a program of a control method of a PC stair hoisting positioning method;

[0201] A processor, the program in the memory can be loaded and executed by the processor to implement a control method of a PC stair hoisting positioning method.

[0202] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of functional modules is exemplified, and in actual application, the above-mentioned functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0203] The embodiment of the application provides a computer readable storage medium, which stores a computer program capable of being loaded and executed by a processor to implement a PC stair hoisting positioning method.

[0204] The computer storage medium includes, for example, a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk and various program code storage media.

[0205] Based on the same inventive concept, the embodiment of the application provides an intelligent terminal, which comprises a memory and a processor, and the memory stores a computer program capable of being loaded and executed by the processor to implement a PC stair hoisting positioning method.

[0206] The above are preferred embodiments of the application, and do not limit the protection scope of the application, any feature disclosed in the specification (including the abstract and the drawings) can be replaced by other equivalent or similar purpose replacement features, unless specifically described. That is, each feature is only an example of a series of equivalent or similar features, unless specifically described.

Claims

1. A method of positioning a PC stair hoist, characterized by, The method comprises the following steps: acquiring the photographed image information; analyzing the arc feature information and the whole-circle feature information in the photographed image information; judging whether the whole-circle feature information exists or not; if the whole-circle feature information exists, vertically lowering the PC stair until the whole-circle feature information disappears; if the whole-circle feature information does not exist, horizontally moving the PC stair until the whole-circle feature information appears; when the boundary line of the photographed image information and the whole-circle feature information coincide, lowering the PC stair by a preset standard lowering height, so that the positioning column is inserted into the positioning hole; if the whole-circle feature information does not exist, the method of horizontally moving the PC stair until the whole-circle feature information appears comprises the following steps: acquiring the intersection information of the arc feature information and the boundary line of the photographed image information; arbitrarily selecting two intersection information corresponding to the arc feature information, defining the intersection information on one arc feature information as the first intersection information and the second intersection information, and defining the intersection information on the other arc feature information as the third intersection information and the fourth intersection information; forming the first straight line information, the second straight line information, the third straight line information and the fourth straight line information through the intersection information, wherein the first straight line information passes through the first intersection information and the third intersection information, the second straight line information passes through the second intersection information and the fourth intersection information, the third straight line information passes through the first intersection information and the fourth intersection information, and the fourth straight line information passes through the second intersection information and the third intersection information; analyzing the intersection of the first straight line information and the second straight line information, and defining the intersection as the first moving intersection information; analyzing the intersection of the third straight line information and the fourth straight line information, and defining the intersection as the second moving intersection information; forming the moving straight line information through the first moving intersection information and the second moving intersection information; horizontally moving the PC stair along the direction of the moving straight line information until the whole-circle feature information appears.

2. A method of hoisting and positioning a PC stair according to claim 1, characterized in that, The method of horizontally moving the PC stair along the direction of the moving straight line information until the whole-circle feature information appears comprises the following steps: analyzing the intersection of the moving straight line information and the arc feature information corresponding to the first intersection information and the second intersection information, and defining the intersection as the starting point intersection information; forming the vertical straight line information according to the first intersection information and the second intersection information, analyzing the intersection of the vertical straight line information and the moving straight line information, and defining the intersection as the ending point intersection information; forming the moving direction information from the starting point intersection information to the ending point intersection information; horizontally moving the PC stair along the direction of the moving direction information until the whole-circle feature information appears.

3. A method of hoisting and positioning a PC stair according to claim 2, characterized in that, The method of vertically lowering the PC stair until the whole-circle feature information disappears if the whole-circle feature information exists comprises the following steps: judging whether the arc feature information exists or not; if the arc feature information exists, moving the PC stair along the vertical straight line information by a preset interval distance, then re-determining the moving straight line information and the moving direction information, defining the moving straight line information as the check moving straight line information, and defining the moving direction information as the subsequent moving direction information; maintaining the position of the moving straight line information in the photographed image information, and defining the moving straight line information after the movement as the updated moving straight line information; determining the intersection of two straight lines according to the check moving straight line information and the moving straight line information, and defining the intersection as the center information of the circle; determining the intersection of two straight lines according to the check moving straight line information and the updated moving straight line information, and defining the intersection as the photographing center information. According to the mobile straight line information and the updated mobile straight line information, a distance value in the photographed image information is calculated, and the distance value is defined as interval distance information in the image; According to the photographed center information and the circle center information, the mobile distance information in the image is determined; According to the interval distance information in the image, the interval distance information, and the mobile distance information in the image, the actual mobile distance information is calculated; After the PC stair is moved horizontally along the subsequent mobile direction information by the actual mobile distance information, the positions corresponding to the photographed center information and the circle center information are made consistent, and then the PC stair is vertically dropped until the whole-circle characteristic information does not exist; If the whole-circle characteristic information does not exist, the PC stair is vertically dropped until the whole-circle characteristic information does not exist.

4. The PC stair hoisting positioning method according to claim 3, wherein If the whole-circle characteristic information exists and the arc characteristic information does not exist, the method for vertically dropping the PC stair until the whole-circle characteristic information does not exist includes: The PC stair is arbitrarily moved along a straight line until the whole-circle characteristic information and the boundary line of the photographed image information intersect to form two intersection point information; According to the two intersection point information, connection line information is determined; According to the connection line information, two vertical direction information in opposite directions are determined; Along one of the vertical direction information, horizontal movement is performed until there is only one intersection point information, and then reverse movement is performed until the intersection point information again becomes one, and then a distance value of the reverse movement is obtained, which is defined as test distance information; The median of the test distance information is calculated, and the median is defined as median distance information; After the PC stair is vertically dropped after the median distance information is again moved in the reverse direction when the intersection point information again becomes one, the PC stair is vertically dropped. When the boundary line of the photographed image information and the whole-circle characteristic information coincide, the PC stair is dropped by a standard drop height information, so that the alignment column is inserted into the alignment hole.

5. A method of hoisting and positioning a PC stair according to claim 4, wherein, The method also includes a photographed image information verification method, which includes: After the PC stair is vertically dropped after the median distance information is again moved in the reverse direction when the intersection point information again becomes one, it is determined whether the boundary line of the photographed image information and the whole-circle characteristic information intersect; If they intersect, the two intersection points of intersection are determined, and the intersection point information is defined as short side intersection point information; According to the short side intersection point information, short side straight line information is determined; The angle of the PC stair is adjusted based on the short side straight line information until the boundary line of the photographed image information and the whole-circle characteristic information coincide; If they do not intersect, the PC stair is continuously vertically dropped.

6. A method of hoisting and positioning a PC stair according to claim 5, wherein, The method for adjusting the angle of the PC stair based on the short side straight line information includes: The wire rope number information and the height information are obtained; Two wire rope number information is arbitrarily selected to calculate the difference between the corresponding height information, the selected two wire rope number information is defined as the screened wire rope number group information, and the difference is defined as the height difference value information; According to the balance difference value information stored in the preset balance database and the screened wire rope number group information, matching analysis is performed to determine the balance difference value corresponding to the screened wire rope number group information, and the balance difference value is defined as the standard difference value information; It is determined whether the height difference value information is consistent with the standard difference value information; If they are consistent, the output alignment column inclination information is outputted, and the angle of the PC stair is not adjusted; If they are not consistent, the adjustment angle information is obtained when the angle of the PC stair is adjusted until the boundary line of the photographed image information and the whole-circle characteristic information coincide. According to the preset adjustment database stored in the adjustment height information and adjustment angle information matching analysis to determine the adjustment angle information corresponding to each steel wire rope number information should adjust the height, the adjustment angle information corresponding to each steel wire rope number information should adjust the height defined as the actual adjustment height information; According to the preset adjustment database stored in the adjustment height information and actual adjustment height information are calculated to obtain the actual height information and update the height difference information, the height difference information defined as the actual height difference information; Determine whether the actual height difference information and the standard difference information are consistent; If consistent, output PC stair tilt information and adjust the angle of PC stair with short side straight line information as the axis; If not consistent, output PC stair tilt information and alignment column tilt information and do not adjust the angle of PC stair.

7. A PC stair hoisting positioning system, characterized by, It includes: The acquisition module is used for acquiring the shooting image information, the arc line feature information, the arc line quantity information, the whole circle feature information, the intersection information, the first intersection information, the second intersection information, the third intersection information, the fourth intersection information, the steel wire rope number information and the height information; The memory is used for storing the program of the control method of the PC stair hoisting positioning method according to any one of claims 1 to 6; The processor, the program in the memory can be loaded and executed by the processor and realize the control method of the PC stair hoisting positioning method according to any one of claims 1 to 6.

8. Intelligent terminal, characterized in that It includes a memory and a processor, and the memory stores a computer program which can be loaded and executed by the processor to realize the PC stair hoisting positioning method according to any one of claims 1 to 6.

9. A computer readable storage medium, characterized in that, It stores a computer program which can be loaded and executed by the processor to realize the PC stair hoisting positioning method according to any one of claims 1 to 6.

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