A prefabricated steel column rapid positioning system
By using a precast steel column position adjustment device, a positioning device, and an auxiliary positioning device, combined with infrared sensors and visual positioning technology, the precast steel column can be positioned quickly and accurately, solving the problems of low efficiency and safety hazards in traditional methods and improving construction efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA CONSTR EIGHTH BUREAU DEV & CONSTR CO LTD
- Filing Date
- 2023-04-07
- Publication Date
- 2026-07-14
Smart Images
Figure CN116357104B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of building engineering technology, and specifically relates to a rapid positioning system for prefabricated steel columns. Background Technology
[0002] Steel columns are industrial products, columns made of steel. They are mostly used for columns in large and medium-sized industrial plants, long-span public buildings, high-rise buildings, lightweight mobile homes, work platforms, trestle bridges, and scaffolding. Currently, to reduce construction time, steel columns are usually prefabricated in factories or other locations and then transported to the construction site. A crane lifts the required steel columns, rotates them at the designated location, and then lowers and secures them. The main difficulty in this construction lies in how to transport and fix the prefabricated steel columns in the designated position.
[0003] Traditional building construction typically involves using cranes to transport precast steel columns to the vicinity of the designated construction location. The precast steel columns are then manually placed into the designated positions and secured, making them an integral part of the building.
[0004] However, this construction method presents significant challenges due to its extremely large workload, low efficiency, long time consumption, and very high docking difficulty. At the same time, this traditional transportation and docking method poses significant safety hazards and can easily lead to dangerous situations. Therefore, it is of great significance to develop a system that can quickly position precast steel columns. Summary of the Invention
[0005] In view of this, the present invention provides a rapid positioning system for precast steel columns, which can solve the problems of large workload, low efficiency, long time consumption and high docking difficulty in traditional positioning methods, and can also solve the problem of significant safety hazards in traditional docking methods.
[0006] This invention is implemented as follows:
[0007] This invention provides a rapid positioning system for precast steel columns, comprising a precast steel column position adjustment device, a precast steel column positioning device, and an auxiliary positioning device. The precast steel column position adjustment device is used to adjust the position of the precast steel column, including left-right, up-down, and front-back positions, so that the precast steel column reaches the designated lower column position. The precast steel column positioning device is used to locate the center position of the precast steel column and the distance and direction of the precast steel column offset from the designated lower column position. The auxiliary positioning device is used to assist in adjusting the position of the precast steel column, so that the precast steel column quickly reaches the designated lower column position.
[0008] The technical advantages of the precast steel column rapid positioning system provided by this invention are as follows: By setting a precast steel column position adjustment device, the angle and position of the precast steel column can be adjusted, making it convenient to lower the precast steel column to the designated position; by setting a precast steel column positioning device, the precast steel column and the designated lowering position can be accurately positioned, making it convenient for the precast steel column to quickly reach the designated lowering position; by setting an auxiliary positioning device, the precast steel column can accurately reach the designated lowering position.
[0009] Based on the above technical solution, the precast steel column rapid positioning system of the present invention can be further improved as follows:
[0010] The precast steel column adjustment device comprises two sets, respectively positioned on the left and right sides of the precast steel column. Each adjustment device includes a traction cable, a traction motor, a motor moving device, and a lever. An anchor point and anchor beam are fixedly installed at symmetrical positions along the same horizontal direction on the precast steel column. The anchor beam is fixed to the anchor point. One end of one set of traction cables is fixedly connected to the corresponding anchor point. The traction motor is fixedly mounted on the top of the motor moving device, and the other end of the traction cable is connected to the output shaft of the traction motor. The traction motor is used to stretch the precast steel column via the traction cable, adjusting its position. The motor moving device includes a support frame and a spider mechanism. The support frame is fixed at the bottom center of the spider mechanism. The spider mechanism is used to move the support frame and the traction motor on the horizontal ground, adjusting the position of the precast steel column. The lever is positioned between the precast steel column and the traction motor, with the traction cable wound around it. The lever is used to conserve output force.
[0011] The beneficial effects of adopting the above-mentioned improved scheme are as follows: By setting up traction cables, the precast steel columns can be stretched, and their position and posture can be adjusted, enabling them to quickly reach the designated lowering position and improving the efficiency of construction projects; by setting up anchor points and anchor beams, the traction cables can be fixed, facilitating the stretching of the precast steel columns; by setting up traction motors, the traction cables can be pulled, allowing for the adjustment of the precast steel column's position; by setting up motor moving devices, the position of the traction motors can be adjusted, facilitating the stretching of the precast steel columns in different directions and adjusting their angle and position; by setting up support frames, the traction motors can be fixed and supported; by setting up spider machines, the position of the traction motors can be adjusted, facilitating the adjustment of the angle and position of the precast steel columns; by setting up levers, the force output of the traction motors can be saved, achieving maximum continuous output of maximum work with a certain force, making it easier to fix the precast steel columns to the designated lowering position.
[0012] Furthermore, the lever includes a gear ring, a sun gear, planetary gears, a central shaft, a transmission arm, a planetary carrier, a transmission device, a driven gear, and a driving gear. The planetary gears are fixed on the central shaft, and the gear ring is rotatably connected to the central shaft. The planetary gears mesh with the sun gear and the gear ring respectively. The transmission device is connected to the planetary gears, and the planetary gears drive the transmission device to rotate. The transmission arm is connected to the central shaft via a bearing, and the transmission arm is connected to the transmission device, which is in turn connected to the planetary gears. The transmission device includes a transmission disc and a transmission shaft. The transmission disc is fixed on the planetary gears, one end of the transmission shaft is connected to the transmission arm, and the other end of the transmission shaft is mounted on a bearing connected to the transmission disc. The driven gear is fixedly connected to the transmission arm and is rotatably connected to the central shaft. One side of the driving gear is fixedly connected to the gear ring, and the other side of the driving gear is rotatably connected to the central shaft. The gear ring is fixedly connected to the driving gear via the planetary carrier. The inner ring of the gear ring is a gear ring, and its teeth mesh with the planetary gears.
[0013] The beneficial effects of adopting the above-mentioned improved scheme are as follows: by setting a sun gear and planetary gears, the planetary gears drive the transmission arm to rotate around the central axis through the transmission device, forming a lever structure and saving force; by setting a gear ring, the planetary gears are driven to rotate on their own axis and revolve around the sun gear; by setting a transmission device, the force is transmitted from the gear ring to the transmission arm; by setting a driven gear, the force on the transmission arm is output to the outside; by setting a planet carrier and a driving gear, the driving gear drives the gear ring to rotate through the planet carrier, saving force.
[0014] The precast steel column positioning device includes an infrared sensor positioning device, a visual positioning device, an attitude acquisition device, an installation control device, and a positioning control terminal. The positioning control terminal is electrically connected to the infrared sensor positioning device, the visual positioning device, the attitude acquisition device, and the installation control device.
[0015] The infrared sensor positioning device includes an infrared emitting device located at the center of the bottom of the precast steel column and multiple infrared receiving devices located at the designated lower column position and its surroundings.
[0016] The visual positioning device is a visual positioning camera, which is set near the designated lower column position to measure the distance between the precast steel column and the designated lower column position in real time.
[0017] The attitude acquisition device is a Hall angle sensor installed on the side wall of the precast steel column, used to monitor the attitude and position of the precast steel column in real time.
[0018] The installation control device includes millimeter-wave radar anti-collision and mechanical limit sensor. The millimeter-wave radar and the mechanical limit sensor are installed on the side wall of the precast steel column to collect the size and position information of objects near the precast steel column.
[0019] The positioning control terminal is used to control the precast steel column adjustment device, so that the precast steel column can quickly reach the designated lower column position.
[0020] The beneficial effects of adopting the above-mentioned improved scheme are as follows: by setting up an infrared sensor positioning device, the precast steel column can be accurately positioned; by setting up a visual positioning device, the distance between the precast steel column and the designated lower column position can be measured in real time; by setting up an attitude acquisition device, the attitude and position data of the precast steel column can be monitored in real time; by setting up an installation control device, the size and position information of objects near the precast steel column can be collected; and by setting up a positioning control terminal, the adjustment device of the precast steel column can be controlled, so that the precast steel column can quickly reach the designated lower column position.
[0021] Furthermore, the positioning control terminal includes an infrared sensor positioning module, a visual positioning module, an attitude acquisition module, a safety management module, a path planning module, and a precast steel column position adjustment module, wherein...
[0022] The infrared sensor positioning module is used to acquire the position data received by the infrared receiver from the infrared transmitter, and to accurately position the precast steel column. At the same time, the position data is sent to the path planning module.
[0023] The visual positioning module is used to acquire the location data of the precast steel column and the designated lower column collected by the visual positioning device, establish a spatial rectangular coordinate system, and calculate the spatial coordinates of the precast steel column and the designated lower column through deep learning algorithm and stereo vision algorithm, and send them to the path planning module.
[0024] The attitude acquisition module is used to acquire the attitude and position data collected by the Hall angle sensor and send it to the path planning module;
[0025] The safety management module is used to obtain the size and position of objects near the precast steel column, calculate and process them to obtain the occlusion coordinate range data and send it to the path planning module.
[0026] The path planning module is used to establish a unified rectangular coordinate system, plan the path for the movement of the precast steel column, and send the planned precast steel column to the precast steel column position adjustment module.
[0027] The precast steel column position adjustment module is used to control the precast steel column adjustment device to adjust the position of the precast steel column according to the path planned by the path planning module.
[0028] The infrared sensor positioning module is used to perform the following steps:
[0029] Step 1: Obtain the spatial coordinates of the center position at the bottom of the precast steel column as collected by the infrared sensor;
[0030] Step 2: Use real-time dynamic carrier phase differential technology from the surveying and mapping industry to optimize the spatial coordinates of the center of the bottom of the precast steel column and the spatial coordinates of the designated lower column position;
[0031] The visual positioning module is used to perform the following steps:
[0032] Step 1: Obtain the position of the precast steel column as captured by the visual positioning device;
[0033] Step 2: Establish a spatial rectangular coordinate system;
[0034] Step 3: Calculate the spatial coordinates of the precast steel column using the specified column position and a stereo vision algorithm;
[0035] The security management module is used to perform the following steps:
[0036] Step 1: Obtain the size and location data of objects near the precast steel columns collected by the installed control device;
[0037] Step 2: Perform spatial coordinate processing on the size and position data of objects near the precast steel column to obtain the occlusion coordinate range data;
[0038] Step 3: Send the occlusion coordinate range data to the path planning module.
[0039] Furthermore, the specific operational steps for the rapid positioning of the precast steel column include:
[0040] S10: The infrared emitting device emits infrared rays in the direction of the designated lower column position, and the infrared receiving device receives the position data obtained by the infrared sensor positioning module and sends it to the path planning module for analysis.
[0041] S20: The visual positioning camera measures the distance between the precast steel column and the designated lower column position, and obtains the data of the precast steel column position and the designated lower column position collected by the visual positioning device through the visual positioning module, establishes a spatial rectangular coordinate system to calculate the spatial coordinates of the precast steel column and the designated lower column position, and sends the data to the path planning module.
[0042] S30: The Hall angle sensor acquires the attitude of the precast steel column, obtains the data through the attitude acquisition module, and sends the data to the path planning module;
[0043] S40: The millimeter-wave radar and the mechanical limit sensor collect the size and position of objects near the precast steel column, and obtain the size and position of objects near the precast steel column through the safety control module. After calculation and processing, the occlusion coordinate range data is obtained and sent to the path planning module.
[0044] S50: The path planning algorithm is used to plan the path of the precast steel column to obtain the planned path, and the planned path is sent to the precast steel column position adjustment device. The precast steel column position adjustment device moves the position according to the planned path by driving the traction motor through the spider machine, and winds the traction cable through the traction motor to drive the precast steel column to move quickly and reach the area near the designated lower column position.
[0045] S60: The position of the precast steel column is precisely adjusted by the auxiliary positioning device to make the precast steel column coincide with the designated lower column position, and the precast steel column is fixed at the designated lower column position.
[0046] The auxiliary positioning device includes a positioning mechanism and a tensioning mechanism. The positioning mechanism is used to precisely adjust the height and angle of the precast steel column so that the precast steel column is aligned with the designated lower column position. The tensioning mechanism is used to pull the precast steel column to coincide with the designated lower column position.
[0047] The positioning mechanism includes a positioning cylinder, a positioning rope, a positioning ball, a positioning spring, and a rangefinder. The positioning cylinder is located at the bottom of the flange at the designated lower column position. One end of the positioning rope is wrapped around the positioning ball, and the other end of the positioning rope passes through the flange at the designated lower column position and the precast steel column flange and is fixed thereto. One end of the positioning spring is fixed to the bottom center of the positioning cylinder, and the rangefinder is fixed to the other side of the positioning spring. The positioning ball is movably mounted on the rangefinder. The positioning mechanism also includes a stepper motor, which is located at the bottom of the positioning cylinder. One end of the positioning rope connected to the positioning ball is connected to the output shaft of the stepper motor.
[0048] The tensioning mechanism consists of four sets, which are respectively installed at the four through-hole positions corresponding to the precast steel column flange and the designated lower column position flange. The tensioning mechanism includes a tensioning rope and a tensioning motor. The tensioning motor is fixed at the designated lower column position. One end of the tensioning rope is fixed to the output shaft of the tensioning motor, and the other end of the tensioning rope passes through the precast steel column flange and the designated lower column position flange and is fixed thereon.
[0049] The auxiliary positioning device also includes an auxiliary docking controller, which is electrically connected to the rangefinder, the stepper motor, and the tension motor.
[0050] The beneficial effects of adopting the above-mentioned improved scheme are as follows: by setting up a positioning mechanism, the precast steel column is aligned with the designated lower column position, saving manpower and improving docking efficiency; by setting up a positioning cylinder, positioning rope, and positioning ball, the precast steel column is positioned, and the direction in which the precast steel column needs to move is measured; by setting up a positioning spring and a rangefinder, the distance in which the precast steel column needs to move is measured; by setting up a tensioning mechanism, the precast steel column is pulled to dock with the designated lower column position; by setting up a tensioning rope, the precast steel column is pulled; by setting up a tensioning motor, the power for the tensioning rope to pull the precast steel column is provided; and by setting up an auxiliary docking controller, the operation of the entire device is controlled.
[0051] Furthermore, the specific steps for operating the auxiliary positioning device include:
[0052] The first step is to fix the positioning mechanism and the tensioning mechanism at the precast steel column and the designated lower column position, and adjust the precast steel column accordingly based on the pressure value detected by the pressure sensor and the distance between the positioning spring and the bottom of the positioning cylinder measured by the rangefinder.
[0053] The second step involves pulling the tension rope through the tensioning mechanism, causing the precast steel column to coincide with the designated lower column position.
[0054] The third step is to fix the precast steel column to the designated lower column position.
[0055] Furthermore, the positioning cylinder has a double-layer structure, with the outer layer being made of aluminum and the inner layer being made of spring steel. A pressure sensor is provided between the outer and inner layers. There are four pressure sensors, which are distributed between the outer and inner layers of the positioning cylinder near the edge of the cylinder. The four pressure sensors are equidistant from the edge of the cylinder, and the angle between the line connecting two adjacent pressure sensors to the center of the circle is 90°.
[0056] The pressure sensor is electrically connected to the auxiliary docking controller.
[0057] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: by setting a pressure sensor, the designated position of the lower column can be located, and the direction in which the precast steel column needs to be moved can be measured.
[0058] Furthermore, the traction cable is made of steel strand with a diameter of φ17.8mm.
[0059] The beneficial effects of adopting the above-mentioned improvement scheme are: by setting the traction cable to be a steel strand, the traction cable is not easily damaged during the stretching process, thus avoiding the occurrence of danger.
[0060] Compared with existing technologies, the beneficial effects of the precast steel column rapid positioning system provided by this invention are as follows: By setting a precast steel column position adjustment device, the angle and position of the precast steel column can be adjusted, facilitating the placement of the precast steel column to the designated position, thus solving the problem of significant safety hazards in traditional docking methods; by setting a precast steel column positioning device, precise positioning of the precast steel column and the designated placement position can be achieved, facilitating the rapid arrival of the precast steel column at the designated placement position, thus solving the problems of large workload, low efficiency, long time consumption, and high docking difficulty in traditional positioning methods; by setting... An auxiliary positioning device is installed to ensure the precast steel column accurately reaches the designated lowering position; an infrared sensor positioning device is installed to accurately position the precast steel column; a visual positioning device is installed to measure the distance between the precast steel column and the designated lowering position in real time; an attitude acquisition device is installed to monitor the attitude and position data of the precast steel column in real time; an installation control device is installed to collect the size and position information of objects near the precast steel column; and a positioning control terminal is installed to control the adjustment device of the precast steel column, so that the precast steel column can quickly reach the designated lowering position. Attached Figure Description
[0061] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0062] Figure 1 A diagram illustrating the specific operational steps for rapid positioning of precast steel columns;
[0063] Figure 2 This is a schematic diagram of the prefabricated steel column adjustment device;
[0064] Figure 3 This is a schematic diagram of the lever instrument.
[0065] Figure 4 This is a schematic diagram of the positioning mechanism;
[0066] Figure 5 This is a schematic diagram of the positioning cylinder.
[0067] Figure 6 This is a schematic diagram of the internal structure of the positioning cylinder;
[0068] Figure 7 This is a schematic diagram of the tensioning mechanism;
[0069] Figure 8 Electrical connection diagram for the auxiliary positioning device;
[0070] The attached diagram lists the components represented by each number as follows:
[0071] 10. Traction cable; 11. Anchor point; 12. Anchor beam; 20. Traction motor; 30. Motor moving device; 31. Support frame; 32. Spider locomotive; 40. Lever; 41. Gear ring; 42. Sun gear; 43. Planetary gear; 44. Central shaft; 45. Transmission arm; 46. Planetary carrier; 47. Transmission device; 471. Transmission disc; 472. Transmission shaft; 48. Driven gear; 49. Driving gear; 50. Positioning mechanism; 51. Positioning cylinder; 511. Pressure sensor; 52. Positioning rope; 53. Positioning ball; 54. Positioning spring; 55. Rangefinder; 56. Stepper motor; 60. Tensioning mechanism; 61. Tensioning rope; 62. Tensioning motor; 70. Auxiliary docking controller. Detailed Implementation
[0072] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0073] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.
[0074] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0075] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0076] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.
[0077] like Figure 1-8 The diagram shows a first embodiment of a rapid positioning system for precast steel columns provided by the present invention. In this embodiment, it includes a precast steel column position adjustment device, a precast steel column positioning device, and an auxiliary positioning device. The precast steel column position adjustment device is used to adjust the position of the precast steel column, including left-right, up-down, and front-back positions, so that the precast steel column reaches the designated lower column position. The precast steel column positioning device is used to locate the center position of the precast steel column and the distance and direction of the precast steel column offset from the designated lower column position. The auxiliary positioning device is used to assist in adjusting the position of the precast steel column so that the precast steel column quickly reaches the designated lower column position.
[0078] In use, the distance between the precast steel column and the designated lower column position is measured by the precast steel column positioning device. Based on the measured data, the position of the precast steel column is adjusted by the precast steel column position adjustment device, and the precast steel column is quickly and accurately moved to the designated lower column position by the auxiliary positioning device.
[0079] In the aforementioned technical solution, the precast steel column adjustment device comprises two sets, respectively positioned on the left and right sides of the precast steel column. Each precast steel column adjustment device includes a traction cable 10, a traction motor 20, a motor moving device 30, and a lever 40. An anchor point 11 and an anchor beam 12 are fixedly installed at symmetrical positions along the same horizontal direction on the precast steel column, with the anchor beam 12 fixed to the anchor point 11. One end of the traction cable 10 is fixedly connected to the corresponding anchor point 11. The traction motor 20 is fixedly mounted on the top of the motor moving device 30, and the other end of the traction cable 10... One end is connected to the output shaft of the traction motor 20. The traction motor 20 is used to stretch the precast steel column through the traction cable 10 and adjust the position of the precast steel column. The motor moving device 30 includes a support frame 31 and a spider machine 32. The support frame 31 is fixed at the bottom center of the spider machine 32. The spider machine 32 is used to drive the support frame 31 and the traction motor 20 to move on the horizontal ground and adjust the position of the precast steel column. The lever 40 is set between the precast steel column and the traction motor 20. The traction cable 10 is wound around the lever 40. The lever 40 is used to save the output force.
[0080] The traction motor 20 can be a YSE90L-4 motor produced by Shandong Yuefeng Lifting Machinery Co., Ltd., and the spider machine 32 can be a spider machine produced by Shandong Hengrui Intelligent Machinery Technology Co., Ltd., a strong supplier.
[0081] Furthermore, in the above technical solution, the lever 40 includes a gear ring 41, a sun gear 42, planetary gears 43, a central shaft 44, a transmission arm 45, a planetary carrier 46, a transmission device 47, a driven gear 48, and a driving gear 49. The planetary gears 43 are fixed on the central shaft 44, the gear ring 41 is rotatably connected to the central shaft 44, and the planetary gears 43 mesh with the sun gear 42 and the gear ring 41 respectively. The transmission device 47 is connected to the planetary gears 43, and the planetary gears 43 are used to drive the transmission device 47 to rotate. The transmission arm 45 is connected to the central shaft 44 through a bearing, and the transmission arm 45 is connected to the transmission device 47, which is in turn connected to the planetary gears. 43; The transmission device 47 includes a transmission disc 471 and a transmission shaft 472. The transmission disc 471 is fixed on the planetary gear 43. One end of the transmission shaft 472 is connected to the transmission arm 45, and the other end of the transmission shaft 472 is mounted on a bearing, which is connected to the transmission disc 471. A driven gear 48 is fixedly connected to the transmission arm 45, and the driven gear 48 is rotatably connected to the central shaft 44. One side of the driving gear 49 is fixedly connected to the gear ring 41, and the other side of the driving gear 49 is rotatably connected to the central shaft 44. The gear ring 41 is fixedly connected to the driving gear 49 through the planetary carrier 46. The inner ring of the gear ring 41 is a gear ring, and its teeth mesh with the planetary gear 43.
[0082] In use, the traction motor 20 provides a power f to the planetary gear 43 through the traction cable 10 and the gear ring 41. The sun gear 42 also provides a power F to the planetary gear 43. The planetary gear 43 rotates at a constant speed. According to the principle of force balance, the planetary gear 43 will be subjected to an opposite force that balances the power F and f. That is, the transmission device 47 will apply a resistance to the planetary gear 43, the magnitude of which is F+f. According to the principle of interaction forces, the planetary gear 43 will apply a reaction force to the transmission device 47, the magnitude of which is F+f. The transmission device 47 will further transmit the reaction force F+f to the transmission arm 45. The transmission arm 45 rotates under the force F+f, thereby outputting power F+f to the traction cable 10, which pulls the precast steel column to move.
[0083] In the above technical solution, the precast steel column positioning device includes an infrared sensor positioning device, a visual positioning device, an attitude acquisition device, an installation control device, and a positioning control terminal. The positioning control terminal is electrically connected to the infrared sensor positioning device, the visual positioning device, the attitude acquisition device, and the installation control device.
[0084] The infrared sensor positioning device includes an infrared emitting device installed at the center of the bottom of the precast steel column and multiple infrared receiving devices installed at the designated lower column position and its surroundings.
[0085] The visual positioning device is a visual positioning camera, which is set near the designated lower column position to measure the distance between the precast steel column and the designated lower column position in real time;
[0086] The attitude acquisition device is a Hall angle sensor installed on the side wall of the precast steel column, which is used to monitor the attitude and position of the precast steel column in real time.
[0087] The installed control device includes millimeter-wave radar anti-collision and mechanical limit sensors. The millimeter-wave radar and mechanical limit sensors are installed on the side wall of the precast steel column to collect the size and position information of objects near the precast steel column.
[0088] The positioning control terminal is used to control the precast steel column adjustment device, which drives the precast steel column to quickly reach the designated lower column position.
[0089] Furthermore, in the above technical solution, the positioning control terminal includes an infrared sensor positioning module, a visual positioning module, an attitude acquisition module, a safety management module, a path planning module, and a precast steel column position adjustment module, wherein...
[0090] The infrared sensor positioning module is used to acquire the position data received by the infrared receiver from the infrared transmitter, which is used to accurately locate the precast steel column, and at the same time, the position data is sent to the path planning module.
[0091] The visual positioning module is used to acquire the location data of the precast steel column and the designated lower column collected by the visual positioning device, establish a spatial rectangular coordinate system, and calculate the spatial coordinates of the precast steel column and the designated lower column through deep learning algorithm and stereo vision algorithm and send them to the path planning module.
[0092] The attitude acquisition module is used to acquire attitude and position data collected by the Hall angle sensor and send it to the path planning module;
[0093] The safety management module is used to obtain the size and position of objects near the precast steel column, calculate and process the occlusion coordinate range data, and send it to the path planning module.
[0094] The path planning module is used to establish a unified rectangular coordinate system, plan the movement path of the precast steel columns, and send the planned precast steel columns to the precast steel column position adjustment module.
[0095] The precast steel column position adjustment module is used to control the precast steel column adjustment device to adjust the position of the precast steel column according to the path planned by the path planning module.
[0096] The infrared sensor positioning module is used to perform the following steps:
[0097] Step 1: Obtain the spatial coordinates of the center position at the bottom of the precast steel column as collected by the infrared sensor;
[0098] Step 2: Use real-time dynamic carrier phase differential technology from the surveying and mapping industry to optimize the spatial coordinates of the center of the bottom of the precast steel column and the spatial coordinates of the designated lower column position;
[0099] The visual positioning module is used to perform the following steps:
[0100] Step 1: Obtain the position of the precast steel column as captured by the visual positioning device;
[0101] Step 2: Establish a spatial rectangular coordinate system;
[0102] Step 3: Calculate the spatial coordinates of the precast steel column using the specified column position and a stereo vision algorithm;
[0103] The security management module is used to perform the following steps:
[0104] Step 1: Obtain the size and location data of objects near the precast steel columns collected by the installed control device;
[0105] Step 2: Perform spatial coordinate processing on the size and position data of objects near the precast steel column to obtain the occlusion coordinate range data;
[0106] Step 3: Send the occlusion coordinate range data to the path planning module.
[0107] Furthermore, in the above technical solution, the specific operational steps for rapid positioning of precast steel columns include:
[0108] S10: The infrared emitting device emits infrared rays in the direction of the designated lower column position, and the infrared receiving device receives the position data obtained by the infrared sensor positioning module and sends it to the path planning module for analysis.
[0109] S20: The visual positioning camera measures the distance between the precast steel column and the designated lower column position, and obtains the data of the precast steel column position and the designated lower column position collected by the visual positioning device through the visual positioning module, establishes a spatial rectangular coordinate system to calculate the spatial coordinates of the precast steel column and the designated lower column position, and sends the data to the path planning module.
[0110] S30: The Hall angle sensor acquires the attitude of the precast steel column, obtains the data through the attitude acquisition module, and sends the data to the path planning module;
[0111] S40: The millimeter-wave radar and the mechanical limit sensor collect the size and position of objects near the precast steel column, and obtain the size and position of objects near the precast steel column through the safety control module. After calculation and processing, the occlusion coordinate range data is obtained and sent to the path planning module.
[0112] S50: The path planning algorithm is used to plan the path of the precast steel column to obtain the planned path, and the planned path is sent to the precast steel column position adjustment device. The precast steel column position adjustment device moves the position of the traction motor 20 through the spider machine 32 according to the planned path, and winds the traction cable 10 through the traction motor 20 to drive the precast steel column to move quickly and reach the area near the designated lower column position.
[0113] S60: The position of the precast steel column is precisely adjusted using the auxiliary positioning device to align the precast steel column with the designated lower column position, and the precast steel column is then fixed at the designated lower column position. The step of using a path planning algorithm to plan the path for the precast steel column and obtain the planned path includes:
[0114] Step 1: Add the center point 's' at the bottom of the precast steel column to the open list;
[0115] Step 2: Repeat the following process:
[0116] a) Iterate through the openlist and search for... Find the node with the smallest value and make it the current node to be processed.
[0117] b) Move the node to be processed to the close list;
[0118] c) For each of the 8 neighboring nodes of the current node:
[0119] i. If it is unreachable or already in the closelist, ignore it;
[0120] ii. If he is not in the openlist, add him to the openlist, set the current node as his parent node, and record the current node. , , value;
[0121] iii. If it is already in the open list, check if this path (i.e., reaching the adjacent node via the current node) is better, using the g(n) value as a reference. A smaller g(n) value indicates a better path. If so, set its parent node as the current node and recalculate its g(n) and f(n) values. The values are sorted, and need to be re-sorted after changes are made;
[0122] d) The planned route stops.
[0123] i. When the destination is added to the openlist, the path has been found;
[0124] ii. If the search for a key fails and the openlist is empty, there is no path.
[0125] in, This indicates the synthesis priority of a node, which is considered when selecting a node.
[0126] This represents the cost from the starting point to the current node;
[0127] This represents the estimated cost from the current node to the target node, a heuristic function.
[0128] Step 3: Save the path. Starting from the end point, each node moves along its parent node until it reaches the start point.
[0129] In the above technical solution, the auxiliary positioning device includes a positioning mechanism 50 and a tensioning mechanism 60. The positioning mechanism 50 is used to precisely adjust the height and angle of the precast steel column so that the precast steel column is aligned with the designated lower column position; the tensioning mechanism 60 is used to pull the precast steel column to coincide with the designated lower column position.
[0130] The positioning mechanism 50 includes a positioning cylinder 51, a positioning rope 52, a positioning ball 53, a positioning spring 54, and a rangefinder 55. The positioning cylinder 51 is set at the bottom of the flange at the designated lower column position. One end of the positioning rope 52 is wrapped around the positioning ball 53, and the other end of the positioning rope 52 passes through the flange at the designated lower column position and the prefabricated steel column flange and fixes it. One end of the positioning spring 54 is fixed to the bottom center of the positioning cylinder 51, and the rangefinder 55 is fixed to the other side of the positioning spring 54. The positioning ball 53 is movably set on the rangefinder 55. The positioning mechanism 50 also includes a stepper motor 56, which is set at the bottom of the positioning cylinder 51. One end of the positioning rope 52 connected to the positioning ball 53 is connected to the output shaft of the stepper motor 56.
[0131] The tensioning mechanism 60 consists of 4 sets, which are respectively set at the 4 through hole positions corresponding to the precast steel column flange and the designated lower column position flange. The tensioning mechanism 60 includes a tensioning rope 61 and a tensioning motor 62. The tensioning motor 62 is fixed at the designated lower column position. One end of the tensioning rope 61 is fixed to the output shaft of the tensioning motor 62, and the other end of the tensioning rope 61 passes through the precast steel column flange and the designated lower column position flange and is fixed.
[0132] The auxiliary positioning device also includes an auxiliary docking controller 70, which is electrically connected to a rangefinder 55, a stepper motor 56, and a tension motor 62.
[0133] The rangefinder 55 can be a rangefinder of model KM-D450H produced by Shenzhen Kace Technology Co., Ltd.; the tension motor 62 can be a tension motor of model 80BLDC43730A-01 produced by Changzhou Bohong Electric Co., Ltd.; and the stepper motor 56 can be a stepper motor of model 86HN78-04-32Y produced by Guangzhou Deyue Technology Co., Ltd.
[0134] Furthermore, in the above technical solution, the specific steps for operating the auxiliary positioning device include:
[0135] The first step is to fix the positioning mechanism 50 and the tensioning mechanism 60 on the precast steel column and the designated lower column position. Based on the pressure value detected by the pressure sensor 511 and the distance between the positioning spring 54 and the bottom of the positioning cylinder 51 measured by the rangefinder 55, the precast steel column is adjusted accordingly.
[0136] The second step is to use the tensioning mechanism 60 to pull the tensioning rope 61, causing the precast steel column to coincide with the designated lower column position.
[0137] The third step is to fix the precast steel column to the designated lower column position.
[0138] Furthermore, in the above technical solution, the positioning cylinder 51 has a double-layer structure, with the outer layer being made of aluminum and the inner layer being made of spring steel. A pressure sensor 511 is provided between the outer and inner layers. There are four pressure sensors 511, which are distributed between the outer and inner layers of the positioning cylinder 51 near the edge of the cylinder. The four pressure sensors 511 are equidistant from the edge of the cylinder, and the angle between the line connecting two adjacent pressure sensors 511 to the center of the circle is 90°.
[0139] Pressure sensor 511 is electrically connected to auxiliary docking controller 70.
[0140] The pressure sensor 511 can be a pressure sensor of model QLLF-13 manufactured by Shenzhen Qinheyuan Technology Co., Ltd.
[0141] Furthermore, in the above technical solution, the traction cable 10 uses steel strand with a diameter of φ17.8mm.
[0142] Specifically, the principle of this invention is as follows: the data measured by the infrared sensor positioning device, visual positioning device, attitude acquisition device, and installation control device are transmitted to the alignment control terminal. The path planning algorithm is used to plan the path of the precast steel column to obtain the planned path, and the planned path is sent to the precast steel column position adjustment device. The precast steel column position adjustment device moves the position according to the planned path by driving the traction motor 20 through the spider machine 32, and the traction motor 20 winds the traction cable 10 to drive the precast steel column to move quickly to the vicinity of the designated lower column position. The position of the precast steel column is precisely adjusted by the auxiliary positioning device to make the precast steel column coincide with the designated lower column position, and the precast steel column is fixed at the designated lower column position.
[0143] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A rapid positioning system for precast steel columns, characterized in that, It includes a precast steel column position adjustment device, a precast steel column positioning device, and an auxiliary positioning device. The precast steel column position adjustment device is used to adjust the position of the precast steel column, including left and right, up and down, and front and back, so that the precast steel column reaches the designated lower column position. The precast steel column positioning device is used to locate the center position of the precast steel column and the distance and direction of the precast steel column offset from the designated lower column position. The auxiliary positioning device is used to assist in adjusting the position of the precast steel column, so that the precast steel column can quickly reach the designated lower column position. The auxiliary positioning device includes a positioning mechanism and a tensioning mechanism. The positioning mechanism is used to precisely adjust the height and angle of the precast steel column so that the precast steel column is aligned with the designated lower column position; the tensioning mechanism is used to pull the precast steel column to coincide with the designated lower column position. The positioning mechanism includes a positioning cylinder, a positioning rope, a positioning ball, a positioning spring, and a rangefinder. The positioning cylinder is set at the bottom of the flange at the designated lower column position. One end of the positioning rope is wrapped around the positioning ball, and the other end of the positioning rope passes through the flange at the designated lower column position and the prefabricated steel column flange and is fixed thereto. One end of the positioning spring is fixed to the bottom center of the positioning cylinder, and the rangefinder is fixed to the other side of the positioning spring. The positioning ball is movably mounted on the rangefinder. The positioning mechanism also includes a stepper motor, which is set at the bottom of the positioning cylinder. One end of the positioning rope connected to the positioning ball is connected to the output shaft of the stepper motor. The tensioning mechanism consists of four sets, which are respectively set at the four through-hole positions corresponding to the precast steel column flange and the flange at the designated lower column position. The tensioning mechanism includes a tensioning rope and a tensioning motor. The tensioning motor is fixed at the designated lower column position. One end of the tensioning rope is fixed to the output shaft of the tensioning motor, and the other end of the tensioning rope passes through the precast steel column flange and the flange at the designated lower column position and is fixed. The auxiliary positioning device also includes an auxiliary docking controller, which is electrically connected to the rangefinder, stepper motor, and tension motor. The specific steps for operating the auxiliary positioning device include: The first step is to fix the positioning mechanism and the tensioning mechanism on the precast steel column and the designated lower column position. Based on the pressure value detected by the pressure sensor and the distance between the positioning spring and the bottom of the positioning cylinder measured by the rangefinder, the precast steel column is adjusted accordingly. The second step is to use a tensioning mechanism to pull the tensioning rope, causing the precast steel column to coincide with the designated lower column position; The third step is to fix the precast steel column to the designated lower column position; The positioning cylinder has a double-layer structure, with an outer layer of aluminum and an inner layer of spring steel. Pressure sensors are installed between the outer and inner layers. There are four pressure sensors, which are distributed between the outer and inner layers of the positioning cylinder near the edge of the cylinder. The four pressure sensors are equidistant from the edge of the cylinder, and the angle between the line connecting two adjacent pressure sensors to the center of the circle is 90°. The pressure sensor is electrically connected to the auxiliary docking controller.
2. The rapid positioning system for precast steel columns according to claim 1, characterized in that, The precast steel column adjustment device consists of two sets, respectively located on the left and right sides of the precast steel column. Each device includes a traction cable, a traction motor, a motor moving device, and a lever. An anchor point and anchor beam are fixedly installed at symmetrical positions along the same horizontal direction of the precast steel column, with the anchor beams fixed to the anchor points. One end of one set of traction cables is fixedly connected to the corresponding anchor point. The traction motor is fixedly mounted on top of the motor moving device, and the other end of the traction cable is connected to the output shaft of the traction motor. The traction motor is used to stretch the precast steel column via the traction cable, adjusting its position. The motor moving device includes a support frame and a spider machine. The support frame is fixed at the bottom center of the spider machine, which drives the support frame, along with the traction motor, to move on the horizontal ground, adjusting the position of the precast steel column. The lever is positioned between the precast steel column and the traction motor, and the traction cable is wound around the lever. The lever is used to save output force.
3. The rapid positioning system for precast steel columns according to claim 2, characterized in that, The lever mechanism includes a gear ring, a sun gear, planetary gears, a central shaft, a transmission arm, a planetary carrier, a transmission device, a driven gear, and a driving gear. The planetary gears are fixed on the central shaft, and the gear ring is rotatably connected to the central shaft. The planetary gears mesh with both the sun gear and the gear ring. The transmission device is connected to the planetary gears, which drive the transmission device to rotate. The transmission arm is connected to the central shaft via a bearing and is connected to the transmission device, which in turn is connected to the planetary gears. The transmission device includes a transmission disc and a transmission shaft. The transmission disc is fixed on the planetary gears, one end of the transmission shaft is connected to the transmission arm, and the other end is mounted on a bearing connected to the transmission disc. A driven gear is fixedly connected to the transmission arm and rotatably connected to the central shaft. One side of the driving gear is fixedly connected to the gear ring, and the other side is rotatably connected to the central shaft. The gear ring is fixedly connected to the driving gear via a planetary carrier. The inner ring of the gear ring is a gear ring whose teeth mesh with the planetary gears.
4. The rapid positioning system for precast steel columns according to claim 3, characterized in that, The precast steel column positioning device includes an infrared sensor positioning device, a visual positioning device, an attitude acquisition device, an installation control device, and a positioning control terminal. The positioning control terminal is electrically connected to the infrared sensor positioning device, the visual positioning device, the attitude acquisition device, and the installation control device. The infrared sensor positioning device includes an infrared emitting device installed at the center of the bottom of the precast steel column and multiple infrared receiving devices installed at the designated lower column position and its surroundings. The visual positioning device is a visual positioning camera, which is set near the designated lower column position to measure the distance between the precast steel column and the designated lower column position in real time; The attitude acquisition device is a Hall angle sensor installed on the side wall of the precast steel column, which is used to monitor the attitude and position of the precast steel column in real time. The control and control device includes millimeter-wave radar anti-collision and mechanical limit sensors. The millimeter-wave radar and mechanical limit sensors are installed on the side wall of the precast steel column to collect the size and position information of objects near the precast steel column. The positioning control terminal is used to control the precast steel column adjustment device, which drives the precast steel column to quickly reach the designated lower column position.
5. The rapid positioning system for precast steel columns according to claim 4, characterized in that, The positioning control terminal includes an infrared sensor positioning module, a visual positioning module, an attitude acquisition module, a safety management module, a path planning module, and a precast steel column position adjustment module. The infrared sensor positioning module is used to acquire the position data received by the infrared receiver from the infrared transmitter, which is used to accurately locate the precast steel column, and at the same time, the position data is sent to the path planning module. The visual positioning module is used to acquire the location data of the precast steel column and the designated lower column collected by the visual positioning device, establish a spatial rectangular coordinate system, and calculate the spatial coordinates of the precast steel column and the designated lower column through deep learning algorithm and stereo vision algorithm and send them to the path planning module. The attitude acquisition module is used to acquire attitude and position data collected by the Hall angle sensor and send it to the path planning module; The safety management module is used to obtain the size and position of objects near the precast steel column, calculate and process the occlusion coordinate range data, and send it to the path planning module. The path planning module is used to establish a unified rectangular coordinate system, plan the path for the movement of precast steel columns, and send the planned precast steel columns to the precast steel column position adjustment module. The precast steel column position adjustment module is used to control the precast steel column adjustment device to adjust the position of the precast steel column according to the path planned by the path planning module.
6. The rapid positioning system for precast steel columns according to claim 5, characterized in that, The specific operational steps for rapid positioning of precast steel columns include: S10: The infrared transmitter emits infrared rays in the direction of the designated lower column position, which are received by the infrared receiver and the position data obtained by the infrared sensor positioning module are sent to the path planning module for analysis. S20: The visual positioning camera measures the distance between the precast steel column and the designated lower column position, and obtains the data of the precast steel column position and the designated lower column position collected by the visual positioning device through the visual positioning module. It establishes a spatial rectangular coordinate system to calculate the spatial coordinates of the precast steel column and the designated lower column position, and sends the data to the path planning module. S30: The Hall angle sensor collects the attitude of the precast steel column, and the attitude acquisition module obtains the data and sends the data to the path planning module; S40: Millimeter-wave radar and mechanical limit sensors collect the size and position of objects near the precast steel column, and obtain the size and position of objects near the precast steel column through the safety control module. After calculation and processing, the occlusion coordinate range data is obtained and sent to the path planning module. S50: The path planning algorithm is used to plan the path of the precast steel column and send the planned path to the precast steel column position adjustment device. The precast steel column position adjustment device moves the position according to the planned path by driving the traction motor through the spider machine, and winds the traction cable through the traction motor to drive the precast steel column to move quickly and reach the area near the designated column position. S60: The position of the precast steel column is precisely adjusted by the auxiliary positioning device, so that the precast steel column coincides with the designated lower column position, and the precast steel column is fixed at the designated lower column position.
7. The rapid positioning system for precast steel columns according to claim 2, characterized in that, The traction cable uses steel strand with a diameter of φ17.8mm.