Segment beam automatic grabbing method and system based on photogrammetry system

Abstract

The application provides a segment beam automatic grabbing method based on a photogrammetry system, and comprises the following steps: S1, moving a lifting appliance above a segment beam; S2, a plurality of photogrammetry units respectively acquire corresponding center three-dimensional coordinates of a lifting boom and a lifting hole, and perform coarse positioning on the lifting boom according to the center three-dimensional coordinates of the lifting boom and the lifting hole; S3, detecting whether the coarse positioning of the lifting boom is completed; S4, the plurality of photogrammetry units respectively acquire corresponding center two-dimensional coordinates of the lifting boom and the lifting hole, and perform fine positioning on the lifting boom according to the center two-dimensional coordinates of the lifting boom and the lifting hole; S5, detecting whether the fine positioning of the lifting boom is completed; and S6, lowering the lifting appliance to completely butt joint the lifting boom and the lifting hole, and realizing the automatic grabbing of the segment beam. The photogrammetry units are used to measure the lifting boom and the lifting hole, at least one coarse positioning and at least one fine positioning are performed on the lifting boom according to the measurement results, the butt joint precision of the lifting boom and the lifting hole can be improved, the lifting boom and the lifting hole can be completely butt jointed, and the service life of the lifting boom and the segment beam can be avoided from being affected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of segmental beam hoisting and carrying, in particular to a segmental beam automatic grabbing method and system based on a photogrammetry system. BACKGROUND

[0002] A bridge is connected by segmental beams, which need to be moved to a designated position by a lifting appliance and a crown block. The lifting appliance and the segmental beam are connected by a lifting boom. During installation, the lifting hole on the surface of the segmental beam needs to be completely aligned with the lifting boom. If there is deviation, the stress condition of the lifting boom will deteriorate, which seriously affects its service life. Moreover, the surface of the segmental beam may be damaged, affecting the service life and safety of the bridge.

[0003] The existing conventional alignment method of the lifting hole and the lifting boom is that the construction personnel manually adjust the distance between the lifting booms to adapt to the distance between the lifting holes of the segmental beams. The adjustment process needs the assistance of multiple people and cannot be adjusted in place at one time. The construction personnel need to stand on the top surface of the segmental beam to push the segmental beam lifting appliance, assist in alignment, and make the lifting boom enter the lifting hole. During the segmental beam hoisting process, the construction personnel need to repeatedly assist in positioning, installation, and disassembly, which is time-consuming and labor-intensive, and may cause safety accidents. Therefore, the conventional operation has problems such as complicated hoisting operation process, large number of construction personnel required, high labor cost, long hoisting period, long operation time in the whole process, and high safety risk. SUMMARY

[0004] The present application is aimed at the defects of the prior art and provides a segmental beam automatic grabbing method and system based on a photogrammetry system.

[0005] The present application provides a segmental beam automatic grabbing method based on a photogrammetry system, which comprises the following steps:

[0006] S1, moving the lifting appliance above the segmental beam so that the photogrammetry unit can shoot the lifting hole corresponding to the lifting boom;

[0007] S2, the plurality of photogrammetry units respectively acquire the center three-dimensional coordinates of the corresponding lifting boom and lifting hole, and coarsely position the lifting boom according to the center three-dimensional coordinates of the lifting boom and the lifting hole;

[0008] S3, detecting whether the lifting boom is coarsely positioned, and if so, executing step S4;

[0009] S4, the plurality of photogrammetry units respectively acquire the center two-dimensional coordinates of the corresponding lifting boom and lifting hole, and finely position the lifting boom according to the center two-dimensional coordinates of the lifting boom and the lifting hole;

[0010] S5, detecting whether the lifting boom is finely positioned, and if so, executing step S6;

[0011] S6. Lower the lifting device to fully align the lifting rod with the lifting hole, thereby achieving automatic grabbing of the segmental beam.

[0012] By using a photogrammetry unit to measure the boom and the lifting hole, and then performing coarse and fine positioning of the boom based on the measurement results, the docking accuracy between the boom and the lifting hole can be improved, thereby achieving a complete docking of the boom and the lifting hole. This avoids affecting the service life of the boom and the segmental beam, reduces the labor intensity of workers, lowers operating costs, and reduces safety hazards during operation.

[0013] Furthermore, the center three-dimensional coordinates of the boom are the center three-dimensional coordinates of the lower end of the boom. The center three-dimensional coordinates of the lower end of the boom are obtained by acquiring the coordinates of each apex of the lower end face of the boom. The center three-dimensional coordinates of the lifting hole are obtained by acquiring the coordinates of each apex of the lifting hole.

[0014] The above method is used to calculate the three-dimensional coordinates of the lower end of the boom and the center of the boom hole. The calculation results are more accurate and can help improve the docking accuracy between the boom and the boom hole.

[0015] Further, in step S2, the coarse positioning of the lifting rod includes: adjusting the position of the lifting device based on the difference in the horizontal and vertical coordinates between the lower end of the lifting rod and the center of the lifting hole; and adjusting the angle of the lifting device based on the difference in the vertical and vertical coordinates between the lower end of the lifting rod and the center of the lifting hole. The horizontal coordinate is the X-axis along the length of the lifting device, the vertical coordinate is the Y-axis along the width of the lifting device, and the vertical coordinate is the Z-axis perpendicular to the surface of the segmental beam.

[0016] The spatial position of the lifting device can be adjusted using the horizontal and vertical coordinates of the center three-dimensional coordinate system, and the angle of the lifting device can be adjusted using the vertical and vertical coordinates of the center three-dimensional coordinate system, so that the lower end face of all the lifting rods is on the same plane, which is conducive to achieving complete docking of the lifting rods and the lifting holes.

[0017] Further, in step S2, the coarse positioning of the lifting rod includes: adjusting the position of the lifting device based on the difference in the horizontal and vertical coordinates between the three-dimensional coordinates of the lifting rod at the center of the lifting device and the center of the lifting hole; comparing the difference in the vertical and vertical coordinates between the center three-dimensional coordinates of all lifting rods close to both ends of the lifting device and the corresponding lifting hole, and adjusting the angle of the lifting device.

[0018] First, align the central lifting rod with the corresponding lifting hole, and then adjust the angle of the lifting device. This adjustment method can reduce adjustment time and improve the efficiency of coarse positioning.

[0019] Furthermore, adjusting the angle of the spreader includes:

[0020] Determine whether the difference in the longitudinal coordinates of the two symmetrical lifting rods near the two ends of the lifting device and the corresponding lifting holes are equal. If they are not equal, rotate the lifting device around the Z-axis.

[0021] Determine whether the vertical coordinate differences between multiple lifting rods near one end of the lifting device and their corresponding lifting holes are equal. If they are not equal, rotate the lifting device around the X-axis.

[0022] Determine whether the vertical coordinate difference between the lifting rods near both ends of the lifting device and the corresponding lifting hole is equal. If they are not equal, rotate the lifting device around the Y-axis.

[0023] By adjusting the angles as described above, all the lifting rods and their corresponding lifting holes can be precisely positioned for the next step.

[0024] Further, step S4 includes: the photogrammetry unit converts the lower end face of the boom and the corresponding lifting hole into the same plane, and measures the two-dimensional coordinates of the center of the lower end face of the boom and the lifting hole under the same plane.

[0025] By using machine vision to convert the boom and boom hole into two-dimensional coordinates of the center on the same plane, systematic errors during photogrammetry can be eliminated.

[0026] Furthermore, in step S4, the precise positioning of the boom includes: adjusting the position of the boom seat based on the difference in the horizontal and vertical coordinates between the center two-dimensional coordinates of the boom and the corresponding boom hole.

[0027] The boom mount has high adjustment precision, which can improve the adjustment accuracy of the boom and reduce the number of adjustments.

[0028] Further, step S5 includes: determining whether the suspension rod has completed precise positioning based on the two-dimensional coordinates of the center of the suspension rod and the suspension hole and the distance measured by the distance sensor;

[0029] Using two detection methods makes the adjustment position of the boom more precise.

[0030] Further, step S5 includes: obtaining the center two-dimensional coordinates of all hangers and hanger holes and the distances to the surface of the segment beam measured by multiple distance sensors. If the difference between the center two-dimensional coordinates of all hangers and corresponding hanger holes is within a preset range, and the distances measured by multiple distance sensors are the same, it indicates that the hanger precision positioning is completed.

[0031] When the boom is precisely positioned, the distance sensor measures the distance from the surface of the segment beam closest to the edge of the boom hole to the distance sensor.

[0032] If multiple distance sensors measure the same distance, it means that the laser without a sensor is directed into the lifting hole. At this time, all the lifting rods are perfectly aligned with the lifting holes, thus ensuring that the lifting rods and lifting holes can be completely connected.

[0033] Further, step S1 includes: determining whether the photogrammetry unit can capture images of the boom and the boom hole; if not, controlling the pitch mechanism of the photogrammetry unit to adjust the angle.

[0034] The present invention also provides an automatic segmental beam grasping system based on a photogrammetry system, including a control system, a crane, a lifting device mounted on the crane, multiple lifting rod seats, and multiple lifting rods mounted below the lifting rod seats. The crane is used to control the spatial position of the lifting device. The lifting device is equipped with a rotation module for adjusting the overall angle of the lifting device. The lifting rod seats are slidably mounted on the lifting device and are used for precise positioning of the lifting rods.

[0035] Multiple photogrammetry units are installed below the lifting device. Each photogrammetry unit corresponds to a different lifting rod. The photogrammetry unit is used to simultaneously photograph a lifting rod and the lifting hole corresponding to that lifting rod.

[0036] The control system is used to receive information collected by the photogrammetry unit and control the movement of the overhead crane, the hoist, and the boom support.

[0037] The overhead crane can control the movement of the spreader to perform positional positioning in the coarse positioning of the boom. The spreader can rotate to perform angular positioning in the coarse positioning of the boom. The boom seat can directly control the movement of the boom to control the fine positioning of the boom.

[0038] Furthermore, it includes multiple sets of distance sensors symmetrically arranged on the hanger support, each set of distance sensors corresponding to one hanger, and each set of distance sensors including multiple symmetrically arranged distance sensors, the distance sensors being used to measure the distance between the distance sensor and the surface of the segment beam.

[0039] The distance sensor serves as a redundant measurement, making the measurement data more accurate and ensuring that the boom and the hole are perfectly aligned.

[0040] Furthermore, the photogrammetry unit includes a connecting mechanism, a gimbal, a tilt mechanism, and two cameras. The connecting mechanism is connected to the hoist, the gimbal is connected to the connecting mechanism, and the cameras are connected to the gimbal via the tilt mechanism. The tilt mechanism is used to adjust the shooting angle of the cameras, and the two cameras are used to photograph the same hoist and the corresponding hoist hole from different angles.

[0041] By setting up a tilt mechanism, the camera's shooting angle can be easily adjusted to obtain the best shooting field of view; two cameras take pictures of the same boom and corresponding boom hole from different angles, thereby obtaining the three-dimensional coordinate points of the boom and boom hole.

[0042] The beneficial effects of this invention are as follows: This invention utilizes a photogrammetry unit to measure the boom and the lifting hole, and performs at least one coarse positioning and at least one fine positioning of the boom based on the measurement results. This improves the docking accuracy between the boom and the lifting hole, thereby achieving complete docking between the boom and the lifting hole, avoiding affecting the service life of the boom and the segmental beam, reducing the labor intensity of workers, reducing operating costs, and reducing safety hazards during operation. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the lifting device of the present invention;

[0044] Figure 2 This is a schematic diagram of the connection structure of the connecting mechanism, gimbal, and pitch mechanism of the present invention.

[0045] Figure 3 This is a schematic diagram of the connection structure between the camera and the pitch mechanism of the present invention;

[0046] Figure 4 This is a schematic diagram of the structure of the photogrammetry unit of the present invention;

[0047] Figure 5 This is a side view of the photogrammetry unit of the present invention mounted on the rigging;

[0048] Figure 6 This is a front view of the photogrammetry unit of the present invention mounted on the rigging;

[0049] Figure 7 This is a schematic diagram of the working posture and spatial coordinate system orientation of the present invention;

[0050] Figure 8 This is a schematic diagram of the grabbing of the segmental beam after the precise positioning of the suspension rod is completed according to the present invention;

[0051] Figure 9 This is a schematic diagram of the lifting device adjusting its position during the coarse positioning stage of the present invention;

[0052] Figure 10 This is a schematic diagram of the adjustment posture of each suspension rod during the precision positioning stage of the present invention;

[0053] Figure 11 This is a schematic diagram of the coarse positioning stage workflow of the present invention;

[0054] Figure 12 This is a schematic diagram of the workflow of the fine positioning stage of the present invention;

[0055] Figure 13 This is a schematic diagram illustrating the angle adjustment of the lifting device of the present invention;

[0056] Figure 14 This is a schematic diagram of the operation of the distance sensor of the present invention.

[0057] Reference numerals: 1. Lifting device; 2. Lifting rod; 3. Segmental beam; 4. Lifting hole; 5. Lifting rod seat; 6. Slider; 7. Fixing seat; 8. Slide rail; 9. Connecting mechanism; 10. Pan / tilt head; 11. Pitch mechanism; 12. Camera; 13. Connecting rod; 14. Field of view; 15. Distance sensor; 16. Tilt control mechanism; 17. Rotation control mechanism. Detailed Implementation

[0058] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0059] like Figure 1 As shown, the automatic grabbing system for segmental beam 3 includes a control system, a crane, a lifting device 1, a lifting rod seat 5, and multiple lifting rods 2.

[0060] Figure 1 The overhead crane is not shown in the diagram. Spreading device 1 is connected to the bottom of the overhead crane. The overhead crane is used to control the spatial position of spreading device 1, that is, the overhead crane can control spreading device 1 along... Figure 7 It moves in the X, Y, and Z axes.

[0061] The lifting device 1 is generally rectangular in shape. Its top is connected to the overhead crane via a rotating module. This rotating module is used to adjust the overall angle of the lifting device 1. The rotating module includes a tilt control mechanism 16 and a rotation control mechanism 17. The upper end of the rotation control mechanism 17 is connected to the overhead crane, and the lower end is connected to the tilt control mechanism 16. The rotation control mechanism 17 includes a motor, a reducer, an encoder, and rotating shafts connected at both ends to the motor output and the tilt control mechanism 16, respectively. When it is necessary to control the rotation of the lifting device, that is, to make the lifting device rotate around the Z-axis, i.e. Figure 9 In the γ direction, the control system controls the rotation of the shaft via a motor, thereby rotating the spreader. Simultaneously, the encoder detects the angle of rotation of the spreader and feeds it back to the control system for better control of the spreader's rotation angle. The tilt control mechanism 16 includes hydraulic cylinders, control valves, etc. When it is necessary to control the tilt of the spreader, that is, to rotate the spreader around the X and Y axes, i.e., around... Figure 9 The α and β directions are involved. The control valve controls the hydraulic pressure and flow of the hydraulic cylinder, causing the cylinder to move forward or backward, thereby changing the tilt angle of the lifting device.

[0062] Two slide rails 8 are provided at the bottom of the lifting device 1 along the length direction, i.e., the X-axis direction. The two slide rails 8 are located on both sides of the lifting device 1. The lifting rod 2 is mounted on the lifting device 1 through the lifting rod seat 5. The lifting rod seat 5 includes a slider 6 and a fixed seat 7. The slider 6 is slidably connected to the slide rails 8 on the lifting device 1, so that the slider 6 can slide along the X-axis direction. The top of the fixed seat 7 is slidably connected to the slider 6 along the Y-axis direction. The bottom of the fixed seat 7 is connected to the upper end of the lifting rod 2. In this embodiment, both the slider 6 and the fixed seat 7 are driven by a motor. There are three fixed seats 7 in total. Two symmetrical lifting rods 2 are connected below each fixed seat 7. The two lifting rods 2 are located on both sides of the lifting device 1.

[0063] Two sets of distance sensors 15 are symmetrically arranged at the bottom of each fixed base 7. The two sets of distance sensors 15 are located on both sides of the lifting device 1. The distance sensors 15 on both sides of the lifting device 1 are used to measure the distance between the surface of the segment beam 3 near the edge of the lifting hole 4 of the lifting rod 2 on that side and the distance sensor 15. Each set of distance sensors 15 includes two distance sensors 15. The four distance sensors 15 are tilted downwards at the same angle to measure. Figure 14 As shown.

[0064] like Figure 5 , 6 As shown, L-shaped connecting rods 13 are provided on both sides of the lifting device 1. One end of the connecting rod 13 is connected to a photogrammetry unit. Each photogrammetry unit corresponds to a different lifting rod 2, and a total of six photogrammetry units are provided.

[0065] like Figure 2 , 3 As shown in Figure 4, the photogrammetry unit includes a connecting mechanism 9, a gimbal 10, a pitch mechanism 11, and two cameras 12. The connecting mechanism 9 is connected to one end of a connecting rod 13, and the gimbal 10 is connected to the connecting mechanism 9 to ensure stable shooting by the cameras 12. The two cameras 12 are connected to the gimbal 10 via the pitch mechanism 11, which is used to adjust the shooting angle of the cameras 12. Figure 5 As shown, the two cameras 12 are used to photograph the same boom 2 and the corresponding boom hole 4 from different angles. The two cameras 12 of each photogrammetry unit can only photograph the same boom 2 and the corresponding boom hole 4.

[0066] The control system is a PLC control system, which is used to receive information collected by the photogrammetry unit and control the movement of the overhead crane, the lifting device 1, and the boom support 5.

[0067] like Figure 11 As shown, the automatic capture method for segmental beam 3 includes:

[0068] S1. Move the lifting device 1 to the top of the segment beam 3 so that the photogrammetry unit can photograph the lifting hole 4 corresponding to the lifting rod 2. The pitch mechanism 11 can be controlled to adjust the shooting angle of the camera 12 so that the photogrammetry unit can obtain the best field of view 14 and photograph the lifting rod 2 and the corresponding lifting hole 4 at the same time.

[0069] S2. The photogrammetry unit acquires images of the corresponding boom 2 and boom hole 4 (one photogrammetry unit corresponds to one boom 2 and the boom hole 4 corresponding to that boom 2), uses machine vision to identify the three-dimensional coordinates of each apex of the lower end of the boom 2 and the boom hole 4, and calculates the three-dimensional coordinates of the center of the lower end of the boom 2 and the boom hole 4 using the three-dimensional coordinates of the apex of the lower end of the boom 2 and the boom hole 4.

[0070] Calculate the differences in the horizontal, vertical, and triangular coordinates (ΔX, ΔY, and ΔZ) between the lower end of the lifting rod 2 and the center of the lifting hole 4. Using the differences in the horizontal and vertical coordinates (ΔX and ΔY) between the lifting rod 2 located at the center of the lifting device 1 and the corresponding lifting hole 4 as the position adjustment values ​​for the lifting device 1, adjust the position of the lifting device 1. Since there are two lifting rods 2 located at the center of the lifting device 1, the difference between one of them can be used as the adjustment value.

[0071] Determine if the difference in the ordinate of the two symmetrical lifting rods 2 near both ends of the lifting device 1 with the corresponding lifting hole 4 is equal. If they are not equal, rotate the lifting device 1 around the Z-axis. Figure 13 As shown, the six sets of lifting rods 2 and lifting holes 4 are numbered. If the difference ΔY between the vertical coordinates of No. 1 and No. 3 or the difference ΔY between the vertical coordinates of No. 4 and No. 6 is not equal, then the lifting device 1 is rotated around the Z-axis.

[0072] Determine whether the vertical coordinate differences between the multiple lifting rods 2 near one end of the lifting device 1 and the corresponding lifting holes 4 are equal. If they are not equal, rotate the lifting device (1) around the X-axis. Figure 13 As shown, if the vertical coordinate difference ΔZ between No. ① and No. ④ is not equal, then the lifting device 1 will be rotated around the X-axis;

[0073] Determine if the vertical coordinate difference between the lifting rods 2 near both ends of the lifting device 1 and the corresponding lifting holes 4 is equal. If they are not equal, rotate the lifting device 1 around the Y-axis. Figure 13 As shown, if the difference ΔZ between the vertical coordinates of No. ① and No. ③ or the difference ΔZ between the vertical coordinates of No. ④ and No. ⑥ is not equal, then the lifting device 1 will be rotated around the Y-axis.

[0074] The aforementioned rotation angle can be calculated based on the coordinate difference and the distance between the booms 2 located at both ends of the lifting device 1.

[0075] S3. Multiple photogrammetry units acquire the center three-dimensional coordinates of the corresponding rod 2 and the hole 4 again, and check whether the rod 2 has completed coarse positioning. The conditions for completing coarse positioning are: the difference between the horizontal coordinate ΔX and the vertical coordinate ΔY of the center three-dimensional coordinates of the lower end of the rod 2 and the hole 4 are both within 1cm, and the difference between the vertical coordinate ΔZ of the center three-dimensional coordinates of the six rods 2 and the hole 4 is within 1cm.

[0076] Otherwise, perform coarse positioning of boom 2 again, that is, repeat step S2 until boom 2 is detected to be in place; if so, proceed to step S4.

[0077] S4. The photogrammetry unit transforms the lower end face of the boom 2 and the lifting hole 4 into the same plane, and measures the two-dimensional coordinates of the center of the lower end face of the boom 2 and the center of the lifting hole 4 under the same plane. The two-dimensional coordinates of the lower end face of the boom 2 and the center of the lifting hole 4 are also calculated based on the apex coordinates. Based on the difference in the horizontal coordinate ΔX and the difference in the vertical coordinate ΔY between the two-dimensional coordinates of the lower end of the boom 2 and the center of the lifting hole 4, the slider 6 and the fixed seat 7 of the boom seat 5 are adjusted to perform precise positioning of the boom 2.

[0078] It should be noted that after the rough positioning is completed, considering that the lifting holes of each segment beam 3 will have errors during manufacturing, they cannot be directly grasped. Otherwise, inaccurate positioning will damage the surfaces of the lifting rod 2 and the segment beam 3. Furthermore, since the photogrammetry unit is not directly facing the center of the lifting rod 2 and the lifting hole 4 when taking pictures, but has a certain deviation angle, a certain systematic error will be generated in the calculation. Therefore, the lifting rod 2 needs to be precisely positioned.

[0079] S5. Multiple photogrammetry units acquire the center two-dimensional coordinates of the corresponding boom 2 and boom hole 4 again. Based on the difference in abscissa ΔX and ordinate ΔY between the lower end of boom 2 and the center two-dimensional coordinates of boom hole 4, and the measurement results of distance sensor 15, they detect whether boom 2 has completed precise positioning. That is, they determine whether the difference in abscissa ΔX and ordinate ΔY between the lower end of six boom 2 and the center two-dimensional coordinates of boom hole 4 is less than or equal to 2.5mm, and whether the measurement results of distance sensor 15 are equal. If not, the boom 2 is precisely positioned again until it is detected that the boom 2 is adjusted to the correct position. If yes, step S6 is executed.

[0080] It should be noted that, as Figure 14 As shown, since the distance sensor 15 is tilted downward to measure the surface of the segment beam 3 near the edge of the lifting hole 4, when the lifting rod 2 and the lifting hole 4 are not fully aligned, one or more distance sensors 15 will measure the distance from it to the inside of the lifting hole 4. At this time, the measurement results of one or more distance sensors 15 will differ significantly from the measurement results of other distance sensors 15, so it can be quickly determined whether the fine positioning of the lifting rod 2 has been adjusted to the correct position.

[0081] S6, such as Figure 8 As shown, after the precise positioning of the boom 2 is completed, the overhead crane is controlled to lower the lifting device 1 so that the boom 2 is fully connected with the lifting hole 4, thereby realizing the automatic grabbing of the segment beam 3.

[0082] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An automatic segmental beam capture method based on a photogrammetry system, characterized in that: include: S1. Move the lifting device (1) above the segment beam (3) so that the photogrammetry unit can capture the lifting hole (4) corresponding to the lifting rod (2); S2. Multiple photogrammetry units acquire the center three-dimensional coordinates of the corresponding boom (2) and boom hole (4), and perform coarse positioning of boom (2) based on the center three-dimensional coordinates of boom (2) and boom hole (4); The center three-dimensional coordinates of the rod (2) are the center three-dimensional coordinates of the lower end of the rod (2). The center three-dimensional coordinates of the lower end of the rod (2) are obtained by obtaining the coordinates of each vertex of the lower end face of the rod (2). The center three-dimensional coordinates of the lifting hole (4) are obtained by obtaining the coordinates of each vertex of the lifting hole (4). In step S2, the coarse positioning of the lifting rod (2) includes: adjusting the position of the lifting device (1) according to the difference in the horizontal coordinate and the difference in the vertical coordinate between the lower end of the lifting rod (2) and the center of the lifting hole (4); and adjusting the angle of the lifting device (1) according to the difference in the vertical coordinate and the difference in the vertical coordinate between the lower end of the lifting rod (2) and the center of the lifting hole (4); wherein, the horizontal coordinate is the coordinate of the X-axis along the length direction of the lifting device (1), the vertical coordinate is the coordinate of the Y-axis along the width direction of the lifting device (1), and the vertical coordinate is the coordinate of the Z-axis along the direction perpendicular to the surface of the segment beam (3); In step S2, the coarse positioning of the lifting rod (2) includes: adjusting the position of the lifting device (1) based on the difference in the horizontal and vertical coordinates between the three-dimensional coordinates of the lifting rod (2) at the center of the lifting device (1) and the center of the lifting hole (4); comparing the difference in the vertical and vertical coordinates between the three-dimensional coordinates of all the lifting rods (2) near both ends of the lifting device (1) and the center of the corresponding lifting hole (4); and adjusting the angle of the lifting device (1). Adjusting the angle of the lifting device (1) includes: Determine whether the difference in the longitudinal coordinates of the two symmetrical lifting rods (2) near the two ends of the lifting device (1) and the corresponding lifting hole (4) is equal. If they are not equal, rotate the lifting device (1) around the Z-axis. Determine whether the vertical coordinate differences between the multiple lifting rods (2) near one end of the lifting device (1) and the corresponding lifting hole (4) are equal. If they are not equal, rotate the lifting device (1) around the X-axis. Determine whether the vertical coordinate difference between the lifting rod (2) near both ends of the lifting device (1) and the corresponding lifting hole (4) is equal. If they are not equal, rotate the lifting device (1) around the Y-axis. S3. Check whether the suspension rod (2) has completed the coarse positioning. If so, proceed to step S4. S4. Multiple photogrammetry units acquire the center two-dimensional coordinates of the corresponding boom (2) and boom hole (4), and perform precise positioning of boom (2) based on the center two-dimensional coordinates of boom (2) and boom hole (4); In step S4, the precise positioning of the boom (2) includes: adjusting the position of the boom seat (5) based on the difference in the horizontal coordinate and the difference in the vertical coordinate between the center two-dimensional coordinates of the boom (2) and the corresponding boom hole (4); S5. Check whether the boom (2) has completed the precise positioning. If so, proceed to step S6. S6. Lower the lifting device (1) so that the lifting rod (2) is fully connected with the lifting hole (4) to realize the automatic grabbing of the segment beam (3).

2. The method for automatically capturing segmental beams based on a photogrammetry system according to claim 1, characterized in that: Step S4 includes: the photogrammetry unit converts the lower end face of the rod (2) and the corresponding hanging hole (4) into the same plane, and measures the two-dimensional coordinates of the center of the lower end face of the rod (2) and the hanging hole (4) under the same plane.

3. The method for automatically capturing segmental beams based on a photogrammetry system according to claim 2, characterized in that: Step S5 includes: obtaining the center two-dimensional coordinates of all hangers (2) and hanger holes (4) and the distances to the surface of the segment beam (3) measured by multiple distance sensors (15). If the difference between the center two-dimensional coordinates of all hangers (2) and the corresponding hanger holes (4) is within a preset range, and the distances measured by multiple distance sensors (15) are the same, it indicates that the hanger (2) has been precisely positioned. When the boom (2) completes the precision positioning, the distance sensor (15) measures the distance from the surface of the segment beam (3) near the edge of the lifting hole (4) to the distance sensor (15).

4. An automatic segmental beam grasping system based on a photogrammetry system for implementing the automatic segmental beam grasping method based on a photogrammetry system according to any one of claims 1 to 3, characterized in that: Includes a control system, an overhead crane, a lifting device (1) mounted on the overhead crane, multiple boom seats (5), and multiple booms (2) mounted below the boom seats (5). The overhead crane is used to control the spatial position of the lifting device (1). The lifting device (1) is equipped with a rotation module for adjusting the overall angle of the lifting device (1). The boom seats (5) are slidably mounted on the lifting device (1) and are used for precise positioning of the booms (2). Multiple photogrammetry units are provided below the lifting device (1), each photogrammetry unit corresponds to a different lifting rod (2), and the photogrammetry unit is used to simultaneously photograph a lifting rod (2) and the lifting hole (4) corresponding to the lifting rod (2); The control system is used to receive information collected by the photogrammetry unit and control the movement of the crane, the hoist (1), and the boom seat (5).

5. The automatic segmental beam grasping system based on photogrammetry according to claim 4, characterized in that: It includes multiple sets of distance sensors (15) symmetrically arranged on the rod seat (5), each set of distance sensors (15) corresponds to one rod (2), each set of distance sensors (15) includes multiple distance sensors (15) symmetrically arranged, and the distance sensors (15) are used to measure the distance between the distance sensor (15) and the surface of the segment beam (3).

6. The automatic segmental beam grasping system based on photogrammetry according to claim 4, characterized in that: The photogrammetry unit includes a connecting mechanism (9), a gimbal (10), a pitch mechanism (11), and two cameras (12). The connecting mechanism (9) is connected to the hoist (1), the gimbal (10) is connected to the connecting mechanism (9), and the camera (12) is connected to the gimbal (10) through the pitch mechanism (11). The pitch mechanism (11) is used to adjust the shooting angle of the camera (12). The two cameras (12) are used to photograph the same hoist (2) and the hoisting hole (4) corresponding to the hoist (2) from different angles.

Images