Control methods for reinforcing mesh

Abstract

This invention provides a control method and processing system for reinforcing mesh, relating to the field of automation control technology. The method includes: acquiring processing parameters of the reinforcing mesh; the processing parameters include bending parameters, dimensional parameters, and welding parameters; determining the position coordinates of each reinforcing bar in the reinforcing mesh based on the dimensional parameters and welding parameters; and grasping the reinforcing mesh based on the bending parameters and the position coordinates. This invention adaptively determines the target grasping coordinates of the reinforcing mesh, enabling stable and automatic grasping of the reinforcing mesh based on these target coordinates. This reduces manual intervention and effectively improves the accuracy and efficiency of grasping various types of reinforcing mesh.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, and in particular to a control method for steel mesh. Background Technology

[0002] Steel mesh is widely used in concrete structures such as buildings, bridges, tunnels, and underground engineering. It primarily increases the load-bearing capacity, seismic performance, and durability of concrete structures. It also plays a role in positioning and maintaining the position of reinforcing bars during concrete pouring, making it an important structural form in modern construction and engineering technology.

[0003] After the steel mesh is produced, it needs to be hoisted and transported away, stacked, or hoisted to the precast component production line. Related technologies typically rely on manual experience to configure the gripping position of the steel mesh for gripping control, resulting in low gripping control efficiency and poor accuracy. Summary of the Invention

[0004] This invention provides a method for controlling steel mesh, which solves the problems of low efficiency and poor accuracy in the prior art, which relies on manual experience to configure the gripping position of the steel mesh. This method achieves efficient and precise gripping control of the steel mesh.

[0005] This invention provides a method for controlling steel mesh, comprising:

[0006] Obtain the processing parameters of the steel mesh; the processing parameters include bending parameters, dimensional parameters, and welding parameters;

[0007] Based on the dimensional parameters and the welding parameters, determine the position coordinates of each steel bar in the steel mesh;

[0008] The steel mesh is grasped based on the bending parameters and the position coordinates.

[0009] According to a method for controlling a steel mesh according to the present invention, the steel mesh includes transverse bars and longitudinal bars;

[0010] The step of grasping the steel mesh according to the bending parameters and the position coordinates includes:

[0011] Based on the bending parameters and the position coordinates of each of the transverse ribs, the target grabbing transverse coordinate is determined;

[0012] Based on the bending parameters and the position coordinates of each longitudinal rib, determine the target grab longitudinal coordinate;

[0013] The steel mesh is captured based on the target's horizontal and vertical coordinates.

[0014] According to a method for controlling a steel mesh provided by the present invention, determining the target grasping horizontal coordinate based on the bending parameters and the position coordinates of each of the transverse reinforcement bars includes:

[0015] When the processing strategy of the steel mesh is determined to be longitudinal reinforcement without bending based on the bending parameters, the target grabbing coordinate is determined based on the abscissa of the position coordinate of the longest transverse reinforcement in the steel mesh.

[0016] According to a method for controlling a steel mesh provided by the present invention, determining the target grasping horizontal coordinate based on the bending parameters and the position coordinates of each of the transverse reinforcement bars includes:

[0017] When the processing strategy of the steel mesh is determined to be longitudinal reinforcement bending based on the bending parameters, the bending length of the longitudinal reinforcement in the steel mesh is determined based on the bending parameters.

[0018] Calculate the distance between the abscissa of each of the horizontal bars and the abscissa of the target vertex of the steel mesh to obtain the first distance corresponding to each of the horizontal bars;

[0019] Based on the first distance corresponding to each of the transverse bars and the bending length of the longitudinal bars, the target transverse bars are determined in the steel mesh.

[0020] The target grabbing coordinate is determined based on the horizontal coordinate of the target horizontal rib's position coordinates.

[0021] According to a method for controlling a steel mesh provided by the present invention, determining the target grasping longitudinal coordinate based on the bending parameters and the position coordinates of each longitudinal bar includes:

[0022] When it is determined that the gripping strategy corresponding to the steel mesh is to grip the transverse bars, the bending length of the transverse bars on the target side of the steel mesh is determined according to the bending parameters.

[0023] Starting from the target side, the initial grasping coordinate is determined based on the ordinate of the vertex of the target side in the steel mesh, the bending length of the horizontal bar, and the preset safety distance, and it is determined whether there are obstacles within the preset range of the initial grasping coordinate.

[0024] If, based on the judgment result, it is determined that there is an obstacle within the preset range of the initial grasping ordinate, the initial grasping ordinate is updated according to the preset offset value to obtain the updated initial grasping ordinate.

[0025] Continue iteratively executing the judgment step and the update step for the updated initial grab coordinate until it is determined that there are no obstacles within the preset range of the updated initial grab coordinate;

[0026] The target grab coordinate is determined based on the updated initial grab coordinate where there are no obstacles within the preset range.

[0027] According to a method for controlling a steel mesh provided by the present invention, determining the target grasping longitudinal coordinate based on the bending parameters and the position coordinates of each longitudinal bar includes:

[0028] When it is determined that the gripping strategy corresponding to the steel mesh is to grip the longitudinal bars, the target longitudinal bar is determined in the steel mesh according to the bending parameters and the position coordinates of each longitudinal bar.

[0029] Determine the initial grabbing coordinate based on the ordinate in the position coordinates of the target longitudinal rib;

[0030] Determine whether there are obstacles within the preset range of the initial grasping vertical coordinate. If there are obstacles within the preset range of the initial grasping vertical coordinate, determine the next longitudinal bar of the target longitudinal bar, starting from the target side of the steel mesh.

[0031] Based on the ordinate in the position coordinates of the next longitudinal rib, update the initial grab ordinate to obtain the updated initial grab ordinate;

[0032] Repeat the determination and update steps for the updated initial grab coordinates until it is determined that there are no obstacles within the preset range of the updated initial grab coordinates;

[0033] The target grab coordinate is determined based on the updated initial grab coordinate where there are no obstacles within the preset range.

[0034] According to a method for controlling a steel mesh provided by the present invention, determining the target longitudinal reinforcement in the steel mesh based on the bending parameters and the position coordinates of each longitudinal reinforcement includes:

[0035] Based on the bending parameters, determine the bending length of the transverse reinforcement bars on the target side of the steel mesh;

[0036] The target distance is determined based on the bending length of the transverse rib and the preset safety distance;

[0037] Calculate the distance between the ordinate of each longitudinal reinforcement bar and the ordinate of the target vertex to obtain the second distance corresponding to each longitudinal reinforcement bar; the ordinate of the target vertex is the ordinate of the vertex on the target side of the steel mesh.

[0038] Starting from the target side, sequentially determine whether the second distance corresponding to each longitudinal rib is greater than the target distance, until it is determined that the second distance corresponding to any longitudinal rib is greater than the target distance;

[0039] The target longitudinal reinforcement is determined based on any of the longitudinal reinforcements.

[0040] According to a method for controlling a steel mesh according to the present invention, the steel mesh includes transverse bars and longitudinal bars;

[0041] Determining the position coordinates of each steel bar in the steel mesh based on the dimensional parameters and the welding parameters includes:

[0042] Based on the welding parameters, determine the number of weld point offsets and the welding distance corresponding to the steel mesh;

[0043] Based on the aforementioned dimensional parameters, determine the protruding length of the first horizontal bar welded in the steel mesh;

[0044] The position coordinates of each reinforcing bar are determined based on the number of weld point offsets, the welding distance, and the length of the protruding reinforcing bar.

[0045] According to the present invention, a method for controlling steel mesh is provided, wherein the processing parameters further include flipping parameters;

[0046] The step of determining the position coordinates of each reinforcing bar based on the number of weld point offsets, the welding distance, and the length of the protruding reinforcing bar includes:

[0047] If the steel mesh is determined to be a flipped mesh based on the flipping parameters, the initial position coordinates of the target vertex of the steel mesh are determined based on the number of weld point offsets, the welding distance, and the length of the protruding reinforcement.

[0048] Determine the position coordinates of the flipping center axis corresponding to the steel mesh;

[0049] The position coordinates of each steel bar are determined based on the initial position coordinates of the target vertex, the width of the mesh, the position coordinates of the flipping center axis, the position coordinates of the last horizontal bar welded in the steel mesh, and the length of the longitudinal bars protruding from the steel mesh.

[0050] The present invention also provides a processing system for steel mesh, including a welding machine, a turning machine and multiple mesh pulling trolleys;

[0051] The plurality of net-pulling trolleys include a first net-pulling trolley, a second net-pulling trolley, a third net-pulling trolley, and a fourth net-pulling trolley;

[0052] The welding machine is used to weld multiple steel bars to form a steel mesh;

[0053] The first wire mesh trolley is used to transfer the welded steel mesh to the turning machine;

[0054] The flipping machine is used to flip the steel mesh.

[0055] When the second mesh-pulling trolley is used to transfer the flipped steel mesh to the third mesh-pulling trolley, it executes the steel mesh control method as described in any of the above-mentioned items.

[0056] The third mesh-pulling trolley is used to bend the flipped steel mesh.

[0057] The fourth mesh-pulling trolley is used to transport the bent steel mesh to the formwork.

[0058] The present invention also provides a control device for steel mesh, comprising:

[0059] The acquisition unit is used to acquire the processing parameters of the steel mesh; the processing parameters include bending parameters, dimensional parameters, and welding parameters.

[0060] The determining unit is used to determine the position coordinates of each steel bar in the steel mesh based on the size parameters and the welding parameters;

[0061] The control unit is used to grasp the steel mesh according to the bending parameters and the position coordinates.

[0062] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method for the steel mesh as described above.

[0063] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for the steel mesh as described above.

[0064] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the control method for the steel mesh as described above.

[0065] The rebar mesh control method provided by this invention adaptively determines the position coordinates of each rebar in the rebar mesh based on the bending parameters, dimensional parameters, and welding parameters of the rebar mesh. It also adaptively determines the target grasping coordinates of the rebar mesh based on the bending parameters and position coordinates. Based on the target grasping coordinates, the rebar mesh can be grasped stably and automatically, reducing manual intervention and effectively improving the accuracy and efficiency of grasping control for various types of rebar mesh. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0067] Figure 1 This is one of the flowcharts illustrating the control method for steel mesh provided by the present invention;

[0068] Figure 2 This is a schematic diagram of the processing system provided by the present invention;

[0069] Figure 3 This is one of the schematic diagrams of the coordinates of the steel mesh provided by the present invention;

[0070] Figure 4 This is the second schematic diagram of the coordinates of the steel mesh provided by the present invention;

[0071] Figure 5 This is the third schematic diagram of the coordinates of the steel mesh provided by the present invention;

[0072] Figure 6 This is the second flowchart illustrating the control method for steel mesh provided by the present invention. Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0074] In the description of the embodiments of the present invention, it should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," 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 the embodiments of the present 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 the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0075] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0076] Currently, with increasingly higher requirements for automation and cycle time in steel mesh placement, most PC (Prefabricated Concrete Factory) plants still rely on manual configuration of the steel mesh gripping positions to achieve steel mesh gripping control, which has problems such as high operational safety risks, low efficiency, and poor gripping control accuracy.

[0077] To address the aforementioned technical problems, this embodiment provides a method for controlling a reinforcing mesh. Based on the size and welding parameters of the reinforcing mesh, the position coordinates of each reinforcing bar in the mesh are precisely located. Based on the bending parameters and position coordinates, the reinforcing mesh is adaptively grasped to achieve efficient and accurate grasping control.

[0078] The following is combined with Figures 1-6 The embodiments of the present invention will be described below. It should be understood that the following are merely illustrative embodiments of the present invention and do not constitute a limitation on the present invention.

[0079] like Figure 1 The diagram shown is one of the flowcharts illustrating a control method for reinforcing mesh provided in this embodiment. This method is applied to a processing system, which includes a welding machine, a turning machine, and a control device. The control device includes a three-dimensional reinforcing mesh forming module composed of multiple mesh-pulling trolleys. The various devices in the system cooperate with each other to achieve fully automated production, conveying, and assembly of various types of reinforcing mesh, thereby realizing fully automated processing and improving the processing efficiency of reinforcing mesh.

[0080] like Figure 2As shown, the multiple mesh-pulling trolleys may include a first mesh-pulling trolley, a second mesh-pulling trolley, a third mesh-pulling trolley, and a fourth mesh-pulling trolley. The first mesh-pulling trolley transports the welded steel mesh to a turning machine; the second mesh-pulling trolley transports the turned steel mesh to the third mesh-pulling trolley, which performs a bending operation on the turned steel mesh; and the fourth mesh-pulling trolley transports the bent steel mesh to a mold table for steel mesh assembly.

[0081] Each puller trolley may include at least one gripper so that the puller trolley can stably grip the steel mesh.

[0082] like Figure 2 and Figure 3 As shown, in this embodiment, the mesh-pulling trolley and the welding machine can establish the same coordinate system (X,Y), with the first welding point of the welding machine as the origin (0,0), and the forward direction of the steel mesh as the positive direction of the X-axis (i.e., the horizontal axis). Figure 2 The first trolley transports the reinforcing mesh to the direction of travel of the second trolley, or the second trolley transports the reinforcing mesh to the direction of travel of the third trolley, or the third trolley transports the reinforcing mesh to the direction of travel of the fourth trolley. The direction of rotation of the reinforcing mesh is taken as the positive direction of the Y-axis (i.e., the longitudinal axis). All coordinates mentioned in this embodiment are determined based on this coordinate system.

[0083] The method can be executed by a second net-pulling trolley, and includes the following steps:

[0084] Step 101: Obtain the processing parameters of the steel mesh; these processing parameters include bending parameters, dimensional parameters, and welding parameters.

[0085] The steel mesh referred to here can be a standard mesh (i.e., the longitudinal bars and transverse bars are the same) or a non-standard mesh (i.e., the longitudinal bars and transverse bars are different). This embodiment uses a standard mesh as an example to describe the control method of the steel mesh provided in this embodiment.

[0086] The bending parameters include, but are not limited to, bending marks used to indicate whether the steel mesh has been bent, as well as the bending length of the transverse bars and the bending length of the longitudinal bars of the steel mesh. This embodiment does not specifically limit these parameters.

[0087] The dimensional parameters include, but are not limited to, the length information of each horizontal bar of the steel mesh, the spacing between each horizontal bar, the length information of each longitudinal bar, and the spacing between each longitudinal bar. This embodiment does not specifically limit these parameters.

[0088] Welding parameters include, but are not limited to, the number of weld point offsets P and the longitudinal spacing D between each weld point; this embodiment does not specifically limit these parameters.

[0089] Optionally, the processing parameters of the steel mesh can be obtained by parsing the communication data packets transmitted from the host computer, or the processing parameters of the steel mesh can be obtained by parsing the configuration parameters input by the user through the touch screen device. This embodiment does not specifically limit this.

[0090] Step 102: Determine the position coordinates of each steel bar in the steel mesh based on the dimensional parameters and welding parameters;

[0091] Optionally, after obtaining the dimensional parameters and welding parameters, the dimensional parameters, welding parameters, and coordinate origin can be input into a pre-built mesh positioning model to output the position coordinates of each steel bar in the steel mesh; or the position coordinates of each steel bar in the steel mesh can be obtained by performing logical rule calculations on the dimensional parameters, welding parameters, and coordinate origin according to the pre-built mesh positioning rules. This embodiment does not specifically limit this.

[0092] In some embodiments, the reinforcing bars include transverse bars and longitudinal bars;

[0093] Step 102, which involves determining the position coordinates of each steel bar in the steel mesh, further includes:

[0094] Based on the welding parameters, determine the number of weld point offsets P and the welding distance D corresponding to the steel mesh;

[0095] Based on the dimensional parameters, determine the protruding length L3 of the first horizontal bar welded in the steel mesh;

[0096] The position coordinates of each rebar are determined based on the number of weld point offsets P, the welding distance D, and the extension length L3 of the first welded horizontal rebar.

[0097] Optionally, the coordinates of any vertex of the steel mesh are calculated, and the position coordinates of each steel bar are calculated based on the vertex coordinates, the length information of each transverse bar, and the length information of each longitudinal bar.

[0098] Among them, the vertex coordinates (X) of the lower right corner vertex of the steel mesh are used. o Y o Taking a steel mesh as an example, the calculation steps for the vertex coordinates of the steel mesh are explained:

[0099] First, determine the weld point offset P and welding distance D corresponding to the reinforcing mesh in the welding parameters; the weld point offset P refers to the number of weld points offset between the first weld point of the reinforcing mesh and the first weld point of the welding machine; for example... Figure 3 As shown, the first weld point of the steel mesh corresponds to the 8th weld point of the welding machine. Therefore, the offset number of the weld points corresponding to the steel mesh is P = 8 - 1 = 7. The welding distance is the interval distance D between the two weld points, which can be set according to the actual welding requirements, such as D = 50.

[0100] Furthermore, the protruding length L3 of the first transverse bar welded in the steel mesh is determined in the dimensional parameters.

[0101] Next, the weld point offset P, welding distance D, the extension length L3 of the first horizontal bar, and the weld point position corresponding to the origin are input into the pre-built mesh positioning model, and the vertex coordinates (X) of the lower right corner of the steel mesh are output. o Y o Alternatively, based on pre-built mesh positioning rules, the coordinates (X) of the lower right corner vertex in the steel mesh are calculated using logical rules based on the weld point offset number P, welding distance D, the extension length L3 of the first horizontal bar, and the origin of the coordinate system. o Y o This embodiment does not specifically limit this aspect.

[0102] Next, based on the length information of each horizontal and vertical reinforcement bar, determine the coordinates (X, Y) of each horizontal and vertical reinforcement bar to the vertex. o Y o The interval between the two vertices is used to calculate the position coordinates of each rebar based on the interval distance and the coordinates of the vertex.

[0103] In some embodiments, the processing parameters also include a flipping parameter;

[0104] Step 102, which involves determining the position coordinates of each steel bar in the steel mesh, further includes:

[0105] When the steel mesh is determined to be a flipped mesh based on the flipping parameters, the initial position coordinates of the target vertex of the steel mesh are determined based on the number of weld point offsets, welding distance, and bar length.

[0106] Determine the position coordinates of the flipping center axis corresponding to the steel mesh;

[0107] The position coordinates of each rebar are determined based on the initial position coordinates of the target vertex, the mesh width, the position coordinates of the flipping center axis, the position coordinates of the last horizontal rebar welded in the rebar mesh, and the longitudinal rebar extension length L4 in the rebar mesh.

[0108] When the steel mesh is a standard mesh (i.e., the longitudinal bars and transverse bars are the same), the longitudinal bar protrusion length can be the protrusion length of any longitudinal bar in the steel mesh. When the steel mesh is a non-standard mesh (i.e., the longitudinal bars and transverse bars are different), the longitudinal bar protrusion length can be the longest longitudinal bar protrusion length in the steel mesh. The specific longitudinal bar protrusion length can be determined according to actual needs.

[0109] Optionally, the initial Y-axis coordinate of the lower right corner vertex before the steel mesh is flipped is obtained by multiplying the weld point offset by the welding distance and subtracting it from the extension length L3 of the first horizontal bar. c The specific calculation formula is shown in formula (1):

[0110] Y c =P*D-L3 (1;

[0111] If, based on the flipping parameters, the steel mesh is determined to be a non-flipped mesh (i.e., a mesh that has not been flipped), then the initial vertex coordinates' Y-axis coordinates are directly set to... c The Y-axis coordinate of the final vertex of the bottom right corner of the steel mesh is Y. o .

[0112] If the steel mesh is determined to be a flipped mesh, i.e. a mesh that has already been flipped, based on the flipping parameters, it is still necessary to further determine the position coordinates of the flipping center axis corresponding to the steel mesh.

[0113] For example, such as Figure 4 Assuming the steel mesh produced by the welding machine has the first weld point on the first longitudinal bar, the steel mesh is conveyed to the underside of the turning machine. A reference point A is arbitrarily chosen below the turning machine. Before turning, the distance L1 between the first longitudinal bar B and reference point A is measured. After turning the mesh 180 degrees, the distance L2 between the first longitudinal bar B and reference point A is measured. The Y-axis coordinate of the turning center axis is calculated as Y. f = (L1-L2) / 2.

[0114] Next, based on the initial position coordinates of the steel mesh, the Y-axis coordinate... c The width W of the mesh and the Y-axis coordinate of the position of the flipping center axis. f Determine the Y-axis coordinate of the final vertex of the lower right corner of the steel mesh. o The specific calculation formula is shown in formula (2):

[0115] Y o =2*Y f -( Y c +W) (2);

[0116] And, as Figure 3 As shown, based on the position coordinate X1 of the last horizontal bar welded in the steel mesh and the extension length L4 of the longitudinal bars in the steel mesh, the X-axis coordinate X of the final vertex of the lower right corner of the steel mesh is determined. o The specific calculation formula is shown in formula (3):

[0117] X o = X1- L4 (3;

[0118] Next, based on the length information of each horizontal bar and each vertical bar, determine the final vertex coordinates (X) of each horizontal bar and each vertical bar to the lower right corner vertex of the steel mesh. o ,Y o The interval distance between the two vertices is determined based on the interval distance and the vertex coordinates (X). o ,Y o The position coordinates of each steel bar are calculated.

[0119] The method provided in this embodiment can adaptively calculate the coordinates of the steel mesh before and after flipping based on the flipping parameters, size parameters, and welding parameters, so as to accurately locate the gripping coordinates of the steel mesh and improve the accuracy of gripping control.

[0120] Step 103: Grab the steel mesh according to the bending parameters and position coordinates.

[0121] Optionally, the bending parameters and position coordinates can be input into a pre-built grasping coordinate calculation model to output the grasping position coordinates of the steel mesh; or the grasping position coordinates of the steel mesh can be obtained by performing logical rule calculation on the bending parameters and position coordinates according to the pre-built grasping coordinate calculation rules. This embodiment does not specifically limit this.

[0122] Next, based on the coordinates of the gripping position, the corresponding gripping point is determined on the steel mesh to grip the steel mesh at the corresponding gripping point. The steel mesh is then transferred to bending equipment, such as a bending machine or a third mesh-pulling trolley for bending, for further processing of the steel mesh.

[0123] It should be noted that the gripping point here can be either a horizontal rib or a vertical rib, and the specific setting can be made according to the gripping requirements.

[0124] The rebar mesh control method provided in this embodiment adaptively determines the position coordinates of each rebar in the rebar mesh based on the bending parameters, dimensional parameters, and welding parameters of the rebar mesh. It also adaptively determines the target grasping coordinates of the rebar mesh based on the bending parameters and position coordinates. Based on the target grasping coordinates, the rebar mesh can be grasped stably and automatically, reducing manual intervention and effectively improving the accuracy and efficiency of grasping control for various types of rebar mesh.

[0125] In some embodiments, the reinforcing bars include transverse bars and longitudinal bars;

[0126] Based on the bending parameters and position coordinates, the steel mesh is retrieved, including:

[0127] Based on the bending parameters and the position coordinates of each horizontal rib, determine the target grab horizontal coordinate;

[0128] Based on the bending parameters and the position coordinates of each longitudinal rib, determine the target grab longitudinal coordinate;

[0129] Based on the target's x-coordinate and y-coordinate, capture the steel mesh.

[0130] Optionally, the bending parameters and the position coordinates of each transverse bar can be input into a pre-built grasping coordinate calculation model to output the target grasping abscissa of the steel mesh; or the target grasping abscissa of the steel mesh can be obtained by performing logical rule calculation on the bending parameters and the position coordinates of each transverse bar according to the pre-built grasping coordinate calculation rules. This embodiment does not specifically limit this.

[0131] Similarly, the bending parameters and the position coordinates of each longitudinal bar can be input into a pre-built grasping coordinate calculation model to output the target grasping longitudinal coordinates of the steel mesh; or the target grasping longitudinal coordinates of the steel mesh can be obtained by performing logical rule calculation on the bending parameters and the position coordinates of each longitudinal bar according to the pre-built grasping coordinate calculation rules. This embodiment does not specifically limit this.

[0132] Once the target's horizontal and vertical coordinates are obtained, the corresponding gripping points on the rebar mesh can be determined. The rebar mesh is then gripped at these points and transferred to the bending equipment for further processing.

[0133] The method provided in this embodiment can adaptively and accurately locate the gripping position of the steel mesh in the X-axis and Y-axis directions by using bending parameters and position coordinates, thereby improving the accuracy, efficiency, and compatibility of gripping control for various types of steel mesh.

[0134] In some embodiments, the step of determining the target's x-coordinate further includes:

[0135] Based on the bending parameters, if the processing strategy for the steel mesh is determined to be processing the longitudinal bars without bending, the target capture coordinate is determined based on the abscissa of the position coordinate of the longest transverse bar in the steel mesh.

[0136] Optionally, based on the bending parameters, determine whether the processing strategy of the steel mesh is longitudinal reinforcement without bending or longitudinal reinforcement with bending; if the processing strategy of the steel mesh is determined to be longitudinal reinforcement without bending, the abscissa of the position coordinate of the longest transverse reinforcement is used as the X-direction grab coordinate (i.e., the target grab abscissa).

[0137] In some embodiments, the step of determining the target's x-coordinate further includes:

[0138] When the processing strategy for the steel mesh is determined to be longitudinal reinforcement bending based on the bending parameters, the bending length L5 of the longitudinal reinforcement in the steel mesh is determined based on the bending parameters.

[0139] Calculate the distance between the x-coordinate of each horizontal bar and the x-coordinate of the target vertex of the steel mesh to obtain the first distance corresponding to each horizontal bar;

[0140] Based on the first distance corresponding to each transverse bar and the bending length of the longitudinal bar, the target transverse bar is determined in the steel mesh;

[0141] Determine the target's grasping coordinates based on the x-coordinate of the target's horizontal rib's position coordinates.

[0142] The target vertex can be the vertex at the bottom right.

[0143] Optionally, if the processing strategy for the steel mesh is determined to be longitudinal bar bending, in order to avoid interfering with the normal operation of the bending equipment, the longitudinal bar bending length L5 in the steel mesh can be determined in the bending parameters; the sum of the longitudinal bar bending length L5 and the preset safety distance L6 is calculated to obtain the distance threshold D. T Furthermore, the distance between the abscissa of each horizontal bar and the abscissa of the target vertex of the steel mesh is calculated to obtain the first distance D1 corresponding to each horizontal bar.

[0144] Next, the first distance D1 corresponding to each transverse rib is compared with the distance threshold D. T By comparison, it is determined that the first distance D1 is greater than the distance threshold D. T The horizontal rib is taken as the target horizontal rib, and the horizontal coordinate of the position coordinate of the target horizontal rib is taken as the target grab horizontal coordinate.

[0145] The method provided in this embodiment adaptively determines the calculation strategy for grasping the horizontal coordinate based on the bending parameters, and based on the corresponding calculation strategy for grasping the horizontal coordinate, adaptively grasps the target horizontal coordinate according to the position coordinates of each horizontal bar, so as to realize the automated grasping control of various types of steel mesh, improve the accuracy of grasping control, and improve the grasping control efficiency and compatibility.

[0146] In some embodiments, the step of determining the target's vertical coordinate further includes:

[0147] When the gripping strategy for the steel mesh is determined to be gripping the transverse bars, the bending length of the transverse bars on the target side of the steel mesh is determined based on the bending parameters.

[0148] Starting from the target side, the initial grabbing coordinate is determined based on the ordinate of the vertex of the target side in the steel mesh, the bending length of the transverse reinforcement, and the preset safety distance. It is also determined whether there are obstacles within the preset range of the initial grabbing coordinate.

[0149] If, based on the judgment result, it is determined that there is an obstacle within the preset range of the initial grasping vertical coordinate, the initial grasping vertical coordinate is updated according to the preset offset value to obtain the updated initial grasping vertical coordinate.

[0150] Continue iteratively performing the judgment and update steps on the updated initial grab ordinate until it is determined that there are no obstacles within the preset range of the updated initial grab ordinate;

[0151] The target grab coordinate is determined based on the updated initial grab coordinate where there are no obstacles within the preset range.

[0152] Among them, the grasping strategies include, but are not limited to, strategies for grasping transverse ribs or strategies for grasping longitudinal ribs.

[0153] The target side is the direction in which the gripper of the second net-pulling trolley is located; if the second net-pulling trolley can include two sets of grippers in different directions, namely the left gripper and the right gripper, then the target side can be determined to include the left and right sides.

[0154] Optionally, if the gripping strategy corresponding to the steel mesh is determined to be gripping the transverse bars, for the left gripper, the target side is determined to be the left side, and the target gripping vertical coordinate to be gripped by the gripper can be determined based on the following steps:

[0155] Determine the bending length L7 of the transverse reinforcement on the left side of the steel mesh in the bending parameters;

[0156] like Figure 5 As shown, starting from the left side of the steel mesh, the difference between the ordinate of the left vertex of the steel mesh and the bending length L7 of the left horizontal bar and the preset safety distance is calculated to obtain the initial grab ordinate Y1, and it is determined whether there are obstacles within the preset range of the initial grab ordinate; among which, obstacles include but are not limited to longitudinal bars or nylon strips.

[0157] If a longitudinal rib or nylon strip exists within the preset range of the initial grasping ordinate, this grasping ordinate is abandoned. Based on the initial grasping ordinate, a preset offset value is applied along the Y-axis direction closer to the next longitudinal rib to update the initial grasping ordinate, resulting in an updated initial grasping ordinate. Next, it is determined whether a longitudinal rib or nylon strip exists within the preset range of the updated initial grasping ordinate. If a longitudinal rib or nylon strip exists within the preset range of the updated initial grasping ordinate, the grasping ordinate is updated again by applying a preset offset value. This process of obstacle detection and grasping ordinate update is iteratively executed until obstacle avoidance is successful, i.e., until an updated initial grasping ordinate without obstacles within the preset range is obtained. The updated initial grasping ordinate without obstacles within the preset range is used as the target grasping ordinate of the left gripper.

[0158] Similarly, for the right-side gripper, with the target side defined as the right, the target's vertical coordinate to be grasped by the gripper can be determined based on the following steps:

[0159] Determine the bending length L8 of the transverse reinforcement on the right side of the steel mesh in the bending parameters;

[0160] Starting from the right side of the steel mesh, calculate the sum of the ordinate of the right vertex of the steel mesh, the bending length L8 of the right transverse reinforcement, and the preset safety distance to obtain the initial gripping ordinate. Referring to the method of obtaining the target gripping ordinate of the left gripper, iteratively perform obstacle judgment and gripping ordinate update on the initial gripping ordinate until there are no obstacles within the preset range. The updated initial gripping ordinate is then used as the target gripping ordinate of the right gripper.

[0161] It should be noted that if the target grabbing vertical coordinate fails to be acquired on either side of the gripper, an automatic alarm can be triggered based on the target grabbing vertical coordinate acquisition record, so that maintenance personnel can perform maintenance in a timely manner to ensure the normal operation of the steel mesh grabbing control.

[0162] The method provided in this embodiment can automatically grasp the steel mesh by avoiding obstacles based on the bending parameters and the position coordinates of each longitudinal bar. This not only improves the efficiency of steel mesh grasping, but also increases the success rate of steel mesh grasping.

[0163] In some embodiments, the step of determining the target's vertical coordinate further includes:

[0164] Given that the gripping strategy for the steel mesh is determined to be gripping the longitudinal bars, the target longitudinal bars are determined in the steel mesh based on the bending parameters and the position coordinates of each longitudinal bar.

[0165] Determine the initial grab coordinate based on the ordinate in the position coordinates of the target longitudinal rib;

[0166] Determine if there are obstacles within the preset range of the initial grasping vertical coordinate. If there are obstacles within the preset range of the initial grasping vertical coordinate, determine the next longitudinal bar of the target longitudinal bar, starting from the target side of the steel mesh.

[0167] Based on the ordinate of the position coordinate of the next longitudinal reinforcement, update the initial grab ordinate to obtain the updated initial grab ordinate.

[0168] Repeat the judgment and update steps for the updated initial grab coordinates until it is determined that there are no obstacles within the preset range of the updated initial grab coordinates;

[0169] The target grab coordinate is determined based on the updated initial grab coordinate where there are no obstacles within the preset range.

[0170] Optionally, if the gripping strategy corresponding to the steel mesh is determined to be gripping the longitudinal bars, for the left gripper, the target side is determined to be the left side, and the target gripping longitudinal coordinate to be gripped by the gripper can be determined based on the following steps:

[0171] First, based on the bending parameters and the position coordinates of each longitudinal reinforcement, the target longitudinal reinforcement is determined among multiple longitudinal reinforcements;

[0172] Optionally, the bending parameters and the position coordinates of each longitudinal reinforcement can be input into a pre-built filtering model to output the target longitudinal reinforcement; or, based on the pre-configured filtering rules, the filtering logic can be calculated according to the bending parameters and the position coordinates of each longitudinal reinforcement to obtain the target longitudinal reinforcement. This embodiment does not specifically limit this.

[0173] In some embodiments, the step of determining the target longitudinal reinforcement further includes:

[0174] Determine the bending length of the transverse bars on the target side of the steel mesh based on the bending parameters;

[0175] Determine the target distance based on the bending length of the transverse ribs and the preset safety distance;

[0176] Calculate the distance between the ordinate of each longitudinal reinforcement bar and the ordinate of the target vertex to obtain the second distance corresponding to each longitudinal reinforcement bar; the ordinate of the target vertex is the ordinate of the vertex on the target side of the steel mesh.

[0177] Starting from the target side, sequentially determine whether the second distance corresponding to each longitudinal reinforcement is greater than the target distance, until it is determined that the second distance corresponding to any longitudinal reinforcement is greater than the target distance;

[0178] Determine the target longitudinal reinforcement based on any given longitudinal reinforcement.

[0179] Optionally, the bending length L7 of the transverse reinforcement on the left side of the steel mesh is determined in the bending parameters, and the sum of the bending length L7 and the preset safety distance is calculated to obtain the target distance;

[0180] Starting from the left side of the steel mesh, calculate the distance between the ordinate of each longitudinal bar in the steel mesh and the ordinate of the target vertex to obtain the second distance corresponding to each longitudinal bar. Then, determine whether the second distance corresponding to each longitudinal bar is greater than the target distance until the second distance corresponding to the Nth longitudinal bar is greater than the target distance. Then, take the Nth longitudinal bar as the target longitudinal bar and take the ordinate of the position coordinate of the target longitudinal bar as the initial grab ordinate.

[0181] Next, it is determined whether there are obstacles within the preset range of the initial grasping vertical coordinate; among which, obstacles include, but are not limited to, longitudinal ribs or nylon strips.

[0182] If there are longitudinal bars or nylon strips within the preset range of the initial grab ordinate, there is a risk of collision when grabbing the target longitudinal bar. Abandon this grab ordinate, take the left side of the steel mesh as the starting point, determine the next longitudinal bar of the target longitudinal bar (that is, the N+1th longitudinal bar on the left), update the initial grab ordinate to the ordinate in the position coordinate of the next longitudinal bar, and obtain the updated initial grab ordinate.

[0183] Next, it continues to determine whether there are longitudinal ribs or nylon strips within the preset range of the updated initial gripping ordinate. If there are longitudinal ribs or nylon strips within the preset range of the updated initial gripping ordinate, it continues to update the gripping ordinate by jumping to the position coordinate of the next longitudinal rib after the next longitudinal rib, based on the updated initial gripping ordinate. Iterate through the above obstacle judgment and gripping ordinate update until obstacle avoidance is successful, that is, until the updated initial gripping ordinate where there are no obstacles within the preset range is obtained. The updated initial gripping ordinate where there are no obstacles within the preset range is used as the target gripping ordinate of the left gripper.

[0184] Similarly, for the right-side gripper, with the target side defined as the right, the target's vertical coordinate to be grasped by the gripper can be determined based on the following steps:

[0185] Determine the bending length L8 of the right transverse reinforcement bar in the bending parameters; calculate the sum of the right transverse reinforcement bar bending length L8 and the preset safety distance to obtain the target distance;

[0186] Starting from the right side of the steel mesh, calculate the distance between the ordinate of each longitudinal bar in the steel mesh and the ordinate of the target vertex, obtaining the second distance for each longitudinal bar. Then, sequentially check if the second distance for each longitudinal bar is greater than the target distance, until the second distance for the Mth longitudinal bar is found to be greater than the target distance. If so, this Mth longitudinal bar is designated as the target longitudinal bar, and its ordinate is used as the initial grasping ordinate. Referring to the method used to obtain the target grasping ordinate for the left gripper, iteratively update the initial grasping ordinate by checking for obstacles, until the updated initial grasping ordinate within a preset range is used as the target grasping ordinate for the right gripper.

[0187] It should be noted that if the target grabbing vertical coordinate fails to be obtained on either side of the gripper, an automatic alarm can be triggered based on the target grabbing vertical coordinate acquisition record, so that maintenance personnel can perform maintenance in a timely manner to ensure the normal operation of the steel mesh grabbing control.

[0188] The method provided in this embodiment can automatically grasp the steel mesh by avoiding obstacles based on the bending parameters and the position coordinates of each longitudinal bar. This not only improves the efficiency of steel mesh grasping, but also increases the success rate of steel mesh grasping.

[0189] like Figure 6 The diagram shown is a second flowchart illustrating the control method for the reinforcing mesh provided in this embodiment, which specifically includes the following steps:

[0190] Step 601: Establish a coordinate system. Specifically, for each mesh pulling trolley and welding machine, establish a common coordinate system with the first welding point of the welding machine as the origin and the forward direction of the mesh as the X-axis.

[0191] Step 602: Obtain the position coordinates of each reinforcing bar and the position coordinates of the obstacle;

[0192] Step 603: Calculate the target abscissa and target ordinate of the steel mesh.

[0193] Step 604: Grab the steel mesh based on the target capture horizontal and vertical coordinates.

[0194] The processing system for the reinforcing mesh provided by the present invention will be described below. The processing system for the reinforcing mesh described below can be referred to in correspondence with the control method for the reinforcing mesh described above.

[0195] The processing system includes a welding machine, a turning machine, and multiple mesh stretching trolleys;

[0196] The multiple net-pulling carts include a first net-pulling cart, a second net-pulling cart, a third net-pulling cart, and a fourth net-pulling cart;

[0197] Welding machines are used to weld multiple steel bars to form a steel mesh;

[0198] The first wire mesh conveyor is used to transfer the welded steel mesh to the turning machine;

[0199] A flipping machine is used to flip steel mesh sheets.

[0200] The second net-pulling trolley is used to perform tasks such as... Figure 1 and Figure 6 The control steps for the steel mesh shown involve transferring the flipped steel mesh to the third mesh-pulling trolley.

[0201] The third mesh-pulling trolley is used to bend the flipped steel mesh.

[0202] The fourth wire mesh conveyor is used to transfer the bent steel mesh to the formwork.

[0203] The processing system provided in this embodiment adaptively determines the position coordinates of each steel bar in the steel mesh based on the bending parameters, dimensional parameters, and welding parameters of the steel mesh using a second mesh-pulling trolley. It also adaptively determines the target grasping coordinates of the steel mesh based on the bending parameters and position coordinates. Based on the target grasping coordinates, the system can stably and automatically grasp the steel mesh, reducing manual intervention and effectively improving the accuracy and efficiency of grasping various types of steel mesh.

[0204] Since the above-mentioned steel mesh processing system uses the same steel mesh control method as described above, it has the same advantages as described above, which will not be repeated here.

[0205] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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; and these 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 the present invention.

Claims

1. A method for controlling steel mesh, characterized in that, include: Obtain the processing parameters of the steel mesh; the processing parameters include bending parameters, dimensional parameters, and welding parameters; The position coordinates of each steel bar in the steel mesh are determined based on the dimensional parameters and the welding parameters; the steel bars include transverse bars and longitudinal bars. Based on the bending parameters and the position coordinates of each of the transverse ribs, the target grabbing transverse coordinate is determined; Based on the bending parameters and the position coordinates of each longitudinal rib, determine the target grab longitudinal coordinate; The determination of the target's vertical coordinate includes: When it is determined that the gripping strategy corresponding to the steel mesh is to grip the transverse bars, the bending length L7 of the transverse bars on the target side of the steel mesh is determined according to the bending parameters. Starting from the target side, calculate the difference between the ordinate of the vertex of the target side in the steel mesh and the bending length L7 of the transverse reinforcement and the preset safety distance to obtain the initial grasping ordinate Y1, and determine whether there are longitudinal reinforcements or nylon strips within the preset range of the initial grasping ordinate. If there is a longitudinal rib or nylon strip within the preset range of the initial gripping ordinate, the initial gripping ordinate is updated by offsetting a preset offset value along the Y-axis direction closer to the next longitudinal rib. Repeat the above judgment and update steps until the updated initial grab coordinate where there are no obstacles within the preset range is obtained as the target grab coordinate; The steel mesh is captured based on the target's horizontal and vertical coordinates.

2. The method for controlling the reinforcing mesh according to claim 1, characterized in that, Determining the target grasping horizontal coordinate based on the bending parameters and the position coordinates of each of the horizontal ribs includes: When the processing strategy of the steel mesh is determined to be longitudinal reinforcement without bending based on the bending parameters, the target grabbing coordinate is determined based on the abscissa of the position coordinate of the longest transverse reinforcement in the steel mesh.

3. The method for controlling the reinforcing mesh according to claim 1, characterized in that, Determining the target grasping horizontal coordinate based on the bending parameters and the position coordinates of each of the horizontal ribs includes: When the processing strategy of the steel mesh is determined to be longitudinal reinforcement bending based on the bending parameters, the bending length of the longitudinal reinforcement in the steel mesh is determined based on the bending parameters. Calculate the distance between the abscissa of each of the horizontal bars and the abscissa of the target vertex of the steel mesh to obtain the first distance corresponding to each of the horizontal bars; Based on the first distance corresponding to each of the transverse bars and the bending length of the longitudinal bars, the target transverse bars are determined in the steel mesh. The target grabbing coordinate is determined based on the horizontal coordinate of the target horizontal rib's position coordinates.

4. The method for controlling the reinforcing mesh according to any one of claims 1-3, characterized in that, The reinforcing bars include transverse bars and longitudinal bars; Determining the position coordinates of each steel bar in the steel mesh based on the dimensional parameters and the welding parameters includes: Based on the welding parameters, determine the number of weld point offsets and the welding distance corresponding to the steel mesh; Based on the aforementioned dimensional parameters, determine the protruding length of the first horizontal bar welded in the steel mesh; The position coordinates of each reinforcing bar are determined based on the number of weld point offsets, the welding distance, and the length of the protruding reinforcing bar.

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