Automatic hooking system for transferring reinforcing mesh
By introducing an automatic detection system into the rebar mesh sling hook system, using a variety of sensors and wireless data networks, the posture, safety and position detection of the sling hook is realized, and the cumbersome and intelligent detection in the existing technology is solved. The problem of low degree improves the efficiency and safety of spreader hooks.
Patent Information
- Application Number
- CN202411344204.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-25
- Publication Date
- 2024-12-13
AI Technical Summary
The existing steel strip mesh spreader hook detection system is cumbersome, inconvenient and low in intelligence, and cannot effectively improve the efficiency and safety of spreader hooks.
An automatic hooking system for steel mesh transfer is designed, including hooking device, detection console, detection module and transmission module, which is carried out using wireless data network and a variety of sensors (such as linear array CCD camera, distance sensor, lidar) Position, safety and position detection, analyze the initial and operating status of the spreader hook through software, calculate the included angle and position coordinates, and monitor and adjust the swing angle and position of the spreader hook in real time.
It realizes the convenience of operation and high intelligence, improves the safety and use efficiency of spreader hooks, can detect and prevent safety risks caused by too close distances during running of spreader hooks, and improves construction safety.
Smart Images
Figure CN119117934A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of steel belt mesh hangers, in particular to an automatic hooking system for steel mesh rotation. Background Art
[0002] The sling hook is a commonly used tool in the construction process of steel belt mesh. The sling hook needs to be tested during use, but the existing detection system still has shortcomings. Specifically, the detection process of the existing detection system is relatively cumbersome, inconvenient to use, and the degree of intelligence is low.
[0003] Therefore, an automatic hooking system for steel mesh transfer is needed to solve the problems raised in the above background technology. Summary of the invention
[0004] The object of the present invention is to provide an automatic hooking system for steel mesh transfer to solve the problems raised in the above-mentioned background technology.
[0005] To achieve the above object, the present invention provides the following technical solutions:
[0006] An automatic hooking system for steel mesh transfer includes a hooking device body, a detection console, a detection module and a transmission module. The detection console is internally provided with hooking detection software, and the hooking detection software includes a posture detection unit, a safety detection unit and a position detection unit.
[0007] As a preferred solution of the present invention, the transmission module is connected to the detection control console via a wire, and the detection module is connected to the transmission module via a wireless data network.
[0008] As a preferred solution of the present invention, the detection module includes various linear array CCD cameras, distance sensors and laser radars with wireless data transmission functions, the transmission module includes various data transmission devices, and the detection module is provided with multiple groups.
[0009] As a preferred solution of the present invention, the specific analysis steps of the posture detection unit are: the detection module records the image of the static state of the sling hook, the detection module sends the static state image to the detection console, the posture detection unit processes the static state image to obtain the initial reference state of the sling hook, when the sling hook is running, the detection module records the running state image of the sling hook and inputs the running image into the detection console, the posture detection unit projects the running image onto a three-dimensional plane, obtains the two-dimensional coordinates of the pixel points and calculates the angle of the sling hook, and finally the swing foot of the sling hook can be calculated according to the calculation formula.
[0010] As a preferred solution of the present invention, the specific analysis steps of the safety detection unit are: the detection module obtains multiple groups of first distance values of the sling hook, the detection module inputs the obtained first distance values into the detection console, the safety detection unit selects outliers existing in the multiple groups of first distance values, and calculates the average difference value between the outliers and the average value of the multiple groups of first distance values, and compares the average difference value with the threshold value. If the average difference value exceeds the threshold value of 2%-3%, it indicates that the operation safety of the sling hook is poor and the operation needs to be suspended.
[0011] As a preferred solution of the present invention, the specific analysis steps of the position detection unit are: the detection module obtains an initial point cloud based on the sling hook, obtains the attribute information of the point cloud data in a predetermined sub-area in the frame point cloud data through the initial point cloud, generates a reference plane, determines the center position in the reference plane, and determines the target position information of the sling hook in the reference plane based on the attribute information of the point cloud data to obtain the specific position coordinates of the sling hook.
[0012] As a preferred solution of the present invention, the calculation formula is: where θ x ,θ y is the calculated sling hook angle, and θ is the sling hook swing angle.
[0013] As a preferred solution of the present invention, the first distance value is the distance between adjacent hanger hooks.
[0014] As a preferred scheme of the present invention, the specific steps of determining the center position in the reference plane are: selecting at least three non-collinear fitting points on the ground, obtaining a fitting plane based on the fitting points, calculating the normal vector of the fitting plane, determining that the first coordinate axis of the reference plane is parallel to the normal vector of the plane, selecting two target points in the direction of the second coordinate axis on the plane of the sling hook relative to the detection module, calculating the angle between the straight line formed by the target points and the second coordinate axis, adjusting the reference plane based on the angle so that the second coordinate axis of the reference plane is parallel to the side of the sling hook, determining the deviation value between the sling hook and the detection module based on the two edge coordinates of the sling hook in the adjusted reference plane, and determining the position of the center of the reference plane based on the deviation value.
[0015] Compared with the prior art, the present invention has the following beneficial effects:
[0016] 1. In the present invention, the detection module records the image of the static state of the sling hook, and the detection module sends the static state image to the detection console. The posture detection unit processes the static state image to obtain the initial reference state of the sling hook. When the sling hook is running, the detection module records the running state image of the sling hook and inputs the running image into the detection console. The posture detection unit projects the running image on a three-dimensional plane to obtain the two-dimensional coordinates of the pixel points and calculate the angle of the sling hook. Finally, the swing angle of the sling hook can be calculated according to the calculation formula. The detection module obtains the initial point cloud based on the sling hook, obtains the attribute information of the point cloud data in a predetermined sub-area in the frame point cloud data through the initial point cloud, generates a reference plane, determines the center position in the reference plane, and determines the target position of the sling hook in the reference plane based on the attribute information of the point cloud data. The detection module can obtain the specific position coordinates of the sling hook according to the detection data of the detection module, and calculate the swing angle and position coordinates of the sling hook according to the detection data of the detection module. The operation is convenient and fast, and the use is relatively convenient. The operation process does not require too much intervention from workers, and the degree of intelligence is relatively high. At the same time, the specific analysis steps of the safety detection unit are: the detection module obtains multiple groups of first distance values of the sling hook, and the detection module inputs the obtained first distance values into the detection console. The safety detection unit selects outliers in the multiple groups of first distance values, and calculates the average difference between the outliers and the average values of the multiple groups of first distance values, and compares the average difference with the threshold value. If the average difference exceeds the threshold value of 2%-3%, it indicates that the operation safety of the sling hook is poor and needs to be suspended. It can prevent the sling hook from being too close during operation and causing mutual configuration, thereby improving the operation safety of the sling hook. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the overall hardware structure of the present invention;
[0018] Figure 2 It is a schematic diagram of the system block structure of the present invention.
[0019] In the figure: 1. Detection console; 2. Detection module; 3. Transmission module; 4. Hook detection software; 5. Posture detection unit; 6. Safety detection unit; 7. Position detection unit. DETAILED DESCRIPTION
[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
[0021] For examples, see Figure 1-2, the present invention provides a technical solution:
[0022] An automatic hooking system for steel mesh transfer includes a hooking device body, a detection console 1, a detection module 2 and a transmission module 3. The hooking device body adopts the existing technology. The detection console 1 is internally provided with a hooking detection software 4. The hooking detection software 4 includes a posture detection unit 5, a safety detection unit 6 and a position detection unit 7.
[0023] Furthermore, the transmission module 3 is connected to the detection control console 1 via a wire, and the detection module 2 is connected to the transmission module 3 via a wireless data network.
[0024] Furthermore, the detection module 2 includes various linear array CCD cameras, distance sensors and laser radars with wireless data transmission functions, the transmission module 3 includes various data transmission devices, and the detection module 2 is provided with multiple groups.
[0025] Furthermore, the specific analysis steps of the posture detection unit 5 are: the detection module 2 records the image of the static state of the sling hook, the detection module 2 sends the static state image to the detection console 1, the posture detection unit 5 processes the static state image to obtain the initial reference state of the sling hook, when the sling hook is running, the detection module 2 records the running state image of the sling hook and inputs the running image into the detection console 1, the posture detection unit 5 projects the running image onto a three-dimensional plane, obtains the two-dimensional coordinates of the pixel points and calculates the angle of the sling hook, and finally the swing foot of the sling hook can be calculated according to the calculation formula.
[0026] Furthermore, the specific analysis steps of the safety detection unit 6 are as follows: the detection module 2 obtains multiple groups of first distance values of the sling hook, the detection module 2 inputs the obtained first distance values into the detection control console 1, the safety detection unit 6 selects outliers existing in the multiple groups of first distance values, and calculates the average difference value between the outliers and the average values of the multiple groups of first distance values, and compares the average difference value with the threshold value. If the average difference value exceeds the threshold value of 2%-3%, it indicates that the operation safety of the sling hook is poor and the operation needs to be suspended.
[0027] Furthermore, the specific analysis steps of the position detection unit 7 are: the detection module 2 obtains the initial point cloud based on the sling hook, obtains the attribute information of the point cloud data in a predetermined sub-area in the frame point cloud data through the initial point cloud, generates a reference plane, determines the center position in the reference plane, and determines the target position information of the sling hook in the reference plane based on the attribute information of the point cloud data, so as to obtain the specific position coordinates of the sling hook.
[0028] Furthermore, the calculation formula is where θ x ,θ yis the calculated sling hook angle, and θ is the sling hook swing angle.
[0029] Furthermore, the first distance value is the distance between adjacent hanger hooks.
[0030] Furthermore, the specific steps for determining the center position in the reference plane are to select at least three non-collinear fitting points on the ground, obtain a fitting plane based on the fitting points, calculate the normal vector of the fitting plane, determine that the first coordinate axis of the reference plane is parallel to the normal vector of the plane, select two target points in the direction of the second coordinate axis on the plane of the sling hook relative to the detection module 2, calculate the angle between the straight line formed by the target points and the second coordinate axis, adjust the reference plane based on the angle so that the second coordinate axis of the reference plane is parallel to the side of the sling hook, determine the deviation value between the sling hook and the detection module 2 based on the two edge coordinates of the sling hook in the adjusted reference plane, and determine the position of the center of the reference plane based on the deviation value.
[0031] Specific implementation cases
[0032] The specific analysis steps of the posture detection unit 5 are as follows: the detection module 2 records the image of the static state of the sling hook, the detection module 2 sends the static state image to the detection console 1, the posture detection unit 5 processes the static state image to obtain the initial reference state of the sling hook, when the sling hook is running, the detection module 2 records the running state image of the sling hook and inputs the running image into the detection console 1, the posture detection unit 5 projects the running image onto a three-dimensional plane, obtains the two-dimensional coordinates of the pixel points and calculates the angle of the sling hook, and finally calculates the angle according to the calculation formula The swing of the sling hook can be calculated, where θ x ,θ y is the calculated sling hook angle, θ is the sling hook swing angle;
[0033] The detection module 2 obtains multiple sets of first distance values of the sling hooks, and the detection module 2 inputs the obtained first distance values into the detection console 1. The first distance value is the distance between adjacent sling hooks. The safety detection unit 6 selects outliers in the multiple sets of first distance values, and calculates the average difference between the outliers and the average values of the multiple sets of first distance values, and compares the average difference with the threshold value. If the average difference exceeds the threshold value of 2%-3%, it indicates that the operation safety of the sling hook is poor and needs to be suspended.
[0034] The detection module 2 obtains an initial point cloud based on the sling hook, obtains attribute information of point cloud data in a predetermined sub-area in the frame point cloud data through the initial point cloud, generates a reference plane, and the specific steps of determining the center position in the reference plane are to select at least three non-collinear fitting points on the ground, obtain a fitting plane based on the fitting points, calculate the normal vector of the fitting plane, determine that the first coordinate axis of the reference plane is parallel to the normal vector of the plane, select two target points in the direction of the second coordinate axis on the plane of the sling hook relative to the detection module 2, calculate the angle between the straight line formed by the target points and the second coordinate axis, adjust the reference plane based on the angle so that the second coordinate axis of the reference plane is parallel to the side of the sling hook, determine the deviation value of the sling hook and the detection module 2 based on the two edge coordinates of the sling hook in the adjusted reference plane, determine the target position information of the sling hook in the reference plane based on the position of the deviation value in the center of the reference plane and based on the attribute information of the point cloud data, and obtain the specific position coordinates of the sling hook.
[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. An automatic hooking system for steel mesh transfer, comprising a hooking device body, a detection console (1), a detection module (2) and a transmission module (3), Features: The detection console (1) is internally provided with hook detection software (4), and the hook detection software (4) comprises a posture detection unit (5), a safety detection unit (6) and a position detection unit (7).
2. According to claim 1, an automatic hooking system for transferring steel mesh, Features: The transmission module (3) is connected to the detection control console (1) via a wire, and the detection module (2) is connected to the transmission module (3) via a wireless data network.
3. According to claim 1, an automatic hooking system for steel mesh transfer, Features: The detection module (2) comprises various linear array CCD cameras, distance sensors and laser radars with wireless data transmission functions, the transmission module (3) comprises various data transmission devices, and the detection module (2) is provided with multiple groups.
4. According to claim 1, an automatic hooking system for steel mesh transfer, Features: The specific analysis steps of the posture detection unit (5) are as follows: the detection module (2) records the image of the static state of the sling hook, the detection module (2) sends the static state image to the detection control console (1), the posture detection unit (5) processes the static state image to obtain the initial reference state of the sling hook, when the sling hook is running, the detection module (2) records the running state image of the sling hook and inputs the running image into the detection control console (1), the posture detection unit (5) projects the running image onto a three-dimensional plane, obtains the two-dimensional coordinates of the pixel points and calculates the angle of the sling hook, and finally the swing foot of the sling hook can be calculated according to the calculation formula.
5. The automatic hooking system for steel mesh transfer according to claim 1, Features: The specific analysis steps of the safety detection unit (6) are as follows: the detection module (2) obtains multiple groups of first distance values of the sling hook, the detection module (2) inputs the obtained first distance values into the detection control console (1), the safety detection unit (6) selects outliers existing in the multiple groups of first distance values, and calculates the average difference value between the outliers and the average value of the multiple groups of first distance values, and compares the average difference value with a threshold value. If the average difference value exceeds the threshold value by 2%-3%, it indicates that the operation safety of the sling hook is poor and the operation needs to be suspended.
6. The automatic hooking system for transferring steel mesh according to claim 1, Features: The specific analysis steps of the position detection unit (7) are as follows: the detection module (2) obtains an initial point cloud based on the sling hook, obtains attribute information of the point cloud data in a predetermined sub-area in the frame point cloud data through the initial point cloud, generates a reference plane, determines the center position in the reference plane, and determines the target position information of the sling hook in the reference plane based on the attribute information of the point cloud data, thereby obtaining the specific position coordinates of the sling hook.
7. The automatic hooking system for transferring steel mesh according to claim 4, Features: The calculation formula is where θ x ,θ y is the calculated sling hook angle, and θ is the sling hook swing angle.
8. The automatic hooking system for transferring steel mesh according to claim 5, Features: The first distance value is the distance between adjacent hanger hooks.
9. The automatic hooking system for transferring steel mesh according to claim 6, Features: The specific steps of determining the center position in the reference plane are to select at least three non-collinear fitting points on the ground, obtain a fitting plane based on the fitting points, calculate the normal vector of the fitting plane, determine that the first coordinate axis of the reference plane is parallel to the normal vector of the plane, select two target points in the direction of the second coordinate axis on the plane of the sling hook relative to the detection module (2), calculate the angle between the straight line formed by the target points and the second coordinate axis, adjust the reference plane based on the angle so that the second coordinate axis of the reference plane is parallel to the side of the sling hook, determine the deviation value between the sling hook and the detection module (2) based on the two edge coordinates of the sling hook in the adjusted reference plane, and determine the position of the center of the reference plane based on the deviation value.