Visual guidance device and method for splicing of tower foot node steel plates

Abstract

The invention discloses a tower foot node steel plate splicing visual guiding device and method, and belongs to the technical field of power transmission tower machining, the device comprises a first positioning ball, the first positioning ball is connected with a second positioning ball through a connecting rod, and the diameter of the first positioning ball is larger than that of the second positioning ball; a probe extends from the center of each of the two positioning balls, and the two probes are arranged in parallel and are perpendicular to the connecting line of the centers of the two positioning balls; when in use, the tip # imgabs0 of the probe is aligned with an installation reference point at the bottom plate, and a connecting line of the tip # imgabs1 and the tip # imgabs2 of the two probes is parallel to an assembly line. Then, a laser sensor is adopted to collect the point cloud of the equipment, and the spatial positions of the two positioning balls and the two probes are identified; and finally, calculating an assembly datum point of the steel plate and the direction of an assembly line by utilizing the spatial positions, and guiding a robot to complete assembly. The labor cost of the tower foot of the power transmission tower in the splicing process can be greatly reduced, and the splicing efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of power transmission tower processing, and in particular relates to a visual guidance device and method for splicing steel plates at a tower foot node. Background Art

[0002] The foot node of the angle steel tower is composed of multiple welded steel plates. Before welding, workers need to splice these steel plates together and then weld them. The main disadvantages of manual assembly are: 1) The weight of these steel plates often exceeds 10 kilograms, and it is very difficult for workers to move them; 2) The assembly error requirement is relatively high, and generally should not exceed 1mm. Workers assemble these steel plates in a noisy factory, which consumes a lot of physical and mental energy, often resulting in an assembly error exceeding the limit, reaching 2 to 5mm, which brings great trouble to the subsequent welding and whole tower installation work; 3) Because welding produces strong light and high-temperature dust, the assemblers cannot maintain a fixed posture for a long time during the welding process. Therefore, after placing the node steel plates in place, the workers need to use bolts and other tools to fix the steel plates, then let go and evacuate, wait for the welding to be completed, and then remove these fixings, which is very troublesome. It is urgent to use advanced technologies such as robot splicing to replace manual splicing.

[0003] At present, robot assembly has been well developed in related industries, such as automobiles, electronics, etc. The key to robot assembly is to obtain two parameters: 1) The position (xyz coordinates) and orientation (three mutually orthogonal unit vectors) of the component installation reference point; 2) The position (xyz coordinates) and orientation (three mutually orthogonal unit vectors) of the component installation reference point on the base plate. After obtaining these two positions, the TCP coordinates of the robot when assembling the component can be calculated and the assembly path can be planned.

[0004] For the precision machining industries such as automobiles and electronics, the machining accuracy of the components of these industries is very high, and there are a large number of workpieces with the same geometric specifications. Generally, the splicing path can be obtained by path teaching. However, the machining accuracy of the tower feet is low, and there are not many workpieces with the same geometric specifications. If the installation path of the node steel plate is determined by teaching, the cost is higher than manual assembly. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a visual guidance device and method for splicing steel plates at tower foot nodes in view of the deficiencies in the above-mentioned prior art, so as to solve the technical problems of high labor intensity and high labor cost in assembly work.

[0006] The present invention adopts the following technical solutions: A visual guidance device for splicing steel plates at a tower foot node, comprising a first positioning ball, the first positioning ball being connected to a second positioning ball via a connecting rod, the diameter of the first positioning ball being greater than the diameter of the second positioning ball; The first positioning ball and the second positioning ball are arranged above the bottom plate, and are respectively connected to the bottom plate through probes. The installation reference point on the bottom plate is located at the connection point between the two probes and the bottom plate. and Between, connecting points and The connecting line is set parallel to the assembly line of the node steel plate.

[0007] Preferably, the difference between the radius of the first positioning ball and the radius of the second positioning ball is greater than or equal to 0.5 cm.

[0008] Preferably, the radius of the second positioning ball is greater than or equal to 3 cm.

[0009] Preferably, one end of the two probes is connected to the center of the first positioning ball and the center of the second positioning ball respectively, and are respectively arranged perpendicular to the connecting rod.

[0010] Preferably, the length of the probe is 20-50 cm.

[0011] Another technical solution of the present invention is a visual guidance method for splicing steel plates at tower foot nodes, characterized in that the visual guidance device for splicing steel plates at tower foot nodes is used, comprising the following steps: The point cloud of the node steel plate is used to identify the installation edge of the node steel plate, and the position of the installation edge reference point P and the orientation of the installation edge reference point P are calculated. vz ; Determine the vertical coordinates of the first positioning ball on the base plate ; Based on the perpendicular coordinates of the first positioning ball on the base plate and the length of the probes are calculated from the tips of the two probes and The coordinates of Based on two probe tips and The coordinates of the node on the steel plate are calculated to determine the length of the mounting assembly line, i.e. the two probe tips and The connection line is based on the obtained installation side reference point P and the direction of the installation side reference point P vz And the assembly line guides the robot to complete the assembly work.

[0012] Preferably, the orientation of the mounting edge reference point The calculation is as follows:

[0013] in, and They are the directions from the reference point to the two installation edges of the node steel plate.

[0014] Preferably, the vertical foot coordinate of the first positioning ball on the base plate is for:

[0015] in, , , is the spatial parameter of the bottom plate plane equation, Base plate vertex The coordinates of Base plate vertex The coordinates of Base plate vertex The coordinates of .

[0016] Preferably, the installation angle of the node steel plate is determined according to the installation reference point as follows:

[0017] in, , , The direction vector from the first positioning ball to the second positioning ball The three components of , , When the node steel plate is assembled on the base plate, the assembly direction is The corresponding vector The three components of for and The cross product of , , for The three components.

[0018] Preferably, the assembly direction of the node steel plate is Corresponding vector The amount for:

[0019] in, For the assembly angle, is the pointing vector of the probe pointing to the base plate.

[0020] Compared with the prior art, the present invention has at least the following beneficial effects: A visual guidance device for splicing steel plates at a tower foot node. The line connecting the centers of two positioning balls is parallel to the assembly line of the node steel plates, representing the direction of the assembly line. The positioning balls are easy to process and have high reliability in image recognition. The cross section of the rigid probe is circular, also because cylinders are easy to process and have easy image recognition. After the spatial postures of the center of the ball and the rigid probe are identified, the length of the rigid probe is known, and the position of the assembly point and the direction of the assembly line can be calculated. When the probe is perpendicular to the connecting rod, the line connecting the tips of the two probes can be parallel to the line connecting the centers of the two balls, so that the assembly point and the direction of the assembly line can be calculated by calculating the positions of the two centers of the balls.

[0021] Furthermore, the direction of the assembly line is positive and negative. The large and small balls with different radii can be used to determine the direction of the assembly line during image recognition, with the probe tip T1 corresponding to the large ball pointing to the probe tip T2 corresponding to the small ball; the difference is preferably 0.5 cm.

[0022] Furthermore, the radius of the second positioning ball is smaller, preferably 3 cm according to the current development level of image recognition algorithms.

[0023] Furthermore, the position of the assembly point is determined according to the position of the center of the ball and the direction of the connecting rod. Therefore, if the assembly point is placed on the ray starting from the center of the ball, the position calculation of the assembly point will be relatively simple. At the same time, when the probe is perpendicular to the connecting rod and the lengths of the two probes are equal, the line connecting the two probe tips can be parallel to the line connecting the two centers of the ball. In this way, the assembly point and the direction of the assembly line can be calculated by calculating the positions of the two centers of the ball.

[0024] A visual guidance method for splicing tower foot node steel plates calculates two key parameters of the node during assembly: the installation reference point and the direction of the assembly line. When the node steel plate is placed on the plate, the spatial posture of the node steel plate is determined by three parameters: the installation reference point, the direction of the assembly line and the installation angle of the node steel plate. Then the robot accurately assembles the node steel plate in a reasonable position, providing a basis for the robot to assemble the node steel plate, greatly reducing labor costs and improving assembly accuracy.

[0025] In summary, the present invention can significantly reduce the labor cost during the assembly process of the transmission tower feet and improve the assembly efficiency.

[0026] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the visual guidance device for splicing steel plates at the tower foot node of the present invention; Figure 2 It is a side view of the visual guidance device for splicing steel plates at the tower foot node of the present invention; Figure 3It is a schematic diagram of the node steel plate of the present invention.

[0028] Among them: 1. First positioning ball; 2. Connecting rod; 3. Second positioning ball; 4. Installation reference point; 5. Bottom plate; 6. Probe; 7. Node steel plate. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "one side", "one end", "one side" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0033] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0034] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0035] Various structural schematic diagrams of the embodiments disclosed in the present invention are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0036] The present invention provides a visual guidance device for splicing node steel plates at a tower foot. When the node steel plate is placed on a base plate, the spatial posture of the node steel plate is determined by three parameters: an installation reference point, a direction of an assembly line, and an installation angle of the node steel plate. Then, a robot accurately assembles the node steel plate at a reasonable position. According to a laser point cloud, the positions of the node steel plate reference points and the base plate assembly reference points are automatically calculated. Then, an industrial robot arm is guided to complete the splicing of the angle steel tower foot node. The present invention can efficiently determine the installation reference point, the direction of the assembly line, and the installation angle of the node steel plate, thereby providing a basis for the robot to assemble the node steel plates, greatly reducing labor costs and improving assembly accuracy.

[0037] See also Figure 1 and Figure 2 The present invention provides a visual guidance device for splicing steel plates at a tower foot node, comprising a first positioning ball 1, a second positioning ball 3, a connecting rod 2 and two probes 6. The diameter of the first positioning ball 1 is greater than the diameter of the second positioning ball 3. The first positioning ball 1 and the second positioning ball 3 are connected by the connecting rod 2. One end of the two probes 6 is respectively connected to the first positioning ball 1 and the second positioning ball 3, and the other end is respectively connected to a base plate 5. The two probes 6 are respectively arranged vertically to the connecting rod 2, and an installation reference point 4 is located between the connection points of the two probes 6 and the base plate 5.

[0038] The angle between the probe 6 and the bottom plate 5 represents the tilt direction of the node steel plate 7, because after the node steel plate 7 is installed, the angle between the node steel plate 7 and the bottom plate 5 is neither 0 nor 90 degrees. The angle between the node steel plate 7 and the bottom plate 5 is not the same as the angle between the probe 6 and the bottom plate, but the tilt direction is consistent. This is mainly for the convenience of workers.

[0039] The assembly line is a direction vector, and its direction is from the probe tip T1 corresponding to the first positioning ball to the probe tip T2 corresponding to the second positioning ball; the position of the assembly point is determined according to the position of the center of the ball and the direction of the connecting rod. Therefore, it is easier to calculate the position of the assembly point by placing the assembly point on the ray starting from the center of the ball. At the same time, when the probe is perpendicular to the connecting rod and the lengths of the two probes are equal, the line connecting the two probe tips can be parallel to the line connecting the two centers of the balls, so that the assembly point and the direction of the assembly line can be calculated by calculating the positions of the two centers of the balls.

[0040] Preferably, the radius of the first positioning ball 1 and the second positioning ball 3 can be adjusted, but the minimum radius is greater than or equal to 3 cm, and the difference between the radius of the first positioning ball 1 and the second positioning ball 3 is greater than or equal to 0.5 cm, otherwise it will affect the accuracy. The main reason for using positioning balls is that spherical point clouds are easier to identify.

[0041] The connecting rod 2 is a rigid connecting rod, and the two ends of the connecting rod 2 are respectively connected to the center of the first positioning ball 1 and the second positioning ball 3. The distance between the two probes 6 is determined according to the length of the connecting rod 2, but it is greater than or equal to 10cm, otherwise it will affect the assembly line. accuracy.

[0042] One end of the two probes 6 is connected to the center of the first positioning ball 1 and the center of the second positioning ball 3 respectively, and is perpendicular to the connecting rod 2 .

[0043] Because the angle between the probe 6 and the bottom plate 5 is not the installation angle of the node steel plate 7, the probe 6 should be convenient for workers to operate and convenient for the laser sensor to collect point clouds. The length of the probe 6 is 20~50cm.

[0044] The diameter of the connecting rod 2 is greater than or equal to 5 mm, and the material is aluminum or steel to ensure sufficient rigidity and not to be greatly deformed when operated by workers.

[0045] Preferably, the connecting rod 2 and the probe 6 are made of steel.

[0046] When using the visual guidance device for splicing node steel plates at the tower foot of the present invention, the worker only needs to align the tip of the probe 6 with the assembly point of the node steel plate 7 on the base plate 5, ensure that the line connecting the tips of the two probes 6 is parallel to the assembly line, and input the installation angle of the node steel plate 7; the laser sensor collects the laser point cloud of the node steel plate 7, the first positioning ball 1, the second positioning ball 3 and the two connecting rods 2, and the method provided by the present invention calculates the coordinates of the node assembly point and the direction of the assembly line; then, the robot arm grabs the node steel plate and places the node steel plate at the corresponding position; after using the visual guidance device of the present invention, the assembly path of the node steel plate 7 can be obtained without teaching.

[0047] The working method of the visual guidance device for splicing steel plates at tower foot nodes of the present invention is specifically as follows: S1, using a laser sensor to scan the point cloud of the node steel plate 7, and using image recognition technology to identify the position and posture of the installation edge of the node steel plate, the installation edge reference point P and the installation reference point 4 in the node coordinate system based on the point cloud of the node steel plate; The coordinates of the reference point of the mounting edge are , and , the direction of the installation edge reference point P is: , and , so that the matrix expression of the position and orientation of the installation edge reference point on the node steel plate 7 is calculated as follows: (1) in, The direction is the direction of the line connecting the starting points of the assembly edge; and Vertical, the positive direction is from the reference point to the two installation edges of the node steel plate.

[0048] based on and , determined by the right-hand coordinate system ,Right now: (2) in, and It is the direction from the reference point to the two installation edges of the node steel plate.

[0049] S2, determining the vertical foot of the first positioning ball 1 on the bottom plate 5; First set piece and the second set-piece The coordinates are: (3) (4) So by the first set piece The center of the ball 1 to the second positioning ball The direction vector of the center of the sphere for: (5) in, , , for Components in three directions; , , for Components in three directions.

[0050] According to the laser scanning results, determine the four vertices of the bottom plate 5 using the image analysis software, and select any three vertices , , The coordinates are: (6) The plane equation of the bottom plate 5 is: (7) (8) in, , , is the spatial parameter of the bottom plate plane equation, which is related to the spatial posture of the bottom plate and is calculated by the above formula; Sure Coordinates of the foot of the perpendicular on the plane of the base plate 5 : (9) (10) in, are the coordinates of the center of the sphere, , and for 3 components.

[0051] S3, calculating the coordinates of the installation reference point P on the base plate according to the guiding device; The center coordinates of the first positioning ball 1 Distance to the bottom plate surface for: (11) in, for Projection on the node plate 7; The length of probe 6 is ,but Connection points to probes and baseplate The distance between for: (12) Foot Connection points to probes and baseplate Direction of the connection and It is perpendicular to the direction of the normal line of the bottom plate plane and is calculated by the following formula: (13) in, is the normal to the base plane.

[0052] Therefore, the tip of the first probe for: (14) See also Figure 3 , node steel plate installation reference point The calculation method of the corresponding position M after assembly is: (15) In general, is the tip of the first probe, is the direction vector from the first positioning ball to the second positioning ball, is zero.

[0053] S4. Calculate the installation direction of the node steel plate on the base plate , Installation direction after assembly and direction vector like Figure 2 and Figure 3 shown.

[0054] After the node steel plate 7 of the present invention is installed on the bottom plate 5, the assembly direction of the node steel plate 7 is Corresponds to Figure 2 Vector in ; Assembly direction of node steel plate 7 Does not coincide with the direction of the probe.

[0055] Therefore, the present invention requires workers to input the assembly angle on the control panel. ; So the following method is used to calculate : (16) in, The node steel plate is assembled behind the base plate. The corresponding direction vector is Figure 2 .

[0056] At this time, the spatial posture of the node steel plate on the bottom plate is calculated , the corresponding matrix is: (17) in, , , The direction vector from the first positioning ball to the second positioning ball The three components of , , When the node steel plate is assembled on the bottom plate, the direction The corresponding vector The three components of Figure 2 , for and The cross product of , , for The three components.

[0057] The guiding device disclosed in the present invention does not require any calibration of the magnetic gripper of the robot by the laser scanning device. From the above calculation, it can be seen that with the help of the guiding device of the present invention, as long as the laser sensor is used to identify the installation reference point of the node steel plate 7, , assembly line vector and installation direction Finally, the tip of the probe is aligned with the installation reference point of the node steel plate on the base plate, and the direction vector from the first positioning ball 1 to the second positioning ball 3 is parallel to the assembly line on the base plate, and the installation angle a is input to obtain the installation posture matrix of the node steel plate assembled on the floor. The robot system can use this matrix to realize the assembly of the node steel plate.

[0058] During the welding and assembly of the angle steel tower nodes, under the guidance of the visual information provided by the present invention, the workflow of the automated assembly system is as follows: 1. Place the node steel plate on the workbench. The position of the node steel plate should be convenient for the robot magnetic gripper to grab and for the laser sensor to collect the point cloud of the node steel plate; 2. The robot automatically collects the point cloud of the node steel plate, calculates the position of the reference point of the installation edge on the node steel plate and the orientation of the installation edge. For specific calculations, see formula (1), and instructs the robot's magnetic gripper to grab the node steel plate. 3. Align the probe tip T1 with the mounting base point M of the node plate on the base plate. The position of M is shown in Figure 1 , the direction vector from the first positioning ball 1 to the second positioning ball 3 Parallel to the assembly line of the node steel plate on the base plate; 4. Enter the installation angle of the node steel plate on the control panel ; 5. Turn on the laser sensor, first scan the point cloud of the first positioning ball 1 and the second positioning ball 3, and use the image processing software to calculate and determine the center of the first positioning ball 1 and the second positioning ball 3; then scan the point cloud of the bottom plate and identify the plane equation of the bottom plate. For specific calculation, refer to formula (7); 6. Finally, the spatial posture of the node steel plate assembled on the base plate is calculated according to the method provided by the present invention. For specific calculation, see formula (13); the robot system completes the assembly of the node steel plate according to formula (13).

[0059] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can usually be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in 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.

[0060] Example The system of the present invention is used in a transmission tower processing plant, which needs to be equipped with an industrial robot arm, a laser sensor, a magnetic gripper, and a basic point cloud image processing system. The laser sensor and the magnetic gripper are installed on the robot arm. The worker's operation process is as follows: Transport the node steel plate into the working range of the laser sensor through a conveyor belt or other equipment; Press the relevant button to instruct the laser sensor to collect the point cloud of the node steel plate; The base plate is transported into the working range of the laser sensor; Align the installation base point M with the assembly position of the node steel plate on the bottom plate, and ensure and The connection line is consistent with the direction of the assembly line; Enter the installation angle of the node steel plate on the control panel; Click the relevant button to collect the point cloud of the base plate and the positioning ball (collect simultaneously) to complete the assembly of the node steel plate.

[0061] The present invention does not require workers to move heavy node steel plates and base plates; workers do not need to teach complex node steel plate assembly paths; the visual guidance device is simple to place, and does not need to rely on precise adjustment of the angle between the connecting rod and the base plate to determine the installation angle of the node steel plate, and the relevant angle can be directly input in the control panel That’s it; directly use the laser point cloud of the node steel plate and the base plate to guide the robot for assembly. The error of the laser point cloud is 0.5mm, which is much smaller than the 2~5mm of manual assembly. After the robot assembles a node steel plate into place, it can guide another robot to carry out spot welding and fixing work.

[0062] In summary, the visual guidance device and method for splicing the tower foot node steel plate of the present invention only needs to align the installation base point M of the node steel plate with the installation position and ensure that and The connection line is consistent with the assembly line of the node steel plate, which can guide the robot to complete the installation of the node steel plate; after the worker puts the machine vision guidance device in place, the node steel plate assembly can be calculated by collecting the point cloud of the two positioning balls and the base plate using the laser sensor.

[0063] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A visual guidance device for splicing steel plates at tower foot nodes, characterized in that: It comprises a first positioning ball (1), the first positioning ball (1) is connected to a second positioning ball (3) via a connecting rod (2), and the diameter of the first positioning ball (1) is greater than the diameter of the second positioning ball (3); The first positioning ball (1) and the second positioning ball (3) are arranged above the bottom plate (5), and are respectively connected to the bottom plate (5) through probes (6). The two probes (6) are respectively arranged vertically with the connecting rod (2). The installation reference point (4) on the bottom plate (5) is located at the connection point between the two probes (6) and the bottom plate (5). and Between, connecting points and The connecting line is set parallel to the assembly line of the node steel plate.

2. The visual guidance device for splicing steel plates at tower foot nodes according to claim 1 is characterized in that: The difference between the radius of the first positioning ball (1) and the radius of the second positioning ball (3) is greater than or equal to 0.5 cm.

3. The visual guidance device for splicing steel plates at tower foot nodes according to claim 2 is characterized in that: The radius of the second positioning ball (3) is greater than or equal to 3 cm.

4. The visual guidance device for splicing steel plates at tower foot nodes according to claim 1 is characterized in that: One end of the two probes (6) is connected to the center of the first positioning ball (1) and the center of the second positioning ball (3), respectively.

5. The visual guidance device for splicing steel plates at tower foot nodes according to claim 1 is characterized in that: The length of the probe (6) is 20 to 50 cm.

6. A visual guidance method for splicing steel plates at tower foot nodes, characterized in that: The visual guidance device for splicing steel plates at tower foot nodes according to any one of claims 1 to 5 comprises the following steps: The point cloud of the node steel plate is used to identify the installation edge of the node steel plate, and the position of the installation edge reference point P and the orientation of the installation edge reference point P are calculated. vz ; Determine the vertical coordinates of the first positioning ball on the base plate ; Based on the perpendicular coordinates of the first positioning ball on the base plate and the length of the probes are calculated from the tips of the two probes and The coordinates of Based on two probe tips and The length of the installation assembly line on the node steel plate is calculated based on the obtained installation edge reference point P and the orientation of the installation edge reference point P vz And the assembly line guides the robot to complete the assembly work.

7. The visual guidance method for splicing steel plates at tower foot nodes according to claim 6 is characterized in that: The orientation of the reference point of the mounting edge The calculation is as follows: in, and They are the directions from the reference point to the two installation edges of the node steel plate.

8. The visual guidance method for splicing steel plates at tower foot nodes according to claim 6 is characterized in that: The coordinate of the foot of the first positioning ball on the base plate for: in, , , is the spatial parameter of the bottom plate plane equation, Base plate vertex The coordinates of Base plate vertex The coordinates of Base plate vertex The coordinates of .

9. The visual guidance method for splicing steel plates at tower foot nodes according to claim 6 is characterized in that: Determine the installation angle of the node steel plate according to the installation reference point as follows: in, , , The direction vector from the first positioning ball to the second positioning ball The three components of , , When the node steel plate is assembled on the base plate, the assembly direction is The corresponding vector The three components of for and The cross product of , , for The three components.

10. The visual guidance method for splicing steel plates at tower foot nodes according to claim 9 is characterized in that: Assembly direction of node steel plate Corresponding vector The amount for: in, For the assembly angle, is the pointing vector of the probe pointing to the base plate.

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