Adaptive geometry fixed slot control system and method thereof

Abstract

The present invention discloses a fixed slot control system with adaptive geometric shape and a method thereof. The system includes an intelligent analysis unit, a control unit, a base drive unit, a fixed slot drive unit and a fixed slot structure; the fixed slot structure is composed of a guide rail assembly and a fixed slot assembly, the guide rail assembly includes a guide rail, a first power source and a base, and there is low voltage electricity on the guide rail; the fixed slot assembly has a lifting column, a rotating arm and an electromagnet, the lifting column is fixed on the base, and the rotating arm connects the lifting column and the electromagnet; the intelligent analysis unit receives a steel bar description file, parses it into steel bar information and sends it to the control unit; the control unit calculates the adjustment parameters and sends them to the base drive unit, and the base drive unit moves the base to the specified position of the guide rail; the fixed slot drive unit drives the lifting column and the rotating arm according to the adjustment parameters to adapt the steel bar position. The system of the present invention can realize automatic adjustment of the slot height to match steel bars of different shapes and different spacings, and has high practicality.

Description

Technical Field

[0001] The invention relates to a steel bar binding system, and more particularly to a fixing groove control system with adaptive geometric shape and a method thereof. Background Art

[0002] When making walls or concrete slabs on a construction site, the steel bars need to be arranged in a grid and tied with steel wire at the intersections of the grid to fix the steel bars. Because different slab shapes will cause the arrangement of steel bars to change, such as straight lines, trapezoids, triangles or semicircles, before tying the steel bars, a large amount of manpower is usually required to manually fix the position of the steel bars or make various fixing frames. Both methods have problems. The former is inefficient and labor-intensive, while the latter wastes resources because the fixing frames cannot be reused.

[0003] In order to improve the efficiency of placing and fixing steel bars, some design solutions have been proposed, such as a special steel bar fixing plate. This fixing plate is provided with grooves for fixing the steel bars on the plate, thereby forming a basic steel bar platform. However, the standard length of steel bars in real construction sites is usually 6 meters, 9 meters or 12 meters. Therefore, if the fixing plate is designed according to the size of the steel bars, the size of the fixing plate will be at least 6 meters, which makes it large and inconvenient to operate. In addition, customized fixing plates are usually difficult to meet the needs of fixing steel bars of various geometric shapes, and are less practical.

[0004] Therefore, it is necessary to design a new system that can automatically adjust the height of the slot to match the fixing method of steel bars of different shapes and spacings. It can meet the fixing needs of steel bars of various geometric shapes and is highly practical. Summary of the invention

[0005] The object of the present invention is to overcome the defects of the prior art and provide a fixed slot control system with adaptive geometry and a method thereof.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a fixed slot control system with adaptive geometric shape, comprising: an intelligent analysis unit, a control unit, a base drive unit, a fixed slot drive unit and a fixed slot structure; the fixed slot structure comprises a guide rail assembly and a fixed slot assembly; the guide rail assembly comprises a guide rail, a first power source and a base, and the power source is connected to the base; the guide rail is in contact with the base, and low voltage electricity is passed through the guide rail; the fixed slot assembly comprises a lifting column, a rotating arm, and an electromagnet, the lifting column is connected to the base, the upper part of the lifting column is connected to one end of the rotating arm, and the other end of the rotating arm is connected to the electromagnet;

[0007] The intelligent analysis unit is used to receive the description file of the steel bar, parse it into steel bar information, convert it into a data message, and send it to the control unit. The steel bar information includes the shape and size of the steel bar;

[0008] The control unit is used to receive the data message, and calculate the distance between the bases, the height of the lifting column and the angle of the rotating arm to obtain adjustment parameters, and send them to the base drive unit;

[0009] The base driving unit is used to receive the adjustment parameters to drive the base to move to a specified position of the guide rail, and send the height of the lifting column and the angle of the rotating arm to the fixed slot driving unit;

[0010] The fixed slot driving unit is used to drive the lifting column and the rotating arm to work according to the height of the lifting column and the angle of the rotating arm to form a slot position to adapt to the position of the steel bar.

[0011] Its further technical solution is: the intelligent analysis unit is used to receive a description file of steel bars. When the description file is an engineering file, the shape and size of the steel bars in the file are parsed according to a preset format to form steel bar information; when the description file is an image file, the image file is subjected to edge detection, denoising, shape matching, calibration without matching and size calculation to obtain the shape and size of the steel bars to form steel bar information.

[0012] A further technical solution is as follows: the control unit is used to calculate the base position according to the length of the guide rail, the voltage of the guide rail and the voltage of the base, and calculate the distance between the bases according to the base position.

[0013] The present invention also provides a control method performed by the above-mentioned adaptive geometry fixed slot control system, comprising:

[0014] The intelligent analysis unit receives the description file of the steel bar, parses it into steel bar information, converts it into a data message, and sends it to the control unit, wherein the steel bar information includes the shape and size of the steel bar;

[0015] The control unit receives the data message and calculates the distance between the bases, the height of the lifting column and the angle of the rotating arm to obtain adjustment parameters and sends them to the base drive unit;

[0016] The base driving unit receives the adjustment parameters to drive the base to move to the specified position of the guide rail, and sends the height of the lifting column and the angle of the rotating arm to the fixed slot driving unit;

[0017] The fixed slot driving unit drives the lifting column and the rotating arm to work according to the height of the lifting column and the angle of the rotating arm to form a slot to adapt to the position of the steel bar.

[0018] A further technical solution is that the intelligent analysis unit receives the description file of the steel bar, parses it into steel bar information, converts it into a data message, and sends it to the control unit, including:

[0019] The intelligent analysis unit receives the description file of the steel bar;

[0020] The intelligent analysis unit determines whether the description file is a project file;

[0021] If the description file is an engineering file, the shape and size of the steel bars in the file are parsed according to a preset format to form steel bar information;

[0022] Convert the steel bar information into a data message and send it to a control unit;

[0023] If the description file is not an engineering file, edge detection, denoising, shape matching, calibration without matching and size calculation are performed on the image file to obtain the shape and size of the steel bar, form the steel bar information, and convert the steel bar information into a data message and send it to the control unit.

[0024] A further technical solution is that the control unit receives the data message and calculates the distance between the bases, the height of the lifting column and the angle of the rotating arm to obtain adjustment parameters and sends them to the base drive unit, including:

[0025] The control unit receives the data message, calculates the base position according to the length of the guide rail, the voltage of the guide rail and the voltage of the base, and calculates the distance between the bases according to the base position;

[0026] The control unit calculates the height and the rotation angle of the slot according to the data message to obtain the height of the lifting column and the angle of the rotating arm;

[0027] The distance between the bases, the height of the lifting column and the angle of the rotating arm are sent to the base drive unit as adjustment parameters.

[0028] Its further technical solution is: the fixed slot driving unit drives the lifting column and the rotating arm to work according to the height of the lifting column and the angle of the rotating arm to form a slot to adapt to the position of the steel bar, and further includes:

[0029] The grasping sensing subsystem identifies the transverse reinforcement in the steel bar and determines the position of the transverse reinforcement, and the grasping subsystem grasps all the transverse reinforcements in sequence according to the determined position of the transverse reinforcement and places all the transverse reinforcements in the slots;

[0030] The base driving unit sends a command to the fixed slot driving unit, so that the fixed slot driving unit powers on the electromagnet, and the electromagnet adsorbs the transverse rib;

[0031] The grasping sensing subsystem identifies the vertical reinforcement and determines the position of the vertical reinforcement, and the grasping subsystem grasps the vertical reinforcement in sequence according to the determined position of the vertical reinforcement and places the vertical reinforcement at the designated position;

[0032] The binding sensing subsystem identifies the cross knot and determines the location of the cross knot, and the binding subsystem binds the steel bars at the location of the cross knot in combination with the coordinates of the cross intersection in the placement position; wherein the placement position is constructed by analyzing the construction drawings or parameters to construct a coordinate system, and the positions of the horizontal bars and the vertical bars are calculated based on the coordinate system;

[0033] Determine whether all vertical reinforcements have been fixed;

[0034] If all the vertical bars are not fixed, the grasping sensing subsystem is executed to identify the vertical bars and determine the positions of the vertical bars, and the grasping subsystem grasps the vertical bars in sequence according to the determined positions of the vertical bars and places the vertical bars at the designated positions.

[0035] The further technical solution is: the grasping sensing subsystem identifies the transverse reinforcement and determines the position of the transverse reinforcement, and the grasping subsystem grasps all the transverse reinforcements in sequence according to the determined position of the transverse reinforcement, and places all the transverse reinforcements into the slots, including:

[0036] Move the cross-rebar gantry to the plane camera of the grasping sensing subsystem to identify the cross-rebar to be grasped;

[0037] The grasping sensing subsystem determines the position of the cross bar, guides the cross bar gantry to move to the best grasping position, and the grasping robot arm approaches the cross bar;

[0038] When the grasping robot arm approaches the horizontal rib, the depth camera identifies the precise position of the horizontal rib;

[0039] Calculate the three-dimensional coordinates of the grasping point;

[0040] The grasping subsystem adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the transverse reinforcement;

[0041] When the grasping subsystem finishes grasping the transverse reinforcement, it places the transverse reinforcement into the slot;

[0042] Determining whether all the transverse ribs are placed in the slots;

[0043] If the transverse reinforcement is not completely placed in the slot, the moving transverse reinforcement gantry to the plane camera of the grasping sensing subsystem identifies the transverse reinforcement to be grasped;

[0044] If all the transverse ribs are placed in the slots, the base driving unit sends a command to the fixed slot driving unit, so that the fixed slot driving unit powers on the electromagnet, and the electromagnet absorbs the transverse ribs.

[0045] A further technical solution is: the calculation of the three-dimensional coordinates of the grasping point includes:

[0046] Set the reference coordinates of the grasping subsystem, the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot, and the coordinate system of the first depth camera;

[0047] The grasping position in the coordinate system of the upper arm of the grasping robot is determined according to the transformation relationship between the reference coordinates of the grasping subsystem and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot to obtain the three-dimensional coordinates of the grasping point.

[0048] A further technical solution is: the grasping sensing subsystem identifies the vertical reinforcement and determines the position of the vertical reinforcement, and the grasping subsystem grasps the vertical reinforcement in sequence according to the determined position of the vertical reinforcement and places the vertical reinforcement at the designated position, including:

[0049] Move the vertical reinforcement gantry to the plane camera of the grasping perception subsystem to identify the vertical reinforcement to be grasped;

[0050] The grasping sensing subsystem determines the position of the vertical reinforcement, guides the vertical reinforcement gantry to move to the best grasping position, and the grasping robot arm approaches the vertical reinforcement;

[0051] When the grabbing robot arm approaches the vertical rib, the depth camera identifies the precise position of the vertical rib;

[0052] Calculate the three-dimensional coordinates of the grasping point;

[0053] The grasping subsystem adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the vertical reinforcement;

[0054] After the grasping subsystem finishes grasping the vertical reinforcement, the vertical reinforcement is placed at the placement position of the vertical reinforcement in the placement position.

[0055] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention parses the description file or picture of the steel bar through the intelligent analysis unit to extract the geometric shape and size information of the steel bar; the control unit receives the steel bar information, calculates the required base position, lifting column height and rotating arm angle, and generates adjustment parameters; the base drive unit moves the base to the specified position according to the adjustment parameters; the fixed slot drive unit drives the lifting column and the rotating arm to adjust the slot position to adapt to the geometric shape and position of the steel bar; realizes the automatic adjustment of the slot height to match the fixing method of steel bars of different shapes and different spacings, which can meet the fixing requirements of steel bars of various geometric shapes and has high practicality.

[0056] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0058] Figure 1 A schematic block diagram of a fixed slot control system with adaptive geometry provided by an embodiment of the present invention;

[0059] Figure 2 A schematic diagram of the three-dimensional structure of the fixing groove structure provided by an embodiment of the present invention;

[0060] Figure 3 A schematic diagram of the structure of a fixing slot assembly provided in an embodiment of the present invention;

[0061] Figure 4 A schematic diagram of placement of straight steel bars provided in an embodiment of the present invention;

[0062] Figure 5 A schematic diagram of placement of semicircular steel bars provided in an embodiment of the present invention;

[0063] Figure 6 A schematic diagram of a coordinate system established by an intelligent analysis unit provided in an embodiment of the present invention;

[0064] Figure 7 A schematic diagram of the reference coordinates of the grasping subsystem, the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot, and the coordinate system of the first depth camera provided in an embodiment of the present invention;

[0065] Figure 8 A schematic flow chart of a control method for a fixed slot control system with adaptive geometry provided by an embodiment of the present invention;

[0066] Fig. 9 A schematic sub-flow chart of a control method of a fixed slot control system with adaptive geometry provided by an embodiment of the present invention;

[0067] Fig.10 A schematic sub-flow chart of a control method for a fixed slot control system with adaptive geometry provided by an embodiment of the present invention.

[0068] Description of the symbols in the figure:

[0069] 10. Intelligent analysis unit; 20. Control unit; 30. Base drive unit; 40. Fixed slot drive unit; 50. Guide rail assembly; 60. Fixed slot assembly; 61. Lifting column; 62. Rotating arm; 63. Electromagnet. DETAILED DESCRIPTION

[0070] 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.

[0071] 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.

[0072] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0073] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0074] In existing construction sites, fixing steel bars requires a lot of manpower or special fixing frames, resulting in low efficiency or waste. In order to simplify the operation, a steel bar fixing plate is currently designed to fix the steel bars through grooves. However, this fixing plate is large in size and difficult to adapt to steel bars of different shapes, and its practicality is limited.

[0075] To this end, the present embodiment provides a fixed slot control system and method for adaptive geometric shapes, wherein the system is provided by setting an intelligent analysis unit 10, a control unit 20, a base drive unit 30, a fixed slot drive unit 40 and a fixed slot structure. The intelligent analysis unit 10 parses the steel bar description file and converts it into steel bar information and data packets. The control unit 20 calculates the adjustment parameters and sends them to the base drive unit 30. The base drive unit 30 drives the base to move to the specified position and sends the parameters to the fixed slot drive unit 40. The fixed slot drive unit 40 drives the lifting column 61 and the rotating arm 62 according to the parameters to adjust the slot position; the fixed slot structure is composed of a guide rail 50 component and a fixed slot component 60, which is adapted to steel bars of different shapes and sizes. By automatically analyzing the position of the steel bar fixed point, adaptively allocating the fixed point spacing and adjusting the fixed height, the slot position of the steel bars of various geometric shapes is formed to adapt to steel bars of different shapes and spacings; it can handle geometric steel bars within a certain range, and has the advantages of high efficiency, strong applicability and intelligent safety.

[0076] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0077] See also Figure 1 The above-mentioned adaptive geometric shape fixed slot control system includes: an intelligent analysis unit 10, a control unit 20, a base driving unit 30, a fixed slot driving unit 40 and a fixed slot structure.

[0078] like Figure 2 As shown, the fixing slot structure includes a guide rail 50 component and a fixing slot component 60 .

[0079] The guide rail 50 group includes the guide rail 50, a first power source and a base, the power source is connected to the base; the guide rail 50 is in contact with the base, and low voltage electricity is passed through the guide rail 50. The base is in contact with the guide rail 50 and transmits the voltage of the current position of the guide rail 50 to the fixed slot assembly 60.

[0080] like Figure 3 As shown, the fixed slot assembly 60 includes a lifting column 61, a rotating arm 62, and an electromagnet 80. The lifting column 61 is connected to the base, the upper part of the lifting column 61 is connected to one end of the rotating arm 62, and the other end of the rotating arm 62 is connected to the electromagnet 80; the lifting column 61 can be raised and lowered to adjust the height of the contact point, that is, the contact point with the steel bar; the rotating arm 62 can rotate around the lifting column 61 to adjust the contact plane with the steel bar. The front end of the rotating arm 62 is the electromagnet 80, which adsorbs the steel bar to form a fixed relationship after being powered on.

[0081] The intelligent analysis unit 10 is used to receive the description file of the steel bar, parse it into steel bar information, convert it into a data message, and send it to the control unit 20. The steel bar information includes the shape and size of the steel bar;

[0082] The control unit 20 is used to receive the data message and calculate the distance between the bases, the height of the lifting column 61 and the angle of the rotating arm 62 to obtain adjustment parameters and send them to the base drive unit 30;

[0083] The base driving unit 30 is used to receive the adjustment parameters to drive the base to move to the specified position of the guide rail 50, and send the height of the lifting column 61 and the angle of the rotating arm 62 to the fixed slot driving unit 40;

[0084] The fixed slot driving unit 40 is used to drive the lifting column 61 and the rotating arm 62 to work according to the height of the lifting column 61 and the angle of the rotating arm 62 to form a slot to adapt to the position of the steel bar.

[0085] In this embodiment, the intelligent analysis unit 10 analyzes the shape and size of the steel bar, converts the information into a data format that the system can understand, and sends it to the control unit 20. The control unit 20 calculates the required adjustment parameters, such as the distance between the bases, the height of the lifting column 61, and the angle of the rotating arm 62, based on the steel bar information obtained by the analysis, and transmits these parameters to the base drive unit 30. The position of the base is adjusted to meet the requirements of the steel bar fixing groove, and the height of the lifting column 61 and the angle information of the rotating arm 62 are transmitted to the fixing groove drive unit 40; the fixing groove drive unit 40 drives the lifting column 61 to rise and fall and the rotating arm 62 to rotate, forming a position slot suitable for the steel bar, thereby completing the precise fixation of the steel bar.

[0086] The system significantly reduces manual intervention and operation time by automatically processing the steel bar fixation. The intelligent analysis unit 10 quickly analyzes the steel bar data, the control unit 20 accurately calculates the adjustment parameters, and the base and fixed groove drive unit 40 automatically perform the adjustment. The whole process is faster and more efficient than traditional manual operation; because the system can automatically adapt to steel bars of different shapes and sizes, the user does not need to manually adjust the size and position of the fixed groove structure. This adaptive ability allows the system to be widely used in various construction environments and needs, and no matter how complex the steel bars are, they can be effectively processed; the system automatically analyzes and processes the steel bar information through the intelligent analysis unit 10, reducing the errors of human operation. Intelligent data processing and control make the position adjustment of the fixed groove more precise, ensuring the accuracy and consistency of the fixing operation; the automated adjustment mechanism reduces the direct contact and operation risks of the operator. The system automatically completes the adjustment of the fixed groove, reducing the errors and safety hazards that may occur during manual operation, thereby improving the safety of the construction process.

[0087] In one embodiment, the above-mentioned intelligent analysis unit 10 is used to receive a description file of steel bars. When the description file is an engineering file, the shape and size of the steel bars in the file are parsed according to a preset format to form steel bar information; when the description file is an image file, edge detection, denoising, shape matching, calibration without matching and size calculation are performed on the image file to obtain the shape and size of the steel bars to form steel bar information.

[0088] Specifically, the intelligent analysis unit 10 receives description files from different sources, including engineering files (such as CAD drawings) and image files (such as scanned construction drawings).

[0089] The parsing process for project files is as follows:

[0090] Read the file content and parse its data structure; extract the shape and size information of the steel bars according to the preset format to form steel bar information for subsequent processing.

[0091] The processing flow for image files is as follows

[0092] Use algorithms (such as Canny edge detection) to identify the outline of the steel bars in the image; apply filters (such as Gaussian filters) to remove noise in the image and enhance the accuracy of edge detection; use template matching or contour analysis algorithms to identify the shape of the steel bars; calculate the actual size of the steel bars through a calibration algorithm and correct the scale of the image; measure the specific size of the steel bars based on the calibration results to form steel bar information.

[0093] After acquiring the steel bar information, the intelligent analysis unit 10 converts the steel bar information into the agreed CANOpen protocol format and sends it to the control unit 20 .

[0094] The parsing of engineering documents relies on standardized formats to ensure high accuracy of data extraction. Multi-step processing of image processing (such as edge detection and size calculation) further improves the accuracy of recognition and measurement; the system can process different types of description files, whether structured engineering drawings or unstructured image files. This flexibility allows the system to work effectively in different application scenarios; automated graphic information extraction reduces manual intervention and errors, and improves overall processing efficiency. Especially when processing image files, automated edge detection and shape matching simplify complex manual operations; through automated parsing and processing, the system can quickly process large amounts of data, shortening the time from file acquisition to graphic information generation. This efficient processing significantly improves the speed and productivity of the entire construction process.

[0095] In one embodiment, the control unit 20 is used to calculate the base position according to the length of the guide rail 50, the voltage of the guide rail 50 and the voltage of the base, and calculate the distance between the bases according to the base position.

[0096] Specifically, the control unit 20 obtains the steel bar shape parameters, length / radius parameters and grid parameters, that is, steel bar information, provided by the intelligent analysis system through the CAN bus. Based on the obtained parameters, the control unit 20 calculates the distance between the bases, the height of the lifting column 61 and the rotation angle of the rotating arm 62. The control unit 20 transmits the calculated data to the base drive unit 30 through the RS485 Modbus protocol.

[0097] The data message is represented by the shape and parameters of the steel bar with preset identifiers (such as id1 for a straight line and its length, id2 for an arc and its angle and radius).

[0098] The control unit 20 adjusts the spacing between the bases according to the size of the steel bars. The position of the base is calculated by the potential value. Assuming that the length of the guide rail 50 is L, the power-on voltage is U, and the base voltage is u, the base position x can be expressed as x = (u / U) * L. The control unit 20 drives the first power source to move the base to the calculated position.

[0099] For adjusting the slot position, the control unit 20 calculates the height and rotation angle of the fixed slot according to the shape and size of the steel bar. The adjustment of the fixed slot meets the following conditions:

[0100] The lowest point of the steel bar should be at least 10 cm away from the bottom of the platform, i.e. the base; the electromagnet 80 should be as close to the steel bar as possible; the fixing point should be as close to both ends of the steel bar as possible to increase stability. The fixing point refers to the point where the slot contacts the steel bar.

[0101] For example, Figure 4 For the straight steel bars shown, the height of the fixing groove is set to at least 10 cm and the turning angle is 90 degrees. Figure 5 For the semicircular steel bar shown, assuming that the radius of the steel bar is r, the distance between the bases is L, and the length of the rotating arm 62 is l, then the rotation angle θ=arcsin(L / 2*(r+l)), the height of the lifting arm is h=r+10-(r+l)*cos(θ), and the rotation angle is the angle of rotation of the rotating arm 62.

[0102] For other shapes of steel bars, the calculation method is similarly required to take into account the geometric characteristics, location requirements and stability conditions of the steel bars. For example:

[0103] Complex bent steel bars: It is necessary to calculate the fixed slot position and angle of each section of steel bars segment by segment, and adjust the slot height and angle based on the overall shape.

[0104] Arbitrary shape: Decompose the steel bar into a combination of known shapes, perform calculations based on the requirements of each part, and then comprehensively adjust the position and angle of the fixing groove.

[0105] After determining and fixing the slot, the upper system puts the steel bar into the slot. The upper system notifies the control unit 20 through the CAN bus, and the control unit 20 notifies the base drive unit 30 through RS485. The base drive unit 30 then notifies the fixed slot drive unit 40 to power on the electromagnet 80, and the electromagnet 80 absorbs the steel bar to complete the fixing action. The same applies to the electromagnet 80 being powered off after the binding is completed.

[0106] Specifically, the upper system includes an intelligent analysis unit 10, a grasping sensing subsystem, a grasping subsystem, a binding sensing subsystem, and a binding subsystem. When the intelligent analysis system determines the steel bar information, for the input construction drawing, a coordinate system is constructed, and the placement position of the steel bar is calculated based on the coordinate system, wherein the coordinate system takes the upper left corner of the control platform as the origin, the ground plane as the horizontal plane, the x-axis is parallel to the gantry, the y-axis is perpendicular to the gantry, and the z-axis is perpendicular to the ground; the steel bar includes vertically placed vertical bars and horizontally placed transverse bars; the placement position includes the placement position of each transverse bar, the placement position of the vertical bars, and the coordinates of the cross intersection;

[0107] Each gantry consists of a horizontal beam, a vertical beam and a moving device. The vertical beam moves up and down through the lifting device to adjust the working height of the horizontal beam; the horizontal beam of the gantry is equipped with a grabbing mechanical arm and a tying mechanical arm. The grabbing mechanical arm is used to grab the scattered steel bars, and the tying mechanical arm is used to tie the cross points.

[0108] The grasping sensing subsystem is used to identify the steel bars and determine their locations, including the three-dimensional coordinates of the grasping points of the steel bars calculated through different coordinate transformations;

[0109] The grabbing subsystem is used to grab all the transverse bars in sequence from the location of the steel bars determined by the grabbing sensing subsystem, and after placing all the transverse bars in the slots, grab the vertical bars in sequence and place them in the specified locations;

[0110] The lashing sensing subsystem is used to identify the cross knot and determine the location of the cross knot after each placement of the vertical reinforcement;

[0111] The lashing subsystem is used to determine the location of the cross knot and the coordinates of the cross intersection according to the lashing sensing subsystem.

[0112] The intelligent analysis unit 10 constructs a coordinate system to calculate the accurate placement of the steel bars; the mobile subsystem adjusts the position of the gantry and other equipment; the adaptive geometry fixed slot control system provides fixed slots according to the calculated position to ensure the correct placement of the transverse bars, and the slot design ensures that the transverse bars can be firmly placed and ready for binding; the grasping sensing subsystem identifies the position of the steel bars; the grasping subsystem grasps the transverse bars in sequence and places them in the slots, and then grasps the vertical bars and places them in the specified positions; the binding sensing subsystem identifies the cross knot position; the binding subsystem performs precise binding at the identified cross knot position.

[0113] That is, it automatically identifies the steel bars piled on the ground, grabs the steel bars with a grabbing robot arm and places them in the matching slots, then identifies the cross-intersection points of the steel bars and uses the steel bar tying robot arm to tie them. By setting different numbers of robots, the efficiency of steel bar tying can be effectively changed, and finally the tied steel bar structure is sent out; it reduces manual intervention and significantly improves construction efficiency through automated grabbing, placement and tying; through precise coordinate calculation and position adjustment, it ensures that the placement and tying of steel bars are accurate and improves the stability and safety of the structure; the high-precision positioning and recognition functions of the grabbing sensing subsystem and the tying sensing subsystem reduce the risk of incorrect tying; it operates according to a fixed process to ensure that the quality of each tying is consistent and meets the design requirements; automated operation reduces reliance on manual operation and reduces the labor intensity and cost of construction personnel; the system can complete the tying of a large number of steel bars in a short time, shortening the construction period; the system can adjust the number and position of gantries according to construction needs to adapt to construction projects of different sizes.

[0114] In one embodiment, the intelligent analysis unit 10 is composed of a small computer and is mainly responsible for the following functions:

[0115] Human-computer interaction: processing user instructions, setting parameters and reading drawings; users input instructions and parameters through the mouse and keyboard; drawings are input into the computer through the USB interface in CAD format.

[0116] Process control and scheduling: The intelligent analysis unit 10 manages the operation processes of each subsystem, coordinates their work, and performs system scheduling tasks.

[0117] Operational Analysis: Performs the necessary data processing and analysis to ensure that the system operates as expected.

[0118] In this embodiment, each subsystem is an independent control module responsible for specific functions such as moving, grasping, fixing, or tying. The subsystems are connected to the intelligent analysis unit 10 via the CANopen protocol to form a unified system network; the instructions of the intelligent analysis unit 10 are transmitted in the format of predefined hexadecimal combination numbers; each subsystem sends a heartbeat signal every 0.5 seconds; if the heartbeat signal of a certain subsystem stops, the intelligent analysis unit 10 will immediately stop the operation of the entire system to ensure the safety of the system.

[0119] In addition, the intelligent analysis unit 10 establishes a world coordinate system in the upper left corner of the platform, that is, a coordinate system with the upper left corner of the control platform as the origin, the ground plane as the horizontal plane, the x-axis parallel to the gantry, the y-axis perpendicular to the gantry, and the z-axis perpendicular to the ground for global positioning. The intelligent analysis unit 10 is responsible for converting the local coordinate system of the robotic arm into the world (global) coordinate system to ensure precise positioning and operation.

[0120] In one embodiment, the placement positions include the left and right coordinates of each horizontal bar, the left and right coordinates of each vertical bar, and the coordinates of the cross intersection points, that is, the placement positions of each horizontal bar, the placement positions of each vertical bar, and the coordinates of the cross intersection points; the placement positions can be determined through the following process:

[0121] The intelligent analysis unit 10 reads the construction drawings (cad files) or parameters through human-computer interaction. According to the drawings or parameters, the intelligent analysis unit 10 obtains information such as the length, width, shape, spacing to be placed, and quantity to be placed of the steel bars according to the file format. Then, the intelligent analysis unit 10 calculates the coordinates of the placement of each steel bar and calculates the coordinates of the cross intersection points according to the parameter information. The coordinate system constructed by the intelligent analysis unit 10 takes the upper left corner of the entire control platform as the origin, as Figure 6 shown, with the ground plane as the horizontal plane, the x-axis parallel to the gantry, the y-axis perpendicular to the gantry, and the z-axis perpendicular to the ground. Assume that both the horizontal bar and the vertical bar are straight steel bars, the length of the horizontal bar is L1, the length of the vertical bar is L2, and the height of the fixed groove is h above the ground plane. The number of horizontal bars to be placed is N1, then the spacing is L2 / N1, the number of vertical bars to be placed is N2, and the spacing is x. Then the left and right coordinates of each horizontal bar are (0, n*L2 / N1, h), (L1, n*L2 / N1, h), 0 n < N1, where n represents the nth horizontal bar.

[0122] The coordinates of the cross intersection points refer to the coordinates of the intersection points of the cross knots.

[0123] The left and right coordinates of each vertical bar are (m*x, 0, h), (m*x, L2, h), 0 m < N2, where m represents the mth vertical bar.

[0124] The coordinates of the cross knot are (m * x, n * L2 / N1, h), where 0 < n < N1 and 0 < m < N2. Here, m and n represent the IDs of the horizontal and vertical steel bars respectively.

[0125] In another embodiment, when the horizontal steel bar is of other shapes, the corresponding coordinates can also be obtained in the above - mentioned manner.

[0126] In one embodiment, the above - mentioned moving subsystem includes two vertical - bar gantries, one horizontal - bar gantry and a moving platform. The vertical - bar gantries and the horizontal - bar gantry are respectively connected to the moving platform;

[0127] Among them, the vertical - bar gantry is used to move the vertical steel bars; the horizontal - bar gantry is used to move the horizontal steel bars.

[0128] Specifically, the construction drawings are input into the intelligent analysis unit 10 through the man - machine interaction interface; the intelligent analysis unit 10 analyzes the drawings to obtain the dimensions, shapes of the vertical and horizontal steel bars and their placement intervals on the platform; the intelligent analysis unit 10 calculates the specific placement positions of the vertical and horizontal steel bars according to the analyzed parameters; after the grasping subsystem grasps the vertical or horizontal steel bar, the intelligent analysis unit 10 guides the moving subsystem to be moved to the corresponding calculated position.

[0129] By calculating the accurate placement positions, it ensures that the steel bars are placed accurately according to the design drawings; the automated gantry moving and grasping system improves the construction efficiency and reduces the need for manual intervention; the system can be quickly adjusted according to different construction drawings to adapt to various construction requirements; the safety mechanisms included in the system design, such as heartbeat monitoring, help prevent risks in case of failures or abnormal states and ensure construction safety.

[0130] In addition, the grasping subsystem includes a grasping robotic arm set on the horizontal - bar gantry and a grasping robotic arm set on the vertical - bar gantry.

[0131] Before performing the steel - bar grasping and binding, the vertical steel bars should be stacked on the side of the platform, perpendicular to the gantry; the horizontal steel bars should be stacked in front of the platform, parallel to the gantry; when grasping the steel bars, whether it is grasping the horizontal or vertical steel bars, the grasping perception subsystem locates the specific position of the steel bar; the grasping subsystem grasps the steel bar through the feedback system; the grasping subsystem places the steel bar at the predetermined target position according to the placement position of the intelligent analysis unit 10.

[0132] The grasping subsystem can ensure that the vertical and horizontal steel bars are stacked at the accurate positions as required by the design, improving the construction accuracy; the systematic grasping and placing process reduces manual intervention and speeds up the construction speed; the automated grasping and placing process reduces human errors and improves the construction consistency and reliability; the correct stacking positions ensure the effective use of the platform space and improve the overall construction efficiency.

[0133] In one embodiment, the above-mentioned grasping sensing subsystem includes a first plane camera arranged on the vertical rib gantry and the horizontal rib gantry and a first depth camera arranged on the grasping mechanical arm;

[0134] The first plane camera is used to capture and identify the steel bar to be grasped, determine the position of the steel bar to be grasped, and send the position of the steel bar to be grasped to the grasping subsystem, so that the grasping subsystem moves to the position of the steel bar to be grasped;

[0135] The first depth camera is used to analyze and determine the grasping point of the steel bar to be grasped when the grasping subsystem moves to the position where the steel bar to be grasped is located, and then determine the three-dimensional coordinates of the grasping point and send them to the grasping subsystem. When the grasping subsystem moves to the three-dimensional coordinates, the three-dimensional coordinates of the grasping point are fed back in real time until the grasping subsystem grasps the steel bar;

[0136] The three-dimensional coordinates of the grasping point are determined according to the transformation relationship between the reference coordinates of the grasping subsystem and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot. Among them, the reference coordinates of the grasping subsystem take the direction perpendicular to the chassis as the z-axis, and parallel to the chassis as the x and y axes; the coordinate system of the lower arm of the grasping robot takes the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane; the coordinate system of the upper arm of the grasping robot takes the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane; the coordinate system of the first depth camera takes the z-axis parallel to the lower arm, the x-axis parallel to the degree of freedom plane, and the y-axis perpendicular to the degree of freedom plane.

[0137] In this embodiment, the grasping perception subsystem first determines the distribution of steel bars and the grasping target through the first plane camera, and then notifies the grasping subsystem to reach the initial position. After reaching the initial position, the first depth camera will accurately measure the relative position of the robot arm and the steel bar, and help the grasping subsystem to grasp the steel bar accurately through continuous feedback.

[0138] Specifically, the first plane camera first identifies and locates the position of the steel bar to ensure that the grasping subsystem can accurately reach the target area; the first depth camera further provides precise three-dimensional coordinates and grasping point information, significantly improving the accuracy of the grasping operation; the first depth camera provides real-time three-dimensional coordinate feedback, so that the grasping subsystem can dynamically adjust the grasping strategy to ensure high-precision operation in complex environments; the first plane camera helps to determine the approximate position of the steel bar, thereby reducing the time and movement path of the grasping subsystem when searching for the target; after the grasping subsystem approaches the target, the first depth camera further analyzes the specific grasping point, optimizes the grasping action path, and reduces the probability of failure caused by position error; the system realizes precise control between different devices through the conversion relationship of multiple coordinate systems. Accurate docking allows for flexible adjustment of position and posture in complex grasping tasks; the coordinate systems between the grasping robot and the depth camera are compatible, supporting complex spatial calculations and adjustments, allowing the system to adapt to various shapes and positions of steel bar grasping tasks; by automatically identifying and positioning steel bars, manual intervention and adjustments are reduced, the level of automation is improved, and work efficiency is improved; real-time feedback and precise grasping point positioning reduce the number of repeated adjustments and trial and error, saving time and resources; the real-time feedback provided by the first depth camera can help the grasping subsystem correct the grasping action in time, improving the stability and reliability of the system in actual operation; the collaborative work of the first plane camera and the depth camera ensures the system's comprehensive perception and precise control of the environment, reducing the occurrence of errors and failures.

[0139] In general, the grasping perception subsystem improves the overall performance and efficiency of the grasping task through precise positioning and real-time feedback mechanism, enabling the system to maintain a high level of operational accuracy and stability in complex working environments.

[0140] In one embodiment, the above-mentioned tying subsystem includes a tying robot arm arranged on a transverse reinforcement gantry.

[0141] In this embodiment, after a vertical reinforcement is placed at a determined position, the binding sensing subsystem provides the binding subsystem with the position of the cross knot that needs to be tied; the binding subsystem continuously adjusts its position through sensing feedback and reaches the binding position, and binds the steel bars at the cross knot.

[0142] In one embodiment, the above-mentioned lashing sensing subsystem includes a second plane camera disposed on the cross-bar gantry and a second depth camera disposed on the lashing mechanical arm;

[0143] wherein the second depth camera is used to identify and preliminarily locate the position of the cross knot, and send the preliminarily determined position to the lashing subsystem, so that the lashing subsystem moves to the cross knot according to the preliminarily determined position and the coordinates of the cross intersection;

[0144] The second depth camera is used to analyze the position of the cross knot to the local coordinates of the depth camera when the binding subsystem moves to the preliminarily determined position to determine the position of the cross knot, and send the position of the cross knot to the binding subsystem, so that the binding subsystem moves to the position of the cross knot and binds the steel bars at the position of the cross knot.

[0145] In this embodiment, the tying sensing subsystem first determines the cross knot position of the steel bar through the second plane camera, and then notifies the tying subsystem to reach the preliminary position. The tying subsystem will combine the coordinates of the cross intersection point and the second plane camera to determine the cross knot position of the steel bar and move to the approximate position of the cross knot. After arriving, the second depth camera will accurately measure the distance information between the robot arm and the cross knot, and help the tying subsystem to accurately tie the steel bar through continuous feedback.

[0146] The joint use of the second plane camera and the second depth camera ensures the accurate recognition and preliminary positioning of the cross knot position, reducing positioning errors; after the second depth camera preliminarily determines the position, it automatically transmits the information to the tying subsystem, reducing manual intervention and improving operational efficiency; when the tying subsystem moves to the preliminarily determined position, the second depth camera further analyzes the specific position of the cross knot to achieve high-precision tying operations; through the dual steps of preliminary positioning and precise analysis, tying errors caused by positioning errors are reduced, and the overall tying quality and reliability are improved.

[0147] In one embodiment, the control process of the above-mentioned batch steel bar automatic binding control system is as follows:

[0148] First, the construction drawing or parameters are input, the placement position is determined by the intelligent analysis unit 10, and the slot is determined by the fixed slot control system with adaptive geometry. The grabbing subsystem grabs the transverse reinforcement with the assistance of the grabbing sensing subsystem, and the moving subsystem moves the transverse reinforcement gantry to the determined position. The grabbing subsystem grabs the transverse reinforcement and places it in the slot, and repeats the above grabbing process until all the transverse reinforcements are placed in the slot; then, the grabbing subsystem grabs the vertical reinforcement with the assistance of the grabbing sensing subsystem, and the moving subsystem moves the vertical reinforcement gantry to the specified position, and places the vertical reinforcement in the corresponding position, that is, the position specified by the placement position. After each vertical reinforcement is placed, the tying sensing subsystem identifies the cross knot, and the tying subsystem ties all the cross knots. Thereafter, when the vertical reinforcement is not all placed, the grabbing, moving and tying of the cross knots of the vertical reinforcement are repeated until all the vertical reinforcements are placed. After all the cross knots are tied, the tied steel bars can be removed.

[0149] Specifically, the process of grabbing and placing the transverse reinforcement is as follows:

[0150] First, the horizontal reinforcement gantry is moved until the first plane camera captures and identifies the horizontal reinforcement. After the grasping perception subsystem determines the position of the horizontal reinforcement, it notifies the gantry to move to the best position so that the two grasping manipulators can grasp it reasonably. Then, the grasping perception subsystem guides the grasping manipulator to approach the horizontal reinforcement until the second depth camera recognizes the horizontal reinforcement; the second depth camera analyzes the grasping points of the horizontal reinforcement (usually at both ends of the horizontal reinforcement) and provides the three-dimensional coordinates of these grasping points; the grasping perception subsystem transmits these coordinates to the grasping system, which calculates the direction and distance that the manipulator needs to move and rotate; the grasping manipulator moves and grasps the horizontal reinforcement according to the calculation results. This process is continuously adjusted through the perception feedback of the grasping perception subsystem until the horizontal reinforcement is successfully grasped; after the grasping is completed, the control system moves the grasping manipulator back to its original position and places the horizontal reinforcement in the slot.

[0151] The three-dimensional coordinates of the above-mentioned grasping points are determined by the following process:

[0152] Set the reference coordinates of the grasping subsystem, the coordinate system of the grasping robot lower arm, the coordinate system of the grasping robot upper arm, and the coordinate system of the first depth camera, such as Figure 7 As shown in the figure, the ellipse in the figure is the base of the robot arm, the rectangle is the upper and lower arms of the robot arm, the upper one is the lower arm, and the square below the upper arm represents the first depth camera; let O be the reference coordinate of the grasping subsystem, with the z axis perpendicular to the chassis, and the x and y axes parallel to the chassis; O1 is the coordinate system of the lower arm of the grasping robot arm, with the z axis parallel to the lower arm, the x axis parallel to the freedom plane, and the y axis perpendicular to the freedom plane; O2 is the coordinate system of the upper arm of the grasping robot arm, with the z axis parallel to the lower arm, the x axis parallel to the freedom plane, and the y axis perpendicular to the freedom plane; O3 is the coordinate system of the first depth camera, and the xyz three-axis direction is consistent with the grasping robot The coordinate system O1 is consistent with the coordinate system O2 of the upper arm of the grasping robot; the transformation from coordinate system O1 to coordinate system O includes translation along the z axis and rotation around the three axes xyz. According to the known rotation angle and translation, let the rotation matrix be R1, the translation amount be t1, and let the coordinates of the point under coordinate system O1 be a1=(x1, y1, z1), then the coordinate transformation formula from O1 to O can be obtained; according to the transformation relationship between the reference coordinates of the grasping subsystem and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot, the grasping position coordinates in the coordinate system of the grasping robot are determined. Specifically, the coordinate transformation formula from O1 to O is: , where a is the vector representation of the coordinates in the O coordinate system, a = (x, y, z); similarly, the coordinate transformation from O2 to O1 can be obtained as ; Where R2 is the rotation matrix, t2 is the translation vector, and a2=(x2, y2, z2) is the point coordinate in the coordinate system O2; Similarly, the coordinate transformation from O3 to O2 can be obtained as , where e=[1, 0; 0, 1], t3 is the translation vector, and a3=(x3, y3, z3) is the coordinate in the coordinate system O3. Combining the above transformation formula, the three-dimensional coordinates of the grasping point can be calculated.

[0153] After all the horizontal reinforcements are fixed, the vertical reinforcements can be grabbed and placed in the same way as the horizontal reinforcements. I will not go into details here.

[0154] When a vertical reinforcement is placed at the placement coordinate position of the vertical reinforcement in the calculated placement position, the vertical reinforcement and the horizontal reinforcement form N1-1 cross intersections, which are cross knots. According to the pre-calculated positions of the cross intersections, the cross points are quickly located in cooperation with the second plane camera. The second depth camera on the tying robot captures the cross knot, and the tying perception subsystem identifies and calculates the position of the cross knot in the local coordinate system of the second depth camera, and then notifies the tying robot to approach the cross knot. Through continuous feedback and adjustment, until the tying robot reaches the appropriate position, the tying of the cross knot is finally completed.

[0155] In one embodiment, during the binding process, the position of the steel bars is fine-tuned according to the operating point of the binding robot arm to adapt to the operating angle of the binding robot arm. Specifically, first, understand the operating angle of the binding robot arm and determine the optimal position of the steel bars at this angle; measure the current actual position and angle of the steel bars; calculate the distance and angle that need to be adjusted according to the target operating angle and the current steel bar position, which can be achieved through geometric calculation or adjustment algorithm; adjust the position of the steel bars according to the calculation results. The adjustment method includes: changing the height and angle of the slot to adapt to the fine-tuning of the steel bars; adjusting the base spacing according to the position and angle of the steel bars. After fine-tuning, re-measure the position of the steel bars to ensure that it meets the requirements of the operating angle; if necessary, repeat the fine-tuning steps to achieve the final accuracy.

[0156] The above-mentioned adaptive geometric shape fixed slot control system parses the description file or picture of the steel bar through the intelligent analysis unit 10 to extract the geometric shape and size information of the steel bar; the control unit 20 receives the steel bar information, calculates the required base position, the height of the lifting column 61 and the angle of the rotating arm 62, and generates adjustment parameters; the base drive unit 30 moves the base to the specified position according to the adjustment parameters; the fixed slot drive unit 40: drives the lifting column 61 and the rotating arm 62 to adjust the slot position to adapt to the geometric shape and position of the steel bar; realizes the automatic adjustment of the slot height to match the fixing method of steel bars of different shapes and different spacings, which can meet the fixing needs of steel bars of various geometric shapes and has high practicality.

[0157] In one embodiment, see Figure 8 , a control method executed by the above-mentioned adaptive geometric shape fixed slot control system is also provided, including steps S110~S140.

[0158] S110, the intelligent analysis unit 10 receives a description file of the steel bar, parses it into steel bar information, converts it into a data message, and sends it to the control unit 20, wherein the steel bar information includes the shape and size of the steel bar.

[0159] In one embodiment, see Fig. 9 The above-mentioned step S110 may include steps S111~S115.

[0160] S111, the intelligent analysis unit 10 receives a description file of the steel bars;

[0161] S112, the intelligent analysis unit 10 determines whether the description file is a project file;

[0162] S113, if the description file is an engineering file, parsing the shape and size of the steel bars in the file according to a preset format to form steel bar information;

[0163] S114, converting the steel bar information into a data message and sending it to the control unit 20;

[0164] S115. If the description file is not a project file, edge detection, denoising, shape matching, non-matching calibration and size calculation are performed on the image file to obtain the shape and size of the steel bar and form the steel bar information; and the step S114 is executed.

[0165] S120 , the control unit 20 receives the data message, and calculates the distance between the bases, the height of the lifting column 61 and the angle of the rotating arm 62 to obtain adjustment parameters, and sends them to the base driving unit 30 .

[0166] In one embodiment, see Fig.10 The above-mentioned step S120 may include steps S121~S123.

[0167] S121, the control unit 20 receives the data message, calculates the base position according to the length of the guide rail 50, the voltage of the guide rail 50 and the voltage of the base, and calculates the distance between the bases according to the base position;

[0168] S122, the control unit 20 calculates the height and the rotation angle of the slot according to the data message to obtain the height of the lifting column 61 and the angle of the rotating arm 62;

[0169] S123 , sending the distance between the bases, the height of the lifting column 61 and the angle of the rotating arm 62 as adjustment parameters to the base driving unit 30 .

[0170] S130, the base driving unit 30 receives the adjustment parameters to drive the base to move to the specified position of the guide rail 50, and sends the height of the lifting column 61 and the angle of the rotating arm 62 to the fixing slot driving unit 40;

[0171] S140 , the fixed slot driving unit 40 drives the lifting column 61 and the rotating arm 62 to work according to the height of the lifting column 61 and the angle of the rotating arm 62 to form a slot to adapt to the position of the steel bar.

[0172] In addition, in one embodiment, the control method of the above-mentioned adaptive geometric shape fixed slot control system further includes steps S150 to S200.

[0173] S150, the grasping sensing subsystem identifies the transverse reinforcement in the steel bar and determines the position of the transverse reinforcement, and the grasping subsystem grasps all the transverse reinforcements in sequence according to the determined position of the transverse reinforcement, and places all the transverse reinforcements into the slots;

[0174] In one embodiment, the above-mentioned step S150 may include steps S151 to S157.

[0175] S151, moving the transverse reinforcement gantry to the plane camera of the grasping sensing subsystem to identify the transverse reinforcement to be grasped;

[0176] S152, the grasping sensing subsystem determines the position of the horizontal reinforcement, guides the horizontal reinforcement gantry to move to the best grasping position, and the grasping mechanical arm approaches the horizontal reinforcement;

[0177] S153, when the grabbing robot arm approaches the horizontal rib, the depth camera identifies the precise position of the horizontal rib;

[0178] S154, calculating the three-dimensional coordinates of the grasping point.

[0179] In one embodiment, the above-mentioned step S154 may include steps S1541 - S1542 .

[0180] S1541, setting the reference coordinates of the grasping subsystem, the coordinate system of the lower arm of the grasping robot arm, the coordinate system of the upper arm of the grasping robot arm, and the coordinate system of the first depth camera;

[0181] S1542. Determine the grasping position in the coordinate system of the upper arm of the grasping robot according to the transformation relationship between the reference coordinates of the grasping subsystem and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot to obtain the three-dimensional coordinates of the grasping point.

[0182] In this embodiment, the transformation relationship between the reference coordinates of the grasping subsystem 50 and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot can be expressed by the transformation formula of the reference coordinates of the grasping subsystem 50 and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot.

[0183] S155, the grasping subsystem adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the transverse reinforcement;

[0184] S156, when the grasping subsystem finishes grasping the transverse reinforcement, the transverse reinforcement is placed in the slot;

[0185] S157, determining whether all the transverse ribs are placed in the slots;

[0186] If the transverse ribs are not all placed in the slots, executing step S151;

[0187] If all the transverse ribs are placed in the slots, the step S160 is executed.

[0188] S160, the base driving unit 30 sends a command to the fixing slot driving unit 40, so that the fixing slot driving unit 40 powers on the electromagnet 80, and the electromagnet 80 absorbs the transverse rib;

[0189] S170, the grasping sensing subsystem identifies the vertical reinforcement and determines the position of the vertical reinforcement, and the grasping subsystem grasps the vertical reinforcement in sequence according to the determined position of the vertical reinforcement, and places the vertical reinforcement at the designated position;

[0190] S180, the binding sensing subsystem identifies the cross knot and determines the location of the cross knot, and the binding subsystem binds the steel bars at the location of the cross knot in combination with the coordinates of the cross intersection in the placement position; wherein the placement position is constructed by analyzing the construction drawings or parameters to construct a coordinate system, and the positions of the horizontal bars and the vertical bars are calculated based on the coordinate system.

[0191] Specifically, the intelligent analysis unit 10 receives construction drawings or parameters, and extracts the length, width, shape, placement spacing and quantity of the steel bars to obtain steel bar related information; the intelligent analysis unit 10 parses the steel bar related information, constructs a coordinate system, and calculates the placement coordinates of each steel bar and the coordinates of the cross intersection based on the coordinate system.

[0192] Among them, the intelligent analysis unit 10 parses the steel bar related information, calculates the placement coordinates of each steel bar and the coordinates of the cross intersection, including: the intelligent analysis unit 10 establishes a coordinate system, wherein the coordinate system takes the upper left corner of the control platform as the origin, the ground plane as the horizontal plane, the x-axis is parallel to the gantry, the y-axis is perpendicular to the gantry, and the z-axis is perpendicular to the ground; the intelligent analysis unit 10 calculates the coordinates of both ends of each horizontal and vertical bar according to the length and spacing of the horizontal and vertical bars in the steel bar related information, and determines the position of the cross intersection.

[0193] In one embodiment, the above-mentioned step S180 may include steps S181 to S186.

[0194] S181, moving the vertical reinforcement gantry to the vertical reinforcement to be grasped by the plane camera of the grasping perception subsystem;

[0195] S182, the grasping sensing subsystem determines the position of the vertical reinforcement, guides the vertical reinforcement gantry to move to the best grasping position, and the grasping mechanical arm approaches the vertical reinforcement;

[0196] S183, when the grabbing robot arm approaches the vertical rib, the depth camera identifies the precise position of the vertical rib;

[0197] S184, calculating the three-dimensional coordinates of the grasping point;

[0198] S185, the grasping subsystem adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the vertical reinforcement;

[0199] S186. After the grabbing subsystem finishes grabbing the vertical reinforcement, the vertical reinforcement is placed at the placement position of the vertical reinforcement in the placement position.

[0200] The implementation details of the above steps S181 to S186 are consistent with those of steps S161 to S166, which will not be repeated here.

[0201] S190, judging whether all vertical bars are fixed;

[0202] If all vertical bars are not fixed, the step S150 is executed.

[0203] S200. If all vertical reinforcements are not fixed, remove the tied reinforcements.

[0204] In the above control method, the intelligent analysis unit 10 obtains the graphic file. If the file is in engineering format, the shape and size are analyzed; if it is a picture, image processing is performed: Sobel operator extracts edges, filtering removes outliers, clusters and matches shapes and calibration objects, calculates the size of calibration objects, and converts the size of steel bars. The data is converted into CAN bus messages and sent to the control unit 20; the control unit 20 receives the steel bar parameters and placement positions, all of which are transmitted through the CANOpen protocol. The steel bar parameters are expressed in a predetermined format, for example, id1 represents a straight line and its length, and id2 represents an arc and its angle and radius; the control unit 20 adjusts the position of the base motor according to the distance between the bases and the potential value (x = u / U*L); the control unit 20 calculates the height and angle of the fixed slot. The height of the fixed slot must ensure that the lowest point of the steel bar is at least 10 cm away from the bottom of the platform, the electromagnet 80 fits the steel bar, and the fixed point is close to both ends of the steel bar to increase stability; different steel bar shapes (such as straight lines or semicircles) use corresponding calculation formulas to determine the height and angle of the fixed slot; after the slot position is set, the upper system puts the steel bar into the fixed slot. The system notifies the control unit 20 via the CAN bus, and then sends the RS485 command to the base drive unit 30. Finally, the fixed slot drive unit 40 controls the electromagnet 80 to complete the steel bar fixation. After the binding is completed, the electromagnet 80 is powered off, and the steel bar fixation process ends; during the binding, the robotic arm fine-tunes the steel bar to adapt to the working angle, and the fine-tuning adopts a similar processing method. The height of the slot can be automatically adjusted to match the fixing method of steel bars of different shapes and different spacings, which can meet the needs of fixing steel bars of various geometric shapes and is highly practical.

[0205] It should be noted that technicians in the relevant field can clearly understand that the specific implementation process of the control method of the above-mentioned adaptive geometric fixed slot control system can refer to the corresponding description in the system method embodiment, and for the convenience and brevity of description, it will not be repeated here.

[0206] In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0207] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0208] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A fixed slot control system with adaptive geometry, characterized in that: include: An intelligent analysis unit, a control unit, a base drive unit, a fixed slot drive unit and a fixed slot structure; the fixed slot structure includes a guide rail assembly and a fixed slot assembly; the guide rail assembly includes a guide rail, a first power source and a base, and the power source is connected to the base; the guide rail is in contact with the base, and low voltage electricity is passed through the guide rail; the fixed slot assembly includes a lifting column, a rotating arm, and an electromagnet, the lifting column is connected to the base, the upper part of the lifting column is connected to one end of the rotating arm, and the other end of the rotating arm is connected to the electromagnet; The intelligent analysis unit is used to receive the description file of the steel bar, parse it into steel bar information, convert it into a data message, and send it to the control unit. The steel bar information includes the shape and size of the steel bar; The control unit is used to receive the data message, and calculate the distance between the bases, the height of the lifting column and the angle of the rotating arm to obtain adjustment parameters, and send them to the base drive unit; The base driving unit is used to receive the adjustment parameters to drive the base to move to a specified position of the guide rail, and send the height of the lifting column and the angle of the rotating arm to the fixed slot driving unit; The fixed slot driving unit is used to drive the lifting column and the rotating arm to work according to the height of the lifting column and the angle of the rotating arm to form a slot position to adapt to the position of the steel bar.

2. The adaptive geometry fixed slot control system according to claim 1, characterized in that: The intelligent analysis unit is used to receive a description file of steel bars. When the description file is an engineering file, the intelligent analysis unit parses the shape and size of the steel bars in the file according to a preset format to form steel bar information; when the description file is an image file, the image file is subjected to edge detection, denoising, shape matching, calibration without matching and size calculation to obtain the shape and size of the steel bars and form steel bar information.

3. The adaptive geometry fixed slot control system according to claim 2, characterized in that: The control unit is used to calculate the base position according to the length of the guide rail, the voltage of the guide rail and the voltage of the base, and calculate the distance between the bases according to the base position.

4. A control method performed by the adaptive geometry fixed slot control system according to any one of claims 1 to 3, characterized in that: include: The intelligent analysis unit receives the description file of the steel bar, parses it into steel bar information, converts it into a data message, and sends it to the control unit, wherein the steel bar information includes the shape and size of the steel bar; The control unit receives the data message and calculates the distance between the bases, the height of the lifting column and the angle of the rotating arm to obtain adjustment parameters and sends them to the base drive unit; The base driving unit receives the adjustment parameters to drive the base to move to the specified position of the guide rail, and sends the height of the lifting column and the angle of the rotating arm to the fixed slot driving unit; The fixed slot driving unit drives the lifting column and the rotating arm to work according to the height of the lifting column and the angle of the rotating arm to form a slot to adapt to the position of the steel bar.

5. The control method according to claim 4, characterized in that: The intelligent analysis unit receives the description file of the steel bar, parses it into steel bar information, converts it into a data message, and sends it to the control unit, including: The intelligent analysis unit receives the description file of the steel bar; The intelligent analysis unit determines whether the description file is a project file; If the description file is an engineering file, the shape and size of the steel bars in the file are parsed according to a preset format to form steel bar information; Convert the steel bar information into a data message and send it to a control unit; If the description file is not an engineering file, edge detection, denoising, shape matching, calibration without matching and size calculation are performed on the image file to obtain the shape and size of the steel bar, form the steel bar information, and convert the steel bar information into a data message and send it to the control unit.

6. The control method according to claim 4, characterized in that: The control unit receives the data message and calculates the distance between the bases, the height of the lifting column and the angle of the rotating arm to obtain adjustment parameters and sends them to the base drive unit, including: The control unit receives the data message, calculates the base position according to the length of the guide rail, the voltage of the guide rail and the voltage of the base, and calculates the distance between the bases according to the base position; The control unit calculates the height and the rotation angle of the slot according to the data message to obtain the height of the lifting column and the angle of the rotating arm; The distance between the bases, the height of the lifting column and the angle of the rotating arm are sent to the base drive unit as adjustment parameters.

7. The control method according to claim 4, characterized in that: The fixed slot driving unit drives the lifting column and the rotating arm to work according to the height of the lifting column and the angle of the rotating arm to form a slot to adapt to the position of the steel bar, and further includes: The grasping sensing subsystem identifies the transverse reinforcement in the steel bar and determines the position of the transverse reinforcement, and the grasping subsystem grasps all the transverse reinforcements in sequence according to the determined position of the transverse reinforcement and places all the transverse reinforcements in the slots; The base driving unit sends a command to the fixed slot driving unit, so that the fixed slot driving unit powers on the electromagnet, and the electromagnet adsorbs the transverse rib; The grasping sensing subsystem identifies the vertical reinforcement and determines the position of the vertical reinforcement, and the grasping subsystem grasps the vertical reinforcement in sequence according to the determined position of the vertical reinforcement and places the vertical reinforcement at the designated position; The binding sensing subsystem identifies the cross knot and determines the location of the cross knot, and the binding subsystem binds the steel bars at the location of the cross knot in combination with the coordinates of the cross intersection in the placement position; wherein the placement position is constructed by analyzing the construction drawings or parameters to construct a coordinate system, and the positions of the horizontal bars and the vertical bars are calculated based on the coordinate system; Determine whether all vertical reinforcements have been fixed; If all the vertical bars are not fixed, the grasping sensing subsystem is executed to identify the vertical bars and determine the positions of the vertical bars, and the grasping subsystem grasps the vertical bars in sequence according to the determined positions of the vertical bars and places the vertical bars at designated positions.

8. The control method according to claim 7, characterized in that: The grasping sensing subsystem identifies the transverse reinforcement and determines the position of the transverse reinforcement, and the grasping subsystem grasps all the transverse reinforcements in sequence according to the determined position of the transverse reinforcement and places all the transverse reinforcements in the slots, including: Move the cross-rebar gantry to the plane camera of the grasping sensing subsystem to identify the cross-rebar to be grasped; The grasping sensing subsystem determines the position of the cross bar, guides the cross bar gantry to move to the best grasping position, and the grasping robot arm approaches the cross bar; When the grasping robot arm approaches the horizontal rib, the depth camera identifies the precise position of the horizontal rib; Calculate the three-dimensional coordinates of the grasping point; The grasping subsystem adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the transverse reinforcement; When the grasping subsystem finishes grasping the transverse reinforcement, it places the transverse reinforcement into the slot; Determining whether all the transverse ribs are placed in the slots; If the transverse reinforcement is not completely placed in the slot, the moving transverse reinforcement gantry to the plane camera of the grasping sensing subsystem identifies the transverse reinforcement to be grasped; If all the transverse ribs are placed in the slots, the base driving unit sends a command to the fixed slot driving unit, so that the fixed slot driving unit powers on the electromagnet, and the electromagnet absorbs the transverse ribs.

9. The control method according to claim 8, characterized in that: The calculating of the three-dimensional coordinates of the grasping point includes: Set the reference coordinates of the grasping subsystem, the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot, and the coordinate system of the first depth camera; The grasping position in the coordinate system of the upper arm of the grasping robot is determined according to the transformation relationship between the reference coordinates of the grasping subsystem and the coordinate system of the lower arm of the grasping robot, the coordinate system of the upper arm of the grasping robot and the coordinate system of the lower arm of the grasping robot, and the coordinate system of the first depth camera and the coordinate system of the upper arm of the grasping robot to obtain the three-dimensional coordinates of the grasping point.

10. The control method according to claim 7, characterized in that: The grasping sensing subsystem identifies the vertical reinforcement and determines the position of the vertical reinforcement, and the grasping subsystem grasps the vertical reinforcement in sequence according to the determined position of the vertical reinforcement and places the vertical reinforcement at the designated position, including: Move the vertical reinforcement gantry to the plane camera of the grasping perception subsystem to identify the vertical reinforcement to be grasped; The grasping sensing subsystem determines the position of the vertical reinforcement, guides the vertical reinforcement gantry to move to the best grasping position, and the grasping robot arm approaches the vertical reinforcement; When the grabbing robot arm approaches the vertical rib, the depth camera identifies the precise position of the vertical rib; Calculate the three-dimensional coordinates of the grasping point; The grasping subsystem adjusts the movement and rotation of the grasping robot arm according to the three-dimensional coordinates of the grasping point to accurately grasp the vertical reinforcement; After the grasping subsystem finishes grasping the vertical reinforcement, the vertical reinforcement is placed at the placement position of the vertical reinforcement in the placement position.

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