Inspection robot for detecting size of beam structure and detection method thereof

Abstract

The invention relates to the technical field of inspection robots, in particular to an inspection robot for detecting the size of a beam structure and a detection method of the inspection robot. Comprising an inspection vehicle and a lifting platform, and the lifting platform is installed on the inspection vehicle; the manipulator is mounted on the lifting table, and the lifting table drives the manipulator to adjust the vertical position; the distance measuring camera is mounted at the end part of the manipulator; and the laser range finders are mounted on the front side and the rear side of the inspection vehicle. According to the invention, the inspection vehicle can automatically move in the beam field, so that a proper position can be found to detect the size of the beam structure. The angle between the inspection vehicle and the beam is calculated through the laser range finder, so that the shooting position is parallel to the beam, the structural size of the beam is directly calculated through pictures shot by the range finding camera, manual operation is not needed, and full-automatic measurement is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to an inspection robot for detecting the size of a beam structure and a detection method thereof. Background Art

[0002] At present, the measurement of beam structure dimensions is heavily dependent on manual inspection by inspectors. This inspection method has problems such as low inspection efficiency, poor working environment, high labor intensity, and potential safety hazards. With the continuous advancement of bridge engineering technology and the increasing complexity of bridge structures, traditional beam structure dimension inspection methods have been unable to meet the needs of modern bridge maintenance and inspection.

[0003] The actual size of an existing bridge structure is not only a technical indicator for testing the quality of bridge construction, but also an important consideration for analyzing the causes of bridge structure defects, designing maintenance plans, and strengthening construction treatments. Its detection method is widely used in various bridge businesses such as bridge inspection and evaluation, maintenance and renovation, and maintenance management.

[0004] Therefore, designing a fully automatic device that can be used to detect the size of beam structures is a demand of this industry. Summary of the invention

[0005] In order to provide a fully automatic device that can be used to detect the size of a beam structure, the present invention provides an inspection robot for detecting the size of a beam structure and a detection method thereof.

[0006] The present invention adopts the following technical solution: a patrol robot for detecting the size of a beam structure, comprising: Inspection vehicles, A lifting platform, wherein the lifting platform is installed on the inspection vehicle; A manipulator, the manipulator is installed on a lifting platform, and the lifting platform drives the manipulator to adjust the up and down position; A rangefinder camera, wherein the rangefinder camera is mounted at the end of the manipulator; A laser rangefinder is installed on the front and rear sides of the inspection vehicle.

[0007] In some embodiments, a quick-change structure is further included, and the manipulator is connected to the ranging camera via the quick-change structure.

[0008] In some embodiments, the quick-change structure includes: A main disk, wherein the main disk is mounted on a manipulator; A sub-disk, on which a connecting disk is mounted, and the connecting disk is fixedly connected to the range-finding camera; The main disk is connected to the secondary disk; A secondary disk in-place detection sensor is installed on the main disk, and the secondary disk in-place detection sensor is used to detect whether the secondary disk is in contact with the main disk.

[0009] In some embodiments, a cylinder is disposed at the center of the main disk, the output end of the cylinder is a locking head, a plurality of locking balls are disposed outside the locking head, and the locking balls are pushed outward after the cylinder is inflated; A mounting hole is arranged at the center of the auxiliary plate, and the cylinder can be inserted into the mounting hole when extended; The main tray is provided with a retracted in place detection sensor, an extended in place detection sensor, a secondary tray in place detection sensor and an electrical signal module; The retracted position detection sensor is used to detect whether the cylinder is fully retracted; The extended position detection sensor is used to detect whether the cylinder is fully extended; The sub-disc in-place detection sensor is used to detect whether the quick-change sub-disc is aligned with the quick-change main disk; The retracted position detection sensor, the extended position detection sensor and the auxiliary tray position detection sensor transmit signals to the electric signal module.

[0010] In some embodiments, the connection method between the main disk and the slave disk is as follows: Determine whether the signal of the retracted position detection sensor is received. If received, control the manipulator to move to the installation position of the tooling for the next step of detection, and control the cylinder in the main plate to extend; Determine whether the signal of the auxiliary plate in position detection sensor is received. If received, control the cylinder on the main plate to extend so that the locking ball extends; It is determined whether a signal from the extended-in-place detection sensor is received. If received, it is determined that the connection between the main disk and the sub-disk is completed.

[0011] In some embodiments, the method of separating the primary disk from the secondary disk is as follows: Determine whether the tooling to be disconnected is aligned with the installation position, and if so, control the cylinder on the main plate to retract; It is determined whether the signal of the retracted detection sensor is received. If so, the robot arm is controlled to drive the main disk to reset and leave the secondary disk.

[0012] A method for detecting the size of a beam structure, using the inspection robot, comprises the following steps: S1: The inspection robot moves to the preset position; S2: Adjust the position of the rangefinder camera, use the rangefinder camera to take a photo of the beam cross section, and use the laser rangefinder to measure the distance between the current position and the end face of the beam; S3: According to the data obtained in S2, the height of the beam is calculated through the shooting distance and the shooting target pixel relationship table; S4: The robot arm moves x meters to the left in the horizontal direction, and the ranging camera takes a photo of the left beam end face; The robotic arm returns to its original position, and then moves y meters to the right in the horizontal direction, and the rangefinder camera takes a photo of the right beam end face; S5: Calculate the pixel values ​​of the beams appearing in the beam width direction in the left beam end face photo and the right beam end face photo respectively; S6: Calculate the width z of the beam appearing in the two photos respectively through the pixel value of the beam in step S5, and add the width z of the beam to the left and right movement distances of the robot arm to obtain the total width of the beam.

[0013] In some embodiments, in step S1, the position preset point is determined by the following method: S11: The angle between the inspection vehicle and the beam end face is calculated in real time through the laser rangefinders in front and behind the inspection vehicle and the length of the inspection vehicle ; AC and BD are the real-time distances measured by the front and rear laser rangefinders respectively; CD is the length of the inspection vehicle; S12: The robotic arm adjusts the corresponding angle in real time to ensure that the ranging camera directly photographs the beam end face.

[0014] In some embodiments, step S3 includes: S31: Calculate the pixel value from the upper edge to the lower edge in the beam height direction in the beam cross-section photo, including: The beam end face model is marked in advance, and the beam end face in the photograph is identified by the beam end face model. The upper edge ordinate and the lower edge ordinate in the beam height direction are extracted according to the identified beam end face. The difference between the two ordinates is the pixel value P of the beam height. S32: Calculate the height of the beam through the shooting distance and the shooting target pixel relationship table.

[0015] In some embodiments, step S5 includes: using a pre-labeled beam end face model to respectively identify a left beam end face photo and a right beam end face photo, extracting the left edge of the left beam end face according to the identified target, corresponding to the edge position in the picture, and calculating the pixel size of the left beam end face. Similarly, the pixel size of the right beam end face is obtained, and the image pixel values ​​of the left and right ends of the beam are obtained by adding the two pixel sizes.

[0016] In some embodiments, in step S6, after step S5 obtains the pixel size of the left beam end face and the pixel size of the right beam end face, the shooting distance and shooting target pixel relationship table in S3 is applied to obtain the actual size z1 of the left beam end face and the actual size z2 of the right beam end face, respectively, z=z1+z2, so the total width of the beam is equal to z plus the distance x that the robotic arm moves to the left plus the distance y that the robotic arm moves to the right, that is, the total width of the beam = x+y+z.

[0017] In some embodiments, z1+z2= l -a+ l -b=2 l- (a+b ), where 2 l is the actual length corresponding to the photo taken by the rangefinder camera, a is the actual length of the outer side of the beam end face in the left photo, and b is the actual length of the outer side of the beam end face in the right photo.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The present invention designs a fully automatic device that can be used to detect the size of a beam structure. The present invention uses a patrol vehicle that can move automatically in a beam yard to find a suitable position to detect the size of the beam structure. The present invention calculates the angle between the patrol vehicle and the beam through a laser rangefinder, thereby ensuring that the shooting position is parallel to the beam, and directly calculates the size of the beam structure by taking a photo with a rangefinder camera, so that no manual operation is required and the measurement is fully automatic. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the inspection robot used for detecting the size of beam structures of the present invention; Figure 2 This is a schematic diagram of the main disk structure; Figure 3 This is a schematic diagram of another direction of the main disk structure; Figure 4 This is a schematic diagram of the sub-disk structure; Figure 5 Angle of inspection vehicle and beam end face Schematic diagram; Figure 6 is the structural schematic diagram of the total width of the beam; Figure 7 Take a schematic for the rangefinder camera; In the figure, 1-inspection vehicle, 2-laser rangefinder, 3-manipulator, 4-lifting platform, 5-wheel, 6-fast structure, 6.1-main plate, 6.2-electric signal module, 6.3-retracted position detection sensor, 6.4-extended position detection sensor, 6.5-cylinder, 6.6-ball, 6.7-sub-plate position detection sensor, 6.8-sub-plate, 6.9-mounting hole, 6.10-connecting plate. DETAILED DESCRIPTION

[0020] 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. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] like Figure 1 As shown, a patrol robot for detecting the size of a beam structure comprises: Inspection vehicle 1, A lifting platform 4, wherein the lifting platform 4 is installed on the inspection vehicle 1; A manipulator 3, wherein the manipulator 3 is mounted on a lifting platform 4, and the lifting platform 4 drives the manipulator 3 to adjust the up and down position; A rangefinder camera, which is installed at the end of the manipulator 3; A laser rangefinder 2 is installed on the front and rear sides of the inspection vehicle 1 .

[0022] The inspection vehicle 1 is used as a driving device and can move freely in the beam yard. When it reaches a predetermined position, the position of the ranging camera is adjusted in real time under the joint action of the manipulator 3 and the lifting platform 4.

[0023] Specifically, it also includes a quick-change structure, and the manipulator 3 is connected to the ranging camera through the quick-change structure.

[0024] like Figure 2-4 As shown, the quick-change structure 6 includes: A main disk 6.1, wherein the main disk 6.1 is mounted on the manipulator 3; A secondary disk 6.8, on which a connecting disk 6.10 is mounted, and the connecting disk 6.10 is fixedly connected to the range-finding camera; The main disk 6.1 is connected to the auxiliary disk 6.8; A secondary tray in place detection sensor 6.7 is installed on the main tray 6.1, and the secondary tray in place detection sensor 6.7 is used to detect whether the secondary tray 6.8 is in contact with the main tray 6.1.

[0025] Specifically, a cylinder 6.5 is arranged at the center of the main disk 6.1, the output end of the cylinder 6.5 is a locking head, and a plurality of locking balls 6.6 are arranged outside the locking head. After the cylinder 6.5 is inflated, the locking balls 6.6 are pushed outwards; A mounting hole 6.9 is provided at the center of the auxiliary plate 6.8, and the cylinder 6.5 can extend into the mounting hole 6.9 when extended.

[0026] The main tray 6.1 is provided with a retracted in-position detection sensor 6.3, an extended in-position detection sensor 6.4, a secondary tray in-position detection sensor 6.7 and an electric signal module 6.2; The retracted position detection sensor 6.3 is used to detect whether the cylinder 6.5 is fully retracted; The extended position detection sensor 6.4 is used to detect whether the cylinder 6.5 is fully extended; The auxiliary tray in place detection sensor 6.7 is used to detect whether the quick-change auxiliary tray is aligned with the quick-change main tray; The retracted position detection sensor 6.3, the extended position detection sensor 6.4 and the auxiliary tray position detection sensor 6.7 transmit signals to the electric signal module 6.2.

[0027] The connection method of the main disk 6.1 and the auxiliary disk 6.8 is as follows: Determine whether the signal of the retracted position detection sensor 6.3 is received. If received, the manipulator 3 is controlled to move to the installation position of the tooling for the next step of detection, and the cylinder 6.5 in the main plate 6.1 is controlled to extend; Determine whether the signal of the auxiliary plate in position detection sensor 6.7 is received. If received, the cylinder 6.5 on the main plate 6.1 is controlled to extend so that the locking ball 6.6 extends; It is determined whether a signal from the extended position detection sensor 6.4 is received. If received, it is determined that the connection between the main tray 6.1 and the auxiliary tray 6.8 is completed.

[0028] The method of separating the main disk 6.1 and the secondary disk 6.8 is as follows: Determine whether the tooling to be disconnected is aligned with the installation position, if so, control the cylinder 6.5 on the main plate 6.1 to retract; It is judged whether the signal of the retracted position detection sensor 6.3 is received. If so, the robot arm 3 is controlled to drive the main disk 6.1 to reset and leave the auxiliary disk 6.8.

[0029] The quick-change structure 6 is used as a connection structure between the manipulator 3 and the rangefinder camera, which allows the manipulator 3 to be quickly connected to the rangefinder camera. At the beginning of work, the rangefinder camera is placed in place and connected to the auxiliary plate 6.8. The manipulator 3 aligns the main plate 6.1 with the auxiliary plate 6.8, and the cylinder 6.5 in the center of the main plate 6.1 extends and penetrates into the auxiliary plate 6.8. After the cylinder 6.5 is inflated, the ball 6.6 is pushed outward and contacts the auxiliary plate 6.8, thereby locking.

[0030] A method for detecting the size of a beam structure comprises the following steps: S1: Inspection robot 1 moves to the preset position.

[0031] In step S1, the position preset point is determined by the following method: S11: Figure 5 As shown, the angle between the inspection vehicle 1 and the beam end face is calculated in real time by using the laser rangefinder 2 in front and behind the inspection vehicle 1 and the length of the inspection vehicle 1. ; AC and BD are the real-time distances measured by the front and rear laser rangefinders respectively; CD is the length of the inspection vehicle; S12: The robotic arm adjusts the corresponding angle in real time to ensure that the ranging camera directly photographs the beam end face.

[0032] S2: Adjust the position of the ranging camera, use the ranging camera to take a photo of the beam cross section, and use the laser rangefinder 2 to measure the distance between the current position and the end face of the beam.

[0033] S3: According to the data obtained in S2, the height of the beam is calculated through the shooting distance and the shooting target pixel relationship table; In step S3, the relationship table between shooting distance and shooting target pixels is: .

[0034] This embodiment discloses the relationship between the shooting distance and the target pixel when the shooting distance is 500 mm, but different shooting distances will have different ratio values. This embodiment requires a fixed shooting distance during measurement to obtain the relationship between the pixel value and the actual size. Using other shooting distances is still within the protection scope of this application.

[0035] Step S3 includes: S31: Calculate the pixel value from the upper edge to the lower edge in the beam height direction in the beam cross-section photo, including: The beam end face model is marked in advance, and the beam end face in the photograph is identified by the beam end face model. The upper edge ordinate and the lower edge ordinate in the beam height direction are extracted according to the identified beam end face. The difference between the two ordinates is the pixel value P of the beam height. S32: Calculate the height of the beam through the shooting distance and the shooting target pixel relationship table, including: The pixel value P of the beam height calculated by S31 is used, and the relationship table between the shooting distance and the shooting target pixel in S3 is applied to obtain the beam height H=P / 9.07mm.

[0036] S4: The robot arm moves x meters to the left in the horizontal direction, and the ranging camera takes a photo of the left beam end face; The robotic arm returns to its original position, and then moves y meters to the right horizontally. The ranging camera takes a photo of the right beam end face.

[0037] S5: Calculate the pixel values ​​of the beams appearing in the beam width direction in the left beam end face photo and the right beam end face photo respectively; Step S5 includes: using the pre-labeled beam end face model to respectively identify the left beam end face photo and the right beam end face photo, extracting the left edge of the left beam end face corresponding to the edge position in the picture according to the identified target, and calculating the pixel size of the left beam end face, and similarly obtaining the pixel size of the right beam end face, and the image pixel values ​​of the left and right ends of the beam are obtained by adding the two pixel sizes.

[0038] S6: Calculate the width z of the beam appearing in the two photos respectively through the pixel value of the beam in step S5, and add the width z of the beam to the left and right movement distances of the robot arm to obtain the total width of the beam.

[0039] like Figure 6As shown, after obtaining the pixel size of the left beam end face and the pixel size of the right beam end face in step S5, the shooting distance and shooting target pixel relationship table in S3 is applied to obtain the actual size z1 of the left beam end face and the actual size z2 of the right beam end face, respectively, z=z1+z2, so the total width of the beam is equal to z plus the distance x that the robot arm moves to the left plus the distance y that the robot arm moves to the right, that is, the total width of the beam=x+y+z.

[0040] like Figure 7 As shown, when calculating z1, z1= l -a; in, l = is the actual length corresponding to 1 / 2 of the photo, which is equal to 1 / 2 of the photo's pixels / 9.07 mm. a is the actual length of the outside of the beam end face in the left photo, which is equal to the outside of the beam in the photo's pixels / 9.07 mm.

[0041] Similarly, z2= l -b, where b is the actual length of the outside of the beam end face in the right photo, which is equal to the pixels on the outside of the beam in the photo / 9.07mm.

[0042] z1+z2= l -a+ l -b=2 l- ( a+b ) ， 2 of them l a is the actual length corresponding to the photo taken by the rangefinder camera, and a+b is the actual length of the outer side of the left and right side beam end faces.

[0043] Therefore, when calculating z1+z2, we only need to know 2 l (known data), and then get the pixel size of the outer side of the beam end face from the left and right side photos, and then calculate a+b based on the shooting distance and shooting target pixel relationship table.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A patrol robot for detecting the size of a beam structure, characterized in that: include: Inspection vehicle (1), A lifting platform (4), wherein the lifting platform (4) is installed on the inspection vehicle (1); A manipulator (3), wherein the manipulator (3) is mounted on a lifting platform (4), and the lifting platform (4) drives the manipulator (3) to adjust the upper and lower positions; A rangefinder camera, the rangefinder camera being mounted at the end of the manipulator (3); A laser rangefinder (2), wherein the laser rangefinder (2) is installed on the front and rear sides of the inspection vehicle (1).

2. The inspection robot for detecting beam structure dimensions according to claim 1, characterized in that: It also includes a quick-change structure, and the manipulator (3) is connected to the distance measuring camera via the quick-change structure.

3. The inspection robot for detecting the size of beam structures according to claim 2, characterized in that: The quick-change structure (6) comprises: A main disk (6.1), wherein the main disk (6.1) is mounted on the manipulator (3); A secondary disk (6.8), wherein a connecting disk (6.10) is mounted on the secondary disk (6.8), and the connecting disk (6.10) is fixedly connected to the range-finding camera; The main disk (6.1) is connected to the auxiliary disk (6.8); A secondary disk in-place detection sensor (6.7) is installed on the main disk (6.1), and the secondary disk in-place detection sensor (6.7) is used to detect whether the secondary disk (6.8) is in contact with the main disk (6.1).

4. The inspection robot for detecting the size of beam structures according to claim 3, characterized in that: A cylinder (6.5) is arranged at the center of the main disk (6.1); the output end of the cylinder (6.5) is a locking head; a plurality of locking balls (6.6) are arranged outside the locking head; and the locking balls (6.6) are pushed outward after the cylinder (6.5) is inflated; A mounting hole (6.9) is provided at the center of the auxiliary plate (6.8), and the cylinder (6.5) can extend into the mounting hole (6.9) when extended; The main disk (6.1) is provided with a retracted-in-place detection sensor (6.3), an extended-in-place detection sensor (6.4), a secondary disk in-place detection sensor (6.7), and an electric signal module (6.2); The retracted position detection sensor (6.3) is used to detect whether the cylinder (6.5) is fully retracted; The extended position detection sensor (6.4) is used to detect whether the cylinder (6.5) is fully extended; The auxiliary tray in place detection sensor (6.7) is used to detect whether the quick-change auxiliary tray is aligned with the quick-change main tray; The retracted position detection sensor (6.3), the extended position detection sensor (6.4) and the auxiliary tray position detection sensor (6.7) transmit signals to the electric signal module (6.2).

5. The inspection robot for detecting beam structure dimensions according to claim 4, characterized in that: The connection method between the main disk (6.1) and the slave disk (6.8) is as follows: Determine whether a signal from the retracted position detection sensor (6.3) is received. If received, control the manipulator (3) to move to the installation position of the tooling for the next step of detection, and control the cylinder (6.5) in the main plate (6.1) to extend; Determine whether a signal from the auxiliary plate in-position detection sensor (6.7) is received. If received, control the cylinder (6.5) on the main plate (6.1) to extend so that the locking ball (6.6) extends; It is determined whether a signal from the extended position detection sensor (6.4) is received. If received, it is determined that the connection between the main disk (6.1) and the auxiliary disk (6.8) is completed.

6. The inspection robot for detecting beam structure dimensions according to claim 4, characterized in that: The method of separating the main disk (6.1) and the secondary disk (6.8) is as follows: Determine whether the tooling to be disconnected is aligned with the installation position, and if so, control the cylinder (6.5) on the main plate (6.1) to retract; It is judged whether a signal from the retracted position detection sensor (6.3) is received. If so, the robot arm (3) is controlled to drive the main disk (6.1) to reset and leave the auxiliary disk (6.8).

7. A method for detecting the size of a beam structure, characterized in that: Using the inspection robot as claimed in claim 1 comprises the following steps: S1: The inspection robot (1) moves to a preset position; S2: Adjust the position of the distance measuring camera, use the distance measuring camera to take a photo of the beam cross section, and use the laser rangefinder (2) to measure the distance between the current position and the end face of the beam; S3: According to the data obtained in S2, the height of the beam is calculated through the shooting distance and the shooting target pixel relationship table; S4: The robot arm moves x meters to the left in the horizontal direction, and the ranging camera takes a photo of the left beam end face; The robotic arm returns to its original position, and then moves y meters to the right in the horizontal direction, and the rangefinder camera takes a photo of the right beam end face; S5: Calculate the pixel values ​​of the beams appearing in the beam width direction in the left beam end face photo and the right beam end face photo respectively; S6: Calculate the width z of the beam appearing in the two photos respectively through the pixel value of the beam in step S5, and add the width z of the beam to the left and right movement distances of the robot arm to obtain the total width of the beam.

8. The method for detecting the size of a beam structure according to claim 7, characterized in that: In step S1, the position preset point is determined by the following method: S11: The angle between the inspection vehicle (1) and the beam end face is calculated in real time by using the laser rangefinders (2) in front and behind the inspection vehicle (1) and the length of the inspection vehicle (1). ; AC and BD are the real-time distances measured by the front and rear laser rangefinders respectively; CD is the length of the inspection vehicle; S12: The robotic arm adjusts the corresponding angle in real time to ensure that the ranging camera directly photographs the beam end face.

9. The method for detecting the size of a beam structure according to claim 7, characterized in that: The step S3 comprises: S31: Calculate the pixel value from the upper edge to the lower edge in the beam height direction in the beam cross-section photo, including: The beam end face model is marked in advance, and the beam end face in the photograph is identified by the beam end face model. The upper edge ordinate and the lower edge ordinate in the beam height direction are extracted according to the identified beam end face. The difference between the two ordinates is the pixel value P of the beam height. S32: Calculate the height of the beam through the shooting distance and the shooting target pixel relationship table.

10. The method for detecting the size of a beam structure according to claim 7, characterized in that: The step S5 comprises: using a pre-marked beam end face model, respectively identifying a left beam end face photo and a right beam end face photo, extracting the left edge of the left beam end face corresponding to the edge position in the picture according to the identified target, calculating the pixel size of the left beam end face, and similarly obtaining the pixel size of the right beam end face, and the image pixel values ​​of the left and right ends of the beam are obtained by adding the two pixel sizes.

11. The method for detecting the size of a beam structure according to claim 7, characterized in that: In step S6, after step S5 obtains the pixel size of the left beam end face and the pixel size of the right beam end face, the shooting distance and shooting target pixel relationship table of S3 is applied to obtain the actual size z1 of the left beam end face and the actual size z2 of the right beam end face, respectively, z=z1+z2, so the total width of the beam is equal to z plus the distance x that the robot arm moves to the left plus the distance y that the robot arm moves to the right, that is, the total width of the beam=x+y+z.

12. The method for detecting the size of a beam structure according to claim 11, characterized in that: z1+z2= l -a+ l -b=2 l- ( a+b ), where 2 l is the actual length corresponding to the photo taken by the rangefinder camera, a is the actual length of the outer side of the beam end face in the left photo, and b is the actual length of the outer side of the beam end face in the right photo.

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