Channel steel splicing and mounting method and system based on visual technology

Abstract

The invention relates to a channel steel splicing installation method and system based on a visual technology, and the method comprises the steps: obtaining a first top image of spliced first channel steel, the top of the first channel steel is symmetrically provided with two positioning targets on top plates at the left side and the right side, and the two positioning targets at the same side are vertically symmetrical; based on the first top image, the two positioning targets on the left side and the right side are connected and extended, and a left extension line and a right extension line are formed; respectively taking an observation point P0 on the left extension line and the right extension line, and calculating a first distance L0 between the observation point P0 and the observation station; obtaining a second top image of adjacent second channel steel to be assembled, and calculating a second distance L1 between two targets to be calibrated on the left side and the right side and the observation station based on the second top image; when it is determined that the first distance L0 is equal to the second distance L1, the observation point P0 serves as the standard position of the target to be calibrated, and the splicing position of the second channel steel is adjusted based on the standard position.

Description

Technical Field

[0001] The invention relates to the technical field of positioning and measurement, and in particular to a channel steel splicing and installation method and system based on vision technology. Background Art

[0002] Most of the viaducts in China are simply supported beam bridges, and the main beam construction method adopts a combined structure of "channel steel main beam + concrete bridge deck". Among them, the channel steel is a multi-section structure, usually 10 to 12 meters per section. For example, a simply supported beam bridge with a span of 100 meters has a main beam made up of 10 sections of 10-meter-long channel steel. However, the accuracy of channel steel splicing not only affects the installation of concrete bridge decks, but also has a direct relationship with the safety of bridges and the stability of vehicle driving. At present, the splicing and installation of channel steel is mainly based on manual measurement by total station. By arranging 4 reflectors on the top area of ​​each channel steel to form a 2*2 measuring point array, based on this measuring point array, the accurate coordinates of the four measuring points on the next section of channel steel are calculated by conversion and adjustment of spatial coordinates to guide construction personnel to complete the precise splicing of the next section of channel steel. However, the shortcomings of this method are also obvious. For example, waiting for the measurement results and calculating the accurate position of the next section of channel steel will take up most of the working time, and the method is inefficient. Therefore, it is necessary to propose an effective channel steel splicing and installation method to address the above problems in order to improve measurement efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method and system for splicing and installing channel steel based on visual technology in view of the deficiencies of the above-mentioned prior art. The technical solution adopted is as follows:

[0004] In a first aspect, the present application discloses a method for splicing and installing channel steel based on visual technology, the method comprising:

[0005] S1. Acquire a first top image of the assembled first channel steel, wherein two positioning targets are symmetrically installed on the left and right top plates of the top of the first channel steel, wherein the two positioning targets on the same side are symmetrical in the vertical direction;

[0006] S2. Based on the first top image, connect and extend the two positioning targets on the left and right sides to form left and right extension lines;

[0007] S3, select an observation point P0 on the left and right extension lines respectively, and calculate the first distance L0 between the observation point P0 and the observation station;

[0008] S4, obtaining a second top image of the adjacent second channel steel to be assembled, and calculating a second distance L1 between the two to-be-determined targets on the left and right sides and the observation station based on the second top image;

[0009] S5. When it is determined that the first distance L0 is equal to the second distance L1, the observation point P0 is used as the standard position of the target to be determined, and the assembly position of the second channel steel is adjusted based on the standard position.

[0010] Furthermore, each target is square in shape, and has two circular light-reflecting patterns symmetrically spaced apart from each other on its surface.

[0011] Furthermore, each target is 280 mm in height and 120 mm in width, and the two targets on the same side are installed relatively centered on the top plate.

[0012] Further, for the observation point P0 on the left extension line, in step S3, the calculation of the first distance L0 between the observation point P0 and the observation station includes:

[0013] S31, determining the actual distance d0 and the pixel distance p0 between the two circular light reflective patterns on the left positioning target;

[0014] S32, determining the pixel projection size D0 of the position of the left positioning target based on the ratio between the actual distance d0 and the pixel distance p0;

[0015] S33, obtaining the camera pixel size u and the lens focal length F of the observation station;

[0016] S34, substituting the camera pixel size u, lens focal length F, and pixel projection size D0 into the formula In the above equation, the first distance L0 between the observation point P0 and the observation station is obtained.

[0017] Further, in step S31, the actual distance d between the two circular light reflective patterns on the left positioning target is determined by the following steps:

[0018] S311, making a first horizontal line along the center of the circular light reflective pattern located at the upper part of the left positioning target, and making a second horizontal line along the center of the circular light reflective pattern located at the lower part of the left positioning target;

[0019] S312: Calculate the distance between the first horizontal line and the second horizontal line to obtain a corresponding actual distance d.

[0020] Further, for the two undetermined targets on the left side, in step S4, calculating the second distance L1 between the undetermined targets and the observation station includes:

[0021] S41, determining the actual distance d1 and the pixel distance p1 between the two circular light reflective patterns on the left target to be determined;

[0022] S42, determining the pixel projection size D1 of the position of the left target to be determined based on the ratio between the actual distance d1 and the pixel distance p1;

[0023] S43, obtaining the camera pixel size u and the lens focal length F of the observation station;

[0024] S44, substituting the camera pixel size u, lens focal length F, and pixel projection size D1 into the formula , obtain the second distance L1 between the left target and the observation station.

[0025] Furthermore, in step S5, the observation point P0 is used as the standard position of the target to be determined, and the assembly position of the second channel steel is adjusted based on the standard position, including:

[0026] S51, obtaining the coordinates of four pending targets on the second channel steel: P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), and P4 (x4, y4);

[0027] S52, respectively calculate the distance difference v of the coordinates P1 (x1, y1)), P2 (x2, y2), P3 (x3, y3), P4 (x4, y4) relative to the observation point P0 (x0, y0) in the horizontal and vertical directions 1-0 、v 2-0 、v 3-0 、v 4-0 ;

[0028] S53, in determining each distance difference v 1-0 、v 2-0 、v 3-0 、v 4-0 When at least one of the above items is greater than a preset difference threshold, the offset direction and degree of the second channel steel relative to the standard position are determined, and the assembly position is adjusted accordingly.

[0029] In a second aspect, the present application discloses a channel steel splicing and installation system based on visual technology, the system comprising an image acquisition module, an extension line generation module, a measurement and positioning module, and an assembly adjustment module, wherein:

[0030] The image acquisition module is used to acquire a first top image of the assembled first channel steel, wherein two positioning targets are symmetrically installed on the top plates on the left and right sides of the top of the first channel steel, wherein the two positioning targets on the same side are symmetrical in vertical direction;

[0031] The extension line generation module is used to connect and extend the two positioning targets on the left and right sides based on the first top image to form left and right extension lines;

[0032] The measuring and positioning module is used to select an observation point P0 on the left and right extension lines respectively, and calculate a first distance L0 between the observation point P0 and the observation station;

[0033] The measuring and positioning module is further used to obtain a second top image of the adjacent second channel steel to be assembled, and calculate a second distance L1 between the two to-be-determined targets on the left and right sides and the observation station based on the second top image;

[0034] The assembly adjustment module is used to use the observation point P0 as the standard position of the target to be determined when it is determined that the first distance L0 is equal to the second distance L1, and adjust the assembly position of the second channel steel based on the standard position.

[0035] Furthermore, the measurement and positioning module is also used to determine the actual distance d0 and the pixel distance p0 between the two circular light reflective patterns on the left positioning target; based on the ratio between the actual distance d0 and the pixel distance p0, determine the pixel projection size D0 of the position of the left positioning target; obtain the camera pixel size u and the lens focal length F of the observation station; substitute the camera pixel size u, the lens focal length F, and the pixel projection size D0 into the formula In the above equation, the first distance L0 between the observation point P0 and the observation station is obtained.

[0036] Furthermore, the measurement and positioning module is also used to make a first horizontal line along the center of the circular light reflective pattern located above the left positioning target, and to make a second horizontal line along the center of the circular light reflective pattern located below the left positioning target; calculate the distance between the first horizontal line and the second horizontal line to obtain the corresponding actual distance d.

[0037] The present invention has the following beneficial effects: by acquiring a first top image of the first groove steel and a second top image of the second groove steel, the positions of the positioning target and the target to be determined can be accurately identified. Using the extension line formed by the positioning target and the observation point P0, an accurate standard position can be set to guide the assembly of the second groove steel. By accurately calculating and comparing the first distance L0 and the second distance L1, errors in the assembly process can be discovered and corrected in time. This helps to reduce the rework and repair costs caused by inaccurate assembly. The use of image processing and distance measurement technology can automatically identify and locate targets, reduce manual intervention and errors, and the precise assembly position can ensure that the connection between the groove steels is tight and stable, thereby improving the stability and bearing capacity of the entire structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A method flow chart of a channel steel splicing and installation method based on visual technology provided by one embodiment of the present invention;

[0040] Figure 2 A schematic diagram for simulating the camera's imaging field of view;

[0041] Figure 3 is a schematic diagram of the target cross section;

[0042] Figure 4 A system structure diagram of a channel steel splicing and installation system based on visual technology provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation method, structure, features and effects of a channel steel splicing and installation method and system based on visual technology proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0044] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0045] The following is a detailed description of a method and system for splicing and installing channel steels based on visual technology provided by the present invention in conjunction with the accompanying drawings.

[0046] See also Figure 1 , which shows a method flow chart of a channel steel splicing and installation method based on visual technology provided by an embodiment of the present invention, the method comprising:

[0047] S1. Acquire a first top image of the assembled first channel steel, wherein two positioning targets are symmetrically installed on the left and right top plates of the top of the first channel steel, wherein the two positioning targets on the same side are symmetrical in the vertical direction;

[0048] For details, please refer to the installation location of the positioning target. Figure 2, where the positioning targets on the same side are symmetrical up and down, which means that they are located at different heights of the top plate, but are aligned in the horizontal direction.

[0049] S2. Based on the first top image, connect and extend the two positioning targets on the left and right sides to form left and right extension lines;

[0050] Specifically, the present application uses image software to connect lines along the center point or preset specific position of each positioning target, wherein, for the two positioning targets on the left, a left connection line is formed; similarly, for the two positioning targets on the right, a similar connection operation is performed to form a right connection line. After the connection is completed, the two connection lines are extended along the direction of the adjacent second channel steel to be assembled to form corresponding left and right extension lines (see Figure 2 ).

[0051] S3, select an observation point P0 on the left and right extension lines respectively, and calculate the first distance L0 between the observation point P0 and the observation station;

[0052] Specifically, any point on the left and right extension lines is selected as the observation point P0, and the distance between the observation point P0 and the observation station can be calculated. For details, please refer to the subsequent steps. It should be noted that the installation position of the observation station should make the positioning target group on the channel steel within the field of view of the equipment, and make the nearest target close to the left and right ends of the field of view. In addition, the observation station uses a white LED light source so that the target can clearly reflect the image.

[0053] S4, obtaining a second top image of the adjacent second channel steel to be assembled, and calculating a second distance L1 between the two to-be-determined targets on the left and right sides and the observation station based on the second top image;

[0054] Specifically, the present application uses an observation station to photograph the top of the second groove steel from above or near above to obtain a second top image, wherein the observation station emits a white LED light source to the second groove steel to illuminate the top of the second groove steel to ensure that the observation station can capture a clearer image. It should be noted that when the coordinate positions of the two pending targets on the left and right sides are known, the second distance L1 between the two pending targets on the left and right sides and the observation station can be calculated, and the details can be referred to the subsequent steps.

[0055] S5. When it is determined that the first distance L0 is equal to the second distance L1, the observation point P0 is used as the standard position of the target to be determined, and the assembly position of the second channel steel is adjusted based on the standard position.

[0056] It should be noted that if an observation point P0 is taken on the left extension line, the distance L0 from the point P0 to the observation station is equal to the distance L1 between the identified left target to be determined and the observation station. Then, when L0=L1 is satisfied, the position of the observation point P0 is the standard position of the target to be determined, and the horizontal distance difference and vertical distance difference between each target to be determined and the observation point P0 are the measurement results, and the assembly position of the second channel steel can be adjusted according to the measurement results.

[0057] As can be seen from the above, the present application discloses a method for splicing and installing grooved steel based on visual technology, which can accurately identify the positions of the positioning target and the target to be determined by acquiring the first top image of the first grooved steel and the second top image of the second grooved steel. Using the extension line formed by the positioning target and the observation point P0, an accurate standard position can be set to guide the assembly of the second grooved steel. By accurately calculating and comparing the first distance L0 and the second distance L1, errors in the assembly process can be discovered and corrected in a timely manner. This helps to reduce the rework and repair costs caused by inaccurate assembly. The use of image processing and distance measurement technology can automatically identify and locate targets, reduce manual intervention and errors, and the precise assembly position can ensure that the connection between the grooved steels is tight and stable, thereby improving the stability and bearing capacity of the entire structure.

[0058] In one embodiment, each target is square in shape, and has two circular light-reflecting patterns symmetrically spaced apart from each other on its surface.

[0059] For details, please refer to Figure 3 Each target is designed to be square. Since the square shape is relatively stable and not easily deformed by external forces, the stability of the measurement can be guaranteed. Two circular light-reflecting patterns are symmetrically arranged on the surface of the target. The main function of these patterns is to enhance the recognition of the target in the image. When light shines on the target, the circular pattern reflects the light to form a bright circular light spot. Since these light spots are easy to capture, the accuracy of target positioning is improved.

[0060] In one or more embodiments, each target is 280 mm in height and 120 mm in width, and the two targets on the same side are installed relatively centered on the top plate.

[0061] Specifically, the two targets on the same side are installed relatively centered on the top plate, which means that the two targets are at roughly the same horizontal position on the top plate and are located in the middle of the top plate width. This installation position helps ensure the symmetry and stability of the targets in the image, thereby improving measurement accuracy.

[0062] In one or more embodiments, for the observation point P0 on the left extension line, in step S3, the calculation of the first distance L0 between the observation point P0 and the observation station includes:

[0063] S31, determining the actual distance d0 and the pixel distance p0 between the two circular light reflective patterns on the left positioning target;

[0064] Specifically, the actual distance d0 refers to the physical distance between the two circular light reflective patterns, which will be calculated later by drawing a horizontal line in the image and measuring the vertical distance between them (for details, please refer to the subsequent implementation steps). The pixel distance p0 refers to the number of pixels between the two circular light reflective patterns. The pixel distance between the two patterns in the image can be identified and measured by image processing software. It should be noted that the pixel distance p0 is the distance in the image space, which corresponds to the actual distance d0 and needs to be converted by the pixel projection size.

[0065] S32, determining the pixel projection size D0 of the position of the left positioning target based on the ratio between the actual distance d0 and the pixel distance p0;

[0066] Specifically, the pixel projection size D0 refers to the number of pixels corresponding to each unit physical length in the image, which is determined based on the ratio between the actual distance d0 and the pixel distance p0.

[0067] S33, obtaining the camera pixel size u and the lens focal length F of the observation station;

[0068] Specifically, the camera pixel size u refers to the physical size of each pixel in the camera sensor. This parameter can usually be obtained from the camera's technical specifications or measured. The lens focal length F refers to the focal length of the camera lens, which represents the distance from the center of the lens to the image plane. This parameter can be obtained from the lens's technical specifications.

[0069] S34, substituting the camera pixel size u, lens focal length F, and pixel projection size D0 into the formula In the above equation, the first distance L0 between the observation point P0 and the observation station is obtained.

[0070] In one or more embodiments, in step S31, the actual distance d between the two circular light reflective patterns on the left positioning target is determined by the following steps:

[0071] S311, making a first horizontal line along the center of the circular light reflective pattern located at the upper part of the left positioning target, and making a second horizontal line along the center of the circular light reflective pattern located at the lower part of the left positioning target;

[0072] S312: Calculate the distance between the first horizontal line and the second horizontal line to obtain a corresponding actual distance d.

[0073] Based on step S311-step S312, it should be noted that first, the centers of the two circular light reflective patterns on the left positioning target need to be located, and then lines can be drawn along the horizontal positions of these centers, wherein for the upper circular pattern, a first horizontal line passing through the center will be drawn. Similarly, for the lower circular pattern, a corresponding second horizontal line will be drawn. Afterwards, the distance between the first horizontal line and the second horizontal line needs to be measured. This distance refers to the shortest distance between the two lines in the vertical direction, that is, the vertical spacing between them. In this way, through the above processing method, the actual distance d between the two circular light reflective patterns on the left positioning target can be accurately determined.

[0074] In one or more embodiments, for the two undetermined targets on the left side, in step S4, calculating the second distance L1 between the undetermined targets and the observation station includes:

[0075] S41, determining the actual distance d1 and the pixel distance p1 between the two circular light reflective patterns on the left target to be determined;

[0076] S42, determining the pixel projection size D1 of the position of the left target to be determined based on the ratio between the actual distance d1 and the pixel distance p1;

[0077] S43, obtaining the camera pixel size u and the lens focal length F of the observation station;

[0078] S44, substituting the camera pixel size u, lens focal length F, and pixel projection size D1 into the formula , obtain the second distance L1 between the left target and the observation station.

[0079] It should be noted that based on step S41 to step S43, the specific implementation method thereof can refer to the aforementioned content and will not be elaborated herein.

[0080] In one or more embodiments, in step S5, taking the observation point P0 as the standard position of the target to be determined, and adjusting the assembly position of the second channel steel based on the standard position, comprises:

[0081] S51, obtaining the coordinates of four pending targets on the second channel steel: P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), and P4 (x4, y4);

[0082] S52, respectively calculate the distance difference v of the coordinates P1 (x1, y1)), P2 (x2, y2), P3 (x3, y3), P4 (x4, y4) relative to the observation point P0 (x0, y0) in the horizontal and vertical directions 1-0 、v 2-0 、v 3-0 、v 4-0 ;

[0083] S53, in determining each distance difference v 1-0 、v 2-0 、v 3-0 、v 4-0 When at least one of the above items is greater than a preset difference threshold, the offset direction and degree of the second channel steel relative to the standard position are determined, and the assembly position is adjusted accordingly.

[0084] What needs to be explained based on steps S51 to S53 is that in this step, the coordinates of the observation point P0 will be determined first. Then, the distance difference between each pending target and the observation point P0 in the horizontal coordinate (i.e., the X direction) and the vertical coordinate (i.e., the Y direction) is calculated. Specifically, for each pending target, the present application will calculate its distance from the observation point P0 in the X direction, i.e., subtracting the X coordinate value of the observation point P0 to obtain the corresponding difference, and its distance from the observation point P0 in the Y direction, i.e., subtracting the Y coordinate value of the observation point P0 to obtain the corresponding difference. Therefore, this step will obtain the distance difference of the four pending targets in the X and Y directions, i.e., v 1-0 、v 2-0 、v 3-0 、v 4-0 After that, when the difference threshold is set, the distance difference v is compared. 1-0 、v 2-0 、v 3-0 、v 4-0 Whether it exceeds the difference threshold. If any distance difference is found to exceed the difference threshold, it is considered that the second channel steel is not accurately placed at the designed position and there is an offset. At this time, the offset direction and degree of the second channel steel relative to the standard position are determined according to the exceeded difference, and then the assembly position of the second channel steel is adjusted according to the harmonious offset information.

[0085] Second, as Figure 4 As shown, the present application discloses a channel steel splicing and installation system based on visual technology, the system includes an image acquisition module, an extension line generation module, a measurement and positioning module, and an assembly adjustment module, wherein:

[0086] The image acquisition module is used to acquire a first top image of the assembled first channel steel, wherein two positioning targets are symmetrically installed on the top plates on the left and right sides of the top of the first channel steel, wherein the two positioning targets on the same side are symmetrical in vertical direction;

[0087] The extension line generation module is used to connect and extend the two positioning targets on the left and right sides based on the first top image to form left and right extension lines;

[0088] The measuring and positioning module is used to select an observation point P0 on the left and right extension lines respectively, and calculate a first distance L0 between the observation point P0 and the observation station;

[0089] The measuring and positioning module is further used to obtain a second top image of the adjacent second channel steel to be assembled, and calculate a second distance L1 between the two to-be-determined targets on the left and right sides and the observation station based on the second top image;

[0090] The assembly adjustment module is used to use the observation point P0 as the standard position of the target to be determined when it is determined that the first distance L0 is equal to the second distance L1, and adjust the assembly position of the second channel steel based on the standard position.

[0091] In one or more embodiments, the measurement and positioning module is further used to determine the actual distance d0 and the pixel distance p0 between the two circular light reflective patterns on the left positioning target; based on the ratio between the actual distance d0 and the pixel distance p0, determine the pixel projection size D0 of the position of the left positioning target; obtain the camera pixel size u and the lens focal length F of the observation station; substitute the camera pixel size u, the lens focal length F, and the pixel projection size D0 into the formula In the above equation, the first distance L0 between the observation point P0 and the observation station is obtained.

[0092] In one or more embodiments, the measurement and positioning module is also used to make a first horizontal line along the center of the circular light reflective pattern located above the left positioning target, and to make a second horizontal line along the center of the circular light reflective pattern located below the left positioning target; calculate the distance between the first horizontal line and the second horizontal line to obtain the corresponding actual distance d.

[0093] In one embodiment, the measurement and positioning module is further used to determine the actual distance d1 and the pixel distance p1 between the two circular light reflective patterns on the left target to be determined for the two targets to be determined on the left; based on the ratio between the actual distance d1 and the pixel distance p1, determine the pixel projection size D1 of the position of the left target to be determined; obtain the camera pixel size u and the lens focal length F of the observation station; substitute the camera pixel size u, the lens focal length F, and the pixel projection size D1 into the formula , obtain the second distance L1 between the left target and the observation station.

[0094] In one embodiment, the assembly adjustment module is also used to obtain the coordinates of four undetermined targets on the second groove steel: P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), and P4 (x4, y4); respectively calculate the distance difference v between the coordinates P1 (x1, y1), P2 (x2, y2), P3 (x3, y3), and P4 (x4, y4) relative to the observation point P0 (x0, y0) in the horizontal and vertical directions. 1-0 、v 2-0 、v 3-0 、v 4-0 ; In determining the distance difference v 1-0 、v 2-0 、v 3-0 、v 4-0 When at least one of the above items is greater than a preset difference threshold, the offset direction and degree of the second channel steel relative to the standard position are determined, and the assembly position is adjusted accordingly.

[0095] As can be seen from the above, the present application discloses a groove steel splicing and installation system based on visual technology, which can accurately identify the positions of the positioning target and the target to be determined by acquiring the first top image of the first groove steel and the second top image of the second groove steel. Using the extension line formed by the positioning target and the observation point P0, an accurate standard position can be set to guide the assembly of the second groove steel. By accurately calculating and comparing the first distance L0 and the second distance L1, errors in the assembly process can be discovered and corrected in time. This helps to reduce the rework and repair costs caused by inaccurate assembly. The use of image processing and distance measurement technology can automatically identify and locate targets, reduce manual intervention and errors, and the precise assembly position can ensure that the connection between the groove steels is tight and stable, thereby improving the stability and bearing capacity of the entire structure.

[0096] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0097] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A method for splicing and installing channel steel based on visual technology, characterized in that: The method comprises: S1. Acquire a first top image of the assembled first channel steel, wherein two positioning targets are symmetrically installed on the left and right top plates of the top of the first channel steel, wherein the two positioning targets on the same side are symmetrical in the vertical direction; S2. Based on the first top image, connect and extend the two positioning targets on the left and right sides to form left and right extension lines; S3, select an observation point P0 on the left and right extension lines respectively, and calculate the first distance L0 between the observation point P0 and the observation station; S4, obtaining a second top image of the adjacent second channel steel to be assembled, and calculating a second distance L1 between the two to-be-determined targets on the left and right sides and the observation station based on the second top image; S5. When it is determined that the first distance L0 is equal to the second distance L1, the observation point P0 is used as the standard position of the target to be determined, and the assembly position of the second channel steel is adjusted based on the standard position.

2. The method according to claim 1, characterized in that Each target is square in shape, and has two circular light-reflecting patterns symmetrically spaced up and down on its surface.

3. The method according to claim 2, characterized in that The height of each target is 280 mm, the width is 120 mm, and the installation positions of the two targets on the same side on the top plate are relatively centered.

4. The method according to claim 2, characterized in that: For the observation point P0 on the left extension line, in step S3, the calculation of the first distance L0 between the observation point P0 and the observation station includes: S31, determining the actual distance d0 and the pixel distance p0 between the two circular light reflective patterns on the left positioning target; S32, determining the pixel projection size D0 of the position of the left positioning target based on the ratio between the actual distance d0 and the pixel distance p0; S33, obtaining the camera pixel size u and the lens focal length F of the observation station; S34, substituting the camera pixel size u, lens focal length F, and pixel projection size D0 into the formula In the above equation, the first distance L0 between the observation point P0 and the observation station is obtained.

5. The method according to claim 4, characterized in that In step S31, the actual distance d between the two circular light reflective patterns on the left positioning target is determined by the following steps: S311, making a first horizontal line along the center of the circular light reflective pattern located at the upper part of the left positioning target, and making a second horizontal line along the center of the circular light reflective pattern located at the lower part of the left positioning target; S312: Calculate the distance between the first horizontal line and the second horizontal line to obtain a corresponding actual distance d.

6. The method according to claim 2, characterized in that For the two undetermined targets on the left side, in step S4, calculating the second distance L1 between the undetermined targets and the observation station includes: S41, determining the actual distance d1 and the pixel distance p1 between the two circular light reflective patterns on the left target to be determined; S42, determining the pixel projection size D1 of the position of the left target to be determined based on the ratio between the actual distance d1 and the pixel distance p1; S43, obtaining the camera pixel size u and the lens focal length F of the observation station; S44, substituting the camera pixel size u, lens focal length F, and pixel projection size D1 into the formula , obtain the second distance L1 between the left target and the observation station.

7. The method according to claim 1, characterized in that In step S5, the observation point P0 is used as the standard position of the target to be determined, and the assembly position of the second channel steel is adjusted based on the standard position, including: S51, obtaining the coordinates of four pending targets on the second channel steel: P1 (x1,,y1), P2 (x2,y2), P3 (x3,y3), and P4 (x4,y4); S52, calculate the distance difference v of the coordinates P1 (x1,,y1)), P2, (x2,y2,), P3, (x3,,y3,), P4, (x4,,y4,) relative to the observation point P0 (x0,y0) in the horizontal and vertical directions respectively 1-0 、v 2-0 、v 3-0 、v 4-0 ; S53, in determining each distance difference v 1-0 、v 2-0 、v 3-0 、v 4-0 When at least one of the above items is greater than a preset difference threshold, the offset direction and degree of the second channel steel relative to the standard position are determined, and the assembly position is adjusted accordingly.

8. A channel steel splicing and installation system based on visual technology, characterized in that: The system includes an image acquisition module, an extension line generation module, a measurement and positioning module, and an assembly and adjustment module, wherein: The image acquisition module is used to acquire a first top image of the assembled first channel steel, wherein two positioning targets are symmetrically installed on the left and right top plates of the top of the first channel steel, wherein the two positioning targets on the same side are symmetrical in vertical direction; The extension line generation module is used to connect and extend the two positioning targets on the left and right sides based on the first top image to form left and right extension lines; The measuring and positioning module is used to select an observation point P0 on the left and right extension lines respectively, and calculate a first distance L0 between the observation point P0 and the observation station; The measuring and positioning module is further used to obtain a second top image of the adjacent second channel steel to be assembled, and calculate a second distance L1 between the two to-be-determined targets on the left and right sides and the observation station based on the second top image; The assembly adjustment module is used to use the observation point P0 as the standard position of the target to be determined when it is determined that the first distance L0 is equal to the second distance L1, and adjust the assembly position of the second channel steel based on the standard position.

9. The system according to claim 8, characterized in that The measurement and positioning module is also used to determine the actual distance d0 and the pixel distance p0 between the two circular light reflective patterns on the left positioning target; based on the ratio between the actual distance d0 and the pixel distance p0, determine the pixel projection size D0 of the position of the left positioning target; obtain the camera pixel size u and the lens focal length F of the observation station; substitute the camera pixel size u, the lens focal length F, and the pixel projection size D0 into the formula In the above equation, the first distance L0 between the observation point P0 and the observation station is obtained.

10. The system according to claim 8, characterized in that The measurement and positioning module is also used to make a first horizontal line along the center of the circular light reflective pattern located above the left positioning target, and to make a second horizontal line along the center of the circular light reflective pattern located below the left positioning target; calculate the distance between the first horizontal line and the second horizontal line to obtain the corresponding actual distance d.

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