A splicing and installation method and system for channel steel based on vision technology

Abstract

The present invention relates to a splicing and installation method and system for channel steel based on vision technology. The method includes: obtaining a first top image of a first assembled channel steel, where two positioning targets are symmetrically installed on the top of the first channel steel on the left and right side plates, and among them, these two positioning targets on the same side are symmetrically arranged up and down; based on the first top image, connecting and extending along the two positioning targets on the left and right sides respectively to form left and right extension lines; respectively taking an observation point P0 on the left and right extension lines and calculating a first distance L0 between the observation point P0 and the observation station; obtaining a second top image of an adjacent second channel steel to be assembled, and calculating a second distance L1 between two to-be-determined targets on the left and right sides 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, taking the observation point P0 as the standard position of the to-be-determined target, and adjusting the assembly position of the second channel steel based on the standard position.

Description

Technical Field

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

[0002] Most domestic viaducts 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 10-12m in one section. For example, for a simply supported beam bridge with a span of 100m, its main beam is spliced by 10 sections of 10m long channel steel. However, the accuracy of channel steel splicing not only affects the installation of the concrete bridge deck, but also has a direct relationship with the safety of the bridge and the smoothness of vehicle driving. At present, for the splicing and installation of channel steel, it is mainly based on total station for manual measurement. By arranging 4 reflectors in the top area of each channel steel to form a 2*2 measurement point array, based on this measurement point array, the accurate coordinates of the four measurement points on the next section of channel steel are calculated through the conversion and adjustment of spatial coordinates to guide the construction personnel to complete the precise splicing of the next section of channel steel. However, the shortcoming of this method is 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 efficiency is low. Therefore, it is necessary to propose an effective splicing and installation method for channel steel to improve the measurement efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a splicing and installation method and system for channel steel based on vision technology aiming at the deficiencies of the above-mentioned prior art. The specific technical solutions adopted are as follows:

[0004] In the first aspect, a splicing and installation method for channel steel based on vision technology disclosed in the present application includes:

[0005] S1. Obtain the first top image of the first assembled channel steel. Two positioning targets are symmetrically installed on the top of the first channel steel on the left and right side plates. Among them, these two positioning targets on the same side are symmetrically arranged up and down;

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

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

[0008] S4. Obtain the second top image of the adjacent second channel steel to be assembled, and calculate the second distance L1 between the two undetermined 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 to-be-calibrated target, and the assembly position of the second channel steel is adjusted based on the standard position.

[0010] Furthermore, each target is square, and there are two circular light reflection patterns symmetrically spaced up and down on the surface.

[0011] Furthermore, 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 are relatively centered on the top plate.

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

[0013] S31. Determine the actual distance d0 and the pixel distance p0 between the two circular light reflection patterns on the left positioning target;

[0014] S32. Based on the ratio between the actual distance d0 and the pixel distance p0, determine the pixel projection size D0 of the position where the left positioning target is located;

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

[0016] S34. Substitute the camera pixel size u, the lens focal length F, and the pixel projection size D0 into the formula to obtain the first distance L0 between the observation point P0 and the observation station.

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

[0018] S311. Make a first horizontal connection line along the center of the upper circular light reflection pattern on the left positioning target, and make a second horizontal connection line along the center of the lower circular light reflection pattern on the left positioning target;

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

[0020] Furthermore, for the two to-be-calibrated targets on the left, in step S4, calculating the second distance L1 between the to-be-calibrated target and the observation station includes:

[0021] S41. Determine the actual distance d1 and the pixel distance p1 between the two circular light reflection patterns on the left to-be-calibrated target;

[0022] S42. Determine the pixel projection size D1 of the left to-be-calibrated target based on the ratio between the actual distance d1 and the pixel distance p1;

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

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

[0025] Further, in step S5, taking the observation point P0 as the standard position of the to-be-calibrated target and adjusting the assembly position of the second channel steel based on the standard position includes:

[0026] S51. Obtain the coordinates P1(x1, y1), P2(x2, y2), P3(x3, y3), and P4(x4, y4) of the four to-be-calibrated targets on the second channel steel;

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

[0028] S53. When it is determined that at least one of the distance differences v 1-0 and v 2-0 and v 3-0 and v 4-0 is greater than the preset difference threshold, determine the offset direction and degree of the second channel steel relative to the standard position and adjust the assembly position accordingly.

[0029] In a second aspect, a channel steel splicing and installation system based on vision technology disclosed in the present application includes an image acquisition module, an extension line generation module, a measurement and positioning module, and an assembly adjustment module, where:

[0030] The image acquisition module is configured to acquire a first top image of the first channel steel that has been assembled. Two positioning targets are symmetrically installed on the top of the first channel steel on the left and right top plates. Among them, these two positioning targets on the same side are symmetrically arranged up and down;

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

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

[0033] The measurement and positioning module is further used to obtain the second top image of the adjacent second channel steel to be assembled, and calculate the second distance L1 between the two to-be-calibrated 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, when determining that the first distance L0 is equal to the second distance L1, take the observation point P0 as the standard position of the to-be-calibrated target, and adjust the assembly position of the second channel steel based on the standard position.

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

[0036] Further, the measurement and positioning module is also used to make a first horizontal connection line along the center of the upper circular light reflection pattern on the left positioning target, and make a second horizontal connection line along the center of the lower circular light reflection pattern on the left positioning target; calculate the distance between the first horizontal connection line and the second horizontal connection line to obtain the corresponding actual distance d.

[0037] The present invention has the following beneficial effects: By obtaining the first top image of the first channel steel and the second top image of the second channel steel, the positions of the calibration target and the to-be-calibrated target can be accurately identified. Using the extension lines formed by the calibration target and the observation point P0, an accurate standard position can be set to guide the assembly of the second channel steel. By accurately calculating and comparing the first distance L0 and the second distance L1, the 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. Using image processing and distance measurement technologies can automatically identify and position the target, reduce manual intervention and errors, and the accurate assembly position can ensure the tight and stable connection between the channel steels, thereby improving the stability and load-bearing capacity of the entire structure. Description of the Drawings

[0038] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 The method flow chart of a method for splicing and installing channel steel based on vision technology provided by an embodiment of the present invention;

[0040] Figure 2 The simulation schematic diagram of the camera imaging field of view;

[0041] Figure 3 The schematic diagram of the target cross-section;

[0042] Figure 4 The system structure diagram of a system for splicing and installing channel steel based on vision technology provided by an embodiment of the present invention. Detailed implementation manners

[0043] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following, in combination with the drawings and preferred embodiments, will detail the specific implementation manners, structures, features, and effects of a method and system for splicing and installing channel steel based on vision technology proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

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

[0045] The following will specifically describe the specific solutions of a method and system for splicing and installing channel steel based on vision technology provided by the present invention with reference to the drawings.

[0046] Please refer to Figure 1 , which shows the method flow chart of a method for splicing and installing channel steel based on vision technology provided by an embodiment of the present invention. The method includes:

[0047] S1. Obtain the first top image of the first assembled channel steel. Two positioning targets are symmetrically installed on the top of the first channel steel on the left and right side plates. Among them, these two positioning targets on the same side are symmetrically arranged up and down;

[0048] Specifically, the installation positions of the positioning targets can refer to Figure 2, where the positioning targets on the same side are symmetric up and down, which means they are at different heights on the top plate, but are aligned horizontally.

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

[0050] Specifically, in this application, an image software is used to connect the lines along the center point or a preset specific position of each positioning target. Among them, for the two positioning targets on the left side, a left-side connection line is formed; similarly, for the two positioning targets on the right side, a similar connection operation is performed to form a right-side connection line. After the connection lines are completed, extend these two connection lines along the direction of the adjacent second channel steel to be assembled, and the corresponding left and right extension lines can be formed (for reference, see Figure 2 ).

[0051] S3. Take an observation point P0 on each of the left and right extension lines 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 specific details, refer to the subsequent steps. It should be noted that the installation position of the observation station should ensure that the positioning target group on the channel steel is within the field of view of the device, and the nearest target is close to the left and right ends of the field of view. In addition, the observation station uses a white LED light source to enable the target to reflect and form a clear image.

[0053] S4. Obtain the second top image of the adjacent second channel steel to be assembled, and calculate the second distance L1 between the two undetermined targets on the left and right sides and the observation station based on the second top image.

[0054] Specifically, in this application, the observation station is used to take the top image of the second channel steel from above or an angle close to above to obtain the second top image. Among them, the white LED light source is emitted from the observation station to the second channel steel, and by illuminating the top of the second channel steel, it is ensured that the observation station can capture a clearer image. It should be noted that when the coordinate positions of the two undetermined targets on the left and right sides are known, the second distance L1 between the two undetermined targets on the left and right sides and the observation station can be calculated. For specific details, refer to the subsequent steps.

[0055] S5. When it is determined that the first distance L0 is equal to the second distance L1, use the observation point P0 as the standard position of the undetermined target, and adjust the assembly position of the second channel steel 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 this point P0 to the observation station is equal to the distance L1 between the left undetermined target identified and the observation station. Then, when L0 = L1 is satisfied, the position where the observation point P0 is located is the standard position of the undetermined target, and the horizontal distance difference and vertical distance difference between each undetermined target and the observation point P0 are the measurement results. Subsequently, the assembly position of the second channel steel can be adjusted according to the measurement results.

[0057] As can be seen from the above, a method for splicing and installing channel steel based on vision technology disclosed in this application can accurately identify and locate the positions of the positioning target and the undetermined target by obtaining the first top image of the first channel steel and the second top image of the second channel steel. By 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 channel 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. Using image processing and distance measurement technologies can automatically identify and locate the target, reducing manual intervention and errors, and the accurate assembly position can ensure the tight and stable connection between the channel steels, thereby improving the stability and load-bearing capacity of the entire structure.

[0058] In one embodiment, each target is square, and two circular light reflection patterns are symmetrically arranged at intervals up and down on the surface.

[0059] Specifically, reference can be made to Figure 3 , each target is designed to be square. Since the square structure is relatively stable and not easily deformed by external forces, the stability of the measurement can be guaranteed. Two circular light reflection patterns are symmetrically arranged at intervals up and down 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 patterns will reflect light, forming bright circular light spots. Since these light spots are easy to be captured, the accuracy of target positioning is improved.

[0060] In one or more embodiments, 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 are relatively centered on the top plate.

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

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

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

[0064] Specifically, the actual distance d0 refers to the physical distance between two circular light-reflective patterns, and will be calculated later by drawing a horizontal line in the image and measuring the vertical distance between them (specifically, refer to the subsequent implementation steps). The pixel distance p0 refers to the number of pixels between two circular light-reflective patterns, and the pixel distance between these 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 through the pixel projection size.

[0065] S32. Based on the ratio between the actual distance d0 and the pixel distance p0, determine the pixel projection size D0 of the position where the left positioning target is located;

[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. Obtain the camera pixel size u of the observation station and the lens focal length F;

[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 technical specification of the camera 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, and this parameter can be obtained from the technical specification of the lens.

[0069] S34. Substitute the camera pixel size u, the lens focal length F, and the pixel projection size D0 into the formula to obtain the first distance L0 between the observation point P0 and the observation station.

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

[0071] S311. Make a first horizontal line along the center of the upper circular light-reflective pattern on the left positioning target, and make a second horizontal line along the center of the lower circular light-reflective pattern on the left positioning target;

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

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

[0074] In one or more embodiments, for the 2 undetermined targets on the left - hand side, in step S4, calculating the second distance L1 between the undetermined target and the observation station includes:

[0075] S41. Determine the actual distance d1 and the pixel distance p1 between the two circular light - reflecting patterns on the left - hand side undetermined target;

[0076] S42. Based on the ratio between the actual distance d1 and the pixel distance p1, determine the pixel projection size D1 of the position where the left - hand side undetermined target is located;

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

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

[0079] Regarding steps S41 - S43, it should be noted that the specific implementation method can refer to the foregoing content and will not be elaborated here.

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

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

[0082] S52. Calculate the distance differences v 1-0 , v 2-0 , v 3-0 , v 4-0 ;

[0083] S53. When it is determined that at least one of the distance differences v 1-0 , v 2-0 , v 3-0 , v 4-0 is greater than a preset difference threshold, determine the offset direction and degree of the second channel steel relative to the standard position, and adjust the assembly position accordingly.

[0084] It should be noted that based on steps S51 to S53, in this step, first, the coordinates of the observation point P0 will be determined. Then, calculate the distance differences 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). Specifically, for each pending target, the present application will calculate its distance from the observation point P0 in the X direction, that is, subtract 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, that is, subtract the Y coordinate value of the observation point P0 to obtain the corresponding difference. Therefore, in this step, the distance differences of the four pending targets in the X direction and the Y direction will be obtained, that is, v 1-0 , v 2-0 , v 3-0 , v 4-0 . After that, when the difference threshold is set, compare each distance difference v 1-0 , v 2-0 , v 3-0 , v 4-0 to see if it exceeds the difference threshold. If it is found that any one of the distance differences exceeds the difference threshold, it is considered that the second channel steel is not accurately placed in the designed position and there is an offset. At this time, determine the offset direction and degree of the second channel steel relative to the standard position according to the exceeded difference, and then adjust the assembly position of the second channel steel according to the offset information.

[0085] Second, as Figure 4 shown, a channel steel splicing and installation system based on vision technology disclosed in the present application, 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 the first top image of the assembled first channel steel. Two positioning targets are symmetrically installed on the top of the first channel steel on the left and right side plates. Among them, these two positioning targets on the same side are symmetrically arranged up and down;

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

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

[0089] The measurement and positioning module is also used to acquire the second top image of the adjacent second channel steel to be assembled, and calculate the second distance L1 between the two pending 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, when determining that the first distance L0 is equal to the second distance L1, use the observation point P0 as the standard position of the pending target, 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 also used to determine the actual distance d0 and pixel distance p0 between two circular light reflection 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 where the left positioning target is located; acquire the camera pixel size u and lens focal length F of the observation station; substitute the camera pixel size u, lens focal length F, and pixel projection size D0 into the formula to obtain the first distance L0 between the observation point P0 and the observation station.

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

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

[0094] In one embodiment, the assembly adjustment module is further configured to obtain the coordinates P1(x1, y1), P2(x2, y2), P3(x3, y3), and P4(x4, y4) of the four to-be-determined targets on the second U-shaped steel; and calculate the distance differences v 1-0 , v 2-0 , v 3-0 , and v 4-0 of 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 coordinate directions; when it is determined that at least one of the distance differences v 1-0 , v 2-0 , v 3-0 , and v 4-0 is greater than a preset difference threshold, determine the offset direction and degree of the second U-shaped steel relative to the standard position, and adjust the assembly position accordingly.

[0095] As can be seen from the above, a U-shaped steel splicing and installation system based on vision technology disclosed in this application can accurately identify and locate the positions of the target and the to-be-determined targets by obtaining the first top image of the first U-shaped steel and the second top image of the second U-shaped steel. By using the extension line formed by the target and the observation point P0, an accurate standard position can be set to guide the assembly of the second U-shaped steel. By accurately calculating and comparing the first distance L0 and the second distance L1, the errors in the assembly process can be detected and corrected in a timely manner. This helps to reduce the rework and repair costs caused by inaccurate assembly. Using image processing and distance measurement technologies can automatically identify and locate the targets, reduce manual intervention and errors, and the accurate assembly position can ensure the tight and stable connection between U-shaped steels, thereby improving the stability and load-bearing capacity of the entire structure.

[0096] It should be noted that the above sequence of the embodiments of the present invention is only for description and does not represent the superiority or inferiority of the embodiments. The processes depicted in the 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] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key points of each embodiment are the differences from other embodiments.

Claims

1. A splicing and installation method for channel steel based on vision technology, characterized in that, The method includes: S1. Obtain the first top image of the first grooved steel that has been assembled. On the top of the first grooved steel, two positioning targets are symmetrically installed on the left and right side plates. Among them, the two positioning targets on the same side are symmetrically arranged vertically; S2. Based on the first top image, connect and extend the lines along the two positioning targets on the left and right sides respectively to form left and right extension lines; S3. Take an observation point P0 on each of the left and right extension lines respectively, and calculate the first distance L0 between the observation point P0 and the observation station; S4. Obtain the second top image of the adjacent second grooved steel to be assembled, and calculate the second distance L1 between the two pending 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, use the observation point P0 as the standard position of the pending target, and adjust the assembly position of the second grooved steel based on the standard position; In step S5, using the observation point P0 as the standard position of the pending target and adjusting the assembly position of the second grooved steel based on the standard position includes: S51. Obtain the coordinates P1(x1, y1), P2(x2, y2), P3(x3, y3), and P4(x4, y4) of the four pending targets on the second grooved steel; S52. Calculate the distance differences v 1-0 , v 2-0 , v 3-0 , v 4-0 ; S53. When determining that at least one of the distance differences v 1-0 , v 2-0 , v 3-0 , v 4-0 is greater than a preset difference threshold, determine the offset direction and degree of the second channel steel relative to the standard position, and adjust the assembly position accordingly.

2. The method according to claim 1, wherein Each target is square, and there are two circular light reflection patterns symmetrically arranged at intervals vertically on the surface.

3. The method according to claim 2, wherein 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 are relatively centered on the top plate.

4. The method according to claim 2, wherein For the observation point P0 on the left extension line, in step S3, calculating the first distance L0 between the observation point P0 and the observation station includes: S31. Determine the actual distance d0 and pixel distance p0 between the two circular light reflection patterns on the left positioning target; S32. Based on the ratio between the actual distance d0 and the pixel distance p0, determine the pixel projection size D0 of the position where the left positioning target is located; S33. Obtain the camera pixel size u and lens focal length F of the observation station; S34. Substitute the camera pixel size u, the lens focal length F, and the pixel projection size D0 into the formula to obtain the first distance L0 between the observation point P0 and the observation station.

5. The method according to claim 4, characterized in that In step S31, the actual distance d between the two circular light reflection patterns on the left positioning target is determined through the following steps: S311. Make a first horizontal line along the center of the circular light reflection pattern located above on the left positioning target, and make a second horizontal line along the center of the circular light reflection pattern located below on the left positioning target; S312. Calculate the distance between the first horizontal line and the second horizontal line to obtain the corresponding actual distance d.

6. The method according to claim 2, characterized in that For the two pending targets on the left side, in step S4, calculating the second distance L1 between the pending target and the observation station includes: S41. Determine the actual distance d1 and pixel distance p1 between the two circular light reflection patterns on the left pending target; S42. Based on the ratio between the actual distance d1 and the pixel distance p1, determine the pixel projection size D1 of the position where the left pending target is located; S43. Obtain the camera pixel size u and lens focal length F of the observation station; S44. Substitute the camera pixel size u, the lens focal length F, and the pixel projection size D1 into the formula to obtain the second distance L1 between the left calibration target and the observation station.

7. A splicing and installation system for channel steel based on vision technology, characterized in that, The system includes an image acquisition module, an extension line generation module, a measurement and positioning module, and an assembly adjustment module, where: The image acquisition module is configured to acquire a first top image of the assembled first channel steel. Two positioning targets are symmetrically installed on the top of the first channel steel on the left and right side plates. Among them, the two positioning targets on the same side are symmetrically arranged vertically; The extension line generation module is configured to connect and extend the two positioning targets on the left and right sides respectively based on the first top image to form left and right extension lines; The measurement and positioning module is configured to respectively take an observation point P0 on the left and right extension lines and calculate a first distance L0 between the observation point P0 and the observation station; The measurement and positioning module is further configured to acquire a second top image of the adjacent second channel steel to be assembled and calculate a second distance L1 between the two pending targets on the left and right sides and the observation station based on the second top image; The assembly adjustment module is configured to use the observation point P0 as the standard position of the pending target 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; The specific implementation of the assembly adjustment module using the observation point P0 as the standard position of the pending target and adjusting the assembly position of the second channel steel based on the standard position is as follows: Obtain the coordinates P1(x1, y1), P2(x2, y2), P3(x3, y3), and P4(x4, y4) of the four pending targets on the second channel steel; Calculate the distance differences v 1-0 , v 2-0 , v 3-0 , v 4-0 ; When determining that at least one of the distance differences v 1-0 , v 2-0 , v 3-0 , v 4-0 is greater than a preset difference threshold, determine the offset direction and degree of the second channel steel relative to the standard position, and adjust the assembly position accordingly.

8. The system according to claim 7, wherein The measurement and positioning module is further configured to determine the actual distance d0 between two circular light reflection patterns on the left positioning target and the pixel distance p0; determine the pixel projection size D0 of the position where the left positioning target is located based on the ratio between the actual distance d0 and the pixel distance p0; obtain the camera pixel size u of the observation station and the lens focal length F; substitute the camera pixel size u, the lens focal length F, and the pixel projection size D0 into the formula to obtain the first distance L0 between the observation point P0 and the observation station.

9. The system according to claim 7, wherein The measurement and positioning module is further configured to make a first horizontal connection line along the center of the circular light reflection pattern located above on the left positioning target and make a second horizontal connection line along the center of the circular light reflection pattern located below on the left positioning target; calculate the distance between the first horizontal connection line and the second horizontal connection line to obtain the corresponding actual distance d.

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