Welding spot positioning method for underground diaphragm wall reinforcement cage

Abstract

The invention belongs to the technical field of robot welding, and discloses a welding spot positioning method for an underground diaphragm wall reinforcement cage, which is used for positioning a welding spot between a transverse bar and profile steel, and comprises the following steps: establishing a three-dimensional coordinate system, and obtaining a three-dimensional point cloud data set of the transverse bar and the profile steel, processing the three-dimensional point cloud data set to form a first point set, determining a starting point coordinate of a center line of the connection section according to the first point set, processing the three-dimensional point cloud data set to form a second point set, determining an end point coordinate of the center line of the connection section according to the second point set, and determining the end point coordinate of the center line of the connection section according to the starting point coordinate and the end point coordinate of the center line of the connection section. And determining starting point coordinates and terminal point coordinates of a welding seam between the connecting section and the profile steel. By means of the arrangement, the welding spot positioning method for the underground diaphragm wall reinforcement cage can achieve accurate positioning of the welding spot position, and the welding quality and the operation efficiency can be improved easily.

Description

Technical Field

[0001] The invention relates to the technical field of robot welding, and in particular to a method for positioning welding points of a steel cage of an underground continuous wall. Background Art

[0002] In the underground continuous wall reinforcement cage, the steel sections are located on both sides of the reinforcement cage and are welded to the upper mesh and the lower mesh. The steel sections can transmit bending moment, shear force and horizontal tension, and are mainly used for the connection between the slot sections of the underground continuous wall units. Their main function is to enhance the overall stability and rigidity of the wall and ensure the stability and safety of the underground continuous wall under complex stress conditions.

[0003] In the manufacturing process of underground continuous wall steel cage, the transverse reinforcement ends of the lower mesh are often welded to the inner upper surface of the lower flange of the steel section through manual reinforcement, and the transverse reinforcement ends of the upper mesh are welded to the inner upper surface of the upper flange of the steel section. Due to the large flexibility, small diameter and poor straightness of the transverse reinforcement, and the laying error of manual operation, the length and direction of the weld between the end of each transverse reinforcement and the steel section are different, and the spacing between each weld is also different. Even if the image recognition weld position is used, there will be a certain error, which makes the welding operation process inefficient and difficult to ensure the welding quality. Summary of the invention

[0004] The purpose of the present invention is to provide a method for positioning welding points of an underground continuous wall reinforcement cage, which can achieve accurate positioning of welding points and is beneficial to improving welding quality and operation efficiency.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A method for locating welding points of an underground continuous wall reinforcement cage is used to locate welding points between transverse reinforcement and profile steel, wherein a plurality of transverse reinforcements are provided, the plurality of transverse reinforcements are arranged at intervals, and each of the plurality of transverse reinforcements is provided with a connection section for welding the profile steel, and the method comprises:

[0007] Establish a three-dimensional coordinate system and obtain the three-dimensional point cloud data set of transverse reinforcement and steel;

[0008] Processing the three-dimensional point cloud data set to form a first point set;

[0009] According to the first point set, determine the starting point coordinates of the center line of the connecting segment;

[0010] Processing the three-dimensional point cloud data set to form a second point set;

[0011] Determine the end point coordinates of the center line of the connecting segment according to the second point set;

[0012] According to the starting point coordinates and ending point coordinates of the center line of the connecting section, the starting point coordinates and ending point coordinates of the weld between the connecting section and the steel section are determined.

[0013] Optionally, both adjacent ends of the steel section are right-angled sides, and a three-dimensional coordinate system is established with the intersection of the two right-angled sides as the coordinate origin, the extension direction of one of the right-angled sides as the X-axis direction, the extension direction of the other right-angled side as the Y-axis direction, and the vertical direction perpendicular to the X-axis direction and the Y-axis direction as the Z-axis direction.

[0014] Optionally, multiple transverse ribs are arranged at intervals along the Y-axis direction. Within the first value interval of the X-axis direction, the three-dimensional point cloud data set is traversed sequentially from small to large along the Y-axis direction. For each Y-axis coordinate, the coordinate point with the largest absolute value in the Z-axis direction is selected to form a first point set.

[0015] Optionally, the first point set is traversed in sequence from small to large along the Y-axis direction, and the slope value of the line between each two adjacent points in the two-dimensional plane formed by the Y-axis direction and the Z-axis direction is obtained. When the slope values ​​of the adjacent points of the point (y1, z1) in the first point set are positive and negative respectively, the X-axis coordinate x1 of the point (y1, z1) is recorded to obtain the starting coordinates of the center line of the connecting segment with the point (x1, y1) as the center line.

[0016] Optionally, according to the starting coordinates (x1, y1) of the center line of the connecting segment, the starting coordinates of the weld between the connecting segment and the steel section are obtained as (x1, y1+Δ1), where Δ1 is the distance value between the center line of the connecting segment and the weld in the Y-axis direction.

[0017] Optionally, within the second value interval in the Y-axis direction, the three-dimensional point cloud data set is traversed in sequence from small to large in the X-axis direction, and corresponding to each X-axis coordinate, the coordinate point with the largest absolute value in the Z-axis direction is selected to form a second point set.

[0018] Optionally, the second point set is traversed in sequence from small to large along the X-axis direction, and the slope value of the line between each two adjacent points in the two-dimensional plane formed by the X-axis direction and the Z-axis direction is obtained. When the absolute value of the slope of the line connecting the point (x2, z2) in the second point set and its next adjacent point is three to five times the absolute value of the slope of the line connecting the point (x2, z2) and its previous adjacent point, the Y-axis coordinate y2 of the point (x2, z2) is recorded to obtain the endpoint coordinates of the center line of the connecting segment with the point (x2, y2).

[0019] Optionally, according to the end point coordinates (x2, y2) of the center line of the connecting segment, the end point coordinates of the weld between the connecting segment and the steel section are obtained as (x2, y2+Δ2), wherein Δ2 is the distance value between the center line of the connecting segment and the weld in the Y-axis direction.

[0020] Optionally, according to the starting point coordinates and the ending point coordinates of the weld, the control unit can control the output end of the welding robot to move from the starting point coordinates of the weld to the ending point coordinates of the weld.

[0021] Optionally, the transverse reinforcement and the steel section are scanned by laser, and point signals reflected by the transverse reinforcement and the steel section are received to form a three-dimensional point cloud data set.

[0022] Beneficial effects of the present invention:

[0023] The present invention provides a method for positioning the welding points of an underground continuous wall steel cage, which is used to locate the welding points between the transverse reinforcement and the steel section. By establishing a three-dimensional coordinate system and obtaining a three-dimensional point cloud data set of the transverse reinforcement and the steel section, the welding operation of the welding points can be realized by an automatic welding device, thereby avoiding the problems of material distribution error and inaccurate weld position caused by manual operation, and ensuring the stability and reliability of welding quality. The three-dimensional point cloud data set is processed to form a first point set, and the starting point coordinates of the center line of the connecting segment are determined according to the first point set, and then the three-dimensional point cloud data set is processed to form a second point set, and the end point coordinates of the center line of the connecting segment are determined according to the second point set. According to the starting point coordinates and the end point coordinates of the center line of the connecting segment, the starting point coordinates and the end point coordinates of the weld between the connecting segment and the steel section are determined, so as to facilitate subsequent welding operations, and improve the accuracy and efficiency of welding operations. Through the above-mentioned settings, the method for positioning the welding points of the underground continuous wall steel cage of the present application can realize the precise positioning of the welding points, which is conducive to improving the welding quality and operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a flow chart of a method for positioning welding points of an underground continuous wall reinforcement cage provided by an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of a steel cage provided by an embodiment of the present invention;

[0026] Figure 3 It is a schematic diagram of the connection section provided by an embodiment of the present invention being welded to a steel section;

[0027] Figure 4 is a schematic diagram of a three-dimensional point cloud data set provided by an embodiment of the present invention;

[0028] Figure 5 is a schematic diagram of a first point set provided by an embodiment of the present invention;

[0029] Figure 6 is a schematic diagram of a second point set provided by an embodiment of the present invention.

[0030] In the figure:

[0031] 100, reinforcement cage; 10, upper mesh; 20, lower mesh; 101, transverse reinforcement; 1011, connecting section; 102, steel section; 1, first point set; 2, second point set. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0033] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0035] In the description of this embodiment, the terms "upper", "lower", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0036] like Figure 2 As shown, in the steel cage 100 of the underground continuous wall, the steel sections 102 are located on both sides of the steel cage 100 and are welded to the upper mesh sheet 10 and the lower mesh sheet 20. The steel sections 102 can transmit bending moment, shear force and horizontal tension, and are mainly used for connecting the slot sections of the underground continuous wall units. Their main function is to enhance the overall stability and rigidity of the wall, and ensure the stability and safety of the underground continuous wall under complex stress conditions.

[0037] like Figure 2 and Figure 3 As shown, in the manufacturing process of the steel cage 100, the end of the transverse reinforcement 101 of the lower mesh 20 is often welded to the inner upper surface of the lower flange of the steel 102 by manual reinforcement laying, and the end of the transverse reinforcement 101 of the upper mesh 10 is welded to the inner upper surface of the upper flange of the steel 102. Due to the large flexibility, small diameter and poor straightness of the transverse reinforcement 101, and the laying error of the manual operation, the length and direction of the weld to be welded between the end of each transverse reinforcement 101 and the steel 102 are different, and the spacing between each weld to be welded is also different. Even if the image recognition weld position is used, there will be a certain error, which makes the welding operation process inefficient and difficult to ensure the welding quality.

[0038] In order to solve the above technical problems, Figure 1-Figure 6 As shown, this embodiment provides a method for locating welding points of an underground continuous wall steel cage, which is used to locate welding points between a transverse reinforcement 101 and a steel section 102. The transverse reinforcement 101 is provided with a plurality of transverse reinforcements 101, which are arranged at intervals and respectively provided with connection sections 1011 for welding the steel section 102. The method for locating welding points of an underground continuous wall steel cage includes:

[0039] Establish a three-dimensional coordinate system and obtain the three-dimensional point cloud data set of transverse reinforcement 101 and steel section 102:

[0040] Specifically, since both adjacent ends of the steel section 102 are right-angled sides, the intersection of the two right-angled sides is used as the coordinate origin, the extension direction of one of the right-angled sides is used as the X-axis direction, the extension direction of the other right-angled side is used as the Y-axis direction, and the vertical direction perpendicular to the X-axis direction and the Y-axis direction is used as the Z-axis direction to establish a three-dimensional coordinate system, thereby simplifying subsequent calculations and analysis. Figure 3 As shown, a plurality of transverse ribs 101 are arranged at intervals along the Y-axis direction, the extension direction of the transverse ribs 101 is substantially parallel to the X-axis direction, and the extension direction of the steel section 102 is parallel to the Y-axis direction. By establishing the above three-dimensional coordinate system, the relative position between the transverse ribs 101 and the steel section 102 can be accurately described, so as to calculate the starting point coordinates and the end point coordinates of the center line of the connecting section 1011, and then determine the starting point coordinates and the end point coordinates of the weld by offsetting a fixed displacement, which is conducive to improving the subsequent welding accuracy and operation efficiency.

[0041] It should be noted that this embodiment only provides a method for establishing a three-dimensional coordinate system that is convenient for calculation and analysis. Those skilled in the art can make adjustments based on actual data processing requirements, and no excessive restrictions are imposed on the establishment of the three-dimensional coordinate system.

[0042] Specifically, Figure 1-Figure 6As shown, the transverse rib 101 and the steel 102 are scanned by laser, and the point signals reflected by the transverse rib 101 and the steel 102 are received to form a three-dimensional point cloud data set. Since laser scanning has the characteristics of high precision and high efficiency, the laser beam can quickly and accurately irradiate the surface of the transverse rib 101 and the steel 102, and receive the reflected signals. By acquiring the data of the shape, size, position and spatial relationship between the transverse rib 101 and the steel 102, the relative position between the connecting section 1011 of the transverse rib 101 and the steel 102 and the position of the weld can be accurately determined.

[0043] The three-dimensional point cloud data set is processed to form a first point set 1:

[0044] Specifically, since a plurality of transverse ribs 101 are arranged at intervals along the Y-axis direction, and the starting point of the center line of the connecting segment 1011 is located within the first value interval in the X-axis direction, the first value interval can be set to ensure that no data is missed. By traversing the three-dimensional point cloud data set in the first value interval in the X-axis direction from small to large in the Y-axis direction, corresponding to each Y-axis coordinate, the coordinate point with the largest absolute value of the coordinate in the Z-axis direction is selected to form a first point set 1, so as to filter out the coordinate values ​​of the vertices of the cross section of each transverse rib 101 along the X-axis direction. For any transverse rib 101, since the projections of the center line of the connecting segment 1011 and the highest point of the cross section of the transverse rib 101 along the X-axis direction in the XY plane (i.e., the two-dimensional plane composed of the X-axis direction and the Y-axis direction) along the Z-axis direction are respectively collinear, it is beneficial to calculate the starting point coordinates of the center line of the connecting segment 1011 by calculating the coordinates of the highest point of the cross section of the transverse rib 101 along the X-axis direction, making the operation more convenient and quick.

[0045] More specifically, in this embodiment, the first value interval is (0, 0.5d), where d is the diameter of the transverse rib 101, so as to ensure that the point set falling in the first value interval can include the starting point of the center line of all transverse ribs 101. In other embodiments, the first value interval is (0, d), that is, as long as the above-mentioned functions can be achieved, the range of the first value interval is not excessively limited.

[0046] According to the first point set 1, the starting point coordinates of the center line of the connecting segment 1011 are determined:

[0047] Specifically, the first point set 1 is traversed in order from small to large along the Y-axis direction, and the slope value of the line between each two adjacent points is obtained in the two-dimensional plane formed by the Y-axis direction and the Z-axis direction. Since the slope value reflects the rate of change of the two adjacent points in the Z-axis direction, by analyzing the change of the rate of change, it is easy to calculate the coordinates of the highest point of the cross section of the transverse rib 101 along the X-axis direction. When the slope values ​​of the adjacent points of the point (y1, z1) in the first point set 1 are positive and negative respectively, it means that the point (y1, z1) is a turning point, and the X-axis coordinate x1 of the point (y1, z1) is recorded to obtain the starting point coordinates of the center line of the connecting segment 1011, that is, the turning point is judged by the change of the slope value, thereby ensuring the accuracy and reliability of the starting point coordinates of the connecting segment 1011.

[0048] The three-dimensional point cloud data set is processed to form a second point set 2:

[0049] Specifically, within the second value interval in the Y-axis direction, the three-dimensional point cloud data set is traversed in sequence from small to large in the X-axis direction to ensure that no data is missed. For each X-axis coordinate, the coordinate point with the largest absolute value of the coordinate in the Z-axis direction is selected to form a second point set 2, so as to filter out the coordinate value of the highest point or the lowest point of each transverse rib 101 along the Z-axis direction. For any transverse rib 101, since the center line of the connecting segment 1011 and the line connecting the highest point (or lowest point) of the transverse rib 101 along the Z-axis direction are collinear in their projections in the XY plane (i.e., the two-dimensional plane composed of the X-axis direction and the Y-axis direction), by calculating the coordinates of the highest point (or lowest point) of the transverse rib 101 along the Z-axis direction, it is helpful to calculate the end point coordinates of the center line of the connecting segment 1011, making the operation more convenient and quick.

[0050] More specifically, in this embodiment, the second value interval is (y n -0.2d,y n +0.2d), where y n is the Y coordinate of the starting point of the center line of the nth transverse rib 101, and d is the diameter of the transverse rib 101, so as to ensure that the point set falling in the second value interval can include the end points of the center lines of all transverse ribs 101. In other embodiments, the second value interval is (y n -0.5d,y n +0.5d), that is, as long as the above functions can be achieved, no excessive restrictions are made here.

[0051] According to the second point set 2, the end point coordinates of the center line of the connecting segment 1011 are determined:

[0052] Specifically, the second point set 2 is traversed in order from small to large along the X-axis direction, and the slope value of the line between each two adjacent points is obtained in the two-dimensional plane formed by the X-axis direction and the Z-axis direction. When the absolute value of the slope of the line between the point (x2, z2) in the second point set 2 and its next adjacent point is three to five times the absolute value of the slope of the line between the point (x2, z2) and its previous adjacent point, it indicates that the connecting segment 1011 has an obvious turning point here. The Y-axis coordinate y2 of the point (x2, z2) is recorded to obtain the end point coordinate of the center line of the connecting segment 1011, which is the point (x2, y2).

[0053] According to the starting point coordinates and the ending point coordinates of the center line of the connecting section 1011, the starting point coordinates and the ending point coordinates of the weld between the connecting section 1011 and the steel section 102 are determined:

[0054] Specifically, according to the starting coordinates (x1, y1) of the center line of the connection section 1011, the starting coordinates of the weld between the connection section 1011 and the steel section 102 are obtained as (x1, y1+Δ1), where Δ1 is the distance between the center line of the connection section 1011 and the weld in the Y-axis direction. According to the ending coordinates (x2, y2) of the center line of the connection section 1011, the ending coordinates of the weld between the connection section 1011 and the steel section 102 are obtained as (x2, y2+Δ2), where Δ2 is the distance between the center line of the connection section 1011 and the weld in the Y-axis direction.

[0055] More specifically, in this embodiment, Δ1=Δ2, that is, the distance between the center line of the connecting section 1011 and the weld in the Y-axis direction is a fixed value, and the fixed value is determined based on the diameter of the transverse rib 101 and the welding gun posture of the welding robot, and is confirmed through on-site debugging by the operator, so no further explanation is given here.

[0056] Specifically, according to the starting coordinates and the end coordinates of the weld, the control unit can control the output end of the welding robot to move from the starting coordinates of the weld to the end coordinates of the weld, thereby realizing the automatic positioning of the weld and the welding operation, reducing manual operations, and improving welding efficiency and operation quality. Among them, the control unit can use a CPU or a PLC, which is not limited here, and the welding robot is a conventional device in the art, so its working principle is not described in detail.

[0057] It should be noted that the welding point positioning method of the underground continuous wall steel cage of this embodiment is applicable to the positioning of the welds between the transverse reinforcement 101 and other rigid components, wherein the rigid components include but are not limited to H-shaped steel, U-shaped steel and steel plate. In this embodiment, the steel 102 is an H-shaped steel, the upper mesh 10 and the lower mesh 20 are parallel to each other and spaced apart, and the two ends are fixed by H-shaped steel welding. In order to determine the weld coordinates between the upper mesh 10 and the lower mesh 20 and the H-shaped steel, a three-dimensional coordinate system is established, and a three-dimensional point cloud data set of the transverse reinforcement 101 and the steel 102 is obtained, so as to realize the welding operation of the welding point through an automatic welding device, thereby avoiding the problems of material distribution errors and inaccurate weld position caused by manual operation, and ensuring the stability and reliability of welding quality. The three-dimensional point cloud data set is processed to form a first point set 1. According to the first point set 1, the starting coordinates of the center line of the connecting segment 1011 are determined. Then, the three-dimensional point cloud data set is processed to form a second point set 2. According to the second point set 2, the end coordinates of the center line of the connecting segment 1011 are determined. According to the starting coordinates and the end coordinates of the center line of the connecting segment 1011, the starting coordinates and the end coordinates of the weld between the connecting segment 1011 and the steel section 102 are determined, so as to facilitate the subsequent welding operation and improve the accuracy and efficiency of the welding operation. Through the above settings, the welding point positioning method of the underground continuous wall steel cage of this embodiment can realize the accurate positioning of the welding points, which is conducive to improving the welding quality and operation efficiency.

[0058] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for locating welding points of a steel cage of an underground continuous wall, for locating welding points between a transverse reinforcement (101) and a steel section (102), wherein a plurality of transverse reinforcements (101) are provided, the plurality of transverse reinforcements (101) are arranged at intervals, and each of the plurality of transverse reinforcements (101) is provided with a connection section (1011) for welding the steel section (102), wherein the method is characterized in that: include: A three-dimensional coordinate system is established, and a three-dimensional point cloud data set of the transverse reinforcement (101) and the steel section (102) is obtained; Processing the three-dimensional point cloud data set to form a first point set (1); According to the first point set (1), determine the starting point coordinates of the center line of the connecting segment (1011); Processing the three-dimensional point cloud data set to form a second point set (2); Determine the end point coordinates of the center line of the connecting segment (1011) based on the second point set (2); The starting point coordinates and the ending point coordinates of the weld between the connecting section (1011) and the steel section (102) are determined according to the starting point coordinates and the ending point coordinates of the center line of the connecting section (1011).

2. The method for positioning welding points of underground continuous wall reinforcement cage according to claim 1, characterized in that: The two adjacent ends of the steel section (102) are both right-angled sides, and a three-dimensional coordinate system is established with the intersection of the two right-angled sides as the coordinate origin, the extension direction of one of the right-angled sides as the X-axis direction, the extension direction of the other right-angled side as the Y-axis direction, and the vertical direction perpendicular to the X-axis direction and the Y-axis direction as the Z-axis direction.

3. The method for positioning welding points of underground continuous wall reinforcement cage according to claim 2, characterized in that: A plurality of transverse ribs (101) are arranged at intervals along the Y-axis direction. Within a first value interval in the X-axis direction, the three-dimensional point cloud data set is traversed in sequence from small to large along the Y-axis direction. For each Y-axis coordinate, a coordinate point with the largest absolute value in the Z-axis direction is selected to form a first point set (1).

4. The method for positioning welding points of underground continuous wall reinforcement cage according to claim 3 is characterized in that: The first point set (1) is traversed in order from small to large along the Y-axis direction, and the slope value of the line between each two adjacent points in the two-dimensional plane formed by the Y-axis direction and the Z-axis direction is obtained. When the slope values ​​of the adjacent points of the point (y1, z1) in the first point set (1) are positive and negative respectively, the X-axis coordinate x1 of the point (y1, z1) is recorded to obtain the starting coordinates of the center line of the point (x1, y1) connecting the segment (1011).

5. The method for positioning welding points of underground continuous wall reinforcement cage according to claim 4, characterized in that: According to the starting point coordinates (x1, y1) of the center line of the connecting section (1011), the starting point coordinates of the weld between the connecting section (1011) and the steel section (102) are obtained as (x1, y1+Δ1), wherein Δ1 is the distance value between the center line of the connecting section (1011) and the weld in the Y-axis direction.

6. The method for positioning welding points of underground continuous wall reinforcement cage according to claim 2, characterized in that: In the second value interval of the Y-axis direction, the three-dimensional point cloud data set is traversed in sequence from small to large along the X-axis direction, and corresponding to each X-axis coordinate, the coordinate point with the largest absolute value in the Z-axis direction is selected to form a second point set (2).

7. The method for positioning welding points of underground continuous wall reinforcement cage according to claim 6, characterized in that: The second point set (2) is traversed in order from small to large along the X-axis direction, and the slope value of the line between each two adjacent points in the two-dimensional plane formed by the X-axis direction and the Z-axis direction is obtained. When the absolute value of the slope of the line between the point (x2, z2) in the second point set (2) and its next adjacent point is three to five times the absolute value of the slope of the line between the point (x2, z2) and its previous adjacent point, the Y-axis coordinate y2 of the point (x2, z2) is recorded to obtain the end point coordinate of the center line of the connecting segment (1011) with the point (x2, y2).

8. The method for positioning welding points of underground continuous wall reinforcement cage according to claim 7, characterized in that: According to the end point coordinates (x2, y2) of the center line of the connecting section (1011), the end point coordinates of the weld between the connecting section (1011) and the steel section (102) are obtained as (x2, y2+Δ2), wherein Δ2 is the distance value between the center line of the connecting section (1011) and the weld in the Y-axis direction.

9. The method for positioning welding points of underground continuous wall reinforcement cage according to claim 1, characterized in that: According to the starting point coordinates and the end point coordinates of the weld, the control unit can control the output end of the welding robot to move from the starting point coordinates of the weld to the end point coordinates of the weld.

10. The method for positioning welding points of underground continuous wall reinforcement cage according to any one of claims 1 to 9, characterized in that: The transverse ribs (101) and the steel sections (102) are scanned by laser, and point signals reflected by the transverse ribs (101) and the steel sections (102) are received to form a three-dimensional point cloud data set.

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