Method for locating weld points of reinforcement cages for diaphragm walls

Abstract

This invention belongs to the field of robotic welding technology and discloses a method for locating weld points in a diaphragm wall reinforcement cage. The method is used to locate the welding points between transverse reinforcement bars and structural steel. The method includes: establishing a three-dimensional coordinate system and acquiring a three-dimensional point cloud data set of the transverse reinforcement bars and structural steel; processing the three-dimensional point cloud data set to form a first point set; determining the starting coordinates of the centerline of the connecting segment based on the first point set; processing the three-dimensional point cloud data set to form a second point set; determining the ending coordinates of the centerline of the connecting segment based on the second point set; and determining the starting and ending coordinates of the weld between the connecting segment and the structural steel based on the starting and ending coordinates of the centerline of the connecting segment. Through the above setup, the weld point location method for a diaphragm wall reinforcement cage of this application can achieve precise positioning of the welding points, which is beneficial for improving welding quality and work efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotic welding technology, and in particular to a method for locating weld points in a steel reinforcement cage for a continuous underground wall. Background Technology

[0002] In the reinforcement cage of a diaphragm wall, structural steel sections are located on both sides of the cage and welded to the top and bottom mesh panels. These structural steel sections can transmit bending moments, shear forces, and horizontal tensile forces. They are mainly used for connections between diaphragm wall unit sections, and their primary function is to enhance the overall stability and rigidity of the wall, ensuring the stability and safety of the diaphragm wall under complex stress conditions.

[0003] In the manufacturing process of diaphragm wall reinforcement cages, reinforcement is often laid manually. The ends of the horizontal reinforcement bars of the lower mesh are welded to the inner upper surface of the lower flange of the steel section, and the ends of the horizontal reinforcement bars of the mesh are welded to the inner upper surface of the upper flange of the steel section. Due to the high flexibility, small diameter, and poor straightness of the horizontal reinforcement bars, coupled with the errors in material placement caused by manual operation, the length and direction of the weld joints between the ends of each horizontal reinforcement bar and the steel section are different, and the spacing between each weld joint is also different. Even if image recognition is used to identify the weld joint position, there will still be some errors. Therefore, the welding operation is inefficient and it is difficult to guarantee the welding quality. Summary of the Invention

[0004] The purpose of this invention is to provide a method for locating weld points in the steel reinforcement cage of underground continuous wall, which can achieve precise positioning of weld points and improve welding quality and work efficiency.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A method for locating weld points in a diaphragm wall reinforcement cage, used to locate the welding points between horizontal reinforcement bars and structural steel sections. Multiple horizontal reinforcement bars are provided, spaced apart, and each has a connection section for welding the structural steel sections. The method includes:

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

[0008] The 3D point cloud data set is processed to form the first point set;

[0009] Based on the first set of points, determine the starting coordinates of the centerline of the connecting segment;

[0010] The 3D point cloud dataset is processed to form a second point set;

[0011] Based on the second set of points, determine the coordinates of the endpoint of the centerline of the connecting segment;

[0012] Based on the starting and ending coordinates of the centerline of the connecting section, determine the starting and ending coordinates of the weld between the connecting section and the steel section.

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

[0014] Optionally, multiple horizontal ribs are spaced apart along the Y-axis. Within the first value range in the X-axis direction, the three-dimensional point cloud data set is traversed sequentially from smallest to largest in 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 the first point set.

[0015] Optionally, the first set of points is traversed sequentially from smallest to largest along the Y-axis, and the slope of the line connecting each pair of adjacent points is calculated in the two-dimensional plane formed by the Y-axis and Z-axis. When the slope of the line connecting the adjacent points of point (y1, z1) in the first set of points is positive and negative respectively, the X-axis coordinate x1 of point (y1, z1) is recorded to obtain the starting coordinates of the center line of the connecting segment with point (x1, y1).

[0016] Optionally, based on the starting coordinates (x1, y1) of the centerline 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 between the centerline of the connecting segment and the weld in the Y-axis direction.

[0017] Optionally, within the second value range in the Y-axis direction, the three-dimensional point cloud data set is traversed sequentially in ascending order in the X-axis direction. For each X-axis coordinate, the coordinate point with the largest absolute value in the Z-axis direction is selected to form the second point set.

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

[0019] Optionally, based on the endpoint coordinates (x2, y2) of the centerline of the connecting segment, the endpoint coordinates of the weld between the connecting segment and the steel section are obtained as (x2, y2 + Δ2), where Δ2 is the distance between the centerline of the connecting segment and the weld in the Y-axis direction.

[0020] Optionally, based on the start-point and end-point coordinates of the weld, the control unit can control the output end of the welding robot to move from the start-point coordinates of the weld to the end-point coordinates of the weld.

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

[0022] The beneficial effects of this invention are:

[0023] This invention provides a method for locating weld points in a diaphragm wall reinforcement cage. The method locates the welding points between horizontal reinforcing bars and structural steel sections. By establishing a three-dimensional coordinate system and acquiring a three-dimensional point cloud data set of the horizontal reinforcing bars and structural steel sections, welding operations can be performed using an automated welding device. This avoids material placement errors and inaccurate weld positions caused by manual operation, ensuring the stability and reliability of welding quality. The three-dimensional point cloud data set is processed to form a first point set. Based on the first point set, the starting coordinates of the centerline of the connecting segment are determined. Then, the three-dimensional point cloud data set is processed to form a second point set. Based on the second point set, the ending coordinates of the centerline of the connecting segment are determined. Based on the starting and ending coordinates of the centerline of the connecting segment, the starting and ending coordinates of the weld between the connecting segment and the structural steel section are determined, facilitating subsequent welding operations and improving the accuracy and efficiency of the welding process. Through the above setup, the weld point location method for a diaphragm wall reinforcement cage of this application can achieve precise positioning of welding points, which is beneficial for improving welding quality and operational efficiency. Attached Figure Description

[0024] Figure 1 This is a flowchart of the welding point positioning method for the underground continuous wall reinforcement cage provided in the embodiments of the present invention;

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

[0026] Figure 3 This is a schematic diagram of the connecting section being welded to the structural steel according to an embodiment of the present invention;

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

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

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

[0030] In the picture:

[0031] 100. Reinforcing cage; 10. Top mesh; 20. Bottom mesh; 101. Horizontal reinforcement; 1011. Connecting section; 102. Section steel; 1. First point set; 2. Second point set. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0033] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0036] like Figure 2 As shown, in the reinforcing cage 100 of the diaphragm wall, structural steel 102 is located on both sides of the reinforcing cage 100 and welded to the upper mesh 10 and the lower mesh 20. Structural steel 102 can transmit bending moment, shear force, and horizontal tensile force, and is mainly used for the connection between diaphragm wall unit sections. Its main function is to enhance the overall stability and rigidity of the wall, ensuring the stability and safety of the diaphragm wall under complex stress conditions.

[0037] like Figure 2 and Figure 3 As shown, during the manufacturing process of the reinforcing cage 100, the ends of the transverse reinforcing bars 101 of the lower mesh 20 are often welded to the inner upper surface of the lower flange of the steel section 102 by manual placement of the reinforcing bars. The ends of the transverse reinforcing bars 101 of the mesh 10 are also welded to the inner upper surface of the upper flange of the steel section 102. Because the transverse reinforcing bars 101 are highly flexible, have a small diameter, and poor straightness, and due to errors in manual placement, the length and direction of the weld between the end of each transverse reinforcing bar 101 and the steel section 102 are different, and the spacing between each weld is also different. Even with image recognition of the weld position, there will still be some error, resulting in low efficiency in the welding process and difficulty in ensuring welding quality.

[0038] To solve the above technical problems, such as Figures 1-6 As shown, this embodiment provides a method for locating weld points in a diaphragm wall reinforcement cage, used to locate the welding points between horizontal reinforcing bars 101 and structural steel 102. Multiple horizontal reinforcing bars 101 are provided, spaced apart, and each has a connecting section 1011 for welding the structural steel 102. The method for locating weld points in a diaphragm wall reinforcement cage includes:

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

[0040] Specifically, since both adjacent ends of section steel 102 are right-angled sides, a three-dimensional coordinate system is established with the intersection of the two right-angled sides as the origin, the extension direction of one right-angled side as the X-axis, the extension direction of the other right-angled side as the Y-axis, and the vertical direction perpendicular to both the X-axis and Y-axis as the Z-axis, thus simplifying subsequent calculations and analysis. For example, Figure 3 As shown, multiple transverse ribs 101 are spaced apart along the Y-axis, with their extension directions approximately parallel to the X-axis, and the extension direction of the structural steel 102 is parallel to the Y-axis. By establishing the aforementioned three-dimensional coordinate system, the relative positions between the transverse ribs 101 and the structural steel 102 can be accurately described, facilitating the calculation of the starting and ending coordinates of the centerline of the connecting segment 1011. Furthermore, by offsetting a fixed displacement, the starting and ending coordinates of the weld can be determined, which improves subsequent welding accuracy and operational 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 needs, and no restrictions are placed on the establishment of the three-dimensional coordinate system here.

[0042] Specifically, such as Figures 1-6As shown, a laser is used to scan the transverse rib 101 and the steel section 102, and the point signals reflected by the transverse rib 101 and the steel section 102 are received to form a three-dimensional point cloud data set. Due to the high precision and efficiency of laser scanning, the laser beam can quickly and accurately illuminate the surfaces of the transverse rib 101 and the steel section 102, and receive the reflected signals. By acquiring data such as the shape, size, position, and spatial relationship between the transverse rib 101 and the steel section 102, the relative position between the connecting section 1011 of the transverse rib 101 and the steel section 102, as well as the position of the weld, can be accurately determined.

[0043] The 3D point cloud dataset is processed to form the first point set 1:

[0044] Specifically, since multiple transverse ribs 101 are spaced apart along the Y-axis, and the starting point of the centerline of the connecting segment 1011 is located within the first value interval in the X-axis direction, setting the first value interval ensures that no data is missed. Within the first value interval in the X-axis direction, the 3D point cloud data set is traversed sequentially from smallest to largest 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 the first point set 1. This facilitates the selection of 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 line connecting the centerline of the connecting segment 1011 and the highest point of the cross-section of the transverse rib 101 along the X-axis direction is collinear in its projection along the Z-axis direction onto the XY plane (i.e., the two-dimensional plane composed of the X-axis and Y-axis directions), calculating the coordinates of the highest point of the cross-section of the transverse rib 101 along the X-axis direction helps to calculate the starting coordinates of the centerline of the connecting segment 1011, making the operation more convenient and faster.

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

[0046] Based on the first point set 1, determine the starting coordinates of the centerline of connecting segment 1011:

[0047] Specifically, the first point set 1 is traversed sequentially from smallest to largest along the Y-axis, and the slope value of the line connecting each two adjacent points is calculated in the two-dimensional plane formed by the Y-axis and Z-axis. Since the slope value reflects the rate of change of adjacent points along the Z-axis, by analyzing the change in the rate of change, the coordinates of the highest point of the cross section of the transverse rib 101 along the X-axis can be easily calculated. When the slope values ​​of the line connecting the adjacent points of point (y1, z1) in the first point set 1 are positive and negative respectively, it indicates that point (y1, z1) is a turning point. The X-axis coordinate x1 of point (y1, z1) is recorded to obtain the starting coordinates of the center line of connecting segment 1011. That is, the turning point is determined by the change in the slope value, thereby ensuring the accuracy and reliability of the starting coordinates of connecting segment 1011.

[0048] The 3D point cloud dataset is processed to form a second point set 2:

[0049] Specifically, within the second value interval in the Y-axis direction, the 3D point cloud data set is traversed sequentially from smallest to largest in the X-axis direction to ensure no data omissions. For each X-axis coordinate, the coordinates with the largest absolute value in the Z-axis direction are selected to form a second point set 2, which facilitates the selection of the coordinates of the highest or lowest point of each horizontal rib 101 along the Z-axis direction. For any horizontal rib 101, since the line connecting the centerline of the connecting segment 1011 and the highest (or lowest) point of the horizontal rib 101 along the Z-axis direction are collinear in their projections onto the XY plane (i.e., the two-dimensional plane composed of the X-axis and Y-axis directions), calculating the coordinates of the highest (or lowest) point of the horizontal rib 101 along the Z-axis direction helps to calculate the endpoint coordinates of the centerline of the connecting segment 1011, making the operation more convenient and faster.

[0050] More specifically, in this embodiment, the second value range is (y n -0.2d,y n +0.2d), where y n Let be the Y-coordinate of the starting point of the centerline of the nth horizontal rib 101, and d be the diameter of the horizontal rib 101, to ensure that the set of points falling within the second value interval can include the endpoints of the centerlines of all horizontal 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 further restrictions are imposed here.

[0051] Based on the second point set 2, determine the coordinates of the endpoint of the centerline of connecting segment 1011:

[0052] Specifically, the second point set 2 is traversed sequentially from smallest to largest along the X-axis. The slope of the line connecting each adjacent pair of points is calculated within the two-dimensional plane formed by the X-axis and Z-axis. When the absolute value of the slope of the line connecting point (x2, z2) in the second point set 2 to its next adjacent point is three to five times the absolute value of the slope of the line connecting point (x2, z2) to its previous adjacent point, it indicates that the connecting segment 1011 has a significant inflection point. The Y-axis coordinate y2 of point (x2, z2) is recorded to obtain the coordinates of the endpoint of the centerline of connecting segment 1011.

[0053] Based on the starting and ending coordinates of the centerline of connecting section 1011, determine the starting and ending coordinates of the weld between connecting section 1011 and section steel 102:

[0054] Specifically, based on the starting coordinates (x1, y1) of the centerline of connecting segment 1011, the starting coordinates of the weld between connecting segment 1011 and section steel 102 are calculated as (x1, y1 + Δ1), where Δ1 is the distance between the centerline of connecting segment 1011 and the weld in the Y-axis direction. Based on the ending coordinates (x2, y2) of the centerline of connecting segment 1011, the ending coordinates of the weld between connecting segment 1011 and section steel 102 are calculated as (x2, y2 + Δ2), where Δ2 is the distance between the centerline of connecting segment 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 segment 1011 and the weld in the Y-axis direction is a fixed value. Moreover, the fixed value is determined according to the diameter of the transverse rib 101 and the welding gun posture of the welding robot, and is confirmed by the operator on site. It will not be explained in detail here.

[0056] Specifically, based on the starting and ending coordinates of the weld, the control unit can control the output end of the welding robot to move from the starting coordinates to the ending coordinates of the weld, thereby realizing automated positioning and welding operations, reducing manual operation, and improving welding efficiency and work quality. The control unit can be a CPU or a PLC, without further limitation, and the welding robot is a conventional device in this field, so its working principle will not be elaborated further.

[0057] It should be noted that the welding point positioning method for the underground continuous wall reinforcement cage in this embodiment is applicable to the positioning of welds between the horizontal reinforcement 101 and other rigid components. These rigid components include, but are not limited to, H-beams, U-beams, and steel plates. In this embodiment, the steel section 102 is an H-beam, and the upper mesh 10 and lower mesh 20 are parallel to each other and spaced apart, with both ends fixed by welding with the H-beams. To determine the weld coordinates between the upper mesh 10 and lower mesh 20 and the H-beams, a three-dimensional coordinate system is established, and a three-dimensional point cloud data set of the horizontal reinforcement 101 and the steel section 102 is obtained. This facilitates the welding operation of the welding points using an automatic welding device, avoiding material placement errors and inaccurate weld positions caused by manual operation, and ensuring the stability and reliability of the welding quality. The three-dimensional point cloud data set is processed to form a first point set 1. Based on the first point set 1, the starting coordinates of the centerline of the connecting segment 1011 are determined. Then, the three-dimensional point cloud data set is processed to form a second point set 2. Based on the second point set 2, the ending coordinates of the centerline of the connecting segment 1011 are determined. Based on the starting and ending coordinates of the centerline of the connecting segment 1011, the starting and ending coordinates of the weld between the connecting segment 1011 and the steel section 102 are determined, which facilitates subsequent welding operations and improves the accuracy and efficiency of the welding operation. Through the above settings, the welding point positioning method of the underground continuous wall reinforcement cage in this embodiment can achieve precise positioning of the welding point, which is beneficial to improving welding quality and work 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 implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for locating welding points in a diaphragm wall reinforcement cage, used to locate the welding points between horizontal reinforcing bars (101) and structural steel (102), wherein multiple horizontal reinforcing bars (101) are provided, the multiple horizontal reinforcing bars (101) are spaced apart, and each is provided with a connecting section (1011) for welding the structural steel (102), characterized in that, include: A three-dimensional coordinate system was established, and the three-dimensional point cloud data set of the transverse rib (101) and the section steel (102) was obtained; The three-dimensional point cloud data set is processed to form the first point set (1); Based on the first point set (1), determine the starting coordinates of the center line of the connecting segment (1011); The three-dimensional point cloud data set is processed to form a second point set (2); Based on the second point set (2), determine the coordinates of the endpoint of the centerline of the connecting segment (1011); Based on the starting and ending coordinates of the centerline of the connecting section (1011), determine the starting and ending coordinates of the weld between the connecting section (1011) and the steel section (102).

2. The method for locating weld points of the reinforcing cage in a diaphragm wall according to claim 1, characterized in that, The two adjacent ends of the steel section (102) are both right-angled sides. The origin of the coordinate system is established with the intersection of the two right-angled sides as the origin, the extension direction of one right-angled side 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 and Y-axis directions as the Z-axis direction.

3. The method for locating weld points of the reinforcing cage for a diaphragm wall according to claim 2, characterized in that, Multiple horizontal ribs (101) are set at intervals along the Y-axis. Within the first value range in the X-axis direction, the three-dimensional point cloud data set is traversed sequentially from small to large in 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 the first point set (1).

4. The method for locating weld points of the reinforcing cage for a diaphragm wall according to claim 3, characterized in that, The first point set (1) is traversed in ascending order along the Y-axis, and the slope of the line connecting each two adjacent points is calculated in the two-dimensional plane formed by the Y-axis and Z-axis. When the slope of the line connecting the adjacent points of the point (y1, z1) in the first point set (1) is positive and negative respectively, the X-axis coordinate x1 of the point (y1, z1) is recorded to obtain the starting coordinate of the center line of the connecting segment (1011) with point (x1, y1).

5. The method for locating weld points of the reinforcing cage in a diaphragm wall according to claim 4, characterized in that, Based on the starting coordinates (x1, y1) of the centerline of the connecting segment (1011), the starting coordinates of the weld between the connecting segment (1011) and the steel section (102) are obtained as (x1, y1+Δ1), where Δ1 is the distance between the centerline of the connecting segment (1011) and the weld in the Y-axis direction.

6. The method for locating weld points of the reinforcing cage in a diaphragm wall according to claim 2, characterized in that, Within the second value range in the Y-axis direction, the three-dimensional point cloud data set is traversed sequentially in the X-axis direction from smallest to largest. For each X-axis coordinate, the coordinate point with the largest absolute value in the Z-axis direction is selected to form the second point set (2).

7. The method for locating weld points of the reinforcing cage in a diaphragm wall according to claim 6, characterized in that, The second point set (2) is traversed sequentially from smallest to largest along the X-axis, and the slope of the line connecting each two adjacent points is calculated in the two-dimensional plane formed by the X-axis and Z-axis. When the absolute value of the slope of the line connecting 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 connecting point (x2,z2) and its previous adjacent point, the Y-axis coordinate y2 of point (x2,z2) is recorded to obtain the coordinates of the endpoint of the center line of the connecting segment (1011) with point (x2,y2).

8. The method for locating weld points of the reinforcing cage in a diaphragm wall according to claim 7, characterized in that, Based on the endpoint coordinates (x2, y2) of the centerline of the connecting segment (1011), the endpoint coordinates of the weld between the connecting segment (1011) and the steel section (102) are obtained as (x2, y2+Δ2), where Δ2 is the distance between the centerline of the connecting segment (1011) and the weld in the Y-axis direction.

9. The method for locating weld points of the reinforcing cage for a diaphragm wall according to claim 1, characterized in that, Based on the starting and ending 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 ending coordinates of the weld.

10. The method for locating weld points of the reinforcing cage for a diaphragm wall according to any one of claims 1-9, characterized in that, The transverse ribs (101) and the steel section (102) are scanned by laser, and the point signals reflected by the transverse ribs (101) and the steel section (102) are received to form a three-dimensional point cloud data set.

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