Pouring pipe positioning and clamping device and positioning and transporting method

Abstract

The invention discloses a pouring pipe positioning and clamping device and a positioning and transporting method.The method specifically comprises the following steps that pouring pipe marking is conducted, specifically, at least two sets of indication marks correspondingly distributed in the axial direction are arranged on the circumferential side wall of each pouring pipe, any group of indication marks is composed of at least four mark points distributed on the circumferential side wall of the pouring pipe in a circumferential array mode, and every two adjacent groups of indication marks do not intersect on the pouring pipe. Identifying the pouring pipes, positioning the pouring pipes, detecting postures of the pouring pipes, sequencing the pouring pipes, positioning a clamping mechanism, and transporting and placing the pouring pipes; the pouring pipe can be automatically clamped from a storage position and transported to a designated position, so that preparation is made for follow-up mounting work of the pouring pipe, manual intervention is not needed in the whole process, and compared with the situation that two operators need to be matched for hoisting in the prior art, the efficiency is higher, the human input is smaller, and the labor intensity is lowered. And the pouring efficiency of the whole diaphragm wall is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of water conservancy foundation treatment devices, in particular to the technical field of casting pipe clamping and transportation equipment for anti-seepage curtain grouting, and specifically to a casting pipe positioning clamping device and a positioning and transportation method. Background Art

[0002] The pouring pipe is an indispensable tool for pouring water conservancy anti-seepage walls. During the entire process of pouring the anti-seepage wall, all the pouring concrete is transported to the bottom of the anti-seepage wall trough through the pouring pipe and poured from bottom to top. After the concrete solidifies, an anti-seepage wall embedded in the mountain is formed. This plays a vital role in the construction of the dam body of the barrier lake, the construction of hydropower stations in the river, and the waterproof construction of the mountains on both sides. The depth of the anti-seepage wall usually ranges from tens of meters to hundreds of meters. Generally, the depth of the ultra-deep anti-seepage wall will exceed 200 meters. However, since the length of the pouring pipe is generally between 3m-6m, the diameter is about 100mm-300mm, and the weight is large, it cannot be transported or loaded and unloaded manually, and usually requires the assistance of lifting or suspension machinery.

[0003] The pouring of anti-seepage walls usually requires continuity to ensure that the concrete wall formed by the entire anti-seepage wall after solidification has good consistency, avoiding joints between structures that become leakage points for anti-seepage failure; this puts forward higher requirements for the loading and unloading of pouring pipes during the pouring process. The existing mechanical equipment used for the installation and disassembly of pouring pipes is not unified in the industry. It is usually self-developed and constructed by the leading companies in the industry, but almost all of them use lifting equipment or auxiliary machinery to lift the pouring pipes. The installation or disassembly between pouring pipes is completed by two operators in coordination. This process generally takes a lot of time. For skilled operators, it can usually be completed within 10 minutes; for those who are not familiar with the operation, it will take more time, and it is easy to have problems such as pouring pipe jamming, thread slippage, and tooth extraction. In addition, in order to transport the disassembled pouring pipes to the cleaning / temporary storage place or to transport the pouring pipes in the storage place to the installation place, in addition to transporting the pouring pipes, it is also necessary to adjust the pouring pipes from a vertical state to a horizontal state for storage / cleaning; or adjust them from a horizontal state to a vertical state for installation; this also takes more time. It can be seen that the current standardization, rapid, and stable transportation and installation of pouring pipes is a technical problem that needs to be solved urgently in the field of anti-seepage wall construction. In order to solve this technical problem, the applicant has developed a set of intelligent equipment for autonomous anti-seepage pouring, which solves the problems of pouring pipe positioning, clamping, and positioning transportation. It can quickly clamp the pouring pipes from the designated place and transport them to the destination. The whole process does not require human intervention and interference, and the efficiency is greatly improved. Summary of the invention

[0004] In order to solve the problem of low efficiency and long time spent in the prior art that the clamping and transportation of the pouring pipe requires manual cooperation with lifting equipment, the present application provides a pouring pipe positioning clamping device and a positioning and transportation method. By autonomously identifying the pouring pipe, the pouring pipe can be autonomously clamped and transported from the storage place to the designated location to prepare for the subsequent installation of the pouring pipe. The whole process does not require manual intervention. Compared with the prior art that requires two operators to cooperate in lifting, it is more efficient and requires less manpower, so that the efficiency of the entire anti-seepage wall pouring can be significantly improved. The present invention has at least the following technical advantages:

[0005] 1. It can identify multiple stacked casting pipes, automatically determine and clamp the casting pipe at the top, without manual contact, and operate the equipment for positioning and clamping, which is more efficient.

[0006] 2. The present invention can judge the tilt state of the placed casting pipe, so as to better determine the clamping position, and can effectively solve the problem of being unable to independently identify and clamp and transport due to irregular storage of the casting pipe.

[0007] 3. The present invention can also adjust and judge the clamping force during the transportation of the casting pipe, so as to avoid the casting pipe falling due to insufficient clamping force or deformation and damage of the casting pipe due to excessive clamping force, which may cause the problem of being unable to connect.

[0008] In order to achieve the above purpose, the technical solution adopted in this application is:

[0009] A method for positioning and transporting a casting pipe comprises the following steps:

[0010] Step STP100, pouring pipe marking, on the circumferential side wall of each pouring pipe, there are at least two groups of indicator marks correspondingly distributed along the axial direction, and each group of indicator marks is composed of at least 4 marking points distributed in a circular array on the circumferential side wall of the pouring pipe, and two adjacent groups of indicator marks do not intersect on the pouring pipe;

[0011] Step STP200, casting pipe identification, using a binocular camera to collect images of stacked casting pipes P ic , using color threshold segmentation method to detect image P ic Multiple markers D in ot1 , D ot2 …D oti ;

[0012] Step STP300, pouring pipe positioning, using the depth camera to obtain each mark point D oti The depth information D(x,y), then, according to each marker point D oti The depth information D(x,y) is used to calculate the center point O(X center,Y center ,Z center ), where the coordinates of the center point O of the casting pipe are calculated as follows:

[0013]

[0014] Among them, (X i ,Y i ,Z i ) is the i-th cut marker point D oti The three-dimensional coordinates of, N is the number of marks on the same casting tube;

[0015] Step STP400, pouring pipe posture detection, by calculating the three-dimensional coordinate distribution of the marking points to determine the inclination angle β between the axial direction of the current pouring pipe and the horizontal plane;

[0016] Step STP500, sorting of pouring tubes, according to the center depth Z of each pouring tube center , sort multiple casting pipes and determine the casting pipe at the top; set the center depth Z center The smallest value is the topmost casting tube, with the same center depth Z. center If there are multiple casting pipes with the same value, then X center The ones with smaller values ​​are sorted first and used as the target casting tubes;

[0017] Step STP600, positioning the clamping mechanism, obtaining the center coordinates (X top ,Y top ,Z top ), move the positioning clamping mechanism to the top of the target casting pipe, clamp the target casting pipe through the lifting clamping mechanism, and execute the clamping force of F,

[0018] F=k·Z top

[0019] Among them, k is the anti-clamping coefficient according to the material and size of the casting pipe;

[0020] Step STP700, casting pipe transportation and placement, after the clamping mechanism clamps the target casting pipe, the clamping device drives the casting pipe along the preset path, and the clamping mechanism reaches the target coordinate position (X target ,Y target ,Z target ) and then release the clamping mechanism to complete the placement; wherein,

[0021]

[0022] And the placement error ∈<∈ threshold ;

[0023] Repeat the above steps STP200 to STP700 until the casting pipe is transported.

[0024] Preferably, the pouring pipe identification process in step STP200 specifically includes the following steps:

[0025] Step STP210, image acquisition: The image is acquired in real time by using binocular cameras including an RGB camera and a depth camera to obtain an RGB image P ic and depth images;

[0026] Step STP220, mark point D oti Detection, through RGB image P ic Get the RGB image P ic All the marked points D oti The pixel coordinates (x, y) and color information of the image are obtained, and the marker points in the image are detected according to the color C and threshold T of the marker points:

[0027] ‖I(x,y)-C‖<T

[0028] Where T is the color difference threshold;

[0029] Output the set of pixels that meet the conditions {(x 1 ,y 1 ),(x 1 ,y 1 )…(x n ,y n )}, connect the detected pixels and merge the adjacent pixels into a marker point, cluster the detected marker points according to their spatial positions, and each cluster represents multiple marker points on a casting pipe. ot1 , D ot2 …D oti .

[0030] Further preferably, in step STP300, the marking point D is oti The formula for converting pixel coordinates (x, y) to three-dimensional coordinates (X, Y, Z) is as follows:

[0031]

[0032] Z=D(x,y)

[0033] Among them, (c x ,c y ) is the image P ic The center coordinates of the image; f x , f y The focal length of the camera, D(x,y) is the depth value.

[0034] The present invention also provides a casting pipe positioning and clamping device, including a positioning and clamping device movably arranged above a casting pipe placing bracket, the positioning and clamping device is equipped with a clamping mechanism that can lift and lower the casting pipe, the clamping mechanism is equipped with a binocular camera unit for positioning the casting pipe, the binocular camera unit is electrically connected to a processor unit, the processor unit includes a memory, a processor and an encoder / decoder, a software program is stored in the memory, the processor unit calls the software program and sends a driving signal to the positioning and clamping device and the clamping mechanism to execute steps STP200 to STP700 in the casting pipe positioning and transportation method described above.

[0035] Preferably, the clamping device includes a movable bracket, which is driven and installed on a first guide rail, the first guide rail is arranged parallel to the placing bracket, a second guide rail is fixedly installed on the top of the movable bracket and a movable platform for supporting the clamping mechanism is driven and installed on the second guide rail, a third guide rail is vertically installed on the mobile platform, the third guide rail is driven and slidably connected to the mobile platform, and the clamping mechanism is fixedly installed on the lower end of the third guide rail.

[0036] Beneficial effects:

[0037] 1. The present invention can autonomously clamp and transport the pouring pipe from the storage place to the designated location, so as to prepare for the subsequent installation of the pouring pipe. The whole process does not require human intervention. Compared with the prior art which requires two operators to cooperate in lifting, the present invention is more efficient and requires less manpower, so that the efficiency of the entire anti-seepage wall pouring can be significantly improved.

[0038] 2. It can identify multiple stacked casting pipes, automatically determine and clamp the casting pipe at the top, without manual contact, and operate the equipment for positioning and clamping, which is more efficient.

[0039] 3. The present invention can judge the tilt state of the placed casting pipe, so as to better determine the clamping position, and can effectively solve the problem of being unable to independently identify and clamp and transport due to irregular storage of the casting pipe.

[0040] 4. The present invention can also adjust and judge the clamping force during the transportation of the casting pipe, so as to avoid the casting pipe falling due to insufficient clamping force or deformation and damage of the casting pipe due to excessive clamping force, causing the problem of being unable to connect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 It is a structural schematic diagram of the positioning and clamping device provided by the present invention in an implementation scenario.

[0043] Figure 2 It is a structural schematic diagram of an embodiment of a positioning and clamping device.

[0044] In the figure: 0-casting pipe; 1-placing bracket; 11-first guide rail; 2-positioning clamping device; 21-movable bracket; 22-second guide rail; 23-movable platform; 24-third guide rail; 3-clamping mechanism. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0047] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0048] In the description of this application, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the application is usually placed when in use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, if the terms "first", "second", etc. appear in the description of this application, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0049] In addition, if the terms "horizontal" or "vertical" appear in the description of this application, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0050] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0051] Embodiment 1:

[0052] A method for positioning and transporting a casting pipe comprises the following steps:

[0053] Step STP100, pouring pipe marking, on the circumferential side wall of each pouring pipe, there are at least two groups of indicator marks correspondingly distributed along the axial direction, and each group of indicator marks is composed of at least 4 marking points distributed in a circular array on the circumferential side wall of the pouring pipe, and two adjacent groups of indicator marks do not intersect on the pouring pipe;

[0054] Step STP200, casting pipe identification, using a binocular camera to collect images of stacked casting pipes P ic , using color threshold segmentation method to detect image P ic Multiple markers D in ot1 , D ot2 …D oti ;

[0055] Step STP300, pouring pipe positioning, using the depth camera to obtain each mark point D otiThe depth information D(x,y), then, according to each marker point D oti The depth information D(x,y) is used to calculate the center point O(X center ,Y center ,Z center ), where the coordinates of the center point O of the casting pipe are calculated as follows:

[0056]

[0057] Among them, (X i ,Y i ,Z i ) is the i-th cut marker point D oti The three-dimensional coordinates of, N is the number of marks on the same casting tube;

[0058] Step STP400, pouring pipe posture detection, by calculating the three-dimensional coordinate distribution of the marking points to determine the inclination angle β between the axial direction of the current pouring pipe and the horizontal plane;

[0059] Step STP500, sorting of pouring tubes, according to the center depth Z of each pouring tube center , sort multiple casting pipes and determine the casting pipe at the top; set the center depth Z center The smallest value is the topmost casting tube, with the same center depth Z. center If there are multiple casting pipes with the same value, then X center The ones with smaller values ​​are sorted first and used as the target casting tubes;

[0060] Step STP600, positioning the clamping mechanism, obtaining the center coordinates (X top ,Y top ,Z top ), move the positioning clamping mechanism to the top of the target casting pipe, clamp the target casting pipe through the lifting clamping mechanism, and execute the clamping force of F,

[0061] F=k·Z top

[0062] Among them, k is the anti-clamping coefficient according to the material and size of the casting pipe;

[0063] Step STP700, casting pipe transportation and placement, after the clamping mechanism clamps the target casting pipe, the clamping device drives the casting pipe along the preset path, and the clamping mechanism reaches the target coordinate position (X target ,Y target ,Z target ) and then release the clamping mechanism to complete the placement; wherein,

[0064]

[0065] And the placement error ∈<∈ threshold ;

[0066] Repeat the above steps STP200 to STP700 until the casting pipe is transported.

[0067] Embodiment 2:

[0068] This embodiment is a further optimization of pouring pipe identification and positioning based on the embodiment 1. Specifically, the pouring pipe identification process in step STP200 specifically includes the following steps:

[0069] Step STP210, image acquisition: The image is acquired in real time by using binocular cameras including an RGB camera and a depth camera to obtain an RGB image P ic and depth images;

[0070] Step STP220, mark point D oti Detection, through RGB image P ic Get the RGB image P ic All the marked points D oti The pixel coordinates (x, y) and color information of the image are obtained, and the marker points in the image are detected according to the color C and threshold T of the marker points:

[0071] ‖I(x,y)-C‖<T

[0072] Where T is the color difference threshold;

[0073] Output the set of pixels that meet the conditions {(x 1 ,y 1 ),(x 1 ,y 1 )…(x n ,y n )}, connect the detected pixels and merge the adjacent pixels into a marker point, cluster the detected marker points according to their spatial positions, and each cluster represents multiple marker points on a casting pipe. ot1 , D ot2 …D oti .

[0074] Mark point D oti The color can be any color that is inconsistent with the color of the pouring pipe itself, as long as it can be distinguished from the color of the pouring pipe itself; generally speaking, the material of the pouring pipe is carbon steel, and the pouring pipe is brown-gray during long-term use. Therefore, the standard basic color of the marking point can be effectively identified. For example, black, white, red, orange, yellow, green, cyan, blue and purple.

[0075] Further preferably, in step STP300, the marking point D is oti The formula for converting pixel coordinates (x, y) to three-dimensional coordinates (X, Y, Z) is as follows:

[0076]

[0077] Z=D(x,y)

[0078] Among them, (c x ,c y ) is the image P ic The center coordinates of the image; f x , f y The focal length of the camera, D(x,y) is the depth value.

[0079] Embodiment 3:

[0080] The present invention also provides a pouring pipe positioning and clamping device, see the attached manual Figure 1-Figure 2 As shown, it includes a positioning clamping device 2 that is movably arranged above a pouring pipe placement bracket (1, the positioning clamping device 2 is equipped with a clamping mechanism 3 that can lift and clamp the pouring pipe, the clamping mechanism 3 is equipped with a binocular camera unit for positioning the pouring pipe, the binocular camera unit is electrically connected to a processor unit, the processor unit includes a memory, a processor and an encoder / decoder, the memory stores a software program, the processor unit calls the software program and sends a driving signal to the positioning clamping device 2 and the clamping mechanism 3 to execute steps STP200 to STP700 in the above-mentioned pouring pipe positioning and transportation method.

[0081] In this embodiment, the clamping device 2 includes a mobile bracket 21, which is driven and installed on the first guide rail 11. The first guide rail 11 is arranged in parallel on the placement bracket 1. A second guide rail 22 arranged in parallel is fixedly installed on the top of the mobile bracket 21. A mobile platform 23 for supporting the clamping mechanism 3 is driven and installed on the second guide rail 22. A third guide rail 24 is vertically installed on the mobile platform 23. The third guide rail 24 is driven and slidably connected to the mobile platform 23, and the clamping mechanism 3 is fixedly installed at the lower end of the third guide rail 24.

[0082] Structure and working principle:

[0083] See also Figure 1As shown, the placement bracket 1 is a supporting structure component of the entire device, which plays a supporting role. The placement bracket 1 has two first guide rails 11 arranged in parallel. The entire clamping device 2 is slidably arranged on the first guide rails 11, and is connected to the rack arranged on the first guide rails 11 through a first driving device, so that the clamping device 2 can be driven to move back and forth along the first guide rails 11, that is, along Figure 2 The mobile platform 23 is driven by the second driving device to reciprocate along the second guide rail 22, that is, along the Figure 2 The third driving device drives the third guide rail 24 to move up and down relative to the mobile platform 23. Since the clamping mechanism 3 is fixedly installed at the lower end of the third guide rail 24, the clamping mechanism 3 can realize vertical up and down movement, horizontal forward and backward movement, and left and right movement, so that the clamping mechanism 3 can be controlled and stopped at any point within the movable range of the entire clamping device 2, and pixel-level precision control can be achieved. The pouring pipe 0 can be accurately clamped and transported. Compared with the prior art, which uses two operators to operate auxiliary equipment to control the transportation of the pouring pipe, it is more precise, accurate, stable and efficient.

[0084] Embodiment 4:

[0085] In this embodiment, the pipe radius R = 100 mm, the width L for placing the pouring pipe 0 in the left and right direction is 2000 mm, the length H in the front and back direction is 6000 mm, and the internal parameter K of the depth camera is used for specific description.

[0086]

[0087] Among them, f x =1200, f y =1200,c x =640, c y =360.

[0088] Transportation starting point Q 1 =(X 1 ,Y 1 ,Z 1 ), is the three-dimensional coordinate of the center point O of any casting pipe;

[0089] Transport destination Q 2 It is the distance from the center point of the rectangle where the casting pipe plane space L*H is placed. It moves 4800mm in the positive direction of H and 1200mm in the negative direction of L.

[0090] Use a binocular camera to collect images and detect the marking points. At this time, assume that the marking points of the top three pipes are detected, and their center coordinates are:

[0091] Casting pipe 1: (X 1 ,Y 1 ,Z 1 )=(1000,500,200)

[0092] Casting pipe 2: (X 2 ,Y 2 ,Z 2 )=(1100,600,300)

[0093] Casting pipe 3: (X 3 ,Y 3 ,Z 3 )=(1050,550,400)

[0094] Then perform depth sorting, for Z top Sort and get Z 1 <Z 2 <Z 3 ;

[0095] Therefore, the topmost pipe is casting pipe 1, and its center coordinates are (1000,500,200).

[0096] Clamping mechanism movement:

[0097] Assuming that the current position coordinates of the clamping mechanism (the initial coordinates of the binocular camera are used as the initial coordinates of the clamping mechanism) are (0,0,0), the moving vector is:

[0098] △X=1000-0=1000mm

[0099] △Y=500-0=500mm

[0100] △Z=200-0=200mm

[0101] The clamping mechanism moves according to (1000, 500, 200), and the movement order can be moved in the front-to-back direction first, and then in the left-to-right direction; it can also be moved in the left-to-right direction first, and then in the front-to-back direction; it can also move in two directions at the same time.

[0102] When the clamping mechanism clamps the casting pipe, assuming that the current casting pipe material and size anti-clamping coefficient k = 0.9, then the clamping force

[0103] F = 0.9 200 = 180 Newtons

[0104] Since there are many transportation paths, in this embodiment, the starting point of transportation is Q 1 =(1000,500,200);

[0105] Transport destination Q 2As follows: The center point of the pouring tube placement space rectangle H*L is After moving 4800mm in the positive direction of H and 1200mm in the reverse direction of L, the transport end point Q 2 =(7800,-200,0). When reaching Q 2 =(7800,-200,0), the clamping mechanism performs the placement operation.

[0106]

[0107] If the placement requirements are met, the casting pipe will be lowered to complete the transportation of a single casting pipe.

[0108] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for positioning and transporting a casting pipe, characterized in that: The specific steps include: Step STP100, pouring pipe marking, on the circumferential side wall of each pouring pipe, there are at least two groups of indicator marks correspondingly distributed along the axial direction, and each group of indicator marks is composed of at least 4 marking points distributed in a circular array on the circumferential side wall of the pouring pipe, and two adjacent groups of indicator marks do not intersect on the pouring pipe; Step STP200, casting pipe identification, using a binocular camera to collect images of stacked casting pipes P ic , using the color threshold segmentation method to detect image P ic Multiple markers D in ot1 , D ot2 …D oti ; Step STP300, pouring pipe positioning, using the depth camera to obtain each mark point D oti The depth information D(x,y), then, according to each marker point D oti The depth information D(x,y) is used to calculate the center point O(X center ,Y center ,Z center ), where the coordinates of the center point O of the casting pipe are calculated as follows: Among them, (X i ,Y i ,Z i ) is the i-th cut marker point D oti The three-dimensional coordinates of, N is the number of marks on the same casting tube; Step STP400, pouring pipe posture detection, by calculating the three-dimensional coordinate distribution of the marking points to determine the inclination angle β between the axial direction of the current pouring pipe and the horizontal plane; Step STP500, sorting of pouring tubes, according to the center depth Z of each pouring tube center , sort multiple casting pipes and determine the casting pipe at the top; set the center depth Z center The smallest value is the topmost casting tube, with the same center depth Z. center If there are multiple casting pipes with the same value, then X center The ones with smaller values ​​are sorted first and used as the target casting tubes; Step STP600, positioning the clamping mechanism (3), obtaining the center coordinates (X top ,Y top ,Z top ), move the positioning clamping mechanism to the top of the target casting pipe, clamp the target casting pipe through the lifting clamping mechanism, and execute the clamping force of F, F=k·Z top Among them, k is the anti-clamping coefficient according to the material and size of the casting pipe; Step STP700, casting pipe transportation and placement, after the clamping mechanism clamps the target casting pipe, the clamping device drives the casting pipe along the preset path, and the clamping mechanism reaches the target coordinate position (X target ,Y target ,Z target ) and then release the clamping mechanism to complete the placement; wherein, And the placement error ∈<∈ threshold ; Repeat the above steps STP200 to STP700 until the casting pipe is transported.

2. A method for positioning and transporting a casting pipe according to claim 1, characterized in that: The pouring pipe identification process in step STP200 specifically includes the following steps: Step STP210, image acquisition: The image is acquired in real time by using a binocular camera including an RGB camera and a depth camera to obtain an RGB image P ic and depth images; Step STP220, mark point D oti Detection, through RGB image P ic Get the RGB image P ic All the marked points D oti The pixel coordinates (x, y) and color information of the image are obtained, and the marker points in the image are detected according to the color C and threshold T of the marker points: ‖I(x,y)-C‖<T Where T is the color difference threshold; Output the set of pixels that meet the conditions {(x1,y1),(x1,y1)…(x n ,y n )}, connect the detected pixels and merge the adjacent pixels into a marker point, cluster the detected marker points according to their spatial positions, and each cluster represents multiple marker points on a casting pipe. ot1 , D ot2 …D oti .

3. A method for positioning and transporting a casting pipe according to claim 1, characterized in that: In step STP300, the marking point D is set according to the depth information D(x, y). oti The formula for converting pixel coordinates (x, y) to three-dimensional coordinates (X, Y, Z) is as follows: Z=D(x,y) Among them, (c x ,c y ) is the image P ic The center coordinates of the image; f x , f y The focal length of the camera, D(x,y) is the depth value.

4. A casting pipe positioning and clamping device, characterized in that: The invention comprises a positioning and clamping device (2) which is movably arranged above a support (1) for placing a casting pipe, the positioning and clamping device (2) is provided with a clamping mechanism (3) which can lift and lower the casting pipe, the clamping mechanism (3) is provided with a binocular camera unit for positioning the casting pipe, the binocular camera unit is electrically connected to a processor unit, the processor unit comprises a memory, a processor and an encoder / decoder, a software program is stored in the memory, the processor unit calls the software program and sends a driving signal to the positioning and clamping device (2) and the clamping mechanism (3) to execute steps STP200 to STP700 in the casting pipe positioning and transportation method according to any one of claims 1 to 3.

5. A casting pipe positioning and clamping device according to claim 4, characterized in that: The clamping device (2) comprises a movable bracket (21), the movable bracket (21) is driven and installed on a first guide rail (11), the first guide rail (11) is arranged in parallel on the placement bracket (1), a second guide rail (22) is fixedly installed on the top of the movable bracket (21), a movable platform (23) for supporting the clamping mechanism (3) is driven and installed on the second guide rail (22), a third guide rail (24) is installed vertically through the movable platform (23), the third guide rail (24) is driven and slidably connected to the movable platform (23), and the clamping mechanism (3) is fixedly installed at the lower end of the third guide rail (24).

Images