A casting pipe positioning clamping device and positioning transportation method

Abstract

This application discloses a positioning and clamping device and a positioning and transportation method for a casting pipe, specifically including the following steps: marking the casting pipe, with at least two sets of axially distributed indicator marks on the circumferential sidewall of each casting pipe, each set of indicator marks consisting of at least four mark points arranged in a circumferential array on the circumferential sidewall of the casting pipe, and adjacent sets of indicator marks not intersecting on the casting pipe; casting pipe identification, casting pipe positioning, casting pipe posture detection, casting pipe sorting, positioning and clamping mechanism, and casting pipe transportation and placement; the present invention can autonomously clamp and transport the casting pipe from the storage location to the designated location, so as to prepare for the subsequent installation of the casting pipe. The entire process does not require manual intervention, which is more efficient and requires less manpower than the prior art that requires two operators to cooperate in hoisting, thus significantly improving the efficiency of the entire anti-seepage wall casting.

Description

Technical Field

[0001] This invention relates to the field of water conservancy foundation treatment equipment technology, and in particular to the field of designing a casting pipe clamping and transportation equipment for anti-seepage curtain grouting, specifically relating to a casting pipe positioning clamping device and positioning and transportation method. Background Technology

[0002] Casting pipes are an indispensable tool in the construction of hydraulic cutoff walls. Throughout the entire construction process, all concrete is transported to the bottom of the cutoff wall trench through these pipes and poured from bottom to top. Once the concrete has solidified, it forms a cutoff wall embedded within the mountain. This plays a crucial role in the construction of landslide dams, the building of hydroelectric power stations in rivers, and the waterproofing of the mountainsides on both sides. The depth of cutoff walls typically ranges from tens to hundreds of meters, with ultra-deep cutoff walls exceeding 200 meters in depth. However, because the casting pipes are generally 3-6 meters long and approximately 100-300 mm in diameter, they are quite heavy and cannot be transported or unloaded manually. Lifting or suspension machinery is usually required for assistance.

[0003] The pouring of cutoff walls typically requires continuity to ensure the uniformity of the concrete wall after solidification, preventing joints between structures from becoming leak points and causing seepage failure. This places high demands on the installation and removal of the pouring pipes during the pouring process. Currently, the machinery used for installing and dismantling pouring pipes is not standardized across the industry. While leading companies typically develop their own equipment, they almost always rely on cranes or auxiliary machinery to lift the pipes, requiring two operators to work together to install or remove them. This process generally takes considerable time. Skilled operators can usually complete the task within 10 minutes; however, for less experienced operators, it takes much longer and is prone to problems such as pipe jamming, thread stripping, and thread breakage. Furthermore, transporting disassembled pouring pipes to the cleaning / temporary storage area, or from the storage area to the installation site, requires not only transportation but also adjusting the pipes from a vertical to a horizontal position for easy storage / cleaning, or vice versa for installation. This takes considerable time. Therefore, the standardized, rapid, and stable transportation and installation of pouring pipes is a pressing technical challenge in the field of anti-seepage wall construction. To address this issue, the applicant has independently developed a set of intelligent anti-seepage pouring equipment, which effectively solves the problems of pipe positioning, clamping, and transportation. It can quickly clamp the pouring pipes from a designated location and transport them to the destination without manual intervention, significantly improving efficiency. Summary of the Invention

[0004] To address the inefficiency and time-consuming nature of existing technologies that require manual handling and lifting equipment for clamping and transporting pouring pipes, this application provides a pouring pipe positioning and clamping device and a positioning and transporting method. By autonomously identifying the pouring pipe, it can automatically clamp and transport it from its storage location to a designated position, preparing it for subsequent installation. The entire process requires no manual intervention, significantly improving efficiency and reducing manpower compared to existing technologies that require two operators for hoisting. This invention offers at least the following technical advantages:

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

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

[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 the casting pipe deforming and being damaged due to excessive clamping force, which would cause the problem of failure to connect.

[0008] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0009] A method for positioning and transporting casting pipes, specifically including the following steps:

[0010] Step STP100, marking the casting pipe: There are at least two sets of axially distributed indicator marks on the circumferential sidewall of each casting pipe. Each set of indicator marks consists of at least 4 mark points arranged in a circumferential array on the circumferential sidewall of the casting pipe. Adjacent sets of indicator marks do not intersect on the casting pipe.

[0011] Step STP200, casting pipe identification, uses a binocular camera to acquire images of stacked casting pipes. ic Image P was detected using a color thresholding method. ic Multiple markers D in ot1 D ot2 …D oti ;

[0012] Step STP300: Positioning the casting pipe, using a depth camera to acquire the D of each marker point. oti The depth information D(x,y) is then obtained based on each marked point D. oti The depth information D(x,y) is used to calculate the center point O(X) of the corresponding casting pipe. center,Y center Z center 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, where N is the number of marks on the same casting pipe;

[0015] Step STP400: Casting pipe posture detection. The tilt angle β between the axial direction of the current casting pipe and the horizontal plane is determined by calculating the three-dimensional coordinate distribution of the marker points.

[0016] Step STP500: Sorting of casting pipes, based on the center depth Z of each casting pipe. center The multiple casting pipes are sorted to determine the uppermost pipe; the center depth Z is... center The pipe with the smallest value is used as the uppermost pouring pipe, and they have the same center depth Z. center When there are multiple casting pipes, then X is used. center The smaller value is ranked first and used as the target casting pipe;

[0017] Step STP600: Position the clamping mechanism and obtain the center coordinates (X) of the uppermost casting pipe determined in step STP500. top ,Y top Z top The positioning and clamping mechanism is moved above the target casting pipe, and the target casting pipe is clamped by the lifting and clamping mechanism with a clamping force of F.

[0018] F = k·Z top

[0019] Where k is the clamping resistance coefficient based on the material and size of the casting pipe;

[0020] Step STP700: The casting pipe is transported and placed. After the clamping mechanism clamps the target casting pipe, it is transported along a preset path under the drive of the clamping device. The clamping mechanism reaches the target coordinate position (X). target ,Y target Z target Then the clamping mechanism is released, completing the placement; among them,

[0021]

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

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

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

[0025] Step STP210, Image Acquisition: Images are acquired in real-time using a binocular camera system, including an RGB camera and a depth camera, to obtain the RGB image P. ic and depth images;

[0026] Step STP220, mark point D oti Detection, through RGB image P ic Obtain the constituent RGB image P ic All marked points D oti The pixel coordinates (x, y) and color information are used to detect marker points in the image based on the marker point's color C and a threshold T.

[0027] ||I(x,y)-C||<T

[0028] Where T is the color difference threshold;

[0029] Output the set of pixels that satisfy the condition {(x1,y1),(x1,y1)…(x n ,y n The detected pixels are connected, and adjacent pixels are merged into a single marker. The detected markers are then clustered according to their spatial location, with each cluster representing multiple markers D on a single casting pipe. ot1 D ot2 …D oti .

[0030] More preferably, in step STP300, the marked point D is determined based on the depth information D(x,y). oti The formula for converting pixel coordinates (x, y) to 3D 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 camera's focal length, D(x,y) is the depth value.

[0034] The present invention also provides a positioning and clamping device for a casting pipe, comprising a positioning and clamping device movably disposed above a casting pipe placement bracket, wherein a clamping mechanism capable of lifting and clamping the casting pipe is mounted on the positioning and clamping device, and a binocular camera unit for positioning the casting pipe is mounted on the clamping mechanism. The binocular camera unit is electrically connected to a processor unit, wherein the processor unit includes a memory, a processor, and an encoder / decoder, and the memory stores a software program. The processor unit calls the software program and sends drive signals to the positioning and clamping device and the clamping mechanism to execute steps STP200-STP700 in the casting pipe positioning and transportation method described above.

[0035] Preferably, the clamping device includes a movable bracket, which is driven to be mounted on a first guide rail, which is parallel to the placement bracket. A second guide rail is fixedly mounted on the top of the movable bracket and is parallel to the placement bracket. A movable platform for supporting the clamping mechanism is driven to be mounted on the second guide rail. A third guide rail is vertically mounted through the movable platform and is slidably connected to the movable platform. The clamping mechanism is fixedly mounted on the lower end of the third guide rail.

[0036] Beneficial effects:

[0037] 1. This invention can autonomously clamp and transport the casting pipe from the storage location to the designated location, so as to prepare for the subsequent installation of the casting pipe. The whole process does not require manual intervention. Compared with the prior art, which requires two operators to cooperate in hoisting, it is more efficient and requires less manpower, thus significantly improving the efficiency of the entire anti-seepage wall casting.

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

[0039] 3. This invention can determine the tilt state of the placed casting pipe, thereby better identifying the clamping position and effectively solving the problem of inability to independently identify, clamp and transport the casting pipe due to irregular storage.

[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 the casting pipe deforming and being damaged due to excessive clamping force, which would cause the problem of failure to connect. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0044] In the diagram: 0-pouring pipe; 1-placement bracket; 11-first guide rail; 2-positioning and clamping device; 21-moving bracket; 22-second guide rail; 23-moving platform; 24-third guide rail; 3-clamping mechanism. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0047] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0048] In the description of this application, it should be noted that the use of terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These terms are used solely for the convenience of describing this application and for simplifying the description, 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 this application. Furthermore, the use of terms such as "first" and "second" in the description of this application is only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0049] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not imply that the component is required to be absolutely horizontal or suspended, but rather that it may be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but rather that it may be slightly tilted.

[0050] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0051] Example 1:

[0052] A method for positioning and transporting casting pipes, specifically including the following steps:

[0053] Step STP100, marking the casting pipe: There are at least two sets of axially distributed indicator marks on the circumferential sidewall of each casting pipe. Each set of indicator marks consists of at least 4 mark points arranged in a circumferential array on the circumferential sidewall of the casting pipe. Adjacent sets of indicator marks do not intersect on the casting pipe.

[0054] Step STP200, casting pipe identification, uses a binocular camera to acquire images of stacked casting pipes. ic Image P was detected using a color thresholding method. ic Multiple markers D in ot1 D ot2 …D oti ;

[0055] Step STP300: Positioning the casting pipe, using a depth camera to acquire the D of each marker point. otiThe depth information D(x,y) is then obtained based on each marked point D. oti The depth information D(x,y) is used to calculate the center point O(X) of the corresponding casting pipe. center ,Y center Z center 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, where N is the number of marks on the same casting pipe;

[0058] Step STP400: Casting pipe posture detection. The tilt angle β between the axial direction of the current casting pipe and the horizontal plane is determined by calculating the three-dimensional coordinate distribution of the marker points.

[0059] Step STP500: Sorting of casting pipes, based on the center depth Z of each casting pipe. center The multiple casting pipes are sorted to determine the uppermost pipe; the center depth Z is... center The pipe with the smallest value is used as the uppermost pouring pipe, and they have the same center depth Z. center When there are multiple casting pipes, then X is used. center The smaller value is ranked first and used as the target casting pipe;

[0060] Step STP600: Position the clamping mechanism and obtain the center coordinates (X) of the uppermost casting pipe determined in step STP500. top ,Y top Z top The positioning and clamping mechanism is moved above the target casting pipe, and the target casting pipe is clamped by the lifting and clamping mechanism with a clamping force of F.

[0061] F = k·Z top

[0062] Where k is the clamping resistance coefficient based on the material and size of the casting pipe;

[0063] Step STP700: The casting pipe is transported and placed. After the clamping mechanism clamps the target casting pipe, it is transported along a preset path under the drive of the clamping device. The clamping mechanism reaches the target coordinate position (X). target ,Y target Z target Then the clamping mechanism is released, completing the placement; among them,

[0064]

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

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

[0067] Example 2:

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

[0069] Step STP210, Image Acquisition: Images are acquired in real-time using a binocular camera system, including an RGB camera and a depth camera, to obtain the RGB image P. ic and depth images;

[0070] Step STP220, mark point D oti Detection, through RGB image P ic Obtain the constituent RGB image P ic All marked points D oti The pixel coordinates (x, y) and color information are used to detect marker points in the image based on the marker point's color C and a threshold T.

[0071] ||I(x,y)-C||<T

[0072] Where T is the color difference threshold;

[0073] Output the set of pixels that satisfy the condition {(x1,y1),(x1,y1)…(x n ,y n The detected pixels are connected, and adjacent pixels are merged into a single marker. The detected markers are then clustered according to their spatial location, with each cluster representing multiple markers D on a single casting pipe. ot1 D ot2 …D oti .

[0074] Marker point D oti The color of the marking can be any color that differs from the color of the casting pipe itself, as long as it can be distinguished from the pipe's original color. Generally, the casting pipe is made of carbon steel, and it turns brownish-gray over long-term use. Therefore, using standard base colors for the marking points is sufficient for effective identification. Examples include black, white, red, orange, yellow, green, cyan, blue, and purple.

[0075] More preferably, in step STP300, the marked point D is determined based on the depth information D(x,y). otiThe formula for converting pixel coordinates (x, y) to 3D 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 camera's focal length, D(x,y) is the depth value.

[0079] Example 3:

[0080] This invention also provides a positioning and clamping device for casting pipes, see the appendix to the specification. Figure 1-Figure 2 As shown, the method includes a positioning clamping device 2 that is movable above the casting pipe placement bracket (1). The positioning clamping device 2 is equipped with a clamping mechanism 3 that can lift and clamp the casting pipe. The clamping mechanism 3 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 a codec. The memory stores a software program. The processor unit calls the software program and sends drive signals to the positioning clamping device 2 and the clamping mechanism 3 to execute steps STP200-STP700 in the casting pipe positioning and transportation method described above.

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

[0082] Structure and working principle:

[0083] See Figure 1 As shown, the placement bracket 1 is the supporting structural component of the entire device, serving a supporting function. The placement bracket 1 has two parallel first guide rails 11. The entire clamping device 2 is slidably mounted on the first guide rails 11 and is driven by a first driving device connected to a rack and pinion mounted on the first guide rails 11, enabling the clamping device 2 to reciprocate along the first guide rails 11. Figure 2The forward and backward movement is shown in the diagram. The mobile platform 23 is driven by a second drive device to reciprocate along the second guide rail 22, i.e., along... Figure 2 The left and right movement is shown in the figure. The third drive device drives the third guide rail 24 to move up and down relative to the moving 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. Thus, the clamping mechanism 3 can be controlled and stopped at any point within the entire movable range of the clamping device 2, achieving pixel-level precision control. It can accurately clamp and transport the casting pipe 0. Compared with the prior art, which uses two operators to control the transportation of the casting pipe by operating auxiliary equipment, it is more precise, accurate, stable and efficient.

[0084] Example 4:

[0085] In this embodiment, the pipe radius R = 100mm is used to place the casting pipe 0 with a width L = 2000mm in the left-right direction and a length H = 6000mm in the front-back direction. The intrinsic parameter of the depth camera is K. For detailed explanation, the intrinsic parameter...

[0086]

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

[0088] The starting point of transportation, Q1 = (X1, Y1, Z1), is the three-dimensional coordinate of the center point O of any pouring pipe;

[0089] The transportation endpoint Q2 is the center point of the rectangle located at the distance L*H from the plane space where the casting pipe is placed. It moves 4800mm in the positive direction of H and 1200mm in the opposite direction of L.

[0090] Using a binocular camera to acquire images and detect marker points, let's assume that the marker points for the top three pipes are detected, and their center coordinates are as follows:

[0091] Casting pipe 1: (X1,Y1,Z1)=(1000,500,200)

[0092] Casting pipe 2: (X2,Y2,Z2)=(1100,600,300)

[0093] Casting pipe 3: (X3,Y3,Z3)=(1050,550,400)

[0094] Then perform depth sorting for Z.top Sort the results to get Z1 < Z2 < Z3;

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

[0096] Clamping mechanism movement:

[0097] Assuming the current position coordinates of the gripping mechanism (using the initial coordinates of the binocular camera as the initial coordinates of the gripping mechanism) are (0,0,0), then the movement vector is:

[0098] △X=1000-0=1000mm

[0099] △Y=500-0=500mm

[0100] △Z=200-0=200mm

[0101] The clamping mechanism moves in the order of (1000, 500, 200). The movement can be in the forward / backward direction first, then the left / right direction; or in the left / right direction first, then the forward / backward direction; or the movement in both directions can be performed simultaneously.

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

[0103] F = 0.9 * 200 = 180 Newtons

[0104] Since there are multiple transportation routes, the starting point of transportation in this embodiment is Q1 = (1000, 500, 200);

[0105] The transportation endpoint Q2 is as follows: the center point of the rectangular space H*L where the casting pipe is placed is... After moving 4800mm along the positive direction of H and 1200mm along the opposite direction of L, the final transport destination Q2 = (7800, -200, 0). Upon reaching Q2 = (7800, -200, 0), the clamping mechanism performs the placement operation.

[0106]

[0107] If the placement requirements are met, the pouring pipe will be lowered, completing the transportation of a single pouring pipe.

[0108] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for positioning and transporting casting pipes, characterized in that: Specifically, the steps include the following: Step STP100, marking the casting pipe: There are at least two sets of axially distributed indicator marks on the circumferential sidewall of each casting pipe. Each set of indicator marks consists of at least 4 mark points arranged in a circumferential array on the circumferential sidewall of the casting pipe. Adjacent sets of indicator marks do not intersect on the casting pipe. Step STP200, casting pipe identification, uses a binocular camera to acquire images of stacked casting pipes. ic Image P was detected using a color thresholding method. ic Multiple markers D in ot1 D ot2 …D oti ; Step STP300: Positioning the casting pipe, using a depth camera to acquire the D of each marker point. oti The depth information D(x,y) is then obtained based on each marked point D. oti The depth information D(x,y) is used to calculate the center point O(X) of the corresponding casting pipe. center ,Y center Z center 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, where N is the number of marks on the same casting pipe; Step STP400: Casting pipe posture detection. The tilt angle β between the axial direction of the current casting pipe and the horizontal plane is determined by calculating the three-dimensional coordinate distribution of the marker points. Step STP500: Sorting of casting pipes, based on the center depth Z of each casting pipe. center The multiple casting pipes are sorted to determine the uppermost pipe; the center depth Z is... center The pipe with the smallest value is used as the uppermost pouring pipe, and they have the same center depth Z. center When there are multiple casting pipes, then X is used. center The smaller value is ranked first and used as the target casting pipe; Step STP600: Position the clamping mechanism (3) and obtain the center coordinates (X) of the uppermost casting pipe determined in step STP500. top ,Y top Z top The positioning and clamping mechanism is moved above the target casting pipe, and the target casting pipe is clamped by the lifting and clamping mechanism with a clamping force of F. F=k·Z top Where k is the clamping resistance coefficient based on the material and size of the casting pipe; Step STP700: The casting pipe is transported and placed. After the clamping mechanism clamps the target casting pipe, it is transported along a preset path under the drive of the clamping device. The clamping mechanism reaches the target coordinate position (X). target ,Y target Z target Then the clamping mechanism is released, completing the placement; among them, And the placement error ∈ < ∈ threshold ; Repeat steps STP200-STP700 until the casting pipe is transported.

2. The method for positioning and transporting a casting pipe according to claim 1, characterized in that: The process of identifying the casting pipe in step STP200 specifically includes the following steps: Step STP210, Image Acquisition: Images are acquired in real-time using a binocular camera system, including an RGB camera and a depth camera, to obtain the RGB image P. ic and depth images; Step STP220, mark point D oti Detection, through RGB image P ic Obtain the constituent RGB image P ic All marked points D oti The pixel coordinates (x, y) and color information are used to detect marker points in the image based on the marker point's color C and a threshold T. ||I(x,y)-C||<T Where T is the color difference threshold; Output the set of pixels that satisfy the condition {(x1,y1),(x1,y1)…(x n ,y n The detected pixels are connected, and adjacent pixels are merged into a single marker. The detected markers are then clustered according to their spatial location, with each cluster representing multiple markers D on a single casting pipe. ot1 D ot2 …D oti .

3. The method for positioning and transporting a casting pipe according to claim 1, characterized in that: In step STP300, the marked point D is determined based on the depth information D(x,y). oti The formula for converting pixel coordinates (x, y) to 3D 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 camera's focal length, D(x,y) is the depth value.

4. A positioning and clamping device for a casting pipe, characterized in that: The method includes a positioning clamping device (2) that is movable above the casting pipe placement bracket (1). The positioning clamping device (2) is equipped with a clamping mechanism (3) that can lift and clamp the casting pipe. The clamping mechanism (3) 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 a codec. The memory stores a software program. The processor unit calls the software program and sends drive signals to the positioning clamping device (2) and the clamping mechanism (3) to execute steps STP200-STP700 in the casting pipe positioning and transportation method according to any one of claims 1-3.

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

Images