Quick synchronous leveling system and method for flatness of cable saddle grating of suspension bridge based on machine vision

Abstract

The invention belongs to the technical field of suspension bridge cable saddle grating plane construction, and relates to a suspension bridge cable saddle grating planeness rapid synchronous leveling system and method based on machine vision, and the leveling method comprises the steps: S1, determining the arrangement number of leveling point positions, and arranging a leveling tool at each leveling point position; s2, a visual monitoring camera and a target are arranged, and it is guaranteed that the target and the visual monitoring camera are located on the same plane; s3, determining the target height value of each leveling tool; s4, the initial height value of each leveling tool is obtained, and the leveling rate of each leveling tool is calculated; and S42, the heights of all the leveling point positions are synchronously leveled according to the leveling rates of all the leveling tools. By dynamically monitoring and controlling the leveling tool in real time, rapid leveling is achieved, the leveling precision is high, synchronous leveling is guaranteed, and the leveling efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of plane construction of cable saddle grilles of suspension bridges, and relates to a system and method for rapid synchronous leveling of the plane of cable saddle grilles of suspension bridges based on machine vision. Background Art

[0002] As the supporting structure for the cable strands of the suspension bridge passing through the tower top, the cable saddle will bear a large vertical pressure. In order to ensure that the vertical pressure is evenly transmitted to the cable tower foundation, a steel grille is generally installed under the saddle body, and the force of the grille is mainly end-bearing. During the installation process, the flatness of the grille needs to be strictly controlled. At present, the commonly used high-precision leveling process for the grille is: pre-embed the special leveling tool for the grille on the top of the cable tower in advance, and when the grille is hoisted to the top of the tower for rough leveling, the leveling tool is used for precise leveling.

[0003] In the actual leveling process, since the suspension bridge saddle grilles are generally irregular in shape, the elevation of each leveling fixture is different, and there is mutual influence between the various fixtures. If one of the leveling fixtures is adjusted, the flatness of other leveling fixtures will change accordingly, so the surveyors need to measure repeatedly to ensure the design accuracy. For example, the Chinese patent document with patent number CN202111320706.2 discloses a high-precision installation flatness measurement device and measurement method for suspension bridge saddles. It adopts the principle of static level surface, and completes leveling through repeated adjustments and cyclic operation measurements.

[0004] In the existing suspension bridge saddle grille leveling, repeated leveling is required, and the leveling process is very cumbersome. Not only is the leveling time long, but the leveling accuracy is low. In addition, due to the mutual influence between the tooling, each tooling can only be completed through repeated adjustment, and the synchronous leveling of each tooling cannot be achieved, resulting in low leveling efficiency. Summary of the invention

[0005] In view of the technical problems of long leveling time, low leveling accuracy and inability to achieve synchronous leveling of various toolings in the existing suspension bridge saddle grille leveling, the present invention provides a suspension bridge saddle grille flatness rapid synchronous leveling system and method based on machine vision.

[0006] The present invention monitors the leveling height in real time through a visual monitoring camera, and realizes rapid leveling through real-time dynamic monitoring and control of the leveling tooling. Not only is the leveling accuracy high, but it also ensures that each leveling tooling performs synchronous leveling at different rates within the same time, thereby improving the leveling efficiency.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A method for rapid synchronous leveling of the flatness of a suspension bridge saddle grid based on machine vision comprises the following steps:

[0009] S1. Leveling tooling layout

[0010] Determine the number of leveling points on the suspension bridge saddle grid according to the component outline size, center of gravity position and size conditions of the area to be installed, and arrange a leveling tool at each leveling point;

[0011] S2. Visual monitoring camera and target layout

[0012] Before the suspension bridge saddle grid is hoisted to the top of the tower, a visual monitoring camera is placed around each leveling fixture, and a target is placed on the leveling fixture to ensure that the target and the visual monitoring camera are in the same plane;

[0013] S3. Determine the target height value of each leveling tool

[0014] According to the design value of the flatness of the cable saddle grille of the suspension bridge, the target leveling height of each leveling point is calculated as the target height value of the leveling tooling;

[0015] S4, synchronous leveling of leveling tooling

[0016] S41, obtaining the initial height value of each leveling tool, and calculating the leveling rate of each leveling tool according to the difference between the target height value and the initial height value;

[0017] S42. The height of each leveling point is synchronously leveled according to the leveling rate of each leveling tool. The actual adjustment amount of the leveling tool at this location is monitored in real time by the visual monitoring camera and target corresponding to each leveling tool until the actual adjustment amount of the leveling tool at all leveling points is within the range of ±0.15mm between the target height value and the corresponding initial height value, thereby completing the synchronous leveling.

[0018] It is further defined that in step S41, the specific process of calculating the leveling rate of each leveling tool is:

[0019] The actual elevation of each corresponding leveling tool is measured by a visual monitoring camera, which is the initial height value;

[0020] The difference between the target height value and the initial height value at each leveling fixture is obtained by calculation;

[0021] The leveling time is set based on the maximum difference, and the leveling rate of each leveling fixture is calculated according to the leveling time and the difference of each leveling fixture.

[0022] It is further defined that in step S42,

[0023] When the actual adjustment amount of one of the leveling fixtures has reached the range of ±0.15mm between the target height value and the initial height value of the fixture at that location, it means that the leveling work of the leveling fixture at that location has been completed; at this time, the leveling fixture moves within the range of ±0.15mm of the target height value;

[0024] Continue to monitor the actual adjustment amount of the leveling fixture in real time through the visual monitoring camera and the target; if the actual adjustment amount exceeds ±0.15mm, perform reverse adjustment compensation.

[0025] It is further defined that the reverse adjustment compensation value is = actual adjustment amount - [(target height value - initial height value) ± 0.15 mm].

[0026] It is further defined that the leveling tool is a hydraulic leveling tool.

[0027] A leveling system for realizing a method for rapid synchronous leveling of the flatness of a suspension bridge saddle grid based on machine vision, the leveling system comprising:

[0028] Leveling tool: placed at each leveling point on the saddle grille;

[0029] Target: placed on the leveling fixture and on the same plane as the visual monitoring camera, used for mutual recognition with the visual monitoring camera;

[0030] Visual monitoring camera: placed on the central control integrated system and around the leveling tooling, used to identify the target and feed back the identification results to the leveling system terminal;

[0031] Central control integrated system: placed under the leveling tooling, used to control the leveling tooling for leveling according to the signal feedback from the leveling system terminal;

[0032] Leveling system terminal: placed around the leveling tooling, used to obtain the target height value of the leveling tooling, used to receive the recognition results of the visual monitoring camera and the target, and calculate the initial height value of each leveling tooling and the actual adjustment amount of the leveling tooling according to the recognition results; used to calculate the difference between the target height value and the initial height value, and determine the leveling time and calculate the leveling rate according to the maximum difference, and feed back the leveling rate signal to the central control integrated system; used to calculate the reverse adjustment compensation value according to the calculated actual adjustment amount.

[0033] It is further defined that the leveling tooling includes a fixed rod and a hydraulic rod; the fixed rod is placed on the central control integrated system, one end of the hydraulic rod extends into and is fixed in the fixed rod, and the other end of the hydraulic rod is located outside the fixed rod and contacts with various leveling points on the saddle grille; the hydraulic rod extends and retracts along the axial direction of the fixed rod; the target is placed on the hydraulic rod, and the hydraulic rod is connected to the leveling system terminal through the central control integrated system.

[0034] It is further defined that the leveling system further includes a tooling spacer disposed between the hydraulic rod and the saddle grid.

[0035] It is further defined that the leveling system also includes a camera fixing rod arranged between the visual monitoring camera and the central control integrated system.

[0036] The beneficial effects of the present invention are:

[0037] 1. The present invention monitors the leveling height in real time through a visual monitoring camera, and realizes rapid leveling through real-time dynamic monitoring and control of the leveling tooling. Not only is the leveling accuracy high, but it also ensures that each leveling tooling performs synchronous leveling at different rates within the same time, thereby improving the leveling efficiency.

[0038] 2. During the leveling process, the present invention uses a visual monitoring camera to identify the target and control the leveling error to within 0.01mm, which well ensures that the leveling accuracy (design requirement 0.3mm) meets the design requirements and has higher leveling accuracy.

[0039] 3. During the leveling process, the present invention realizes fast and high-precision leveling of the flatness of the saddle grille through the coordinated action of the leveling tooling, visual monitoring camera, target and central control integrated system, effectively reducing the workload of surveyors for repeated measurements, reducing the risk of surveyors working at high altitudes, and improving the problems of cumbersome leveling process, long leveling time and low precision of the saddle grille.

[0040] 4. The leveling system provided by the present invention has a simple structure and simple leveling operation, and is convenient to install and disassemble during the actual leveling construction of the cable saddle grille.

[0041] 5. The cable saddle grille flatness leveling system and method proposed in the present invention can be used for rapid and high-precision leveling of cable saddles. Compared with traditional leveling methods, it has the characteristics of high efficiency, high quality and high standards, greatly improves the leveling accuracy and shortens the leveling time. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the distribution of hydraulic leveling points;

[0043] Figure 2 This is a schematic diagram of the hydraulic leveling tooling;

[0044] Figure 3 It is a schematic diagram for adjusting each leveling point;

[0045] Figure 4 To level the flow chart;

[0046] In the figure:

[0047] 1—saddle grille; 2—leveling tool; 201—fixing rod; 202—hydraulic rod; 3—target; 4—central control integrated system; 5—visual monitoring camera; 6—camera fixing rod; 7—tooling pad. DETAILED DESCRIPTION

[0048] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0049] Unless otherwise defined, technical or scientific terms used in the present invention shall have the common meanings understood by one having ordinary skills in the field to which the present invention belongs.

[0050] Technologies, methods, and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0051] In addition, it should be understood that although this specification is described according to the implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art. These other implementation modes are also covered within the protection scope of the present invention.

[0052] The technical idea of ​​the leveling method provided by the present invention is: the target height value of the leveling tool is obtained through the design value of the flatness of the cable saddle grille of the suspension bridge during construction, and a visual monitoring camera is arranged next to each leveling tool, and the target is arranged on the leveling tool. After the installation is completed, the actual elevation of each tool is measured as the initial height value, and the difference between the target height value and the initial height value at each tool is obtained by calculation, and the leveling time is set based on the maximum difference to ensure that each tool completes the leveling at different rates within the same time. Secondly, each leveling tool is monitored in real time by its visual monitoring camera to control its leveling height. Finally, the goal of fast and high-precision leveling of the cable saddle grille flatness is achieved through real-time dynamic control of the leveling tool.

[0053] The present invention provides a method for rapid synchronous leveling of the flatness of a suspension bridge saddle grille based on machine vision, comprising the following steps:

[0054] S1. Leveling tooling layout

[0055] The number of leveling points on the suspension bridge saddle grille is determined according to the component outline dimensions, center of gravity position and size conditions of the area to be installed of the suspension bridge saddle grille, and a leveling tool is arranged at each leveling point.

[0056] S2. Visual monitoring camera and target layout

[0057] Before the suspension bridge saddle grille is hoisted to the top of the tower, a visual monitoring camera is installed at each leveling fixture, and a target is placed on the leveling fixture to ensure that the target and the visual monitoring camera are in the same plane.

[0058] S3. Determine the target height value of each hydraulic leveling tool

[0059] According to the design value of the flatness of the suspension bridge saddle grille, the target leveling height of each leveling point is calculated as the target height value of the leveling tooling.

[0060] S4, synchronous leveling of leveling tooling

[0061] S41, obtaining the initial height value of each leveling tool, and calculating the leveling rate of each leveling tool according to the difference between the target height value and the initial height value.

[0062] In step S41 of the present invention, the specific process of calculating the leveling rate of each leveling tool is:

[0063] The actual elevation of each corresponding leveling tool is measured by a visual monitoring camera, which is the initial height value;

[0064] The difference between the target height value and the initial height value at each leveling fixture is obtained by calculation;

[0065] The leveling time is set based on the maximum difference, and the leveling rate of each leveling fixture is calculated according to the leveling time and the difference of each leveling fixture.

[0066] S42. The height of each leveling point is synchronously leveled according to the leveling rate of each leveling tool. The actual adjustment amount of the leveling tool at this location is monitored in real time by the visual monitoring camera and target corresponding to each leveling tool until the actual adjustment amount of the leveling tool at all leveling points is within the range of ±0.15mm between the target height value and the corresponding initial height value, thereby completing the synchronous leveling.

[0067] In step S42 of the present invention,

[0068] When the actual adjustment amount of one of the leveling fixtures has reached the range of ±0.15mm between the target height value and the initial height value of the fixture at that location, it means that the leveling work of the leveling fixture at that location has been completed; at this time, the leveling fixture moves within the range of ±0.15mm of the target height value;

[0069] At the same time, the actual adjustment amount of the leveling tool is monitored in real time through the visual monitoring camera and the target; if the actual adjustment amount exceeds ±0.15mm, reverse adjustment compensation is performed.

[0070] Preferably, the reverse adjustment compensation value is = actual adjustment amount - [(target height value - initial height value) ± 0.15 mm].

[0071] Preferably, the leveling tool is a hydraulic leveling tool.

[0072] The present invention also provides a leveling system for realizing the above-mentioned method for rapid synchronous leveling of the flatness of the saddle grille of a suspension bridge based on machine vision, and the leveling system comprises:

[0073] Leveling tool: placed at each leveling point on the saddle grille;

[0074] Target: placed on the leveling fixture and on the same plane as the visual monitoring camera, used for mutual recognition with the visual monitoring camera;

[0075] Visual monitoring camera: placed on the central control integrated system and around the leveling tooling, used to identify the target and feed back the identification results to the leveling system terminal;

[0076] Central control integrated system: placed under the leveling tooling, used to control the leveling tooling for leveling according to the signal feedback from the leveling system terminal;

[0077] Leveling system terminal: placed around the leveling tooling, used to obtain the target height value of the leveling tooling, used to receive the recognition results of the visual monitoring camera and the target, and calculate the initial height value of each leveling tooling and the actual adjustment amount of the leveling tooling according to the recognition results; used to calculate the difference between the target height value and the initial height value, and determine the leveling time and calculate the leveling rate according to the maximum difference, and feed back the leveling rate signal to the central control integrated system; used to calculate the reverse adjustment compensation value according to the calculated actual adjustment amount.

[0078] The leveling tool provided by the present invention includes a fixed rod and a hydraulic rod; the fixed rod is placed on the central control integrated system, one end of the hydraulic rod extends into and is fixed in the fixed rod, and the other end of the hydraulic rod is located outside the fixed rod and contacts with various leveling points on the saddle grille; the hydraulic rod extends and retracts along the axial direction of the fixed rod; the target is placed on the hydraulic rod, and the hydraulic rod is connected to the leveling system terminal through the central control integrated system.

[0079] The leveling system provided by the present invention further comprises a tooling pad arranged between the hydraulic rod and the saddle grid.

[0080] The leveling system provided by the present invention also includes a camera fixing rod arranged between the visual monitoring camera and the central control integrated system.

[0081] The rapid leveling method and system provided by the present invention are described below through specific embodiments.

[0082] Example 1

[0083] The method for rapid synchronous leveling of the flatness of the saddle grid of a suspension bridge based on machine vision provided in this embodiment includes the following steps:

[0084] S1: Laying out the leveling tool

[0085] The number of leveling points on the saddle grille of the suspension bridge is determined by the component outline dimensions, center of gravity position and size conditions of the area to be installed of the saddle grille, and a leveling tool is installed at each leveling point to form an integrated leveling plane.

[0086] In this embodiment, the integrated plane can be regarded as a flexible plane, which can dynamically simulate the flatness of the entire saddle grid. Figure 1 shown.

[0087] Preferably, there are 12 leveling points distributed on the cable saddle grid in a matrix form. The leveling tool is located on the bottom of the cable saddle grid.

[0088] In this embodiment, the leveling tool is a hydraulic leveling tool.

[0089] S2: Visual monitoring camera and target deployment

[0090] Before the suspension bridge saddle grid is hoisted to the top of the tower, a visual monitoring camera is arranged at each leveling tool. The camera can collect the adjustment height of the leveling tool in real time during the leveling process, and feed back the leveled height of each tool to the leveling terminal in real time. The camera is placed on a rigid connection bracket, and the target is placed on the hydraulic rod, which is in the same plane as the camera. Figure 3 As shown in the figure, the layout diagram of visual monitoring camera and target is as follows Figure 2 shown.

[0091] S3: Determine the target height value of each leveling tool

[0092] According to the flatness of the suspension bridge saddle grille required on the design drawings, calculate the target leveling height of each leveling point, that is, the target height value of the leveling tooling.

[0093] S4: Integrated synchronous leveling

[0094] S41, obtaining the initial height value of each leveling tool, and calculating the leveling rate of each leveling tool according to the difference between the target height value and the initial height value.

[0095] Specifically, the actual elevation of each corresponding leveling tool is measured by a visual monitoring camera, which is the initial height value; the difference between the target height value and the initial height value at each leveling tool is obtained by calculation; the leveling time is set based on the maximum difference, and the leveling rate of each leveling tool is calculated according to the leveling time and the difference between each leveling tool.

[0096] Preferably, when the visual monitoring camera measures the actual elevation of each corresponding leveling tool, the visual monitoring camera collects images, and then uses image processing technology to obtain the actual elevation of the leveling tool. The entire acquisition process is a known technology.

[0097] S42. The height of each leveling point is synchronously leveled according to the leveling rate of each leveling tool. The actual adjustment amount of the leveling tool at this location is monitored in real time by the visual monitoring camera and target corresponding to each leveling tool until the actual adjustment amount of all leveling points is within the range of ±0.15mm between the target height value and the corresponding initial height value, thereby completing the synchronous leveling.

[0098] In this embodiment, the actual adjustment amount is the difference between the current height value of the leveling point and the target height value.

[0099] During the leveling process, since the cable saddle grilles of suspension bridges are generally irregular in shape and are mostly hoisted in combination with reaction frames, the initial height value of each leveling fixture is different. If one of the leveling fixtures is adjusted, the flatness of other leveling fixtures will change accordingly. The proposed integrated leveling plane system is to convert all hydraulic leveling fixtures into a flexible plane. When any leveling point is leveled, other leveling points are leveled at the same time. When the visual monitoring camera captures that the actual adjustment amount of a leveling fixture at a certain location reaches the difference between the target height value and the initial height value of the fixture at that location within the range of ±0.15mm, the fixture has completed the leveling work. However, due to the mutual influence between the fixtures, when other leveling fixtures are still being adjusted, the leveling fixture here can only be extended or shortened within the range of ±0.15mm of the target height value, and so on, to achieve accurate leveling of each leveling point.

[0100] See also Figure 4 In this embodiment, the working process of the hydraulic leveling tool for height adjustment is as follows:

[0101] (1) After the grille is hoisted to the top of the tower, the visual monitoring camera first collects a set of height values ​​as the initial height values. Then, the target leveling height at each leveling point calculated from the design drawing and the initial height value collected by the camera are transmitted to the leveling system terminal. The difference between the target height value and the initial height value at each leveling fixture is obtained by calculation. The leveling time is set based on the maximum difference. The corresponding different leveling rates are calculated according to the leveling time and the difference of each leveling fixture. Then, the central control integrated system issues a command to control the extension or shortening of the hydraulic rod according to the leveling rate of each leveling fixture, and performs synchronous leveling.

[0102] (2) During the synchronous leveling process, in order to ensure that the leveling accuracy meets the design requirements, the visual monitoring camera is used to identify the target to obtain the adjustment height value of the leveling tool, and the actual adjustment amount is calculated. The threshold set by the leveling system terminal is used for judgment. When the actual adjustment amount is within the threshold (the difference between the target height value and the corresponding initial height value is within the range of ±0.15mm), the leveling system terminal issues an early warning, and the leveling system terminal sends a signal to the leveling tool through the central control integrated system that "the hydraulic rod can only move within the target height value ±0.15mm"; otherwise, the leveling will continue.

[0103] In this embodiment, the visual monitoring camera identifies the target. The main purpose is to collect images through the visual monitoring camera, and then use image processing technology to identify and segment the target area, extract the characteristic points or characteristic areas of the target, and then obtain the real-time adjustment height value of the leveling tool. In this embodiment, the visual monitoring camera identifies the target and obtains the real-time adjustment height value of the leveling tool. It is an existing conventional known technology and will not be described in detail here.

[0104] (3) When each leveling tool is adjusting its height, the visual monitoring camera captures the target on the hydraulic rod in real time to obtain the actual adjustment amount of the leveling tool.

[0105] Specifically, the actual adjustment amount is the difference between the real-time leveling height value and the target height value.

[0106] When a single leveling point is leveled, it will cause the heights of multiple other leveling points to change synchronously, so that each leveling point will affect each other during the adjustment process. When the leveling height value of a certain leveling point is adjusted to within the range of ±0.15m of the target height value, the actual adjustment amount is within the range of ±0.15mm of the difference between the target height value and the corresponding initial height value, but it may be affected by the adjustment of other leveling points. Therefore, the purpose of calculating the actual adjustment amount in this embodiment is: when the leveling point whose leveling height value is adjusted to within the range of ±0.15m of the target height value is affected by other leveling points, the reverse adjustment compensation value is calculated according to the actual adjustment amount to compensate and adjust the leveling point, so as to ensure the accuracy of the leveling result.

[0107] Specifically, when a certain leveling point is considered to have been leveled, the leveling tool at the leveling point will still be monitored at a lower frequency (such as 1 / 10 of the normal adjustment frequency). Once it is found that the actual adjustment amount exceeds the range of ±0.15mm, the reverse adjustment compensation value is immediately calculated, and the reverse adjustment compensation value = actual adjustment amount - [(target height value - initial height value) ±0.15mm], and a small reverse adjustment compensation is performed to return it to the target range of ±0.15m of the target height value.

[0108] (4) Compare the actual adjustment amount corresponding to the leveling tool with the difference between the target height value and the initial height value of the leveling tool calculated in (1) (±0.15 mm). When the actual adjustment amount exceeds the range of ±0.15 mm, reverse compensation is performed on the leveling tool. Specifically, the reverse adjustment compensation value = actual adjustment amount - [(target height value - initial height value) ±0.15 mm].

[0109] (5) Referring to the above-mentioned leveling steps, leveling is performed according to the leveling rate calculated in step S41 until the adjustment amount of all leveling tools reaches the difference between the target height value and the initial height value within the range of ±0.15 mm, and the leveling is completed.

[0110] Through the above method, this embodiment can achieve synchronous leveling of various leveling points within the same leveling time, with fast leveling speed, short leveling time and high leveling accuracy. Through synchronous leveling, the leveling work efficiency is improved.

[0111] Example 2

[0112] This embodiment provides a leveling system, including a leveling tool, a visual monitoring camera, a target, a central control integrated system and a leveling system terminal.

[0113] In this embodiment, the leveling tool is installed at each leveling point on the saddle grille to level the height of each leveling point.

[0114] In this embodiment, the visual monitoring camera is placed on the central control integrated system and located around the leveling tooling, and is used to identify the target and feed back the identification result to the leveling system terminal.

[0115] In this embodiment, the target is placed on the leveling tool and is on the same plane as the visual monitoring camera for mutual recognition with the visual monitoring camera.

[0116] In this embodiment, the central control integrated system is placed under the leveling tooling and connected to the leveling tooling, and is used to control the leveling tooling to perform leveling according to the signal feedback from the leveling system terminal.

[0117] Specifically, the central control integrated system controls the extension and retraction speed of the leveling tooling through the signal fed back from the leveling system terminal.

[0118] The leveling system terminal is placed around the leveling tooling and is used to obtain the target height value of the leveling tooling, to receive the recognition results of the visual monitoring camera and the target, and to calculate the initial height value of each leveling tooling and the actual adjustment amount of the leveling tooling based on the recognition results; to calculate the difference between the target height value and the initial height value, and to determine the leveling time and calculate the leveling rate based on the maximum difference, and to feed back the leveling rate signal to the central control integrated system; to calculate the reverse adjustment compensation value based on the calculated actual adjustment amount.

[0119] Preferably, the leveling system terminal is an existing known product.

[0120] In this embodiment, the leveling tool includes a fixed rod and a hydraulic rod; the fixed rod is placed on the central control integrated system, one end of the hydraulic rod is inserted into and fixed in the fixed rod, and the other end of the hydraulic rod is located outside the fixed rod and contacts each leveling point on the saddle grid; the hydraulic rod is extended and retracted along the axial direction of the fixed rod; the target is placed on the hydraulic rod. The hydraulic rod is connected to the leveling system terminal through the central control integrated system.

[0121] The leveling system provided in this embodiment further includes a tooling pad disposed between the hydraulic rod and the saddle grid.

[0122] The leveling system provided in this embodiment also includes a camera fixing rod arranged between the visual monitoring camera and the central control integrated system.

[0123] Specifically, the central control integrated system is a rectangular structure, and a camera fixing rod and a fixing rod are respectively arranged on the upper surface of the central control integrated system. The camera fixing rod and the fixing rod are arranged in the vertical direction and have the same axial direction; a visual monitoring camera is arranged on the top of the camera fixing rod, one end of the hydraulic rod is inserted into and fixed in the fixing rod, and the other end of the hydraulic rod is located outside the fixing rod. The central control integrated system is connected to the hydraulic rod to drive the hydraulic rod to extend outward or shorten inward along the axial direction of the fixing rod. A target is arranged on the side wall of the hydraulic rod, and the target and the visual monitoring camera are located on the same plane. The telescopic end of the hydraulic rod is connected to the saddle grille through a tooling pad.

[0124] Preferably, since there are 12 leveling points on the saddle grille, there are 12 leveling tools, and then a visual monitoring camera, a target and a central control integrated system are respectively set on each leveling tool, and then the heights of the 12 leveling points are synchronously leveled according to the calculated leveling rate.

[0125] The present invention first obtains and determines the initial height value of each leveling tool through a visual monitoring camera, and calculates the leveling rate of each leveling tool according to the target height value; then, during the leveling process, the visual monitoring camera and the target are used for identification to obtain the actual height value of each leveling tool, and the actual adjustment amount of each leveling tool is calculated, and whether the leveling is completed is determined according to the actual adjustment amount, until the current height value of the leveling tool at all leveling points reaches the target height value within ±0.15mm, and synchronous leveling is completed. The method of the present invention realizes real-time dynamic monitoring and control of the actual height value of the leveling tool, realizes rapid leveling, not only has high leveling accuracy, but also ensures that each leveling tool is synchronously leveled at different rates within the same time, thereby improving the leveling efficiency.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A method for rapid synchronous leveling of the flatness of a suspension bridge saddle grid based on machine vision, characterized in that: The following steps are involved: S1. Leveling tooling layout Determine the number of leveling points on the suspension bridge saddle grid according to the component outline size, center of gravity position and size conditions of the area to be installed, and arrange a leveling tool at each leveling point; S2. Visual monitoring camera and target layout Before the suspension bridge saddle grid is hoisted to the top of the tower, a visual monitoring camera is placed around each leveling fixture, and a target is placed on the leveling fixture to ensure that the target and the visual monitoring camera are in the same plane; S3. Determine the target height value of each leveling tool According to the design value of the flatness of the cable saddle grille of the suspension bridge, the target leveling height of each leveling point is calculated as the target height value of the leveling tooling; S4, synchronous leveling of leveling tooling S41, obtaining the initial height value of each leveling tool, and calculating the leveling rate of each leveling tool according to the difference between the target height value and the initial height value; S42. The height of each leveling point is synchronously leveled according to the leveling rate of each leveling tool. The actual adjustment amount of the leveling tool at this location is monitored in real time by the visual monitoring camera and target corresponding to each leveling tool until the actual adjustment amount of the leveling tool at all leveling points is within the range of ±0.15mm between the target height value and the corresponding initial height value, thereby completing the synchronous leveling.

2. The method for rapid synchronous leveling of the flatness of the saddle grid of a suspension bridge based on machine vision according to claim 1 is characterized in that: In step S41, the specific process of calculating the leveling rate of each leveling tool is: The actual elevation of each corresponding leveling tool is measured by a visual monitoring camera, which is the initial height value; The difference between the target height value and the initial height value at each leveling fixture is obtained by calculation; The leveling time is set based on the maximum difference, and the leveling rate of each leveling fixture is calculated according to the leveling time and the difference of each leveling fixture.

3. The method for rapid synchronous leveling of the flatness of the saddle grid of a suspension bridge based on machine vision according to claim 1 is characterized in that: In the step S42, When the actual adjustment amount of one of the leveling fixtures has reached the range of ±0.15mm between the target height value and the initial height value of the fixture at that location, it means that the leveling work of the leveling fixture at that location has been completed; at this time, the leveling fixture moves within the range of ±0.15mm of the target height value; Continue to monitor the actual adjustment amount of the leveling fixture in real time through the visual monitoring camera and the target; if the actual adjustment amount exceeds ±0.15mm, perform reverse adjustment compensation.

4. The method for rapid synchronous leveling of the flatness of the saddle grid of a suspension bridge based on machine vision according to claim 3 is characterized in that: The reverse adjustment compensation value is = actual adjustment amount - [(target height value - initial height value) ± 0.15 mm].

5. The method for rapid synchronous leveling of the flatness of the saddle grid of a suspension bridge based on machine vision according to any one of claims 1 to 4, characterized in that: The leveling tool is a hydraulic leveling tool.

6. A leveling system for realizing the method for rapid synchronous leveling of the flatness of the saddle grid of a suspension bridge based on machine vision as claimed in claim 4, characterized in that: The leveling system comprises: Leveling tool: placed at each leveling point on the saddle grille; Target: placed on the leveling fixture and on the same plane as the visual monitoring camera, used for mutual recognition with the visual monitoring camera; Visual monitoring camera: placed on the central control integrated system and around the leveling tooling, used to identify the target and feed back the identification results to the leveling system terminal; Central control integrated system: placed under the leveling tooling, used to control the leveling tooling for leveling according to the signal feedback from the leveling system terminal; Leveling system terminal: placed around the leveling tooling, used to obtain the target height value of the leveling tooling, used to receive the recognition results of the visual monitoring camera and the target, and calculate the initial height value of each leveling tooling and the actual adjustment amount of the leveling tooling according to the recognition results; used to calculate the difference between the target height value and the initial height value, and determine the leveling time and calculate the leveling rate according to the maximum difference, and feed back the leveling rate signal to the central control integrated system; used to calculate the reverse adjustment compensation value according to the calculated actual adjustment amount.

7. The leveling system according to claim 6, characterized in that: The leveling tooling includes a fixed rod and a hydraulic rod; the fixed rod is placed on the central control integrated system, one end of the hydraulic rod extends into and is fixed in the fixed rod, and the other end of the hydraulic rod is located outside the fixed rod and contacts with various leveling points on the saddle grille; the hydraulic rod extends and retracts along the axial direction of the fixed rod; the target is placed on the hydraulic rod; the hydraulic rod is connected to the leveling system terminal through the central control integrated system.

8. The leveling system according to claim 7, characterized in that: The leveling system further comprises a tooling pad arranged between the hydraulic rod and the saddle grid.

9. The leveling system according to claim 6, characterized in that: The leveling system also includes a camera fixing rod arranged between the visual monitoring camera and the central control integrated system.

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