A machine vision-based suspension bridge cable saddle grid flatness rapid synchronous leveling system and method

Abstract

The present application belongs to the technical field of suspension bridge cable saddle grid plane construction, and relates to a suspension bridge cable saddle grid flatness rapid synchronous leveling system and method based on machine vision, and the leveling method comprises the following steps: S1, determining the number of leveling point positions and arranging a leveling tool at each leveling point position; S2, arranging a visual monitoring camera and a target, and ensuring that the target and the visual monitoring camera are in the same plane; S3, determining the target height value of each leveling tool; S4, obtaining the initial height value of each leveling tool and calculating the leveling rate of each leveling tool; and S42, synchronously leveling the height of each leveling point position according to the leveling rate of each leveling tool. Through real-time dynamic monitoring and control of the leveling tool, the present application realizes rapid leveling, has high leveling accuracy, ensures synchronous leveling, and improves leveling efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of suspension bridge cable saddle grid plane construction, and relates to a suspension bridge cable saddle grid flatness rapid synchronous leveling system and method based on machine vision. BACKGROUND

[0002] As a support component for the cable strand of a suspension bridge to pass through the top of the tower, the cable saddle will bear a large vertical pressure. In order to ensure that the vertical pressure is evenly transmitted to the tower foundation, a steel grid is generally arranged under the saddle body, and the stress of the grid is mainly end bearing. During installation, the flatness of the grid needs to be strictly controlled. The commonly used high-precision leveling process for the grid is as follows: a special leveling tool for the grid is pre-buried at the top of the tower, and after the grid is hoisted to the top of the tower for rough leveling, the leveling tool is used for accurate leveling.

[0003] In the actual leveling process, since the suspension bridge cable saddle grid is generally irregular in shape, the elevations at each leveling tool position are not the same, and there is mutual influence between the tools. Adjusting a certain leveling tool will change the flatness of other leveling tools. Therefore, measurement personnel need to repeatedly measure to ensure the design accuracy. For example, the Chinese patent document with the patent number CN202111320706.2 discloses a suspension bridge cable saddle high-precision installation flatness measuring device and measuring method, which adopts the principle of static water level surface and completes leveling through repeated adjustment and cyclic operation measurement.

[0004] In the existing suspension bridge cable saddle grid leveling, repeated leveling is required, and the leveling process is very tedious, which not only takes a long time, but also has low leveling accuracy. In addition, due to the mutual influence between the tools, the leveling can only be completed through repeated adjustment of each tool, and synchronous leveling of each tool cannot be achieved, resulting in low leveling efficiency. SUMMARY

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

[0006] The present application realizes rapid leveling through real-time monitoring of the leveling height by a visual monitoring camera and real-time dynamic monitoring and control of the leveling tool, which not only has high leveling accuracy, but also ensures that each leveling tool is synchronized and leveled at different rates within the same time, thereby improving the leveling efficiency.

[0007] To achieve the above purpose, the technical solution adopted by the present application is as follows:

[0008] A suspension bridge cable saddle grid flatness rapid synchronous leveling method based on machine vision, comprising the following steps:

[0009] S1, leveling tool arrangement

[0010] The number of leveling points on the suspension bridge cable saddle grid is determined according to the component contour size, center of gravity position and size conditions of the installation area of the suspension bridge cable saddle grid, and one leveling tool is arranged at each leveling point;

[0011] S2, visual monitoring camera and target arrangement

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

[0013] S3, determining the target height value of each leveling tool

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

[0015] S4, leveling tool synchronous leveling

[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, synchronously leveling the height of each leveling point according to the leveling rate of each leveling tool, and real-time monitoring the actual adjustment amount of the leveling tool at this position through the corresponding visual monitoring camera and target of each leveling tool, until the actual adjustment amount of the leveling tool of all leveling points is within the range of ±0.15mm of the difference between the target height value and the corresponding initial height value, and the synchronous leveling is completed.

[0018] Further limited, in the 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 the visual monitoring camera, which is the initial height value;

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

[0021] 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 of each leveling tool.

[0022] Further limited, in the step S42,

[0023] When the actual adjustment amount of one of the leveling fixtures has reached within ±0.15mm of the difference between the target height value and the initial height value of the fixture, it indicates 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 this leveling fixture in real time using a visual monitoring camera and a target; if the actual adjustment amount exceeds ±0.15mm, then perform reverse adjustment compensation.

[0025] Further specified, the reverse adjustment compensation value is = actual adjustment amount - [(target height value - initial height value) ± 0.15mm].

[0026] Furthermore, the leveling fixture is a hydraulic leveling fixture.

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

[0028] Leveling fixtures: placed at various leveling points on the cable saddle grid;

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

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

[0031] Central control integrated system: Located below the leveling fixture, it is used to control the leveling fixture to perform leveling based on the signals fed back from the leveling system terminal;

[0032] Leveling system terminal: Placed around the leveling fixture, it is used to acquire the target height value of the leveling fixture, receive the recognition results from the visual monitoring camera and the target, and calculate the initial height value and actual adjustment amount of each leveling fixture based on the recognition results; it is used to calculate the difference between the target height value and the initial height value, determine the leveling time and calculate the leveling rate based on the maximum difference, and feed the leveling rate signal back to the central control integration system; it is used to calculate the reverse adjustment compensation value based on the calculated actual adjustment amount.

[0033] Further defined, the leveling fixture 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 inside the fixed rod, and the other end of the hydraulic rod is located outside the fixed rod and contacts each leveling point on the cable saddle grid; 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] Further limited, the leveling system further comprises a tooling block arranged between the hydraulic rod and the cable saddle grid.

[0035] Further limited, the leveling system further comprises a camera fixing rod arranged between the visual monitoring camera and the central control integrated system.

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

[0037] 1、The present application realizes rapid leveling by real-time monitoring and control of the leveling height through the visual monitoring camera, and the leveling efficiency is improved.

[0038] 2、The present application controls the leveling error to within 0.01mm through the visual monitoring camera to identify the target during the leveling process, thereby guaranteeing the leveling accuracy (design requirement 0.3mm) to meet the design requirements.

[0039] 3、The present application realizes rapid and high-precision leveling of the cable saddle grid flatness through the coordinated action of the leveling tool, the visual monitoring camera, the target and the central control integrated system during the leveling process, thereby effectively reducing the workload of repeated measurement by the measurement personnel, reducing the risk of high-altitude work of the measurement personnel, and improving the problems of complicated leveling process, long leveling time and low accuracy.

[0040] 4、The leveling system provided by the present application has simple structure and simple leveling operation, and is convenient to install and disassemble in actual leveling construction of the cable saddle grid.

[0041] 5、The cable saddle grid flatness leveling system and method provided by the present application can be applied to rapid and high-precision leveling of the cable saddle, and has the characteristics of high efficiency, high quality and high standard compared with the traditional leveling method, thereby greatly improving the leveling accuracy and shortening the leveling time. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a hydraulic leveling point distribution schematic diagram;

[0043] Figure 2 It is a hydraulic leveling tool schematic diagram;

[0044] Figure 3 It is an adjustment schematic diagram of each leveling point;

[0045] Figure 4 It is a leveling flowchart;

[0046] In the figure:

[0047] 1 - cable saddle grid; 2 - leveling tool; 201 - fixed rod; 202 - hydraulic rod; 3 - target; 4 - central control integrated system; 5 - visual monitoring camera; 6 - camera fixed rod; 7 - tool cushion block. DETAILED DESCRIPTION

[0048] The technical solutions of the present application are further described below by means of the drawings and examples.

[0049] Unless otherwise defined, technical or scientific terms used in the present application should be understood as having the commonly understood meaning in the field of the present application to which they belong.

[0050] Techniques, methods, and equipment known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered part of the specification where appropriate.

[0051] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the present specification is described in this way only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each example can also be appropriately combined to form other embodiments that those skilled in the art can understand. These other embodiments are also covered by the scope of protection of the present application.

[0052] The leveling method provided by the present application has the technical idea of obtaining the target height value of the leveling tool through the design value of the plane degree of the cable saddle grid of the suspension bridge in construction, arranging visual monitoring cameras beside each leveling tool, arranging targets on the leveling tools, measuring the actual elevation at each tool as the initial height value after installation is complete, and obtaining the difference between the target height value and the initial height value of each tool through calculation, and setting the leveling time based on the maximum difference to ensure that each tool completes leveling at different rates within the same time. Secondly, each leveling tool is monitored in real time by the visual monitoring camera to control its leveling height. Finally, through real-time dynamic control of the leveling tool, the goal of rapid and high-precision leveling of the plane degree of the cable saddle grid is achieved.

[0053] The present application provides a rapid and synchronous leveling method for the plane degree of the cable saddle grid of a suspension bridge based on machine vision, comprising the following steps:

[0054] S1, leveling tool layout

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

[0056] S2, visual monitoring camera and target layout

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

[0058] S3, determining the target height value of each hydraulic leveling tool

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

[0060] S4, synchronous leveling of the leveling tool

[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 application, the specific process of calculating the leveling rate of each leveling tool is as follows:

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

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

[0065] 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 of each leveling tool.

[0066] S42, synchronously leveling the height of each leveling point according to the leveling rate of each leveling tool, and the actual adjustment amount of the leveling tool at this position is monitored in real time through the corresponding visual monitoring camera and target of each leveling tool, until the actual adjustment amount of the leveling tool at all leveling point positions is within the range of ±0.15mm of the difference between the target height value and the corresponding initial height value, and the synchronous leveling is completed.

[0067] In step S42 of the present application,

[0068] When the actual adjustment amount of one of the leveling tools has reached the range of ±0.15mm of the difference between the target height value and the initial height value of the tool at this position, it indicates that the leveling work of the leveling tool at this position has been completed; at this time, the leveling tool moves within the range of ±0.15mm of the target height value.

[0069] Meanwhile, the actual adjustment amount of the leveling tool is continuously 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) ±0.15mm].

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

[0072] The application also provides a leveling system for implementing the above-mentioned machine vision-based rapid synchronous leveling method for the flatness of the cable saddle grid of a suspension bridge, which comprises:

[0073] The leveling tool is placed at each leveling point on the cable saddle grid.

[0074] The target is placed on the leveling tool and is in the same plane as the visual monitoring camera, and is used for mutual recognition with the visual monitoring camera.

[0075] The visual monitoring camera is placed on the central control integrated system and is located around the leveling tool, is used for recognition with the target, and feeds back the recognition result to the leveling system terminal.

[0076] The central control integrated system is placed below the leveling tool, is used for controlling the leveling tool to level according to the signal fed back by the leveling system terminal.

[0077] The leveling system terminal is placed around the leveling tool, is used for obtaining the target height value of the leveling tool, is used for accepting the recognition result of the visual monitoring camera and the target, and is used for calculating the initial height value of each leveling tool, the actual adjustment amount of the leveling tool according to the recognition result; is used for calculating the difference value according to the target height value and the initial height value, and determining the leveling time and calculating the leveling rate according to the maximum difference value, and feeding back the leveling rate signal to the central control integrated system; is used for calculating the reverse adjustment compensation value according to the calculated actual adjustment amount.

[0078] The leveling tool provided by the application comprises 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 the fixed rod, and the other end of the hydraulic rod is located outside the fixed rod and is in contact with each leveling point on the cable saddle grid; the hydraulic rod is telescopic along the axial direction of the fixed rod; the target is placed on the hydraulic rod, and the hydraulic rod is connected with the leveling system terminal through the central control integrated system.

[0079] The leveling system provided by the application further comprises a tool pad block arranged between the hydraulic rod and the cable saddle grid.

[0080] The leveling system provided by the application further comprises 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 application will be described below through specific embodiments.

[0082] Embodiment 1

[0083] The machine vision-based rapid synchronous leveling method for the flatness of the cable saddle grid of a suspension bridge provided by the embodiment comprises the following steps:

[0084] S1: Laying leveling tool

[0085] The number of leveling points on the cable saddle grid of the suspension bridge is determined by the component profile size, the center of gravity position of the cable saddle grid and the size condition of the installation area, one leveling tool is installed at each leveling point to form an integrated leveling plane.

[0086] In the embodiment, the integrated plane can be regarded as a flexible plane, and the flatness of the entire cable saddle grid can be dynamically simulated. The distribution diagram of the leveling points is shown in Figure 1 .

[0087] Preferably, the number of leveling points is 12, and the leveling points are distributed on the cable saddle grid in a matrix manner. The leveling tool is located below the cable saddle grid.

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

[0089] S2: Visual monitoring camera and target layout

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

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

[0092] According to the flatness of the cable saddle grid of the suspension bridge required on the design drawing, the target leveling height of each leveling point, i.e. the target height value of the leveling tool, is calculated.

[0093] S4: Integrated synchronous leveling

[0094] S41, the initial height value of each leveling tool is obtained, and the leveling rate of each leveling tool is calculated 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 the visual monitoring camera, i.e. the initial height value; the difference between the target height value and the initial height value of 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 of each leveling tool.

[0096] Preferably, when the visual monitoring camera measures the actual height of each corresponding leveling tool, the actual height of the leveling tool is obtained by the visual monitoring camera collecting images and then using image processing technology. The entire acquisition process is a known technology.

[0097] S42, synchronously leveling the height of each leveling point according to the leveling rate of each leveling tool, and real-time monitoring the actual adjustment amount of the leveling tool at each leveling point by the corresponding visual monitoring camera and target of each leveling tool, until the actual adjustment amount of all leveling points is within the range of ±0.15mm of the difference between the target height value and the corresponding initial height value, and the synchronous leveling is completed.

[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] In the leveling process, since the cable-stayed bridge cable saddle grid is generally irregular in shape and is usually combined with a counterforce frame for hoisting, the initial height value at each leveling tool is different. When adjusting a leveling tool at a certain position, the flatness of other leveling tools will change. The proposed integrated leveling plane system is equivalent to a flexible plane for all hydraulic leveling tools. When leveling any leveling point, other leveling points are simultaneously leveled. When the visual monitoring camera captures the actual adjustment amount of a leveling tool at a certain position within the range of ±0.15mm of the difference between the target height value and the initial height value of the tool, the tool has completed the leveling work. However, due to the mutual influence between the tools, when other leveling tools are still adjusting, the leveling tool at this position can only be extended or shortened within the range of ±0.15mm of the target height value. In this way, the precise leveling of each leveling point is achieved.

[0100] Referring to Figure 4 In this embodiment, the working process of the hydraulic leveling tool when adjusting the height is as follows:

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

[0102] (2) In the process of synchronous leveling, in order to ensure that the leveling accuracy meets the design requirements, the target is identified by the visual monitoring camera to obtain the adjustment height value of the leveling tool, the actual adjustment amount is calculated, and the threshold value set by the leveling system terminal is judged. When the actual adjustment amount is within the threshold value (the difference between the target height value and the corresponding initial height value is ±0.15mm), the leveling system terminal issues a 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, continue to level.

[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 feature points or feature 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 then obtains the real-time adjustment height value of the leveling tool, which is a known technology in the prior art, and will not be described in detail here.

[0104] (3) When each leveling tool adjusts the 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 synchronous change of the height of multiple leveling points, so that each leveling point will affect each other during the adjustment process. When the leveling height value of a leveling point is adjusted to the target height value ±0.15m, 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 to compensate and adjust the leveling point according to the reverse adjustment compensation value when the leveling point within the target height value ±0.15m is affected by other leveling points, so as to ensure the accuracy of the leveling result.

[0107] Specifically, when a leveling point has been considered to be 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 calculated immediately, and the reverse adjustment compensation value = actual adjustment amount - [(target height value - initial height value) ±0.15mm], and a small amount of reverse adjustment compensation is made to return it to the target range of target height value ±0.15m.

[0108] (4) comparing the actual adjustment amount of 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, the leveling tool is compensated in reverse, specifically, the reverse adjustment compensation value = actual adjustment amount - [(target height value - initial height value) ± 0.15 mm].

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

[0110] The above method can realize synchronous leveling of each leveling point in the same leveling time, fast leveling speed, short leveling time, high leveling precision, and improve the working efficiency of leveling through synchronous leveling.

[0111] Embodiment 2

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

[0113] In the embodiment, the leveling tool is arranged at each leveling point on the cable saddle grid, and is used to level the height of each leveling point.

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

[0115] In the embodiment, the target is arranged on the leveling tool and is in the same plane with the visual monitoring camera, and is used to identify each other with the visual monitoring camera.

[0116] In the embodiment, the central control integrated system is arranged below the leveling tool and connected with the leveling tool, and is used to control the leveling tool to level according to the signal fed back by the leveling system terminal.

[0117] Specifically, the central control integrated system controls the extension speed of the leveling tool through the signal fed back by the leveling system terminal.

[0118] The leveling system terminal is arranged around the leveling tool, and is used to obtain the target height value of the leveling tool, to accept the identification result of the visual monitoring camera and the target, and to calculate the initial height value of each leveling tool and the actual adjustment amount of the leveling tool according to the identification result; 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 according to the maximum difference, and to feed back the leveling rate signal to the central control integrated system; to calculate the reverse adjustment compensation value according to 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 integrated control system, one end of the hydraulic rod extends into the fixed rod, and the other end of the hydraulic rod is located outside the fixed rod and in contact with each leveling point on the cable saddle grid; 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 integrated control system.

[0121] The leveling system provided in this embodiment further includes a tool pad block arranged between the hydraulic rod and the cable saddle grid.

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

[0123] Specifically, the integrated control system has a cuboid structure, the camera fixing rod and the fixed rod are arranged vertically on the upper surface of the integrated control system, and have the same axial direction; the visual monitoring camera is arranged at the top end of the camera fixing rod, one end of the hydraulic rod extends into the fixed rod, and the other end of the hydraulic rod is located outside the fixed rod; the integrated control system is connected to the hydraulic rod to drive the hydraulic rod to extend outward or shorten inward along the axial direction of the fixed rod. The target is arranged on the side wall of the hydraulic rod and is located on the same plane as the visual monitoring camera. The extension end of the hydraulic rod is connected to the cable saddle grid through the tool pad block.

[0124] Preferably, since there are 12 leveling points on the cable saddle grid, there are 12 leveling tools, and then a visual monitoring camera, a target, and an integrated control system are arranged on each leveling tool, respectively, and then the heights of the 12 leveling points are simultaneously leveled at the calculated leveling rate.

[0125] The initial height value of each leveling tool is determined by the visual monitoring camera, and the leveling rate of each leveling tool is calculated according to the target height value; then, in the leveling process, the actual height value of each leveling tool is obtained by identification of the visual monitoring camera and the target, the actual adjustment amount of each leveling tool is calculated, and it is judged whether the leveling is completed according to the actual adjustment amount, until the current height value of the leveling tool of all leveling points reaches the target height value±0.15mm, and the synchronous leveling is completed. The method of the present application 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 the leveling tools are synchronized at different rates in the same time, and improves the leveling efficiency.

[0126] It should be pointed out finally that the above examples are only used to illustrate the technical solutions of the present application but not to limit it, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can still be modified or replaced equivalently, and these modifications or equivalent replacements should not make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A machine vision-based quick synchronous leveling method for the grid planeness of a suspension bridge cable saddle, characterized in that, The method comprises the following steps: S1, leveling tool arrangement According to the component contour size, barycentric position and size condition of the installation area of the cable saddle grid of the suspension bridge, the arrangement number of the leveling points on the cable saddle grid of the suspension bridge is determined, and one leveling tool is arranged at each leveling point; S2, visual monitoring camera and target arrangement Before hoisting the cable saddle grid of the suspension bridge to the top of the tower, a visual monitoring camera is arranged around each leveling tool, and a target is arranged on the leveling tool to ensure that the target and the visual monitoring camera are in the same plane; S3, determining the target height value of each leveling tool According to the design value of the flatness of the cable saddle grid of the suspension bridge, the target leveling height of each leveling point is calculated as the target height value of the leveling tool; S4, synchronous leveling of the leveling tool 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, synchronously leveling the height of each leveling point according to the leveling rate of each leveling tool, and monitoring the actual adjustment amount of the leveling tool at the position in real time through the corresponding visual monitoring camera and target of each leveling tool until the actual adjustment amount of the leveling tool at all leveling points is within the range of ±0.15mm of the difference between the target height value and the corresponding initial height value, and the synchronous leveling is completed.

2. The machine vision based quick synchronous levelling method of grid planeness of suspension bridge cable saddle as claimed in claim 1 wherein, In the step S41, the specific process of calculating the leveling rate of each leveling tool is as follows: The actual elevation of each corresponding leveling tool is measured by the visual monitoring camera, which is the initial height value; The difference between the target height value and the initial height value of 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 of each leveling tool.

3. The machine vision based quick synchronous levelling method of grid planeness of suspension bridge cable saddle as claimed in claim 1 wherein, In the step S42, When the actual adjustment amount of one of the leveling tools has reached the range of ±0.15mm of the difference between the target height value and the initial height value of the tool, it indicates that the leveling work of the leveling tool at the position has been completed; at this time, the leveling tool moves within the range of ±0.15mm of the target height value; 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.

4. The machine vision based quick synchronous levelling method of grid planeness of suspension bridge cable saddle as claimed in claim 3 wherein, The reverse adjustment compensation value is = actual adjustment amount - [(target height value - initial height value) ±0.15mm].

5. The machine vision based quick synchronous levelling method of grid planeness of suspension bridge cable saddle as claimed in any one of claims 1 to 4 wherein, The leveling tool is a hydraulic leveling tool.

6. A leveling system for implementing the method of fast synchronous leveling of the grid planeness of the cable saddles of a suspension bridge based on machine vision according to claim 4, characterized in that, The leveling system comprises: Leveling tool: arranged at each leveling point on the cable saddle grid; Target: arranged on the leveling tool and in the same plane with the visual monitoring camera, used for mutual recognition with the visual monitoring camera; Visual monitoring camera: arranged on the central control integrated system and located around the leveling tool, used for recognizing the target and feeding back the recognition result to the leveling system terminal; Central control integrated system: arranged below the leveling tool, used for controlling the leveling tool to level according to the signal fed back by the leveling system terminal; The leveling system terminal is arranged around the leveling tool, is used to obtain the target height value of the leveling tool, is used to accept the identification result of the visual monitoring camera and the target, and is used to calculate the initial height value of each leveling tool, the actual adjustment amount of the leveling tool according to the identification result; is used to calculate the difference value according to the target height value and the initial height value, to determine the leveling time and to calculate the leveling rate according to the maximum difference value, and to feed back the leveling rate signal to the central control integrated system; and is used to calculate the reverse adjustment compensation value according to the calculated actual adjustment amount.

7. Levelling system according to claim 6, characterized in that The leveling tool comprises a fixed rod and a hydraulic rod; the fixed rod is arranged on the central control integrated system, one end of the hydraulic rod is inserted into the fixed rod, and the other end of the hydraulic rod is located outside the fixed rod and is in contact with each leveling point on the cable saddle grid; the hydraulic rod is telescopic along the axial direction of the fixed rod; the target is arranged on the hydraulic rod; and the hydraulic rod is connected with the leveling system terminal through the central control integrated system.

8. Levelling system according to claim 7, characterized in that The leveling system further comprises a tool cushion block arranged between the hydraulic rod and the cable saddle grid.

9. The leveling system of claim 6, wherein, The leveling system further comprises a camera fixed rod arranged between the visual monitoring camera and the central control integrated system.

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