Method for manufacturing steel bar component of large prefabricated wallboard

Abstract

The invention relates to the technical field of steel bar component manufacturing methods, in particular to a large prefabricated wallboard steel bar component manufacturing method. Splitting a to-be-processed reinforcing steel bar component into a plurality of sections, extracting a drawing, and adjusting the position of a laser projector; the laser projector is positioned and calibrated; projecting the cutting drawing onto a first station platform; cutting the two reinforcing meshes based on the projected cutting drawing; the reinforcing mesh of the second station platform is cut; and the laser projector projects a binding drawing, the wire box and the embedded pipe are installed on the basis of the projected binding drawing, and the operation is conducted in sequence till binding operation of the reinforcing meshes on all the station platforms is completed. According to the manufacturing method, a step-by-step method is adopted for manufacturing the large prefabricated wall panel reinforcing steel bar component, the large reinforcing steel bar component can be manufactured without large laser projection equipment, the whole manufacturing method is simple and efficient, the machining precision is guaranteed, the automation degree is high, and manpower and material resource investment is small.

Description

Technical Field

[0001] The invention relates to the technical field of steel bar component manufacturing methods, and in particular to a large-scale prefabricated wall panel steel bar component manufacturing method. Background Art

[0002] Prefabricated wall panels are an important part of building industrialization, and their production process requires high precision of steel parts. In the existing technology, the cutting, positioning and installation of steel mesh mostly rely on manual operation, which is not only time-consuming and labor-intensive, but also prone to error accumulation, affecting the quality and assembly accuracy of prefabricated components. In recent years, laser projection technology has gradually been applied to the field of construction due to its precise and efficient characteristics.

[0003] At present, there is a prior art called a laser projection laying-out device for a prefabricated component production line, which provides a device for mold laying-out based on laser projection, and the device includes at least one set of bracket components and at least one laser projector; the at least one set of bracket components includes a column, a beam and a diagonal brace; the top of the column is fixedly connected to one end of the beam, and the two ends of the diagonal brace are respectively fixedly connected to the beam and the column; the at least one laser projector is fixed to the other cantilever end of the beam, and the at least one laser projector is used to project numbers, letters or the outline of the prefabricated component onto the mold platform below. The device has a simple structure, can quickly realize the mold laying-out work of prefabricated wall panels and prefabricated composite panels, improves work efficiency, and on the other hand can improve the accuracy of mold laying-out and ensure the accurate positioning of the mold.

[0004] However, this device also has some problems. The above device can only be used for small mold laying operations. For large molds, this device is not applicable. The current laser projector has a limited projection range (for example, 4.5m×4.5m). When facing prefabricated wall panel steel parts with a maximum size of 3.5m×9m, a single laser projector cannot cover the entire working area, which makes it impossible to use laser projection to assist in the production of steel parts in many occasions. Summary of the invention

[0005] The purpose of this application is to solve the shortcomings of the above-mentioned background technology and provide a method for manufacturing steel bar components of large prefabricated wall panels.

[0006] The technical solution of the present application is: a method for manufacturing a large prefabricated wall panel steel bar component, comprising a manufacturing device; the manufacturing device comprises a pedestal with multiple workstation platforms and a laser projector located above the pedestal and having an adjustable position; the method is performed according to the following steps:

[0007] The steel bar parts to be processed are divided into n segments, the drawings of the first segment to be produced are extracted, and the position of the laser projector is adjusted to correspond to the first workstation platform on the pedestal below;

[0008] Position and calibrate the laser projector through the target arranged on the first workstation platform;

[0009] The laser projector projects the cutting drawing corresponding to the first section onto the first workstation platform;

[0010] Move two steel mesh sheets to the first workstation platform and cut the two steel mesh sheets based on the projected cutting drawings;

[0011] Adjust the position of the laser projector so that it corresponds to the second work station platform adjacent to the first work station platform, and cut the steel mesh on the second work station platform according to the above steps, and continue in sequence until the cutting of the steel mesh on all work stations is completed;

[0012] The two steel meshes on each work platform are connected by erecting reinforcement bars. The laser projector projects the binding drawing corresponding to the nth section onto the nth work platform. Based on the projected binding drawing, the wire box and embedded pipe are installed on the steel mesh on the nth work platform. This process is repeated until the binding operation of the steel meshes on all work platforms is completed to form the required steel components.

[0013] According to a method for manufacturing steel bar components of a large prefabricated wall panel provided in the present application, the method for extracting the drawing of the first section to be manufactured includes: scanning the QR code on the current drawing with a barcode scanner, and the barcode scanner retrieves the first drawing for cutting the outer frame of the steel mesh, the second drawing for cutting the steel mesh windows, door openings, and embedded parts mold lines, and the third drawing for binding wire boxes and embedded pipes from the drawing library, and sets the first drawing of the first section as the first projection order of the projection device, the second drawing of the first section as the second projection order of the projection device, the first drawing of the second section as the third projection order, the second drawing of the second section as the fourth projection order... the second drawing of the nth section is the 2nth projection order, the third drawing of the nth section is the 2n+1th projection order... the third drawing of the first section is the 3nth projection order.

[0014] According to a method for manufacturing large prefabricated wall panel steel bar components provided in the present application, the method for adjusting the position of the laser projector includes: setting a bracket near a pedestal, installing a laterally arranged walking track on the bracket, and driving the laser projector to move laterally along the walking track to the position corresponding to the first workstation platform on the pedestal below by a walking motor installed on the walking track.

[0015] According to a method for manufacturing a large prefabricated wall panel steel bar component provided in the present application, a plurality of groups of targets are sequentially arranged at intervals along the transverse direction on a pedestal, and each group includes two targets arranged along the longitudinal direction.

[0016] According to a method for manufacturing large-scale prefabricated wall panel steel bar components provided by the present application, the method for positioning and calibrating a laser projector includes: a binocular camera collects image information of a target on a corresponding workstation platform, and obtains pixel coordinates of the target in the image information; calculates the parallax and depth of the target and the three-dimensional coordinates of the target in the binocular camera coordinate system; converts the target from the binocular coordinate system to the workbench coordinate system through a homogeneous coordinate transformation matrix; the laser projector adjusts the projection angle and focal length so that the position of the target in the field of view of the laser projector matches the position in the workbench coordinate system; based on the position of the target in the workbench coordinate system, the laser projector calculates the projection path deviation and dynamically adjusts the projection optical path so that the projection pattern accurately coincides with the pattern on the actual workbench.

[0017] According to a method for manufacturing steel bar components of a large prefabricated wall panel provided in the present application, the method for cutting two steel meshes includes: controlling the automatic cutting module vehicle to move to the first workstation platform, and using the automatic scissors installed on the cutting chassis of the automatic cutting module vehicle to cut the two steel meshes on the first workstation platform; the automatic cutting module vehicle cuts the outer frame of the steel mesh according to the first drawing for cutting the outer frame of the steel mesh projected by the laser projector, the laser projector switches to project the second drawing for cutting the windows, door openings, and embedded parts mold lines of the steel mesh, and the automatic cutting module vehicle cuts the windows, door openings, and embedded parts mold lines on the steel mesh according to the second drawing.

[0018] According to a method for manufacturing steel bar components of a large prefabricated wall panel provided in the present application, the method for installing a wire box and an embedded pipe on a steel mesh on a first workstation platform based on a projected binding drawing comprises: installing a wire box and an embedded pipe on two steel meshes on the first workstation platform based on the binding drawing, controlling an automatic binding module vehicle to move to the first workstation platform, and using an automated binding gun installed on a binding chassis of the automatic binding module vehicle to bind the steel mesh on the first workstation platform, and binding and fixing the wire box and the embedded pipe to the steel mesh.

[0019] According to a method for manufacturing a large prefabricated wall panel steel bar component provided in the present application, two workstation platforms are arranged on the pedestal, and the two workstation platforms are arranged side by side in the transverse direction; the bracket is located between the two workstation platforms.

[0020] According to a method for manufacturing steel bar components of a large prefabricated wall panel provided in the present application, at least one group of targets among the multiple groups of targets corresponding to each workstation platform is located in an area on the pedestal that is not blocked by the steel mesh.

[0021] According to a method for manufacturing a large prefabricated wall panel steel bar component provided in the present application, the target is a target made of a reflective material.

[0022] The advantages of the present application are as follows: 1. The present application adopts a step-by-step projection method for the production of large prefabricated wall panel steel bar components. By splitting the large steel bar components into multiple segments, each projection can only be used to operate the segment, and the projection processing and production of large steel bar components can be carried out without large-scale projection equipment. The overall production method is simple, easy to operate and use, and also has extremely high precision, reducing the manpower input in the entire steel bar component production process, with a high degree of automation, and enhanced production efficiency and production precision;

[0023] 2. This application retrieves the corresponding processing drawings in advance and sets them according to the set projection order. The subsequent drawing projection operation can be realized through one retrieval, which greatly facilitates the rapid projection of subsequent drawings. The overall operation is simple and convenient;

[0024] 3. The present application can conveniently adjust the position of the laser projector by setting a walking track on the bracket. A single laser projector can switch projections on different workstation platforms, which is extremely convenient to adjust. At the same time, the walking track cooperates with the laser projector to conveniently and accurately project drawings onto the workstation platform;

[0025] 4. This application sets a target on the workstation platform, and calibrates and positions the laser projector based on the target, which greatly improves the processing accuracy of the entire steel bar component, and the target layout is simple;

[0026] 5. This application uses binocular vision and targets to locate and calibrate the laser projector. The positioning and calibration process is fully intelligent and automated. The unified coordinate system avoids the error accumulation problem in the traditional method and improves the processing accuracy of the steel mesh.

[0027] 6. This application uses an automated cutting module car to cut steel mesh, which has a high degree of automation and intelligence. The automated cutting module car cooperates with the image projected by the laser projector to cut the steel mesh, reducing manual intervention and investment, which not only improves the accuracy and efficiency of the entire production process, but also improves the safety of the entire operation;

[0028] 7. This application uses an automated binding module vehicle to perform binding operations on wire boxes and pre-buried pipes. No personnel are required to operate the binding operations, which greatly improves the safety level and can also further improve the efficiency and accuracy of steel mesh binding;

[0029] 8. The present application sets two workstation platforms on the pedestal, and the two workstation platforms are arranged side by side to facilitate the production of steel bar parts. The corresponding laser projector can be easily switched between the two workstation platforms, which is easy to operate;

[0030] 9. In this application, at least one set of targets is in an unobstructed area to avoid the problem of inaccurate positioning caused by steel mesh blocking the targets in certain conditions, ensuring that the laser projector can always be positioned and calibrated through the targets;

[0031] 10. The target of the present application is made of reflective material, which can be easily captured and acquired, thereby improving the efficiency of positioning and calibration.

[0032] This application adopts a step-by-step method for the production of large prefabricated wall panel steel bar components. Large steel bar components can be produced without investing in large laser projection equipment. The entire production method is simple and efficient, with guaranteed processing accuracy, a high degree of automation, and low investment in manpower and material resources, and has great promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 : Schematic diagram of the large prefabricated wall panel steel bar component manufacturing device of the present application;

[0034] Figure 2 : Schematic diagram of the laser projector of the present application moving to the first workstation platform;

[0035] Figure 3 : Schematic diagram of positioning and calibration of the laser projector of this application;

[0036] Figure 4 : A schematic diagram of a first drawing of a first section projected onto a first workstation platform by a laser projector of the present application;

[0037] Figure 5 : Schematic diagram of placing steel mesh on the first workstation platform of this application;

[0038] Figure 6 : Schematic diagram of cutting the outer frame of the steel mesh of the first workstation platform of the present application;

[0039] Figure 7 : A schematic diagram of a second drawing of the first segment projected onto the first workstation platform by the laser projector of the present application;

[0040] Figure 8 : Schematic diagram of the internal cutting of the steel mesh of the first workstation platform of the present application;

[0041] Fig. 9 : Schematic diagram of the laser projector of the present application moving to the second workstation platform;

[0042] Fig.10 : A schematic diagram of a first drawing of the second section projected onto a second workstation platform by a laser projector of the present application;

[0043] Fig.11 : Schematic diagram of cutting steel mesh on the second workstation platform of this application;

[0044] Fig.12 : Schematic diagram of the application connecting the steel mesh of the first section and the second section by erecting reinforcement bars;

[0045] Fig.13 : The laser projector of the present application projects the third drawing of the second section onto the second workstation platform and performs a schematic diagram of the installation of the wire box and the embedded pipe;

[0046] Fig.14 : The laser projector of the present application projects the third drawing of the first section onto the first workstation platform and performs a schematic diagram of the installation of the wire box and the embedded pipe;

[0047] Among them: 1 - pedestal; 2 - laser projector; 3 - bracket; 4 - walking track; 5 - automatic cutting module vehicle; 6 - automatic binding module vehicle; 7 - target. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0049] In the description of the present application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0051] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0052] The present application relates to a method for manufacturing a large prefabricated wall panel steel bar component. The large prefabricated wall panel steel bar component of the present application has a large structure, and it is impossible to perform a one-time projection using only an existing laser projector. The present application divides the prefabricated wall panel steel bar component into multiple segments according to its structure, and the laser projector projects according to the divided segments each time, and then manufactures the steel bar component according to the projected image. Through the step-by-step projection method, a small laser projector can be used to complete the auxiliary manufacturing of large steel bar components. The manufacturing method involved in the present application is simple and efficient, with less investment in manpower and material resources, guaranteed processing accuracy, and a very high degree of automation.

[0053] Specifically, Figures 1 to 14 The method for manufacturing large prefabricated wall panel steel bar components of the present application involves some devices, including a pedestal and a laser projector. The pedestal of the present application is a base structure with a flat upper surface. Multiple workstation platforms are arranged on the pedestal. The multiple workstation platforms are arranged in sequence. The workstation platforms are workbenches for cutting and binding steel mesh. The arrangement of the workstation platforms on the pedestal is arranged in the form of splitting the steel bar components. For example, the steel bar components can be split into two segments in the horizontal direction, and then two corresponding workstation platforms can be set on the pedestal. The two workstation platforms are arranged in parallel in the horizontal direction, such as Fig.11 As shown; the steel bar component can be split into three sections in the horizontal direction, then three corresponding workstation platforms can be set on the base, and the three workstation platforms are arranged in parallel in the horizontal direction; or the steel bar component can be split into four sections, and the four sections are arranged in a matrix, then four corresponding workstation platforms can be set on the base, and the four workstation platforms are arranged in a matrix.

[0054] A laser projector is a device used to project drawings onto a work station platform. The laser projector of the present application is installed and arranged through a bracket. The position of the laser projector of the present application can be adjusted, that is, it can be moved accordingly according to the switching of the work station platform. In this way, multiple work station platforms can be used through a group of laser projectors, reducing the cost of the entire device.

[0055] The present application also provides an automated processing device, including an automatic cutting module vehicle and an automatic binding module vehicle. The automatic cutting module vehicle adopts a cutting chassis, and then automatic scissors are installed on the cutting chassis. During actual application, the automatic scissors are used to cut the steel mesh; the automatic binding module vehicle adopts a binding chassis. In fact, the cutting chassis and the binding chassis are both tracked self-propelled chassis. An automated binding gun is installed on the binding chassis, and the automated binding gun can perform binding operations on the steel mesh.

[0056] In actual production, the method for manufacturing the large prefabricated wall panel steel bar component of the present application includes the following steps:

[0057] S1. Split the steel bar component to be processed into n segments (n≥2), extract the drawing of the first segment to be produced, and adjust the position of the laser projector to correspond to the first workstation platform on the lower pedestal;

[0058] Extracting drawings actually means calling out the corresponding CAD drawings and the corresponding pre-designed projection tasks from the drawing library of the steel bar parts to be processed, and then transmitting these CAD drawings and the pre-designed projection tasks to the MES system. During the subsequent projection, the MES system transmits the corresponding CAD drawings to the laser projector according to the pre-designed projection tasks, and the laser projector projects the corresponding CAD drawings onto the workstation platform.

[0059] S2. Positioning and calibrating the laser projector through the target arranged on the first workstation platform;

[0060] The laser projector needs to be positioned and calibrated before projection to ensure that the CAD drawings projected by the laser projector to the workstation platform are real and accurate, and to avoid problems such as disproportion. The positioning and calibration of the laser projector in this application is based on the target. The target cooperates with the binocular camera to position and calibrate the laser projector, which is actually the conversion of the coordinate system. Other forms of calibration and positioning can also be used, and are not limited to the combination of binocular cameras and targets.

[0061] S3, the laser projector projects the cutting drawing corresponding to the first section onto the first workstation platform;

[0062] After completing the positioning and calibration of the laser projector, the cutting drawing of the first section can be projected onto the first workstation platform to prepare for the cutting process of the steel mesh of the first section. At this time, the MES system controls the laser projector to project the corresponding CAD drawing onto the first workstation platform according to the pre-designed projection task, and the image projected by the laser projector is presented on the first workstation platform;

[0063] S4, moving two steel mesh sheets to the first workstation platform, and cutting the two steel mesh sheets based on the projected cutting drawings;

[0064] The steel bar component of each segment of the present application includes two steel mesh sheets, and the positions to be cut on the two steel mesh sheets are the same, so the two steel mesh sheets can be transported to the first work station platform at one time, and then the two steel mesh sheets can be cut based on the image projected by the laser projector;

[0065] S5. Adjust the position of the laser projector so that it corresponds to the second work station platform adjacent to the first work station platform, and cut the steel mesh on the second work station platform according to the above steps, and continue in sequence until the cutting of the steel mesh on all work stations is completed;

[0066] After completing the cutting of the steel mesh on the first workstation platform, you can switch the position of the laser projector to cut the steel mesh on the second workstation platform. If it involves multiple workstation platforms and multiple sections, then proceed in sequence until the cutting of the steel mesh on all workstation platforms is completed;

[0067] S6. Connect two steel mesh sheets on each workstation platform by erecting reinforcement bars. Use a laser projector to project the binding drawing corresponding to the nth section onto the nth workstation platform. Install the wire box and the embedded pipe on the steel mesh sheet on the nth workstation platform based on the projected binding drawing. This is done in sequence until the binding operation of the steel mesh sheets on all workstation platforms is completed to form the required steel bar components.

[0068] After completing the cutting of all the steel meshes, the laser projector stays at the work station platform corresponding to the nth section, and can directly project the binding drawing onto the work station platform corresponding to the nth section, and perform the binding operation of the steel mesh of the nth section based on the binding drawing, and then perform the binding of the steel mesh of the n-1th section, and so on, until the binding of all the steel meshes is completed.

[0069] The application manufactures the steel bar components of large prefabricated wall panels in sections. The manufacture of the steel bar components of each section is divided into cutting and tying. The application first cuts all sections one by one, and then ties all sections one by one until the required large prefabricated wall panel steel bar components are formed. In fact, it can also be manufactured section by section, that is, cutting and tying the steel mesh on the first workstation platform to form the first section steel bar components, and then cutting and tying the steel mesh on the second workstation platform to form the second stage steel bar components, and so on, until all the steel bar component sections are finally connected to form the overall steel bar components.

[0070] In some embodiments of the present application, this embodiment optimizes the above-mentioned method of extracting the drawings of the first section to be produced. The actual operation is that this embodiment is carried out according to the following method: the QR code on the current drawing is scanned by a barcode scanner, and the barcode scanner retrieves the first drawing for cutting the outer frame of the steel mesh, the second drawing for cutting the steel mesh windows, door openings, and embedded parts mold lines, and the third drawing for binding wire boxes and embedded pipes from the drawing library, and sets the first drawing of the first section as the first projection order of the projection device, the second drawing of the first section as the second projection order of the projection device, the first drawing of the second section as the third projection order, the second drawing of the second section as the fourth projection order... The second drawing of the nth section is the 2nth projection order, the third drawing of the nth section is the 2n+1th projection order... The third drawing of the first section is the 3nth projection order.

[0071] The processing of steel bar components in this embodiment is divided into two stages. The first stage is the cutting of the steel mesh, and the second stage is the binding of the steel mesh. The cutting of the steel mesh is divided into outer frame cutting and internal hole cutting. The outer frame cutting needs to be assisted by the first drawing projected by the laser projector, the internal hole cutting needs to be assisted by the second drawing projected by the laser projector, and the binding of the steel mesh needs to be assisted by the third drawing projected by the laser projector.

[0072] Each steel bar component corresponds to a set of drawings. According to the splitting method of the steel bar components, segment drawings for each segment are formed. Each set of segment drawings includes the corresponding first drawing, second drawing and third drawing. Before projection, it is necessary to design the projection task in advance, that is, which drawing to project first and which drawing to project later. According to the production order of the steel bar components, each segment is cut first. After the steel mesh of all segments is cut, the steel mesh is tied. Therefore, when designing the projection task, the first and second drawings involved in cutting are placed in front in the MES system, which is a higher priority, and the third drawing involved in tying is placed at the back, which is a lower priority. The advantage of this design is that all drawings can be called out at one time, and there is no need to call them repeatedly later. Projection can be performed according to the set projection task, which greatly improves the efficiency of steel bar component production.

[0073] In other embodiments of the present application, the present embodiment optimizes the above-mentioned method for adjusting the position of the laser projector. Specifically, Figure 1 As shown, the laser projector of this embodiment is mounted on a bracket. Figure 1 For example, two workstation platforms are provided on the pedestal of this embodiment, and the two workstation platforms are arranged side by side horizontally. The bracket is installed in the middle of the two workstation platforms, and a walking track arranged along the horizontal direction is installed on the bracket. The laser projector is driven by a walking motor installed on the walking track to move horizontally along the walking track to the position corresponding to the first workstation platform on the pedestal below.

[0074] like Figures 1 to 14 As shown, two station platforms are arranged on the pedestal of this embodiment, so the laser projector of this embodiment has two projection stations, which correspond to the two station platforms below respectively. The two lateral ends of the walking track can be set as two projection stations, that is, when the laser projector walks to one end of the walking track, it is one projection station, and when the laser projector walks to the other end of the walking track 4, it is another projection station. When multiple station platforms are arranged on the pedestal 2, multiple corresponding fixed points can be set on the walking track 4 as projection stations, corresponding one to one with the station platforms.

[0075] In a further embodiment of the present application, the arrangement of the above-mentioned targets is optimized. Specifically, Figure 3As shown, in this embodiment, multiple groups of targets are arranged in sequence along the transverse direction on the pedestal, and each group includes two targets arranged along the longitudinal direction. At least one group of targets among the multiple groups of targets corresponding to each workstation platform is located in an area on the pedestal that is not blocked by the steel mesh, thereby avoiding the problem of being unable to locate and identify the targets due to the steel mesh blocking the targets.

[0076] The target of the present application is made of reflective material, which facilitates image acquisition by the binocular camera.

[0077] In some embodiments of the present embodiment, the present embodiment optimizes the above-mentioned method for positioning and calibrating the laser projector. The present embodiment positions and calibrates the laser projector through a binocular camera in conjunction with a target. The binocular camera can be installed on a bracket or at other locations as long as it can capture image information of the target on the upper surface of the pedestal.

[0078] Specifically, the positioning and calibration of the laser projector are performed according to the following method:

[0079] S21, the binocular camera collects the image information of the target on the corresponding workstation platform, and obtains the pixel coordinates of the target in the image information. Assuming that the pixel coordinates of the target in the image are (u, v), the camera internal parameter matrix is:

[0080]

[0081] Where: K——internal parameter matrix;

[0082] f x ——The focal length of one camera in the binocular camera;

[0083] f y ——The focal length of the other camera in the binocular camera;

[0084] c x ——The horizontal coordinate of the target principal point in the image information;

[0085] c y ——The vertical coordinate of the target principal point in the image information;

[0086] u——horizontal coordinate;

[0087] v——vertical coordinate;

[0088] The normalized plane coordinates (x, y) can be expressed as:

[0089]

[0090] Where: x – the horizontal coordinate of the normalized plane coordinate;

[0091] y——the ordinate of the normalized plane coordinate;

[0092] f x ——The focal length of one camera in the binocular camera;

[0093] f y ——The focal length of the other camera in the binocular camera;

[0094] c x ——The horizontal coordinate of the target principal point in the image information;

[0095] c y ——The vertical coordinate of the target principal point in the image information;

[0096] u——horizontal coordinate;

[0097] v——vertical coordinate;

[0098] S22, calculating the parallax of the target,

[0099] The parallax d of the target is the lateral pixel difference between the corresponding points of the left and right cameras:

[0100] d=u L -u R

[0101] Where: d – target parallax;

[0102] u L ——The horizontal pixel coordinates of the target in one of the binocular cameras;

[0103] u R ——The horizontal pixel coordinates of the target in the other camera of the binocular camera;

[0104] Calculate the target depth,

[0105] According to the principle of triangulation, the depth Z of the target is:

[0106]

[0107] Where: Z – target depth;

[0108] f x ——The focal length of one camera in the binocular camera;

[0109] B——baseline distance of the binocular camera;

[0110] Calculate the three-dimensional coordinates of the target in the binocular camera coordinate system,

[0111] The three-dimensional coordinates (X, Y, Z) of the target in the camera coordinate system are:

[0112]

[0113] Where: X – the horizontal coordinate of the target in the camera coordinate system;

[0114] Y——the vertical coordinate of the target in the camera coordinate system;

[0115] Z——target depth, which is also the vertical coordinate of the target in the camera coordinate system;

[0116] u——horizontal coordinate;

[0117] v——vertical coordinate;

[0118] c x ——The horizontal coordinate of the target principal point in the image information;

[0119] c y ——The vertical coordinate of the target principal point in the image information;

[0120] B——baseline distance of the binocular camera;

[0121] d——target parallax;

[0122] S23, transform the target from the binocular coordinate system to the workbench coordinate system through the homogeneous coordinate transformation matrix,

[0123]

[0124] The transformation matrix T is:

[0125]

[0126] Where: R——rotation matrix;

[0127] t——translation vector;

[0128] After transformation, the coordinates of the target in the workbench coordinate system (X ω ,Y ω ,Z ω );

[0129] S24, after completing the calculation of the workbench coordinate system of the target position, the laser projector adjusts the projection angle and focal length so that the position of the target in the field of view of the laser projector matches the position of the workbench coordinate system;

[0130] S25. According to the target position in the workbench coordinate system, the laser projector calculates the projection path deviation and dynamically adjusts the projection light path so that the projection pattern accurately coincides with the pattern on the actual workbench.

[0131] In other embodiments of the present application, the present embodiment optimizes the above-mentioned automated processing method of the steel mesh, specifically, Figure 5As shown, the method for cutting two steel meshes in this embodiment is: controlling the automatic cutting module vehicle to move to the first workstation platform, and using the automatic scissors installed on the cutting chassis of the automatic cutting module vehicle to cut the two steel meshes on the first workstation platform; the automatic cutting module vehicle cuts the outer frame of the steel mesh according to the first drawing for cutting the outer frame of the steel mesh projected by the laser projector, and the laser projector switches to project the second drawing for cutting the windows, door openings, and embedded parts mold lines of the steel mesh, and the automatic cutting module vehicle cuts the windows, door openings, and embedded parts mold lines on the steel mesh according to the second drawing.

[0132] The method of this embodiment for installing wire boxes and embedded pipes on the steel mesh on the first work station platform based on the projection binding drawing is as follows: install wire boxes and embedded pipes on the two steel meshes on the first work station platform based on the binding drawing, control the automatic binding module vehicle to move to the first work station platform, use the automatic binding gun installed on the binding chassis of the automatic binding module vehicle to bind the steel mesh on the first work station platform, and bind and fix the wire boxes and embedded pipes to the steel mesh.

[0133] In actual application, the present application manufactures large-scale prefabricated wall panel steel bar components according to the following method: split the steel bar components to be processed into two sections, scan the QR code on the current drawing through a barcode scanner, and the barcode scanner retrieves the first drawing for cutting the outer frame of the steel mesh, the second drawing for cutting the steel mesh windows, door openings, and embedded parts mold lines, and the third drawing for binding the wire box and embedded pipe from the drawing library, and sets the first drawing of the first section as the first projection sequence of the projection device, the second drawing of the first section as the second projection sequence of the projection device, the first drawing of the second section as the third projection sequence, the second drawing of the second section as the fourth projection sequence, the third drawing of the first section as the fifth projection sequence, and the third drawing of the second section as the sixth projection sequence;

[0134] The laser projector moves to the position corresponding to the first workstation platform, such as Figure 2 As shown in the figure, the binocular camera collects the image information of the target on the corresponding workstation platform and obtains the pixel coordinates of the target in the image information; calculates the parallax and depth of the target and the three-dimensional coordinates of the target in the binocular camera coordinate system; transforms the target from the binocular coordinate system to the workbench coordinate system through the homogeneous coordinate transformation matrix; the laser projector adjusts the projection angle and focal length so that the position of the target in the field of view of the laser projector matches the position of the workbench coordinate system; according to the position of the target in the workbench coordinate system, the laser projector calculates the projection path deviation and dynamically adjusts the projection optical path so that the projection pattern accurately coincides with the pattern on the actual workbench, as shown in the figure. Figure 3 As shown;

[0135] The laser projector projects the cutting drawing corresponding to the first section onto the first workstation platform, such as Figure 4 As shown, two steel mesh sheets are transported to the first workstation platform, the automatic cutting module vehicle is controlled to move to the first workstation platform, and the two steel mesh sheets on the first workstation platform are cut by automatic scissors, as shown in FIG. Figure 5 and 6 As shown; the automatic cutting module car cuts the outer frame of the steel mesh according to the first drawing projected by the laser projector, the laser projector switches to project the second drawing, and the automatic cutting module car cuts out the windows, door openings and embedded parts mold lines on the steel mesh according to the second drawing, as shown Figure 7 and 8 As shown;

[0136] Adjust the position of the laser projector so that it corresponds to the second workstation platform adjacent to the first workstation platform, such as Figures 9-11 As shown, the steel mesh is cut on the second workstation platform according to the above steps;

[0137] Connect the two steel mesh sheets on each workstation platform by erecting reinforcement bars. Fig.12 As shown, the laser projector projects the binding drawing corresponding to the second section onto the second workstation platform, as shown in Fig.13 As shown, the automatic tying module vehicle is controlled to move to the second workstation platform, and the steel mesh on the second workstation platform is tied using the automatic tying gun installed on the tying chassis of the automatic tying module vehicle, and the wire box and the embedded pipe are tied and fixed to the steel mesh;

[0138] According to the above method, the first section of the steel mesh is tied. Fig.14 As shown, the required steel bar parts are formed.

[0139] like Figure 2 As shown, Figure 2 The left and right directions in the text are the lateral directions of the present application. Figure 2 The up-down direction in is the longitudinal direction of this application, Figure 2 The direction perpendicular to the paper is the up-down direction of this application.

[0140] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present application. The present application may have various changes and improvements without departing from the spirit and scope of the present application, and these changes and improvements fall within the scope of the present application to be protected. The scope of protection claimed in the present application is defined by the attached claims and their equivalents.

Claims

1. A method for manufacturing a large prefabricated wall panel steel bar component, characterized in that: The method comprises a production device; the production device comprises a platform with multiple workstation platforms and a laser projector located above the platform and having an adjustable position; the method is performed according to the following steps: The steel bar parts to be processed are divided into n segments, the drawings of the first segment to be produced are extracted, and the position of the laser projector is adjusted to correspond to the first workstation platform on the pedestal below; Position and calibrate the laser projector through the target arranged on the first workstation platform; The laser projector projects the cutting drawing corresponding to the first section onto the first workstation platform; Move two steel mesh sheets to the first workstation platform and cut the two steel mesh sheets based on the projected cutting drawings; Adjust the position of the laser projector so that it corresponds to the second work station platform adjacent to the first work station platform, and cut the steel mesh on the second work station platform according to the above steps, and continue in sequence until the cutting of the steel mesh on all work stations is completed; The two steel meshes on each work platform are connected by erecting reinforcement bars. The laser projector projects the binding drawing corresponding to the nth section onto the nth work platform. Based on the projected binding drawing, the wire box and embedded pipe are installed on the steel mesh on the nth work platform. This process is repeated until the binding operation of the steel meshes on all work platforms is completed to form the required steel components.

2. A method for manufacturing a large prefabricated wall panel steel bar component according to claim 1, characterized in that: The method for extracting the drawings of the first section to be produced includes: scanning the QR code on the current drawing by a barcode scanner, and the barcode scanner retrieves the first drawing for cutting the outer frame of the steel mesh, the second drawing for cutting the steel mesh windows, door openings, and embedded parts mold lines, and the third drawing for binding the wire box and the embedded pipe from the drawing library, and sets the first drawing of the first section as the first projection sequence of the projection device, the second drawing of the first section as the second projection sequence of the projection device, the first drawing of the second section as the third projection sequence, the second drawing of the second section as the fourth projection sequence... the second drawing of the nth section as the 2nth projection sequence, the third drawing of the nth section as the 2n+1th projection sequence... the third drawing of the first section as the 3nth projection sequence.

3. A method for manufacturing a large prefabricated wall panel steel bar component according to claim 1, characterized in that: The method for adjusting the position of the laser projector includes: setting a bracket near a pedestal, installing a laterally arranged walking track on the bracket, and driving the laser projector to move laterally along the walking track to a position corresponding to the first workstation platform on the pedestal below by a walking motor installed on the walking track.

4. A method for manufacturing a large prefabricated wall panel steel bar component according to claim 1, characterized in that: A plurality of groups of targets are sequentially arranged at intervals along the transverse direction on the platform, and each group includes two targets arranged along the longitudinal direction.

5. A method for manufacturing a large prefabricated wall panel steel bar component according to claim 1, characterized in that: The method for positioning and calibrating a laser projector includes: using a binocular camera to collect image information of a target on a corresponding workstation platform and obtaining pixel coordinates of the target in the image information; calculating the parallax and depth of the target and the three-dimensional coordinates of the target in the binocular camera coordinate system; converting the target from the binocular coordinate system to the workbench coordinate system through a homogeneous coordinate transformation matrix; using a laser projector to adjust the projection angle and focal length so that the position of the target in the field of view of the laser projector matches the position in the workbench coordinate system; and according to the position of the target in the workbench coordinate system, the laser projector calculates the projection path deviation and dynamically adjusts the projection optical path so that the projection pattern accurately coincides with the pattern on the actual workbench.

6. A method for manufacturing a large prefabricated wall panel steel bar component according to claim 1, characterized in that: The method for cutting two steel meshes includes: controlling the automatic cutting module vehicle to move to the first workstation platform, and using the automatic scissors installed on the cutting chassis of the automatic cutting module vehicle to cut the two steel meshes on the first workstation platform; the automatic cutting module vehicle cuts the outer frame of the steel mesh according to the first drawing corresponding to the cutting of the outer frame of the steel mesh projected by the laser projector, the laser projector switches to project the second drawing corresponding to the cutting of the windows, door openings, and embedded parts mold lines of the steel mesh, and the automatic cutting module vehicle cuts the windows, door openings, and embedded parts mold lines on the steel mesh according to the second drawing.

7. A method for manufacturing a large prefabricated wall panel steel bar component according to claim 1, characterized in that: The method for installing a wire box and an embedded pipe on a steel mesh on a first work station platform based on a projected binding drawing comprises: installing a wire box and an embedded pipe on two steel meshes on the first work station platform based on the binding drawing, controlling an automatic binding module vehicle to move to the first work station platform, binding the steel mesh on the first work station platform with an automated binding gun installed on a binding chassis of the automatic binding module vehicle, and binding and fixing the wire box and the embedded pipe to the steel mesh.

8. A method for manufacturing a large prefabricated wall panel steel bar component according to claim 3, characterized in that: The pedestal is provided with two workstation platforms, which are arranged in parallel in the transverse direction; the bracket is located between the two workstation platforms.

9. A method for manufacturing a large prefabricated wall panel steel bar component according to claim 4, characterized in that: At least one group of targets among the multiple groups of targets corresponding to each workstation platform is located in an area on the pedestal that is not blocked by the steel mesh.

10. A method for manufacturing a large prefabricated wall panel steel bar component according to claim 4, characterized in that: The target is a target made of reflective material.

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