Device and method for detecting deviation of pulling rod in box girder

Abstract

The invention relates to the technical field of pulling rod recognition and positioning, and discloses a device and a method for detecting the deviation of a pulling rod in a box girder, and the method comprises the steps: collecting an image set comprising the pulling rod, a transmitting device and a receiving device through a camera trolley, and splicing the image set into a pulling rod panoramic image; taking a laser emission port of the laser range finder and the center of a laser receiving target as a left reference point and a right reference point of the reference position of the pulling rod, acquiring an actual distance between the two reference points according to the laser range finder, and combining with an image distance between the two reference points in the panoramic image of the pulling rod to construct a plane-coordinate system; according to the constructed plane coordinate system, the actual coordinates of the same boundary of the outline of the pulling rod and the reference position of the pulling rod are obtained, the difference value of the two actual coordinates on the Y axis is compared with the allowable deviation standard, whether the pulling rod meets the allowable deviation standard or not is detected, and the accurate coordinates of the pulling rod exceeding the deviation standard are determined. And the efficiency and the accuracy of deviation detection of the pulling rod are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of extraction rod identification and positioning, and in particular to a device and method for detecting deviation of extraction rods in a box beam. Background Art

[0002] Post-tensioned prestressed concrete box girders are widely used in railway bridge construction, and box girders are a key structural engineering project in the construction of high-speed railways. Prestressed concrete box girders need to be constructed in a precast beam yard.

[0003] Prestressed box girders are stretched by post-tensioning method, and extraction rods are widely used in prestressed concrete prestressed pipe drilling. The position of the extraction rod (prestressed channel) is the position of the prestressed steel bar after stretching. Therefore, the position of the prestressed steel bar can be controlled by controlling the position of the extraction rod.

[0004] According to the construction requirements, it is necessary to ensure that the tensioned steel bars are in the correct position, that is, it is necessary to ensure that the extraction rods are in the correct position, so that the prestressed steel bars are in the correct position to meet the design requirements.

[0005] According to 7.3.4 of the "Railway Concrete Engineering Construction Quality Acceptance Standard", the allowable deviation of the reserved channel position is 15mm.

[0006] The traditional method of detecting the deviation of the extraction rod is to set a reference line and measure the horizontal distance between the extraction rod and the reference line with a steel ruler, or to use a hanging hammer to check the vertical deviation. The detection efficiency and accuracy are low.

[0007] Existing image recognition technology is relatively mature, but there is no systematic device and detection method for detecting the deviation of extraction rods. It is impossible to determine whether the extraction rods in the box girder meet the allowable deviation standards and determine the precise coordinates of the positions where the extraction rods in the box girder exceed the allowable deviation standards.

[0008] Therefore, a device and method for detecting deviation of extraction rods in box beams are proposed to solve the above problems. Summary of the Invention

[0009] In response to the above problems, the present invention aims to provide a device and method for detecting deviations of extraction rods in box girders. A panoramic image of the extraction rods is acquired through image acquisition and image stitching. Combined with the actual distance between two reference points of the extraction rods acquired by a laser rangefinder, the actual coordinates of the same boundary of the extraction rod outline and the preset reference position of the extraction rod are obtained. The actual coordinates of the two are compared to detect whether the extraction rods meet the allowable deviation standards and determine the precise coordinates of the extraction rods that exceed the deviation standards. The technical solution adopted is as follows: A device for detecting deviation of a pull-out rod in a box beam, comprising: A camera trolley, two external support frames, multiple internal support frames, multiple guide rails, a distance measurement transmitting device, and a distance measurement receiving device, wherein the camera trolley is used to capture images of the extraction rods to be measured in the box beam; A plurality of internal support frames are placed above the bottom plate of the box beam at equal intervals along the axial direction of the box beam. Guide rails are provided on the plurality of internal support frames. The portions of the guide rails extending out of the bottom plate on both sides are respectively connected to the two external support frames so that the guide rails are horizontal. A camera trolley is placed above the guide rails. A ranging transmitter and a ranging receiver are placed at opposite ends of the box beam and are within the shooting range of the camera trolley. The distance measuring and transmitting device comprises a transmitting base plate; a telescopic height measuring rod is arranged on the lower surface of the transmitting base plate, a transmitting base plate is arranged on the upper surface of the transmitting base plate, and a laser rangefinder is arranged at the center of one side of the transmitting base plate; The distance measuring receiving device comprises a receiving base plate; a telescopic height measuring rod is provided on the lower surface of the receiving base plate, a receiving substrate is provided on the upper surface of the receiving base plate, and a laser receiving target is provided at the center of one side of the receiving substrate; The laser rangefinder of the distance measurement transmitting device and the laser receiving target of the distance measurement receiving device are arranged opposite to each other.

[0010] Furthermore, the camera trolley includes a vehicle body; a telescopic height measuring rod is provided on the upper surface of the vehicle body, a camera is provided on the upper end of the telescopic height measuring rod, and the shooting direction of the camera is perpendicular to the axial direction of the box beam.

[0011] Furthermore, the external support frame includes a support table; a telescopic height measuring rod is provided on the lower surface of the support table, the upper surface of the support table is connected to the first base plate via a threaded knob, two fixed baffles are symmetrically provided on both sides of the upper surface of the first base plate along the width direction of the guide rail, the spacing between the two fixed baffles matches the width of the guide rail, and a bubble level is provided on the upper surface of the first base plate; A circular hole is provided in the center of the first bottom plate, and a slide rail is provided between the support table and the first bottom plate along the width direction of the guide rail below the circular hole. A connecting piece is provided on the upper surface of the slide rail, and the connecting piece is used to fix the guide rail.

[0012] Furthermore, the internal support frame includes a support plate; a telescopic height measuring rod is provided on the lower surface of the support plate, the upper surface of the support plate is connected to the second base plate through a threaded knob, two baffles are symmetrically provided on the two side edges of the second base plate along the width direction of the guide rail, and the second base plate is symmetrically provided with threaded connection holes along the extension direction of the guide rail, and the threaded connection holes are used to fix the guide rail.

[0013] Furthermore, the guide rail includes a bottom plate; the bottom plate is symmetrically provided with connection holes along the extension direction of the guide rail, for fixing the guide rail to the external support frame and the internal support frame; two side plates are symmetrically provided on both side edges of the bottom plate along the width direction of the guide rail, and one of the side plates has laser holes at both ends; The fixed baffle corresponds to the position of the laser hole, and the laser emitter is arranged at the position of the laser hole.

[0014] Further, the laser range finder in the range-finding emitting device and the laser receiving target in the range-finding receiving device are both provided with a bubble level. The emitting base plate is connected to the emitting base plate through a threaded knob. The receiving base plate is connected to the receiving base plate through a threaded knob.

[0015] Also disclosed is a box girder inner pull rod deviation detection method based on the above box girder inner pull rod deviation detection device, comprising the following steps: Step S1, sequentially connect the multiple guide rails arranged above the external support frame and the internal support frame to form a sliding track, and adjust them to the same horizontal plane; Adjust the laser range finder of the range-finding emitting device and the laser receiving target of the range-finding receiving device to be horizontal; Adjust the laser emitting port of the laser range finder, the center of the laser receiving target, and the center of the camera to the height of the standard boundary of the reference position of the pull rod to be detected, and the standard boundary is the upper boundary or the lower boundary of the pull rod; Step S2, place the camera trolley at one end of the sliding track, control the camera trolley to advance to the other end of the sliding track, and every time the camera trolley stops and takes a picture of the pull rod to be detected at a certain distance, a set of images of the pull rod to be detected is obtained, which includes images containing the range-finding emitting device and images containing the range-finding receiving device; Step S3, based on the feature detection algorithm, the matching algorithm, and the homography estimation algorithm, splice the set of images of the pull rod to be detected into a panoramic image of the pull rod to be detected; Step S4, obtain the actual distance between the laser emitting port of the laser range finder and the center of the laser receiving target by the laser range finder, and obtain the actual coordinates of the profile of the pull rod to be detected and the standard boundary of the reference position of the pull rod to be detected in combination with the panoramic image of the pull rod to be detected; Step S5, compare the actual coordinates of the profile of the pull rod to be detected and the standard boundary of the reference position of the pull rod to be detected, detect whether the pull rod to be detected meets the allowable deviation standard, and determine the accurate position where the pull rod to be detected does not meet the allowable deviation standard.

[0016] Further, the step S3 comprises the following steps: Step S31, convert the set of images of the pull rod to be detected into a grayscale image; Step S32, use the set of images of the pull rod to be detected converted into a grayscale image to detect key points in adjacent images by the SIFT feature detection algorithm; Step S33, match the key points in the adjacent images through the FLANN matcher to obtain the coordinates of the matching points of the adjacent images; Step S34, calculate the homography matrix between the adjacent images using the coordinates of the matching points of the adjacent images, and align the adjacent images according to the homography matrix; all the adjacent images in the image set of the to-be-tested extraction rod are aligned according to the same step, and are spliced into a panoramic image of the to-be-tested extraction rod.

[0017] Further, the step S4 comprises the following steps: Step S41, Gaussian blur denoising is performed on the panoramic image of the to-be-tested extraction rod; Step S42, the positions of the ranging emitting device and the ranging receiving device are extracted in the panoramic image of the to-be-tested extraction rod using threshold segmentation and contour detection, and a plane coordinate system is constructed with the center of the laser emitting port of the laser range finder or the center of the laser receiving target as the coordinate origin, with the horizontal direction passing through the coordinate origin as the X-axis direction, and with the vertical direction passing through the coordinate origin as the Y-axis direction; Step S43, the actual distance between the laser emitting port and the center of the laser receiving target of the laser range finder is obtained through the laser range finder, and the scale of the plane coordinate system is obtained according to the image distance between the laser emitting port and the center of the laser receiving target of the laser range finder in the panoramic image of the to-be-tested extraction rod; Step S44, the profile of the to-be-tested extraction rod is extracted by the Canny edge detection algorithm using the panoramic image of the to-be-tested extraction rod, and the actual coordinates of the profile of the to-be-tested extraction rod and the standard boundary of the reference position of the to-be-tested extraction rod are obtained in combination with the plane coordinate system and the scale thereof, wherein the standard boundary of the reference position of the to-be-tested extraction rod is the line connecting the laser emitting port and the center of the laser receiving target of the laser range finder.

[0018] Further, the step S5 comprises the following steps: Step S51, the image of the profile of the to-be-tested extraction rod and the standard boundary of the reference position of the to-be-tested extraction rod is drawn in the function plotting software according to the obtained actual coordinates of the profile of the to-be-tested extraction rod and the standard boundary of the reference position of the to-be-tested extraction rod; Step S52, the image of the profile of the to-be-tested extraction rod and the standard boundary of the reference position of the to-be-tested extraction rod is compared, if the distance of the two in the Y-axis direction does not exceed the allowable deviation standard, it is determined that the to-be-tested extraction rod meets the allowable deviation standard, if the distance of the two in the Y-axis direction exceeds the allowable deviation standard, it is determined that the to-be-tested extraction rod does not meet the allowable deviation standard, and the actual coordinates of the position where the distance of the two in the Y-axis direction is greater than the allowable deviation standard are marked on the image of the standard boundary of the profile of the to-be-tested extraction rod to determine the accurate position of the to-be-tested extraction rod that does not meet the allowable deviation standard.

[0019] Compared with the prior art, the present application has the following advantages and beneficial effects: The present invention uses a camera trolley laid on a support frame to collect an image set including a withdrawal rod, a ranging transmitter and a ranging receiver, and splices the images into a panoramic image of the withdrawal rod based on a feature detection algorithm, a matching algorithm and a homography estimation algorithm; a laser emission port of a laser rangefinder in the emission device and the center of a laser receiving target in the receiving device are used as left and right reference points of a reference position of the withdrawal rod, and the actual distance between the two reference points is obtained according to the laser rangefinder. Combined with the image distance between the two reference points in the panoramic image of the withdrawal rod, a plane coordinate system is constructed; based on the constructed plane coordinate system, the actual coordinates of the same boundary of the withdrawal rod outline and the withdrawal rod reference position are obtained, and the difference between the actual coordinates of the two on the Y-axis is compared with the allowable deviation standard, thereby realizing the detection of whether the withdrawal rod meets the allowable deviation standard and determining the precise coordinates of the withdrawal rod that exceed the deviation standard, thereby improving the efficiency and accuracy of the withdrawal rod deviation detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the overall device of the present invention.

[0021] Figure 2 It is a top view of the ranging transmitting device and the ranging receiving device.

[0022] Figure 3 This is a three-dimensional image of the camera car.

[0023] Figure 4 This is a three-dimensional diagram of the external support frame.

[0024] Figure 5 This is a three-dimensional diagram of the internal support frame.

[0025] Figure 6 This is a three-dimensional diagram of the guide rail.

[0026] Figure 7 This is the front view of the ranging transmitter.

[0027] Figure 8 This is a front view of the ranging receiving device.

[0028] Figure 9 4 is an overall flow chart of the method of the present invention.

[0029] Figure 10 This is the image stitching flow chart.

[0030] Figure 11 Schematic diagram of the panoramic image of the extraction rod.

[0031] Figure 12 A comparison diagram of the upper boundary of the extraction rod outline and the upper boundary of the extraction rod reference position.

[0032] The interpretation of each label in the figure is as follows: 1, camera trolley; 101, trolley body; 102, camera; 2, external support frame; 201, support table; 202, laser emitter; 203, connecting piece; 204, fixed baffle; 205, first bottom plate; 206, sliding rail; 3, internal support frame; 301, support plate; 302, second bottom plate; 303, threaded connection hole; 304, baffle; 4, guide rail; 401, side plate; 402, bottom plate; 403, connecting hole; 404, laser hole; 5, ranging emission device; 501, emission bottom plate; 502, emission base plate; 503, laser range finder; 6, ranging receiving device; 601, receiving bottom plate; 602, receiving base plate; 603, laser receiving target; 7, box girder; 8, telescopic height rod; 9, threaded knob; 10, bubble level. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application, so that the concept of the application, the solved technical problems, the technical features constituting the technical solutions and the brought technical effects can be further understood.

[0034] As shown in Figure 1 and Figure 2 , a box girder internal pulling rod deviation detection device comprises: The camera trolley 1, two external support frames 2, multiple internal support frames 3, multiple guide rails 4, a ranging emission device 5 and a ranging receiving device 6, wherein the camera trolley 1 is used for shooting the image of the pulling rod to be measured in the box girder 7; Multiple internal support frames 3 are placed at equal intervals along the axial direction of the box girder 7 above the bottom plate of the box girder 7, guide rails 4 are arranged on the multiple internal support frames 3, the portions of the guide rails 4 extending out of the bottom plate of the box girder 7 on both sides are respectively connected with the two external support frames 2, so that the guide rails 4 are horizontal, the camera trolley 1 is placed above the guide rails 4, and the ranging emission device 5 and the ranging receiving device 6 are oppositely placed at both ends of the box girder 7 and within the shooting range of the camera trolley 1; Preferably, one ranging emission device 5 and one ranging receiving device 6 form a group, there are two groups, and the two groups are symmetrically arranged on both sides of the axial direction of the box girder 7.

[0035] The camera trolley 1 comprises a trolley body 101; a telescopic height rod 8 is arranged on the upper surface of the trolley body 101, a camera 102 is arranged at the upper end of the telescopic height rod 8, and the shooting direction of the camera 102 is perpendicular to the axial direction of the box girder 7.

[0036] The telescopic height rod 8 can adjust the height, and the rod body is marked with a height scale.

[0037] Preferably, as shown in Figure 3As shown, two telescopic height rods 8 are arranged on the upper surface of the vehicle body 101 in parallel along the extension direction of the guide rail 4, and a camera 102 is arranged at the upper end of each telescopic height rod 8. The shooting directions of the two cameras 102 are opposite, so that the camera trolley 1 can simultaneously collect the images of the measured pulling rod, the distance measuring transmitting device 5 and the distance measuring receiving device 6 on both sides of the box girder 7 in the axial direction, thereby improving the detection efficiency of the pulling rod deviation detection.

[0038] As shown in the figure, Figure 4 The external support frame 2 includes a support table 201. Four telescopic height rods 8 are arranged on the lower surface of the support table 201. A first bottom plate 205 is connected to the upper surface of the support table 201 through four threaded knobs 9. Two fixed baffles 204 are symmetrically arranged on the upper surface of the first bottom plate 205 along the width direction of the guide rail 4. The interval of the two fixed baffles 204 matches the width of the guide rail 4. Two bubble levels 10 are symmetrically arranged on the upper surface of the first bottom plate 205 along the width direction of the guide rail 4. A circular hole is formed in the center of the first bottom plate 205. A slide rail 206 is arranged between the support table 201 and the first bottom plate 205 along the width direction of the guide rail 4. Two connecting pieces 203 are arranged on the upper surface of the slide rail 206. The positions of the two connecting pieces 203 are adjusted by controlling the slide rail 206, so as to fix the guide rail 4.

[0039] As shown in the figure, Figure 5 The internal support frame 3 includes a support plate 301. Four telescopic height rods 8 are arranged on the lower surface of the support plate 301. A second bottom plate 302 is connected to the upper surface of the support plate 301 through four threaded knobs 9. Two baffles 304 are symmetrically arranged on the two side edges of the second bottom plate 302 along the width direction of the guide rail 4. Two pairs of threaded connection holes 303 are symmetrically formed on the second bottom plate 302 along the extension direction of the guide rail 4. The threaded connection holes 303 are used to fix the guide rail 4. In the width direction of the guide rail 4, the interval of the two threaded connection holes 303 is equal to the interval of the two connecting pieces 203 in the external support frame 2.

[0040] As shown in the figure, Figure 6 The guide rail 4 includes a bottom plate 402. Two pairs of connection holes 403 are symmetrically formed on the bottom plate 402 along the extension direction of the guide rail 4. In the width direction of the guide rail 4, the interval of the two connection holes 403, the interval of the two threaded connection holes 303 and the interval of the two connecting pieces 203 are all equal. Two side plates 401 are symmetrically arranged on the two side edges of the bottom plate 402 along the width direction of the guide rail 4. Laser holes 404 are arranged at the two ends of the left side plate 401. The fixed baffles 204 are provided with laser emitters 202 corresponding to the positions of the laser holes 404. The laser emitted by the laser emitters 202 can be projected onto the other side plate 401 through the laser hole 404, which is used to detect whether the installed guide rail 4 is horizontal.

[0041] A plurality of guide rails 4 are laid on the two outer support frames 2 and the plurality of inner support frames 3: The threaded connection holes 303 in the inner support frames 3 or the connecting pieces 203 in the outer support frames 2 are aligned with the connecting holes 403 of the guide rails 4; The guide rails 4 are fixed with the inner support frames 3 by using screws to pass through the connecting holes 403 of the guide rails 4 and the threaded connection holes 303 in the inner support frames 3; The guide rails 4 are fixed with the outer support frames 2 by connecting the connecting holes 403 of the guide rails 4 and the connecting pieces 203 in the outer support frames 2.

[0042] As shown in Figure 7 The ranging transmitting device 5 includes a transmitting base plate 501; a telescopic height rod 8 is arranged on the lower surface of the transmitting base plate 501, and a transmitting base plate 502 is connected to the upper surface of the transmitting base plate 501 through two threaded knobs 9; a laser range finder 503 is arranged at the center of one side of the transmitting base plate 502, and a bubble level 10 is arranged below the laser range finder 503.

[0043] As shown in Figure 8 The ranging receiving device 6 includes a receiving base plate 601; a telescopic height rod 8 is arranged on the lower surface of the receiving base plate 601, and a receiving base plate 602 is connected to the upper surface of the receiving base plate 601 through two threaded knobs 9; a laser receiving target 603 is arranged at the center of one side of the receiving base plate 602, and a bubble level 10 is arranged below the laser receiving target 603.

[0044] The laser range finder 503 of the ranging transmitting device 5 is arranged opposite to the laser receiving target 603 of the ranging receiving device 6.

[0045] As shown in Figure 9 The box girder inner pull rod deviation detection method based on the box girder inner pull rod deviation detection device includes the following steps: Step S1, a plurality of guide rails 4 arranged above the outer support frames 2 and the inner support frames 3 are connected in sequence to form a sliding track, and are all adjusted to the same horizontal plane: The telescopic height rods 8 of all the outer support frames 2 and all the inner support frames 3 are adjusted to the same height, and according to the bubble level 10 in the outer support frame 2, the four threaded knobs 9 in the outer support frame 2 and the four threaded knobs 9 in the inner support frame 3 are adjusted so that the laser emitted by the laser emitter 202 in the outer support frame 2 through the laser hole 404 remains horizontal; According to the bubble levels 10 in the ranging transmitting device 5 and the ranging receiving device 6, the threaded knobs 9 of the ranging transmitting device 5 and the ranging receiving device 6 are adjusted so that the laser range finder 503 of the ranging transmitting device 5 and the laser receiving target 603 of the ranging receiving device 6 are both kept horizontal; By adjusting the distance measuring transmitting device 5, the distance measuring receiving device 6 and the telescopic height measuring rod 8 in the camera trolley 1, the laser emission port of the laser rangefinder 503, the center of the laser receiving target 603 and the center of the camera 102 are all adjusted to the height of the standard boundary of the reference position of the extraction rod to be measured. The standard boundary is the upper boundary or the lower boundary of the extraction rod. In this embodiment, the standard boundary is the upper boundary of the extraction rod.

[0046] Step S2: Place the camera trolley 1 at the leftmost end of the sliding track, and control the camera trolley 1 to move toward the other end of the sliding track. Every certain distance, the camera trolley 1 stops and simultaneously captures images of the withdrawal rods to be tested on both sides of the axial direction of the box beam 7 to obtain an image set of the withdrawal rods to be tested, wherein the image set of the withdrawal rods to be tested includes an image containing the ranging transmitter 5 and an image containing the ranging receiver 6.

[0047] Step S3: Based on the feature detection algorithm, matching algorithm and homography estimation algorithm, the image set of the test rod is spliced ​​into a panoramic image of the test rod, such as Figure 10 As shown, the specific steps include: Step S31: converting the image set of the extraction rod to be tested into a grayscale image.

[0048] Step S32: Using the image set of the test rod to be tested that has been converted into grayscale images, detect key points in adjacent images using a SIFT feature detection algorithm.

[0049] Step S33: Match the key points in the adjacent images using the FLANN matcher to obtain the coordinates of the matching points in the adjacent images.

[0050] Step S34, using the coordinates of the adjacent image matching points to calculate the homography matrix between the adjacent images, and aligning the adjacent images according to the homography matrix; following the same steps, align all adjacent images in the image set of the test stick, and splice them into a panoramic image of the test stick, the panoramic image of the test stick is as follows: Figure 11 shown.

[0051] Step S4: Using the laser rangefinder 503, the actual distance between the laser emission port of the laser rangefinder 503 and the center of the laser receiving target 603 is obtained. Combined with the panoramic image of the withdrawal rod to be tested, the actual coordinates of the outline of the withdrawal rod to be tested and the standard boundary of the reference position of the withdrawal rod to be tested are obtained. Specifically, the following steps are included: Step S41 , performing Gaussian blur denoising on the panoramic image of the withdrawal rod to be tested.

[0052] Step S42, in the panoramic image of the to-be-tested extraction rod, the positions of the ranging emitting device 5 and the ranging receiving device 6 are extracted by using threshold segmentation and contour detection, and a plane coordinate system is constructed with the center of the laser emitting port of the laser range finder 503 or the laser receiving target 603 as the coordinate origin, the horizontal direction passing through the coordinate origin as the X-axis direction, and the vertical direction passing through the coordinate origin as the Y-axis direction.

[0053] In this embodiment, the plane coordinate system is constructed with the laser emitting port of the laser range finder 503 as the coordinate origin.

[0054] Step S43, the actual distance between the laser emitting port of the laser range finder 503 and the center of the laser receiving target 603 is obtained by the laser range finder 503, and the scale of the plane coordinate system is obtained according to the image distance between the laser emitting port of the laser range finder 503 and the center of the laser receiving target 603 in the panoramic image of the to-be-tested extraction rod.

[0055] Step S44, the upper boundary of the to-be-tested extraction rod profile is extracted by using the Canny edge detection algorithm based on the panoramic image of the to-be-tested extraction rod, and the actual coordinates of the upper boundary of the to-be-tested extraction rod profile and the actual coordinates of the upper boundary of the reference position of the to-be-tested extraction rod are obtained in combination with the plane coordinate system and the scale thereof, wherein the upper boundary of the reference position of the to-be-tested extraction rod is the line connecting the laser emitting port of the laser range finder 503 and the center of the laser receiving target 603.

[0056] Step S5, the actual coordinates of the upper boundary of the to-be-tested extraction rod profile and the upper boundary of the reference position of the to-be-tested extraction rod are compared to detect whether the to-be-tested extraction rod meets the allowable deviation standard, and the accurate position where the to-be-tested extraction rod does not meet the allowable deviation standard is determined, which specifically includes the following steps: Step S51, according to the obtained actual coordinates of the upper boundary of the to-be-tested extraction rod profile and the upper boundary of the reference position of the to-be-tested extraction rod, the images of the upper boundary of the to-be-tested extraction rod profile and the upper boundary of the reference position of the to-be-tested extraction rod are drawn in the function plotting software Origin. The function plotting software can also be SciDAVis and Veusz, etc.

[0057] Step S52, as shown in Figure 12 the image of the upper boundary of the to-be-tested extraction rod profile, the actual coordinates of the position where the distance between the upper boundary of the to-be-tested extraction rod profile and the upper boundary of the reference position of the to-be-tested extraction rod is greater than 15 mm are marked to determine the accurate position where the extraction rod does not meet the allowable deviation standard, thereby improving the efficiency and accuracy of the extraction rod deviation detection.

[0058] The "connection", "fixation" appearing in the description of the present application can be fixed connection, processing molding, welding, or mechanical connection, and the specific meaning of the above terms in the present application is understood according to the specific circumstances.

[0059] In the description of the present application, the terms "center", "upper", "lower", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship 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, so it cannot be understood as a limitation on the present application.

[0060] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand; it can still modify the technical solutions described in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A device for detecting deviation of a rod pulling out in a box beam, characterized in that: include: A camera trolley (1), two external support frames (2), a plurality of internal support frames (3), a plurality of guide rails (4), a distance measurement transmitting device (5) and a distance measurement receiving device (6), wherein the camera trolley (1) is used to capture an image of a draw rod to be measured in a box beam (7); A plurality of internal support frames (3) are placed at equal intervals along the axial direction of the box beam (7) above the bottom plate of the box beam (7), and guide rails (4) are provided on the plurality of internal support frames (3). Portions of the guide rails (4) extending out of the bottom plate of the box beam (7) on both sides are connected to two external support frames (2) respectively, so that the guide rails (4) are horizontal. The camera trolley (1) is placed above the guide rails (4), and the ranging transmitter (5) and the ranging receiver (6) are placed at opposite ends of the box beam (7) and are located within the shooting range of the camera trolley (1); The distance measuring and transmitting device (5) comprises a transmitting base plate (501); a telescopic height measuring rod (8) is provided on the lower surface of the transmitting base plate (501); a transmitting substrate (502) is provided on the upper surface of the transmitting base plate (501); and a laser rangefinder (503) is provided at the center of one side of the transmitting substrate (502); The distance measuring receiving device (6) comprises a receiving base plate (601); a telescopic height measuring rod (8) is provided on the lower surface of the receiving base plate (601); a receiving substrate (602) is provided on the upper surface of the receiving base plate (601); and a laser receiving target (603) is provided at the center of one side of the receiving substrate (602); The laser rangefinder (503) of the distance measurement transmitting device (5) and the laser receiving target (603) of the distance measurement receiving device (6) are arranged relative to each other.

2. A device for detecting deviation of a rod pulling out of a box beam according to claim 1, characterized in that: The camera trolley (1) comprises a vehicle body (101); a telescopic height measuring rod (8) is provided on the upper surface of the vehicle body (101); a camera (102) is provided at the upper end of the telescopic height measuring rod (8); and a shooting direction of the camera (102) is perpendicular to the axial direction of the box beam (7).

3. A device for detecting deviation of a rod to be pulled out of a box beam according to claim 1, characterized in that: The external support frame (2) includes a support table (201); a telescopic height measuring rod (8) is provided on the lower surface of the support table (201); the upper surface of the support table (201) is connected to the first base plate (205) via a threaded knob (9); two fixed baffles (204) are symmetrically provided on the upper surface of the first base plate (205) along the width direction of the guide rail (4) on both sides; the spacing between the two fixed baffles (204) matches the width of the guide rail (4); and a bubble level (10) is provided on the upper surface of the first base plate (205); A circular hole is provided in the center of the first base plate (205), and a slide rail (206) is provided between the support table (201) and the first base plate (205) along the width direction of the guide rail (4) directly below the circular hole. A connecting piece (203) is provided on the upper surface of the slide rail (206), and the connecting piece (203) is used to fix the guide rail (4).

4. A device for detecting deviation of a rod to be pulled out of a box beam according to claim 1, characterized in that: The internal support frame (3) comprises a support plate (301); a telescopic height measuring rod (8) is provided on the lower surface of the support plate (301); the upper surface of the support plate (301) is connected to a second base plate (302) via a threaded knob (9); two baffles (304) are symmetrically provided on both side edges of the second base plate (302) along the width direction of the guide rail (4); the second base plate (302) is symmetrically provided with threaded connection holes (303) along the extension direction of the guide rail (4); the threaded connection holes (303) are used to fix the guide rail (4).

5. The device for detecting deviation of a rod to be pulled out of a box beam according to claim 3, wherein: The guide rail (4) comprises a bottom plate (402); the bottom plate (402) is symmetrically provided with connection holes (403) along the extension direction of the guide rail (4), for fixing the guide rail (4) to the external support frame (2) and the internal support frame (3); the bottom plate (402) is symmetrically provided with two side plates (401) along the two side edges in the width direction of the guide rail (4), and one of the side plates (401) is provided with laser holes (404) at both ends; A laser emitter (202) is provided at a position of the fixed baffle (204) corresponding to the laser hole (404), and laser light emitted by the laser emitter (202) can be projected onto the other side plate (401) through the laser hole (404).

6. The device for detecting deviation of a rod to be pulled out of a box beam according to claim 1, wherein: A bubble level (10) is provided below each of the laser rangefinder (503) in the distance measurement transmitting device (5) and the laser receiving target (603) in the distance measurement receiving device (6); The transmitting base plate (501) is connected to the transmitting substrate (502) via a threaded knob (9); The receiving bottom plate (601) is connected to the receiving base plate (602) via a threaded knob (9).

7. A method for detecting deviation of extraction rods in box beams, characterized in that: The method is implemented using the device for detecting deviation of the extraction rods in the box beam according to any one of claims 1 to 6, and comprises the following steps: Step S1, connecting a plurality of guide rails (4) provided above the external support frame (2) and the internal support frame (3) in sequence to form a sliding track, and adjusting the guide rails to the same horizontal plane; Adjust the laser rangefinder (503) of the distance measurement transmitting device (5) and the laser receiving target (603) of the distance measurement receiving device (6) to be horizontal; Adjusting the laser emission port of the laser rangefinder (503), the center of the laser receiving target (603), and the center of the camera (102) to the height of the standard boundary of the reference position of the extraction rod to be measured, wherein the standard boundary is the upper boundary or the lower boundary of the extraction rod; Step S2, placing the camera trolley (1) at one end of the sliding track, controlling the camera trolley (1) to move toward the other end of the sliding track, and stopping the camera trolley (1) at intervals to capture an image of the drawer rod to be tested, thereby obtaining an image set of the drawer rod to be tested, wherein the image set of the drawer rod to be tested includes an image containing the distance measuring transmitter (5) and an image containing the distance measuring receiver (6); Step S3: splicing the image set of the withdrawal rod to be tested into a panoramic image of the withdrawal rod to be tested based on a feature detection algorithm, a matching algorithm, and a homography estimation algorithm; Step S4, obtaining the actual distance between the laser emission port of the laser rangefinder (503) and the center of the laser receiving target (603) through the laser rangefinder (503), and obtaining the actual coordinates of the outline of the withdrawal rod to be tested and the standard boundary of the reference position of the withdrawal rod to be tested in combination with the panoramic image of the withdrawal rod to be tested; Step S5: Compare the actual coordinates of the profile of the withdrawal rod to be tested and the standard boundary of the reference position of the withdrawal rod to be tested to detect whether the withdrawal rod to be tested meets the allowable deviation standard, and determine the precise position where the withdrawal rod to be tested does not meet the allowable deviation standard.

8. The detection method of the device for detecting deviation of the extraction rod in the box beam according to claim 7, characterized in that: The step S3 comprises the following steps: Step S31, converting the image set of the extraction rod to be tested into a grayscale image; Step S32: using the set of images of the test rods converted into grayscale images, detecting key points in adjacent images using a SIFT feature detection algorithm; Step S33: Match key points in adjacent images using a FLANN matcher to obtain coordinates of matching points in adjacent images; Step S34, using the coordinates of the adjacent image matching points to calculate the homography matrix between the adjacent images, and aligning the adjacent images according to the homography matrix; aligning all adjacent images in the image set of the test rod drawing rod according to the same steps, and splicing them into a panoramic image of the test rod drawing rod.

9. The detection method of the device for detecting deviation of the extraction rod in the box beam according to claim 7, characterized in that: The step S4 comprises the following steps: Step S41, performing Gaussian blur denoising on the panoramic image of the extraction rod to be tested; Step S42: In the panoramic image of the extraction rod to be tested, the positions of the ranging transmitting device (5) and the ranging receiving device (6) are extracted using threshold segmentation and contour detection, and a plane coordinate system is constructed with the laser transmitting port of the laser rangefinder (503) or the center of the laser receiving target (603) as the coordinate origin, the horizontal direction passing through the coordinate origin as the X-axis direction, and the vertical direction passing through the coordinate origin as the Y-axis direction; Step S43, obtaining the actual distance between the laser emission port of the laser rangefinder (503) and the center of the laser receiving target (603) through the laser rangefinder (503), and obtaining the scale of the plane coordinate system based on the image distance between the laser emission port of the laser rangefinder (503) and the center of the laser receiving target (603) in the panoramic image of the extraction rod to be measured; Step S44: using the panoramic image of the withdrawal rod to be tested, extracting the outline of the withdrawal rod to be tested by the Canny edge detection algorithm, and combining the plane coordinate system and its scale to obtain the actual coordinates of the outline of the withdrawal rod to be tested and the standard boundary of the reference position of the withdrawal rod to be tested, wherein the standard boundary of the reference position of the withdrawal rod to be tested is the line connecting the laser emission port of the laser rangefinder (503) and the center of the laser receiving target (603).

10. The detection method of the device for detecting deviation of the extraction rod in the box beam according to claim 7, characterized in that: The step S5 comprises the following steps: Step S51: based on the actual coordinates of the obtained outline of the withdrawal rod to be tested and the standard boundary of the reference position of the withdrawal rod to be tested, draw images of the outline of the withdrawal rod to be tested and the standard boundary of the reference position of the withdrawal rod to be tested in function drawing software; Step S52: Compare the image of the outline of the withdrawal rod to be tested and the image of the standard boundary of the reference position of the withdrawal rod to be tested. If the distance between the two in the Y-axis direction does not exceed the allowable deviation standard, then the withdrawal rod to be tested is determined to meet the allowable deviation standard; if there is a position where the distance between the two in the Y-axis direction exceeds the allowable deviation standard, then the withdrawal rod to be tested is determined to not meet the allowable deviation standard, and the actual coordinates of the position where the distance between the two in the Y-axis direction is greater than the allowable deviation standard are marked on the image of the standard boundary of the outline of the withdrawal rod to be tested to determine the precise position where the withdrawal rod does not meet the allowable deviation standard.

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