Large air pipe butt joint method based on omni-directional moving chassis

Abstract

The invention provides a large air pipe butt joint method based on an omni-directional moving chassis. The large air pipe butt joint method comprises the steps that the height of a butt joint point of a second air pipe and a first air pipe is calculated through a height measurement model; lifting the first air pipe to enable the butt joint points of the first air pipe and the second air pipe to be consistent in height; the distance measurement model calculates a forward component and a lateral component of a first air pipe butt joint point; the rotation adjustment model calculates the rotation angle of the omni-directional moving chassis; the omni-directional moving chassis rotates to adjust the first air pipe, so that the butt-joint plane of the first air pipe is parallel to the butt-joint plane of the second air pipe; the distance measuring model calculates a forward component and a lateral component of a butt joint point of the first air pipe; and the translation adjustment model calculates forward and lateral translation distances of the omni-directional moving chassis, the omni-directional moving chassis moves the first air pipe, the butt joint points of the first air pipe and the second air pipe coincide, and butt joint operation is ended. The invention relates to the technical field of building installation engineering, and can solve the problems of low installation efficiency, large butt joint position error and potential safety hazards caused by the fact that air pipe butt joint depends on manual judgment in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building installation engineering, and particularly relates to a large air pipe butt joint method based on an omnidirectional mobile chassis. BACKGROUND

[0002] In the process of building installation, the weight and size of the air pipe often make it difficult to carry and install. The traditional manual lifting and installation method is not only low in efficiency and poor in accuracy, but also has safety hazards in the operation process, which is easy to cause worker injury or equipment damage. In the current large air pipe installation, there are mainly three methods of manual top loading, chain guide hoisting and overall jacking. The manual top loading method is suitable for narrow space and depends on manual lifting of workers. The chain guide hoisting method is combined with electric or manual crane and is suitable for installation of heavy air pipe. The overall jacking method is to lift the air pipe as a whole, which reduces the operation times and improves the efficiency and safety.

[0003] In the process of installing the air pipe, although the three methods have unique advantages, in the key link of butt joint of the air pipe, it still depends on manual judgment. This not only leads to a lot of time waste, reduces the installation efficiency, but also increases the error of butt joint position and brings potential safety hazards. Therefore, it is necessary to provide a large air pipe butt joint method based on an omnidirectional mobile chassis, which can solve the problems of low installation efficiency, large butt joint position error and potential safety hazards caused by the dependence on manual judgment of the air pipe butt joint in the prior art. SUMMARY

[0004] The purpose of the present application is to provide a large air pipe butt joint method based on an omnidirectional mobile chassis, which can solve the problems of low installation efficiency, large butt joint position error and potential safety hazards caused by the dependence on manual judgment of the air pipe butt joint in the prior art.

[0005] In order to achieve the above-mentioned purpose, the technical scheme of the present application is as follows:

[0006] A large air pipe butt joint method based on an omnidirectional mobile chassis, comprising the following steps:

[0007] Step 1: after the installation of the second air pipe is completed, a height measuring model is established, and the butt joint point height of the second air pipe and the butt joint point height of the first air pipe are calculated through the height measuring model;

[0008] Step 2: whether the butt joint point height of the first air pipe is consistent with the butt joint point height of the first air pipe is judged through the height measuring model, if not, step 3 is executed, if yes, step 4 is executed;

[0009] Step 3: the height of the first air pipe is adjusted by lifting, so that the butt joint point height of the first air pipe is consistent with the butt joint point height of the second air pipe;

[0010] Step 4: Establish a ranging model, and calculate the forward component and lateral component of the docking point of the first air pipe through the ranging model;

[0011] Step 5: The omnidirectional mobile chassis is arranged at the bottom of the first air pipe, a rotation adjustment model is established, and the rotation angle of the omnidirectional mobile chassis is calculated through the rotation adjustment model;

[0012] Step 6: It is judged through the rotation adjustment model whether the docking plane of the first air pipe is parallel to the docking plane of the second air pipe, if not, step 7 is executed, and if yes, step 8 is executed;

[0013] Step 7: The first air pipe is adjusted in rotation through the omnidirectional mobile chassis, so that the docking plane of the first air pipe is parallel to the docking plane of the second air pipe;

[0014] Step 8: The forward component and lateral component of the docking point of the first air pipe are calculated again through the ranging model;

[0015] Step 9: A translation adjustment model is established, and the translation distance of the omnidirectional mobile chassis in the forward and lateral directions is calculated through the translation adjustment model, and the first air pipe is moved by the omnidirectional mobile chassis based on the translation distance;

[0016] Step 10: It is judged whether the docking point of the first air pipe coincides with the docking point of the second air pipe, if not, step 11 is executed, and if yes, step 12 is executed;

[0017] Step 11: The translation distance of the omnidirectional mobile chassis in the forward and lateral directions is calculated again through the translation adjustment model, and the first air pipe is moved by the omnidirectional mobile chassis based on the translation distance, so that the docking point of the first air pipe coincides with the docking point of the second air pipe;

[0018] Step 12: The docking operation is ended.

[0019] In step 1, the two top corners of the bottom edges of the first air pipe and the second air pipe are taken as the docking points, the two docking points of the first air pipe are respectively denoted as dot1 and dot2, and the two docking points of the second air pipe are respectively denoted as dot3 and dot4; when the first air pipe and the second air pipe are docked, dot1 is aligned with dot3, and dot2 is aligned with dot4.

[0020] The omnidirectional mobile chassis comprises a chassis and four groups of driving wheel assemblies symmetrically arranged at the bottom of the chassis, each group of driving wheel assemblies comprises an omnidirectional wheel, a roller, a speed reducer and a driving motor; the output shaft of the driving motor is connected with the roller of the omnidirectional wheel through the speed reducer.

[0021] In step 6, D1, D2, D3 and D4 respectively represent D1, D2, D3 and D4, and the width of the first air pipe and the second air pipe is d; according to the calculation of the distance measuring model, the forward component and the lateral component of dot1 to dot3 are h1 and l1 respectively, and the forward component and the lateral component of dot2 to dot4 are h2 and l2 respectively;

[0022] The angle between the extension line of the line connecting point D1 and point D2 and the extension line of the line connecting point D3 and point D4 is θ, and the perpendicular line is drawn from point D4 to the forward component h1, and the intersection point is point M, according to the principle of similar triangles, the angle between the line connecting point D4 and point M and the line connecting point D3 and point D4 is also θ; θ is the angle required for the rotation of the first air pipe, when θ = 0, the butt joint plane of the first air pipe is parallel to the butt joint plane of the second air pipe, and the first air pipe does not need to be rotated, when θ > 0, the first air pipe is rotated clockwise, and when θ < 0, the first air pipe is rotated counterclockwise.

[0023] In step 9, h is the translation distance of the omnidirectional mobile chassis in the front-rear direction, and h is the average value of h1 and h2; l is the translation distance of the omnidirectional mobile chassis in the left-right direction, and l is the average value of l1 and l2.

[0024] Compared with the prior art, the present application has the following beneficial effects:

[0025] 1、The present application establishes a height measuring model, a distance measuring model, a rotation adjustment model and a translation adjustment model, after the installation of the second air pipe is completed, the first air pipe is preliminarily butt jointed to the second air pipe, and based on the calculation results output by the height measuring model, the distance measuring model, the rotation adjustment model and the translation adjustment model, the butt joint plane of the first air pipe is accurately butt jointed to the butt joint plane of the second air pipe in the order of height adjustment, rotation adjustment and translation adjustment, the butt joint operation of the air pipe is efficiently completed, the dependence on manual detection is avoided, the construction safety and the automation degree are improved, and the model is continuously optimized by using the deep learning algorithm, and the calculation accuracy and the generalization ability of the model are improved.

[0026] 2、The present application adjusts the height of the first air pipe by using the height measuring model combined with the mechanical arm, and adjusts the angle rotation and translation of the first air pipe by using the distance measuring model, the rotation adjustment model and the translation adjustment model combined with the omnidirectional mobile chassis, the movement is flexible and controllable, the butt joint precision of the first air pipe and the second air pipe is improved, different construction scenes such as complex environment and narrow space can be adapted, the safety hidden danger in the process of manual carrying and installation is reduced, and the construction safety and the construction quality are improved. DETAILED DESCRIPTION

[0027] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which like reference characters refer to like parts throughout the figures, and wherein:

[0028] Figure 1 is a flow chart of the large wind pipe docking method based on the omnidirectional mobile chassis of the present application;

[0029] Figure 2 is a schematic diagram of the height measurement model in the large wind pipe docking method based on the omnidirectional mobile chassis of the present application;

[0030] Figure 3 is a schematic diagram of the distance measurement model in the large wind pipe docking method based on the omnidirectional mobile chassis of the present application;

[0031] Figure 4 is a structural schematic diagram of the four sets of driving wheel assemblies in the large wind pipe docking method based on the omnidirectional mobile chassis of the present application;

[0032] Figure 5 is a schematic diagram of the rotation adjustment model in the large wind pipe docking method based on the omnidirectional mobile chassis of the present application;

[0033] Figure 6 is a schematic diagram of the translation adjustment model in the large wind pipe docking method based on the omnidirectional mobile chassis of the present application.

[0034] In the figure, 1 is an omnidirectional wheel, 2 is a roller, 3 is a speed reducer, and 4 is a driving motor. DETAILED DESCRIPTION

[0035] The large wind pipe docking method based on the omnidirectional mobile chassis of the present application is further described in detail below in conjunction with the drawings and specific embodiments. The advantages and features of the present application will be more apparent from the following description and claims. It should be noted that the drawings are very simplified and use non-precise proportions, only for the purpose of conveniently and clearly assisting the description of the embodiments of the present application.

[0036] Please refer to the accompanying drawings Figure 1 A large wind pipe docking method based on an omnidirectional mobile chassis includes the following steps:

[0037] Step 1: After the installation of the second wind pipe is completed, a height measurement model is established, and the docking point height of the second wind pipe and the docking point height of the first wind pipe are calculated through the height measurement model.

[0038] After the installation of the second wind pipe is completed, the first wind pipe needs to be docked to the second wind pipe.

[0039] The cross section of the air pipe is usually rectangular, in order to facilitate the identification of the butt joint point, the two top corners of the bottom edge of the first air pipe and the second air pipe are taken as the butt joint points, the two butt joint points of the first air pipe are respectively marked as dot1 and dot2, and the two butt joint points of the second air pipe are respectively marked as dot3 and dot4. When the first air pipe and the second air pipe are butt jointed, dot1 is aligned with dot3, and dot2 is aligned with dot4.

[0040] The height measurement model can be established based on monocular vision technology combined with optical geometric principle and two-step height measurement method. A camera can be arranged in the first air pipe near the butt joint plane, and the camera faces the second air pipe for collecting images containing dot1, dot2, dot3 and dot4.

[0041] The calculation principle of the height measurement model is: for the case that the distance of the butt joint point to be measured (the object to be measured) is unknown, the image length of the butt joint point to be measured is obtained at a certain distance from the butt joint point to be measured by the camera arranged in step 1, and the image length of the butt joint point to be measured is obtained again after the camera is moved forward or backward by a distance. According to the optical geometric relationship between the two image lengths, the height of the butt joint point to be measured and the distance moved by the camera, the height of the butt joint point to be measured can be obtained. The two-step height measurement method is a commonly used height measurement method in the art, and its principle diagram is shown in the accompanying drawing Figure 2 , and its calculation process will not be repeated here.

[0042] Step 2: Determine whether the height of the butt joint point of the first air pipe is consistent with the height of the butt joint point of the first air pipe by the height measurement model. If not, step 3 is performed, and if yes, step 4 is performed.

[0043] The heights of dot1, dot2, dot3 and dot4 are measured by the height measurement model, so that it can be determined whether the heights of dot1 and dot3 are consistent, and whether the heights of dot2 and dot4 are consistent. If the heights are not consistent, the height difference can be calculated.

[0044] Step 3: Adjust the height of the first air pipe by the mechanical arm lifting to make the height of the butt joint point of the first air pipe consistent with the height of the butt joint point of the second air pipe.

[0045] According to the height difference calculated in step 2, the first air pipe is lifted and lowered by the mechanical arm, and the control accuracy of the height of the mechanical arm is high to ensure the consistency of the height of the butt joint point of the first air pipe and the height of the butt joint point of the second air pipe. According to the actual construction conditions, other devices can also be used to control the lifting of the first air pipe.

[0046] Step 4: Establish a distance measurement model and calculate the forward component and lateral component of the butt joint point of the first air pipe by the distance measurement model.

[0047] The distance measurement model can be established based on monocular vision technology combined with geometric optical similarity method, and its calculation principle is:

[0048] The camera is a point P(0, 0, H), that is, the camera height is H. The projection of the camera on the ground is a point O, and a first coordinate system is established with the O point as the origin. The coordinates of the docking point to be measured M in the first coordinate system are M(a, b, 0). The projection point of the O point on the image plane is the o point, and a second coordinate system is established with the o point as the origin.

[0049] The projection point of the docking point to be measured on the image plane is M'(x, y), and the projection point of the M' point on the x-axis of the image plane is N(x, 0). The focal length of the camera is f, that is, oP = f. According to the knowledge of similar triangles, ΔM'NP is similar to ΔPOM, and the horizontal coordinate and the vertical coordinate of the docking point to be measured M can be obtained, that is, the forward distance b and the lateral distance a of the docking point to be measured M relative to the camera P. The geometric optical similarity method is a commonly used distance measurement means in the art, and its principle diagram is shown in the accompanying Figure 3 , and the calculation process thereof will not be described here.

[0050] Step 5: The omnidirectional mobile chassis is arranged at the bottom of the first air pipe, a rotation adjustment model is established, and the rotation angle of the omnidirectional mobile chassis is calculated through the rotation adjustment model.

[0051] The omnidirectional mobile chassis comprises a chassis and four groups of driving wheel assemblies symmetrically arranged at the bottom of the chassis, each group of driving wheel assemblies comprising an omnidirectional wheel 1, a roller 2, a speed reducer 3 and a driving motor 4; the output shaft of the driving motor 4 is connected with the roller 2 of the omnidirectional wheel 1 through the speed reducer 3. The roller 2 is driven to rotate at a certain speed or rotate at a certain angle by the driving motor 4 through the speed reducer 3, so as to realize the forward movement, backward movement and turning of the omnidirectional wheel 1.

[0052] The omnidirectional wheel 1 can adopt the existing technology of the Mecanum wheel. Based on the kinematic model and the control system, each omnidirectional wheel 1 is driven by a separate driving motor 4 to realize the 360° turning function and the forward and backward movement function of the omnidirectional mobile chassis, and the movement is flexible, and the turning angle and the forward and backward movement distance are accurately controllable. The driving wheel assembly is a commonly used movement control mechanism in mobile transportation equipment, and its principle diagram is shown in the accompanying Figure 4 , and the working process thereof will not be described here.

[0053] Step 6: Whether the docking plane of the first air pipe is parallel to the docking plane of the second air pipe is judged through the rotation adjustment model. If not, step 7 is executed, and if yes, step 8 is executed.

[0054] The calculation principle of the rotation adjustment model is:

[0055] D1, D2, D3, D4, respectively, and the width of the first air pipe and the second air pipe is d. According to the calculation of the distance measurement model, the forward component and the lateral component of dot1 to dot3 are h1 and l1, respectively, and the forward component and the lateral component of dot2 to dot4 are h2 and l2, respectively, as shown in FIG. 2. Figure 5

[0056] The angle between the extension line of the line connecting point D1 and point D2 and the extension line of the line connecting point D3 and point D4 is θ, and the perpendicular line is drawn from point D4 to the forward component h1, and the intersection point is point M. According to the principle of similar triangles, the angle between the line connecting point D4 and point M and the line connecting point D3 and point D4 is also θ. θ is the angle required for the rotation of the first air pipe. When θ = 0, the butt joint plane of the first air pipe is parallel to the butt joint plane of the second air pipe, and the first air pipe does not need to be rotated. When θ > 0, the first air pipe is rotated clockwise. When θ < 0, the first air pipe is rotated counterclockwise.

[0057] Step 7: Adjust the first air pipe by rotating the omnidirectional mobile chassis to make the butt joint plane of the first air pipe parallel to the butt joint plane of the second air pipe.

[0058] According to the value of θ calculated in step 6, the omnidirectional wheel 1 is controlled to rotate by a corresponding angle by the driving motor 4, and the omnidirectional mobile chassis drives the first air pipe to rotate synchronously, so that the butt joint plane of the first air pipe is parallel to the butt joint plane of the second air pipe.

[0059] Step 8: Calculate the forward component and the lateral component of the butt joint point of the first air pipe again by the distance measurement model.

[0060] The calculation method in step 8 is the same as that in step 4, which will not be described here.

[0061] Step 9: Establish a translation adjustment model, calculate the forward and lateral translation distances of the omnidirectional mobile chassis by the translation adjustment model, and move the first air pipe by the omnidirectional mobile chassis based on the translation distances.

[0062] According to the calculation of the distance measurement model, when the butt joint planes of the first air pipe and the second air pipe are parallel, theoretically, the forward component and the lateral component of dot1 to dot3 and dot2 to dot4 are equal, i.e. h1 = h2 and l1 = l2. However, in fact, there may be slight errors in the identification of the butt joint points in step 1, resulting in that the forward component and the lateral component of the two groups of butt joint points are not completely equal.

[0063] Please refer to FIG. 3. Figure 6 ​The calculation principle of the translation adjustment model is that h is the translation distance of the omnidirectional mobile chassis in the front-back direction (i.e., the forward distance of the first air pipe), h is the average of h1 and h2; and l is the translation distance of the omnidirectional mobile chassis in the left-right direction (i.e., the lateral movement distance of the first air pipe), l is the average of l1 and l2.

[0064] Step 10: Determine whether the docking point of the first air pipe coincides with the docking point of the second air pipe. If not, step 11 is performed, and if so, step 12 is performed.

[0065] Based on the above height calculation model of the docking point, the forward component and lateral component calculation model of the docking point, and the parallel calculation model of the docking plane of the first air pipe and the docking plane of the second air pipe, it can be determined whether the docking point of the first air pipe coincides with the two groups of docking points of the second air pipe, i.e., dot1 and dot3, and dot2 and dot4. When the height of the docking point is consistent and the forward component and lateral component are both 0, the docking point of the first air pipe coincides with the docking point of the second air pipe, otherwise, they do not coincide. The calculation process is not described here.

[0066] Step 11: The translation adjustment model calculates the forward and lateral translation distance of the omnidirectional mobile chassis again, and moves the first air pipe based on the translation distance through the omnidirectional mobile chassis, so that the docking point of the first air pipe coincides with the docking point of the second air pipe.

[0067] The translation distance and translation process of the omnidirectional mobile chassis in step 11 are the same as those in step 9, and are not described here.

[0068] Step 12: End the docking operation.

[0069] The height calculation model, distance calculation model, rotation adjustment model, and translation adjustment model can be established based on the deep learning algorithm (YOLOv5s). The data set of the docking point is established using YOLOv5s, and the docking point target detection calculation of the air pipe is performed. The height calculation model, distance calculation model, rotation adjustment model, and translation adjustment model are continuously optimized through the data set, to improve the calculation accuracy (the accuracy can reach more than 90%) and generalization ability of the model.

[0070] Based on the calculation results output by the height calculation model, distance calculation model, rotation adjustment model, and translation adjustment model, the docking plane of the first air pipe is accurately docked to the docking plane of the second air pipe in the order of height adjustment, rotation adjustment, and translation adjustment, to complete the accurate docking operation of the air pipe.

[0071] The above description is only a description of the preferred embodiments of the present application, and does not limit the scope of the present application. Any modification or modification made by a person skilled in the art based on the above disclosure is within the protection scope of the claims.

Claims

1. A method for large-scale duct butt joint based on omnidirectional mobile chassis, characterized in that, The method comprises the following steps: Step 1: after the installation of the second air pipe is completed, a height measurement model is established, and the butt joint point height of the second air pipe and the butt joint point height of the first air pipe are calculated through the height measurement model; Step 2: whether the butt joint point height of the first air pipe is consistent with the butt joint point height of the first air pipe is judged through the height measurement model, if not, step 3 is executed, if yes, step 4 is executed; Step 3: the height of the first air pipe is adjusted by lifting, so that the butt joint point height of the first air pipe is consistent with the butt joint point height of the second air pipe; Step 4: a distance measurement model is established, and the forward component and the lateral component of the butt joint point of the first air pipe are calculated through the distance measurement model; Step 5: an omnidirectional mobile chassis is arranged at the bottom of the first air pipe, a rotation adjustment model is established, and the rotation angle of the omnidirectional mobile chassis is calculated through the rotation adjustment model; Step 6: whether the butt joint plane of the first air pipe is parallel to the butt joint plane of the second air pipe is judged through the rotation adjustment model, if not, step 7 is executed, if yes, step 8 is executed; Step 7: the butt joint plane of the first air pipe is adjusted to be parallel to the butt joint plane of the second air pipe through the omnidirectional mobile chassis; Step 8: the forward component and the lateral component of the butt joint point of the first air pipe are calculated again through the distance measurement model; Step 9: a translation adjustment model is established, and the translation distance of the omnidirectional mobile chassis in the forward and lateral directions is calculated through the translation adjustment model, and the first air pipe is moved by the omnidirectional mobile chassis based on the translation distance; Step 10: whether the butt joint point of the first air pipe coincides with the butt joint point of the second air pipe is judged, if not, step 11 is executed, if yes, step 12 is executed; Step 11: the translation distance of the omnidirectional mobile chassis in the forward and lateral directions is calculated again through the translation adjustment model, and the first air pipe is moved by the omnidirectional mobile chassis based on the translation distance, so that the butt joint point of the first air pipe coincides with the butt joint point of the second air pipe; Step 12: the butt joint work is completed.

2. The omni-directional mobile chassis based large duct docking method of claim 1, wherein, In step 1, two top corners of the bottom edges of the first air pipe and the second air pipe are taken as the butt joint points, the two butt joint points of the first air pipe are respectively denoted as dot1 and dot2, and the two butt joint points of the second air pipe are respectively denoted as dot3 and dot4; when the first air pipe and the second air pipe are butt jointed, dot1 is aligned with dot3, and dot2 is aligned with dot4.

3. The omni-directional mobile chassis based large duct docking method of claim 1, wherein, The omnidirectional mobile chassis comprises a chassis and four groups of driving wheel assemblies symmetrically arranged at the bottom of the chassis, each group of driving wheel assemblies comprises an omnidirectional wheel (1), a roller (2), a speed reducer (3) and a driving motor (4); the output shaft of the driving motor (4) is connected with the roller (2) of the omnidirectional wheel (1) through the speed reducer (3).

4. The omni-directional mobile chassis based large duct docking method of claim 1, wherein, In step 6, dot1, dot2, dot3 and dot4 are respectively denoted as D1, D2, D3 and D4, and the width of the first air pipe and the second air pipe is d; according to the calculation of the distance measurement model, the forward component and the lateral component of dot1 to dot3 are respectively h1 and l1, and the forward component and the lateral component of dot2 to dot4 are respectively h2 and l2; The angle between the extension line of the line connecting point D1 and point D2 and the extension line of the line connecting point D3 and point D4 is θ, a perpendicular line is drawn from point D4 to the forward component h1, and the intersection point is point M; according to the principle of similar triangles, the angle between the line connecting point D4 and point M and the line connecting point D3 and point D4 is also θ; θ is the angle required for the rotation of the first air pipe, when θ=0, the butt joint plane of the first air pipe is parallel to the butt joint plane of the second air pipe, and the first air pipe does not need to be rotated, when θ>0, the first air pipe is rotated clockwise, and when θ<0, the first air pipe is rotated counterclockwise.

5. The omni-directional mobile chassis based large duct docking method of claim 1, wherein, In step 9, h is the translation distance of the omnidirectional mobile chassis in the front-rear direction, h is the average of h1 and h2; l is the translation distance of the omnidirectional mobile chassis in the left-right direction, l is the average of l1 and l2.

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