Steel bar binding equipment control method for intelligent construction
By dividing the work area into sub-areas and using local cameras to accurately locate the binding points, and combining actual and theoretical verification, the problem of identification and positioning errors of rebar binding equipment was solved, achieving higher operational reliability and accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-19
- Publication Date
- 2026-04-07
AI Technical Summary
Existing technologies have errors in the identification and positioning of rebar tying points, resulting in low operational reliability of rebar tying equipment.
The work area is divided into multiple sub-areas. Local cameras are used to accurately locate the starting binding point, and binding operations are performed sequentially according to the relative position. The equipment route is corrected by combining actual and theoretical number of times to improve accuracy.
By reducing data processing volume and avoiding image positioning errors, the reliability and accuracy of rebar tying equipment are improved, ensuring the integrity and safety of the tying operation.
Smart Images
Figure CN121806550A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of rebar tying equipment, and in particular to a control method for rebar tying equipment used in intelligent construction. Background Technology
[0002] Intelligent construction is a product of the deep integration of the construction industry and new-generation information technology. It aims to improve the efficiency, quality, and safety of the entire construction process through digitalization, networking, and intelligentization, thereby promoting the transformation of the construction industry towards green, industrialized, and intelligent development. Rebar tying equipment is a commonly used tool in intelligent construction. This equipment can visually identify rebar intersections and use these intersections as tying points, controlling the execution of the tying operation.
[0003] Currently, the common method for identifying rebar tying points is to acquire images of the construction area and use image recognition technology to identify and locate the rebar tying points from the images. However, the construction areas for rebar tying are relatively large, and this method cannot guarantee the accuracy of identifying and locating all rebar tying points. Therefore, it is impossible to accurately identify and locate all rebar tying points, nor can it guarantee the reliability of rebar tying. Summary of the Invention
[0004] This invention provides a control method for rebar tying equipment in intelligent construction, which solves the problem of low operational reliability caused by errors in the identification and positioning of rebar tying points in existing rebar tying equipment.
[0005] Specifically, the present invention provides a control method for rebar tying equipment used in intelligent construction, comprising: Obtain a global image of the entire task area, divide the entire task area into multiple task sub-regions based on the global image, and sort the multiple task sub-regions according to the position of each task sub-region; According to the sorting, rebar tying operations are performed sequentially on each of the work sub-regions, including: acquiring local images of the work sub-regions, generating local work routes for the work sub-regions based on the local images, and performing step-by-step rebar tying operations on the work sub-regions according to the local work routes; wherein, the rebar tying operation includes: Obtain an image of the reinforcing bars at the current work location, and determine the binding sequence of the reinforcing bar binding points at the current work location based on the image of the reinforcing bars; The starting binding point in the binding sequence is obtained, the starting binding point is located according to the local camera on the rebar binding tool, and the rebar binding tool is controlled to move to the starting binding point and perform binding operation thereon. The relative positions between adjacent rebar binding points in the binding sequence are determined according to the specifications of the rebar, and starting from the initial binding point, the rebar binding tool is controlled to perform binding operations on each rebar binding point in sequence according to the relative positions.
[0006] Furthermore, after the step of controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point according to the relative position, the method further includes: Obtain the actual total number of times the binding operation is performed within the work sub-region, and obtain the theoretical total number of times the rebar binding operation is performed within the work sub-region based on the local image of the work sub-region; Determine whether the actual total number of attempts matches the theoretical total number of attempts; If there is a discrepancy, it is determined that there is a binding error in the rebar binding operation of the sub-area.
[0007] Further, the step of performing rebar tying work in the sub-area according to the local work route includes: Obtain a local operation image of the current operation sub-region, and obtain the actual position information of the rebar tying equipment based on the local operation image; Based on the actual location information, determine whether the actual working route of the rebar tying equipment is consistent with the local working route; If there is a discrepancy, the actual operating route of the rebar tying equipment shall be corrected.
[0008] Further, the step of controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point according to the relative position includes: After each set number of rebar tying points are tied, the next tying point is located using a local camera on the rebar tying tool.
[0009] Furthermore, before the step of controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point according to the relative position, the method further includes: The systematic error of the rebar tying tool movement is obtained, and the value of the set quantity is determined based on the systematic error.
[0010] Further, the step of controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point according to the relative position includes, The operation position of the rebar tying tool is determined by a local camera on the rebar tying tool, and it is determined whether the operation position is a rebar tying point. If so, the operating position of the rebar tying tool for performing the tying operation shall be adjusted.
[0011] Furthermore, the step of performing the rebar tying operation in stages according to the local operation route in the sub-area includes: Proceed along the local work route and detect whether there are obstacles ahead; If an obstacle is present, an obstacle alarm will be issued and the vehicle will stop moving.
[0012] Furthermore, the step of performing the rebar tying operation in stages according to the local operation route in the sub-area includes: Check whether the rebar tying equipment is malfunctioning; If so, the marked position of the rebar tying equipment is obtained according to the work sub-area and its local work route, and the work record of the rebar tying tool at the marked position is recorded; After the fault of the rebar tying equipment is cleared, the rebar tying equipment is controlled to return to the marked position, and the rebar tying tool is controlled to continue the rebar tying operation at the marked position according to the operation record.
[0013] In the technical solution of this invention, during the process of controlling the rebar tying equipment to perform rebar tying operations across the entire work area, the entire work area is first divided into multiple sub-work areas. Then, a local work route is generated for each sub-work area, and rebar tying operations are distributed according to their corresponding local work routes within each sub-work area. During the operation at the current work position, the tying sequence of the rebar tying points is first determined. Then, a local camera is used to accurately locate the starting tying point in this sequence. Starting from this starting tying point, based on the relative positions of adjacent rebar tying points, each rebar tying point is tying sequentially according to the tying sequence. Since the technical solution of this invention does not require image positioning for each rebar tying point, it not only reduces the data processing load of the rebar tying equipment but also avoids errors present in image positioning, thereby improving the reliability and accuracy of controlling the rebar tying equipment to perform rebar tying operations.
[0014] The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description
[0015] The following sections will describe some specific embodiments of the invention in detail by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or portions. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings: Figure 1 This is a schematic flowchart of a rebar tying equipment control method for intelligent construction according to an embodiment of the present invention; Figure 2 This is a schematic structural diagram of a rebar tying device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a rebar tying device according to an embodiment of the present invention; Figure 4 This is a schematic flowchart illustrating the rebar tying operation performed at the work location using a rebar tying device according to an embodiment of the present invention. Figure 5 This is a schematic flowchart illustrating the rebar tying operation performed at the work location using a rebar tying device according to another embodiment of the present invention. Detailed Implementation
[0016] The following reference Figures 1 to 5 This invention describes a control method for a rebar tying device used in intelligent construction, according to an embodiment of the present invention. In this description, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" and "second" may explicitly or implicitly include at least one of that feature, that is, include one or more of that feature. In the description of the present invention, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. When a feature "includes or contains" one or more of the features it encompasses, unless otherwise specifically described, this indicates that other features are not excluded and may be further included.
[0017] In the description of this embodiment, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0018] Please see Figure 1 , Figure 1 The diagram shown is a schematic flowchart of a rebar tying equipment control method for intelligent construction in one embodiment of the present invention. This method can control the rebar tying equipment to automatically tie the rebar in the entire working area and can improve the reliability of the rebar tying operation.
[0019] like Figure 2 and Figure 3As shown, the rebar tying device in this embodiment includes a device body 10. A walking mechanism 20 and a robotic arm 30 are arranged below the device body 10. The walking mechanism 20 includes drive wheels 21, the diameter and width of which match the spacing of the rebars in the entire working area, allowing it to move freely above the rebars. The lower end of the robotic arm 30 is equipped with a rebar tying tool 32 and a local camera 31. The rebar tying tool 32 performs rebar tying operations at the tying points, and the local camera 31 captures the operation process of the rebar tying tool 32. The tying controller 11 of the rebar tying device is connected to the drive wheels 21, the robotic arm 30, the local camera 31, and the rebar tying tool 32. It can control the drive wheels 21 to drive the rebar tying device to move on the rebars in the entire working area, control the movement of the robotic arm 30 to adjust the working position of the rebar tying tool 32, control the rebar tying tool 32 to perform rebar tying operations, and acquire images of the rebar tying tool 32's operation through the local camera 31.
[0020] Specifically, the control method for rebar tying equipment used in intelligent construction in this embodiment includes the following steps: Step S101: Obtain a global image of the entire area of the rebar tying operation, and divide the entire operation area into multiple sub-areas based on the global image; Step S102: Sort the multiple work sub-areas and perform rebar binding operations on each sub-area in sequence according to the sorting.
[0021] In step S101 above, a global camera can be set up in the entire area of the rebar tying operation, and the global camera can be used to acquire images of the entire operation area to obtain a global image of the entire operation area; or a construction drawing of the entire operation area can be drawn on the drawing software, and the construction drawing can be used as the global image of the entire operation area.
[0022] After obtaining a global image of the entire work area for rebar tying, the entire work area can be divided into multiple sub-work areas based on the global image. The area of each sub-work area is within a set range, and there is no overlap between the sub-work areas. The entire work area can be obtained by stitching together the multiple sub-work areas.
[0023] In step S102 above, all work sub-regions can be sorted according to the position of each work sub-region, so that each work sub-region is adjacent to the work sub-regions before and after it in the sorting, and then the rebar binding operation is performed on each work sub-region according to the sorting.
[0024] Taking one of the work sub-areas as an example, the method for carrying out rebar tying work in the work sub-area includes: acquiring a local image of the work sub-area, determining the local work route of the work sub-area based on the local image, and carrying out rebar tying work in the work sub-area based on the local work route.
[0025] Specifically, in this embodiment, assuming that the current sub-region is the i-th sub-region in the sorting, the position adjacent to the (i-1)-th sub-region in the current sub-region is taken as the first sub-region, and the position adjacent to the (i+1)-th sub-region in the current sub-region is taken as the last sub-region. The first and last sub-regions are connected to obtain the sub-region covering the current sub-region. This sub-region is the local sub-region sub-region sub-region sub-region sub-region sub-region sub-region.
[0026] After obtaining the local work route of the current work sub-area, the rebar tying equipment can be controlled to move step by step according to the local work route, and a rebar tying operation can be performed at the current work position at each step, thereby realizing the rebar tying operation of the current work sub-area.
[0027] This embodiment takes a work location in a localized work route as an example. The method for the rebar tying equipment to perform rebar tying operations at this work location is as follows: Figure 4 As shown, it includes the following steps: Step S111: Obtain the image of the reinforcing bars at the current working position, and determine the binding sequence of the reinforcing bar binding points at the current working position based on the image of the reinforcing bars; Step S112: Obtain the starting binding point in the binding sequence of the current work position, locate the starting binding point according to the local camera, and control the rebar binding tool to move to the starting binding point and perform binding operation; Step S113: Determine the relative positions between adjacent rebar binding points in the preset binding sequence according to the rebar specifications; Step S114: Starting from the initial binding point, according to the relative positions between adjacent rebar binding points in the preset binding sequence, control the rebar binding tool to sequentially perform binding operations on each rebar binding point at the current working position.
[0028] In step S111 above, information about the current working position can be collected by a local camera mounted on the rebar tying equipment to obtain an image of the rebar at the current working position. Then, image recognition technology is used to identify the rebar image to obtain the rebar tying points in the rebar image. The rebar tying points are then sorted to obtain the tying order of the current working position, so that adjacent rebar tying points in the tying order are also adjacent in the current working position.
[0029] In step S112 above, the first rebar binding point in the binding sequence is the starting binding point. Since both the local camera and the rebar binding tool are mounted on the robotic arm, they will move with the robotic arm. In this embodiment, the local camera can capture images of the current working sub-area and determine whether the robotic arm has moved directly above the starting binding point based on the position of the starting binding point in the image. If so, the robotic arm is controlled to descend and the rebar binding tool is controlled to perform binding operations on the starting binding point.
[0030] In step S113 above, the relative positions between adjacent rebar binding points in the preset binding sequence can be obtained from the local image of the current work sub-region. For example, the orientation of the later rebar binding point relative to the earlier rebar binding point in the preset binding sequence. The distance between adjacent rebar binding points in the preset binding sequence is determined according to the rebar specifications, and the relative positions between the later rebar binding point and the earlier rebar binding point in the preset binding sequence are obtained according to the orientation and the distance.
[0031] In step S114 above, after the binding operation is performed on the starting binding point, starting from the starting binding point, the binding operation is performed on each reinforcing bar binding point in the current working position in sequence according to the binding order. That is, after binding each preceding reinforcing bar binding point, the position is moved to the following reinforcing bar binding point according to the relative position between the corresponding following reinforcing bar binding points and the binding operation is performed on it.
[0032] As described above, in this embodiment, during the process of controlling the rebar tying equipment to perform rebar tying operations across the entire work area, the entire work area is first divided into multiple sub-areas. Then, a local work route is generated for each sub-area, and rebar tying operations are distributed according to their corresponding local work routes within each sub-area. During the operation at the current work position, the tying sequence of the rebar tying points is first determined. Then, a local camera is used to accurately locate the starting tying point in this sequence. Starting from this starting tying point, based on the relative positions of adjacent rebar tying points, each rebar tying point is tying sequentially according to the tying sequence. Since the technical solution of this embodiment does not require image positioning for each rebar tying point, it not only reduces the data processing load of the rebar tying equipment but also avoids errors present in image positioning, thereby improving the reliability and accuracy of controlling the rebar tying equipment to perform rebar tying operations.
[0033] In some embodiments of the present invention, such as Figure 5 As shown, after controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point according to the relative position in step S114, the method further includes: Step S115: Obtain the actual total number of binding operations performed in the current sub-region, and obtain the theoretical total number of binding operations performed in the current sub-region based on the local image of the current sub-region; Step S116: Determine whether the actual total number of binding operations performed in the current sub-region is consistent with the theoretical total number of operations; If not, proceed to step S117; if yes, proceed to the next sub-area for rebar tying. Step S117: It is determined that there is a binding error in the rebar binding operation in the current sub-area.
[0034] In step S115 above, after the rebar tying equipment performs rebar tying operation at each working position, it records the actual number of tying operations performed at that working position, and the sum of the actual number of tying operations at all working positions in the current working sub-area is taken as the actual total number of tying operations performed in the current working sub-area.
[0035] In this embodiment, image recognition technology can be used to perform image recognition on the local image of the current working sub-region to obtain the number of all rebar binding points in the local image, and use this number as the theoretical total number of binding operations in the current working sub-region.
[0036] In step S116 above, if the actual total number of tying operations in the current work sub-region is greater than the theoretical total number, it can be determined that there are duplicate tying operations in the current work sub-region; if the actual total number of tying operations in the current work sub-region is less than the theoretical total number, it can be determined that there are missed tying operations in the current work sub-region. Therefore, if the actual total number of tying operations in the current work sub-region is inconsistent with the theoretical total number, it is determined that there are tying errors in the current work sub-region.
[0037] In this embodiment, after performing rebar tying operations on each work sub-area, the actual total number of times and the theoretical total number of times are used to determine whether there are any errors in the rebar tying operations of each work sub-area. This allows for the verification of the accuracy of the rebar tying operations in each work sub-area, thereby further improving the reliability of the rebar tying operations.
[0038] In some embodiments of the present invention, the process of gradually carrying out rebar tying operations within a sub-region by controlling the local working route of the rebar tying equipment further includes: First, a local image of the current work sub-region is obtained, and the actual position information of the rebar tying equipment is obtained based on the local image. Then, based on the actual location information of the rebar tying equipment, it is determined whether the actual working route of the rebar tying equipment is consistent with the local working route; If there is a discrepancy, the actual operating route of the rebar tying equipment should be corrected.
[0039] Specifically, in this embodiment, a global camera can be used to capture images of the entire work area to obtain a global work image of the entire work area. The global work image is then segmented according to the position of the current work sub-region within the global work area to obtain a local work image of the current work sub-region. Then, using image positioning points, the position information of the rebar tying equipment in the current work sub-region is obtained from the local work image. This position information is the actual position information of the rebar tying equipment.
[0040] In this embodiment, the theoretical position information of the rebar tying equipment can be calculated based on the local operation route of the current operation sub-area, and it can be determined whether the theoretical position information is consistent with the actual position information of the rebar tying equipment. If they are consistent, it can be determined that there is an error in the actual operation route of the rebar tying equipment, so the actual operation route of the rebar tying equipment needs to be corrected.
[0041] In this embodiment, during the process of gradually carrying out rebar tying operations within the work sub-area by controlling the local working route of the rebar tying equipment, the rebar tying equipment is positioned to determine whether its actual working route is consistent with the corresponding local working route. This enables the rebar tying equipment to accurately carry out rebar tying operations according to the local working route, thereby improving the reliability of the rebar tying operation.
[0042] In some embodiments of the present invention, the method of controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point at the current working position in step S114 includes: after performing tying operations on a set number of rebar tying points, locating the next tying point according to the local camera on the rebar tying tool, and the locating method used is the same as the method for locating the initial rebar tying position.
[0043] In this embodiment, after performing the binding operation on a set number of rebar binding points, the next rebar binding point is accurately located using the local camera on the rebar binding tool. This reduces the problem of inaccurate rebar binding point location acquisition due to the rebar binding tool's own system error, thereby further improving the reliability and accuracy of the rebar binding operation.
[0044] In some embodiments of the present invention, before controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point at the current working position in step S114, the method further includes: obtaining the systematic error of the rebar tying tool movement, and determining a set number of values based on the systematic error.
[0045] Assuming the systematic error of the rebar tying tool movement is u, and the preset error threshold is V, then if n×u>V and (n-1)×u≤V, then n is determined to be the value of the set quantity.
[0046] In this embodiment, the set number of values is determined based on the systematic error of the rebar tying tool movement. This allows for precise positioning of the next rebar tying point when the cumulative error of the rebar tying tool movement is too large, thereby improving the reliability and accuracy of the rebar tying operation.
[0047] In some embodiments of the present invention, step S114, which involves controlling the rebar tying tool to sequentially move to each tying point in the current work area according to its relative position and performing tying operations on each point, includes: The operation position of the rebar tying tool is determined by a local camera on the rebar tying tool, and it is determined whether the operation position is a rebar tying point; If so, adjust the operating position of the rebar tying tool to perform the tying operation.
[0048] In this embodiment, before the rebar tying tool performs the tying operation, an image of the operating position of the rebar tying tool is captured by a local camera, and image recognition technology is used to identify the image to determine whether the operating position of the rebar tying tool is a rebar tying point. If not, the operating position of the rebar tying tool is adjusted to perform the tying operation, so as to improve the accuracy of the rebar tying operation.
[0049] In some embodiments of the present invention, a method for performing rebar tying operations on a sub-area of work according to a local work route includes: Proceed along the designated work route and check for obstacles ahead; If an obstacle is present, an obstacle alarm will be issued and the vehicle will stop moving.
[0050] In this embodiment, a detection radar can be installed on the rebar tying equipment. The detection radar can send detection waves forward to detect whether there are obstacles in front, and stop moving and issue an alarm signal when an obstacle is detected.
[0051] In this embodiment, obstacle detection is performed during the process of controlling the rebar tying equipment to perform rebar tying operations, which can prevent the rebar tying equipment from colliding with obstacles and improve the safety of the rebar tying operation.
[0052] In some embodiments of the present invention, a method for performing rebar tying operations on a sub-area of work according to a local work route includes: Check if the rebar tying equipment is malfunctioning; If a malfunction occurs, the marked position of the rebar tying equipment is obtained based on the current work sub-area and its local work route, and the work record of the rebar tying tool at that marked position is recorded. After troubleshooting the rebar tying equipment, control the rebar tying equipment to return to its marked position, and control the rebar tying tools to continue the rebar tying operation at that marked position according to the work record.
[0053] This embodiment can record the marked position of the rebar tying equipment and the operation record of the rebar tying tools when the rebar tying equipment malfunctions, and continue the rebar tying operation according to the marked position and operation record after the rebar tying equipment is repaired, thereby improving the reliability of the rebar tying operation.
[0054] The flowcharts provided in this embodiment are not intended to indicate that the operations of the method will be performed in any particular order, or that all operations of the method are included in every case. Furthermore, the method described above may include additional operations. Within the scope of the technical concept provided by the method in this embodiment, additional variations can be made to the method described above.
[0055] It should be understood that in some embodiments, the components may be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be implemented using software or firmware stored in memory and executed by a suitable instruction execution system.
[0056] Therefore, those skilled in the art should recognize that although numerous exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications conforming to the principles of the present invention can be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Thus, the scope of the present invention should be understood and construed as covering all such other variations or modifications.
Claims
1. A control method for rebar tying equipment used in intelligent construction, characterized in that, include: Obtain a global image of the entire task area, divide the entire task area into multiple task sub-regions based on the global image, and sort the multiple task sub-regions according to the position of each task sub-region; According to the sorting, rebar tying operations are performed sequentially on each of the work sub-regions, including: acquiring local images of the work sub-regions, generating local work routes for the work sub-regions based on the local images, and performing step-by-step rebar tying operations on the work sub-regions according to the local work routes; wherein, the rebar tying operation includes: Obtain an image of the reinforcing bars at the current work location, and determine the binding sequence of the reinforcing bar binding points at the current work location based on the image of the reinforcing bars; The starting binding point in the binding sequence is obtained, the starting binding point is located according to the local camera on the rebar binding tool, and the rebar binding tool is controlled to move to the starting binding point and perform binding operation thereon. The relative positions between adjacent rebar binding points in the binding sequence are determined according to the specifications of the rebar, and starting from the initial binding point, the rebar binding tool is controlled to perform binding operations on each rebar binding point in sequence according to the relative positions.
2. The control method for rebar tying equipment in intelligent construction according to claim 1, characterized in that, After the step of controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point according to the relative position, the method further includes: Obtain the actual total number of times the binding operation is performed within the work sub-region, and obtain the theoretical total number of times the rebar binding operation is performed within the work sub-region based on the local image of the work sub-region; Determine whether the actual total number of attempts matches the theoretical total number of attempts; If there is a discrepancy, it is determined that there is a binding error in the rebar binding operation of the sub-area.
3. The control method for rebar tying equipment in intelligent construction according to claim 1, characterized in that, The step of performing rebar tying work in the sub-area according to the local work route includes: Obtain a local operation image of the current operation sub-region, and obtain the actual position information of the rebar tying equipment based on the local operation image; Based on the actual location information, determine whether the actual working route of the rebar tying equipment is consistent with the local working route; If there is a discrepancy, the actual operating route of the rebar tying equipment shall be corrected.
4. The control method for rebar tying equipment in intelligent construction according to claim 1, characterized in that, The step of controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point according to the relative position includes: After each set number of rebar tying points are tied, the next tying point is located using a local camera on the rebar tying tool.
5. The control method for rebar tying equipment in intelligent construction according to claim 4, characterized in that, Before the step of controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point according to the relative position, the method further includes: The systematic error of the rebar tying tool movement is obtained, and the value of the set quantity is determined based on the systematic error.
6. The control method for rebar tying equipment for intelligent construction according to claim 1, characterized in that, The step of controlling the rebar tying tool to sequentially perform tying operations on each rebar tying point according to the relative position includes, The operation position of the rebar tying tool is determined by a local camera on the rebar tying tool, and it is determined whether the operation position is a rebar tying point. If so, the operating position of the rebar tying tool for performing the tying operation shall be adjusted.
7. The control method for rebar tying equipment in intelligent construction according to claim 1, characterized in that, The step of performing the rebar tying operation in stages according to the local operation route for the sub-area includes: Proceed along the local work route and detect whether there are obstacles ahead; If an obstacle is present, an obstacle alarm will be issued and the vehicle will stop moving.
8. The control method for rebar tying equipment for intelligent construction according to claim 1, characterized in that, The step of performing the rebar tying operation in stages according to the local operation route for the sub-area includes: Check whether the rebar tying equipment is malfunctioning; If so, the marked position of the rebar tying equipment is obtained according to the work sub-area and its local work route, and the work record of the rebar tying tool at the marked position is recorded; After the fault of the rebar tying equipment is cleared, the rebar tying equipment is controlled to return to the marked position, and the rebar tying tool is controlled to continue the rebar tying operation at the marked position according to the operation record.