Highway wave beam steel guardrail automatic installation visual robot

Abstract

The present application relates to the technical field of wave beam steel guardrail installation, and particularly relates to a highway wave beam steel guardrail installation robot. The robot comprises a tracked AGV platform, a six-axis manipulator and a profiling magnetic suction composite end effector and the like; the tracked AGV platform serves as a mobile carrier, and the six-axis manipulator is installed on the tracked AGV platform; the profiling magnetic suction composite end effector is connected to the end of the six-axis manipulator, and comprises a mounting plate and a plurality of magnetic suction units arranged on the mounting plate. The present application integrates the tracked AGV platform, the six-axis manipulator, the profiling magnetic suction composite end effector, a multi-sensor sensing assembly and an industrial computer control assembly, realizes automatic installation operation, and compared with traditional manual construction, the construction efficiency is significantly improved, the dependence on the experience and physical strength of the operating personnel is greatly reduced, the demand for manpower is reduced, and the large-scale infrastructure construction demand can be met.

Description

Technical Field

[0001] This invention relates to the field of corrugated beam steel guardrail installation technology, and in particular to a vision robot for automated installation of corrugated beam steel guardrails for highways. Background Technology

[0002] Currently, the installation of corrugated beam steel guardrails on highways mainly relies on manual labor. The main procedures include total station + manual positioning and layout, manual assistance with small pile drivers for column construction, and multiple people working together to transport and install corrugated beam plates. This construction method and existing similar equipment have the following drawbacks: First, the construction efficiency is low, and the construction period is significantly affected by the physical strength of the workers, which cannot meet the needs of large-scale infrastructure construction. Second, the construction quality is unstable, and the installation quality is highly dependent on the experience and technical level of the workers, resulting in inconsistent construction quality among different work teams. Summary of the Invention

[0003] In order to overcome the shortcomings of existing construction methods that rely mainly on manual collaboration, such as low construction efficiency, significant impact of weather and physical strength on the construction period, unstable construction quality, and high dependence of installation quality on the experience and technical level of the operators, this invention provides a robot for installing corrugated beam steel guardrails for highways.

[0004] The technical implementation scheme of the present invention is as follows: a vision robot for automated installation of corrugated beam steel guardrails for highways, comprising: a tracked AGV platform as a mobile carrier, on which a six-axis manipulator is mounted; a contour-following magnetic composite end effector connected to the end of the six-axis manipulator; a sensing component connected to the tracked AGV platform and the six-axis manipulator, the sensing component including a laser galvanometer stereo camera mounted on the end of the six-axis manipulator and an RTK positioning antenna, a lidar, and an IMU mounted on the top of the tracked AGV platform; a control component electrically connected to the tracked AGV platform, the six-axis manipulator, the contour-following magnetic composite end effector, and the sensing component, the control component including an industrial control computer; and an energy component mounted on the tracked AGV platform for supplying power to various electrical devices.

[0005] More preferably, the energy component includes a battery compartment fixedly connected to the tracked AGV platform and a lithium iron phosphate battery pack with a temperature control system disposed within the battery compartment.

[0006] More preferably, the tracked AGV platform is equipped with anti-slip teeth on the tracks and a hydraulic suspension system that is rigidly connected to the tracked chassis, used to automatically adjust the track tension on sloping terrain to keep the vehicle level.

[0007] More preferably, the contour-following magnetic composite end effector includes: a mounting plate on which a plurality of magnetic units are mounted; and a plurality of protective units, all connected to the mounting plate. Each protective unit includes an electric shaft connected to the mounting plate via a connecting block, a fixed plate fixedly connected to the rotating part of the electric shaft, a mounting slide plate slidably connected to the fixed plate, a plurality of locking mechanisms connected to the mounting slide plate, a disassembly plate connected to all the locking mechanisms, an arc-shaped rubber block fixedly connected to the disassembly plate, and two self-locking electric push rods disposed within the mounting slide plate. The electric shaft has a built-in power-off self-locking function. The mounting parts of both self-locking electric push rods are fixedly connected to the fixed plate, and the telescopic ends of both self-locking electric push rods are fixedly connected to the mounting slide plate.

[0008] More preferably, the magnetic attraction units are arranged in pairs, with the two magnetic attraction units in the same group being symmetrical to each other.

[0009] More preferably, the magnetic attraction unit includes a plurality of magnetic attraction mechanisms connected to the mounting plate and a limiting plate connected to all of the magnetic attraction mechanisms. The limiting plate is fixedly connected to the mounting plate. The magnetic attraction mechanism includes a mounting buckle inserted into the mounting plate, a plurality of miniature electric push rods connected to the mounting buckle, a connecting plate fixedly connected to the telescopic ends of the plurality of miniature electric push rods, and an arc-shaped neodymium iron boron permanent magnet connected to the connecting plate.

[0010] More preferably, the locking mechanism includes a rod fixedly connected to the disassembly plate, an elastic telescopic rod disposed within the rod, a limiting head rotatably connected to the elastic telescopic rod, and a pull rod fixedly connected to the limiting head; wherein, the telescopic end of the elastic telescopic rod is fixedly connected to the rod, and both the rod and the limiting head are initially inserted into the mounting plate; the limiting head is provided with two locking blocks, and the mounting plate is provided with two limiting notches and two through slots matching the two locking blocks; the two locking blocks are initially located in one of the limiting notches, and the elastic telescopic rod is initially in a stretched state.

[0011] More preferably, the locking mechanism, disassembly plate, and arc-shaped rubber block are used as peripheral replacement kits. When dealing with different models of corrugated beams, these kits can be replaced before construction.

[0012] More preferably, the laser galvanometer stereo camera has a built-in visual processing algorithm module, which includes: an image preprocessing submodule, which includes a strong light suppression unit and a rain and fog removal unit. The strong light suppression unit is used to dynamically compress overexposed pixels in the acquired image, and the rain and fog removal unit is used to restore images degraded by rain and fog; and a corrugated beam recognition submodule, which embeds a deep learning detection network to receive the preprocessed RGB image and depth image, and to simultaneously recognize and spatially locate the corrugated beam and column.

[0013] More preferably, the following construction process is also included, comprising the following steps: Step 1, Positioning and Layout: The tracked AGV platform obtains centimeter-level position information through the RTK positioning system, autonomously travels to the construction point, and completes the layout of the column installation point after the laser galvanometer stereo camera scans the construction environment; Step 2, Pile Driving Assistance: When the external pile driver starts operation, the laser galvanometer stereo camera collects the three-point position data of the column in real time to guide the pile driver to adjust the hammering angle; Step 3, Corrugated Beam Plate Installation: The contour-following magnetic composite end effector grabs the corrugated beam plate, and the laser galvanometer stereo camera identifies the precise position of the corrugated beam plate and the column, then guides the six-axis robot to automatically attach the corrugated beam plate to the column; Step 4, Quantitative Inspection and Acceptance: The laser galvanometer stereo camera measures the line shape of the corrugated beam plate, compares the inspection data with the preset standard in real time, and automatically triggers secondary adjustment if the limit is exceeded.

[0014] Compared with the prior art, the present invention has the following advantages: 1. Integrating a tracked AGV platform, a six-axis manipulator, a contouring magnetic composite end effector, multi-sensor sensing components, and industrial control computer components into an automated installation vision robot improves construction efficiency compared to traditional manual installation operations, reduces reliance on the experience and physical strength of operators, and reduces manpower requirements, thus meeting the needs of large-scale infrastructure construction.

[0015] 2. By combining RTK centimeter-level positioning with a laser galvanometer stereo camera, the traditional quality control method of manual visual inspection and experience judgment is transformed into automated control, avoiding the problem of inconsistent construction quality among different work teams and ensuring the overall protective performance of the guardrail. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the working state of the contour-following magnetic suction composite end effector of the present invention; Figure 3 This is a three-dimensional structural diagram of the contour-following magnetic composite end effector of the present invention; Figure 4This is a schematic diagram of the combined structure of the protective unit and the mounting plate of the present invention; Figure 5 This is a schematic diagram of the magnetic attraction mechanism assembly of the present invention; Figure 6 This is a partial schematic diagram of the protective unit of the present invention; Figure 7 This is a partial assembly diagram of the protective unit of the present invention; Figure 8 This is a schematic diagram of the locking mechanism assembly of the present invention.

[0017] The above-mentioned attached drawings include the following reference numerals: 001-Wave beam plate, 1-Crawler AGV platform, 2-Six-axis robot, 3-Laser galvanometer stereo camera, 4-Mounting plate, 5-Battery compartment, 6-Arc-shaped neodymium iron boron permanent magnet, 601-Mounting buckle, 602-Connecting plate, 603-Miniature electric push rod, 7-Limiting plate, 8-Electric rotating shaft, 9-Fixing plate, 10-Mounting slide plate, 1001-Through slot, 1002-Limiting notch, 11-Disassembly plate, 12-Arc-shaped rubber block, 13-Self-locking electric push rod, 14-Insertion rod, 15-Elastic telescopic rod, 16-Limiting head, 1601-Card block, 1602-Pull rod. Detailed Implementation

[0018] First, it should be noted that in different described embodiments, the same components are given the same reference numerals or the same component names. The disclosure contained throughout this specification can be applied semantically to the same components having the same reference numerals or the same component names. The location descriptions selected in the specification, such as upper, lower, lateral, etc., also refer to the directly described and illustrated figures and are semantically applied to the new location when the location changes.

[0019] Example according to Figures 1-8As shown, this embodiment provides an automated installation vision robot for highway corrugated beam steel guardrails, including a tracked AGV platform 1, a contour-following magnetic composite end effector, a sensing component, a control component, and an energy component. The tracked AGV platform 1 serves as a mobile carrier, on which a six-axis manipulator 2 is mounted. The contour-following magnetic composite end effector is connected to the end of the six-axis manipulator 2. The sensing component is connected to the tracked AGV platform 1 and the six-axis manipulator 2, and includes a laser galvanometer stereo camera 3 mounted at the end of the six-axis manipulator 2 and an RTK positioning antenna, a lidar, and an IMU mounted on the top of the tracked AGV platform 1. The control component is electrically connected to the tracked AGV platform 1, the six-axis manipulator 2, the contour-following magnetic composite end effector, and the sensing component, and includes an industrial control computer. The energy component is mounted on the tracked AGV platform 1 and is used to supply power to various electrical devices. The tracked AGV platform 1 serves as a mobile carrier, driving the six-axis robot arm 2 and the contour-following magnetic composite end effector. The laser galvanometer stereo camera 3 synchronously outputs RGB and depth images. The RTK positioning antenna, lidar, and IMU provide positioning and environmental perception. The industrial control computer is electrically connected to each piece of hardware for data processing and coordinated adjustment. The six-axis robot arm 2 precisely adjusts the position of the corrugated beam plate 001 grasped by the contour-following magnetic composite end effector. Through the coordinated work of each component, the automated grasping and installation of the corrugated beam steel guardrail is achieved, significantly reducing the intensity of manual labor and improving construction efficiency and quality.

[0020] The energy components include a battery compartment 5 fixedly connected to the tracked AGV platform 1 and a lithium iron phosphate battery pack with a temperature control system disposed within the battery compartment 5. The temperature control system automatically adjusts the battery temperature in high or low temperature environments to ensure battery charging and discharging performance and safety, meeting the endurance requirements for long-term field construction.

[0021] The tracked AGV platform 1 is equipped with anti-slip teeth on its tracks and a hydraulic suspension system that is rigidly connected to the tracked chassis. This system is used to automatically adjust the track tension on sloping terrain to keep the vehicle level. The tracked AGV platform 1 is driven by a servo motor and a planetary gear reducer, supports stepless speed regulation from 0 to 1.5 km / h, and has a positioning accuracy of ±2 m, meeting the low-speed and high-precision movement requirements of the construction site.

[0022] The contour-following magnetic composite end effector includes a mounting plate 4 and a protective unit: the mounting plate 4 has several magnetic units mounted on it; the protective unit has several units, all connected to the mounting plate 4, and the protective unit includes an electric rotating shaft 8 connected to the mounting plate 4 via a connecting block, a fixing plate 9 fixedly connected to the rotating part of the electric rotating shaft 8, a mounting slide plate 10 slidably connected to the fixing plate 9, several locking mechanisms connected to the mounting slide plate 10, a disassembly plate 11 connected to the several locking mechanisms, an arc-shaped rubber block 12 fixedly connected to the disassembly plate 11, and two self-locking electric push rods 13 disposed in the mounting slide plate 10. The electric rotating shaft 8 has a built-in power-off self-locking function. The mounting portions of both self-locking electric push rods 13 are fixedly connected to the fixing plate 9, and the telescopic ends of both self-locking electric push rods 13 are fixedly connected to the mounting slide plate 10.

[0023] Several magnetic attraction units are grouped into two pairs, with the two magnetic attraction units in the same group being symmetrical to each other.

[0024] The magnetic attraction unit includes a plurality of magnetic attraction mechanisms connected to the mounting plate 4 and a limiting plate 7 connected to all the magnetic attraction mechanisms. The limiting plate 7 is bolted to the mounting plate 4. The magnetic attraction mechanism includes a mounting buckle 601 inserted into the mounting plate 4, a plurality of miniature electric push rods 603 connected to the mounting buckle 601, a connecting plate 602 fixedly connected to the telescopic ends of the plurality of miniature electric push rods 603, and an arc-shaped neodymium iron boron permanent magnet 6 connected to the connecting plate 602. The curvature of the working surface of the arc-shaped neodymium iron boron permanent magnet 6 is customized according to the curvature of the waveform beam plate 001 to be grasped.

[0025] By symmetrically arranging the magnetic suction units, the magnetic suction force is balanced when the contour-following magnetic composite end effector adsorbs the corrugated beam plate 001. The curvature of the working surface of the arc-shaped rubber block 12 is customized according to the curved surface of the corrugated beam plate 001 to be gripped. The arc-shaped neodymium iron boron permanent magnet 6 is detachably installed to the mounting plate 4 via the mounting buckle 601 and the limiting plate 7. When installing different models of corrugated beam plates 001, the arc-shaped neodymium iron boron permanent magnet 6, the mounting buckle 601, the connecting plate 602, and the micro electric push rod 603 can be replaced as peripheral kits. When the six-axis robot 2 uses the contour-following magnetic composite end effector to adsorb and grip the corrugated beam plate 001, it controls the operation of a preset number of symmetrically distributed magnetic suction mechanisms according to the weight of the corrugated beam plate 001. Several micro electric push rods 603 in the magnetic suction mechanism extend simultaneously, causing the arc-shaped neodymium iron boron permanent magnet 6 to adsorb the corrugated beam plate. 001, then the six-axis robot 2 lifts the corrugated beam plate 001 to a preset height via the contour-following magnetic composite end effector. All protective units operate, the electric rotating shaft 8 starts, driving the connected parts to rotate, causing the arc-shaped rubber block 12 to rotate towards the opposite side of the corrugated beam plate 001 and the arc-shaped neodymium iron boron permanent magnet 6. Simultaneously, two self-locking electric push rods 13 extend, pushing the mounting slide 10 to slide within the fixed plate 9. The mounting slide 10 drives the connected parts to move, preventing the arc-shaped rubber block 12 from being blocked by the edge of the corrugated beam plate 001 during rotation, until the arc-shaped rubber block 12 and the opposite side of the corrugated beam plate 001 and the arc-shaped neodymium iron boron permanent magnet 6 are directly aligned. Then, the two self-locking electric push rods 13 retract and reset, causing the mounting slide 10 to drive the connected parts to reset, so that the arc-shaped rubber block 12 abuts against the corrugated beam plate 001. Figure 2 As shown, multiple protective units limit the corrugated beam plate 001 to prevent it from falling due to accidental drops during movement and installation, thus preventing safety accidents. When the contour magnetic composite end effector needs to release the corrugated beam plate 001, the protective units on both sides of the mounting plate 4 are reset one by one, and then the miniature electric push rod 603 of the magnetic attraction mechanism retracts, causing the arc-shaped neodymium iron boron permanent magnet 6 to separate from the corrugated beam plate 001, thereby causing the contour magnetic composite end effector to release the corrugated beam plate 001.

[0026] The locking mechanism includes a plug rod 14 fixedly connected to the disassembly plate 11, an elastic telescopic rod 15 disposed in the plug rod 14, a limiting head 16 rotatably connected to the elastic telescopic rod 15, and a pull rod 1602 fixedly connected to the limiting head 16. The telescopic end of the elastic telescopic rod 15 is fixedly connected to the insertion rod 14, and both the insertion rod 14 and the limiting head 16 are initially connected to the mounting slide plate 10. The limiting head 16 is provided with two locking blocks 1601, and the mounting slide plate 10 is provided with two limiting notches 1002 and two through slots 1001 that match the two locking blocks 1601. The two locking blocks 1601 are initially located in one of the limiting notches 1002, and the elastic telescopic rod 15 is initially in a stretched state.

[0027] The locking mechanism, disassembly plate 11, and arc-shaped rubber block 12 are used as peripheral replacement kits. When dealing with different models of corrugated beam plates 001, these kits can be replaced before construction. To replace or remove the kit, pull the lever 1602 to stretch the elastic telescopic rod 15, causing the locking block 1601 to disengage from the limiting notch 1002. Then, rotate the lever 1602 to rotate the limiting head 16, aligning the two locking blocks 1601 with the two through slots 1001. Then, release the lever 1602, and the elastic telescopic rod 15 will release its elasticity, allowing the two locking blocks 1601 to enter the two through slots 1001. Then, operate the other locking mechanism in the same way to remove the kit from the mounting plate 10. Then, replace the kit with one that matches the corrugated beam plate 001.

[0028] The laser galvanometer stereo camera 3 has a built-in visual processing algorithm module, which includes an image preprocessing submodule and a corrugated beam recognition submodule. The image preprocessing submodule includes a strong light suppression unit and a rain / fog removal unit. The strong light suppression unit dynamically compresses overexposed pixels in the acquired image, and the rain / fog removal unit restores images degraded by rain and fog, providing stable visual guidance for all-weather automated installation. The corrugated beam recognition submodule embeds a deep learning detection network to receive preprocessed RGB and depth images, synchronously recognizing and spatially locating the corrugated beam 001 and the column, providing precise guidance for the installation of the six-axis robot 2.

[0029] It also includes the following construction techniques, including the following steps: Step 1, Positioning and Layout: The tracked AGV platform 1 obtains centimeter-level position information through the RTK positioning system, autonomously travels to the construction point, and the laser galvanometer stereo camera 3 scans the construction environment to complete the layout of the column installation point. Step 2, pile driving assistance: When the external pile driver starts operation, the laser galvanometer stereo camera 3 collects the position data of the three points of the column in real time to guide the pile driver to adjust the hammering angle. Step 3, installation of corrugated beam plate 001: The corrugated beam plate 001 is gripped by the contour magnetic suction composite end effector. After the laser galvanometer stereo camera 3 identifies the precise position of the corrugated beam plate 001 and the column, it guides the six-axis robot arm 2 to automatically attach the corrugated beam plate 001 to the column. Step 4, quantitative inspection and acceptance: The laser galvanometer stereo camera 3 measures the line shape of the 001 wave beam plate, and compares the test data with the GB / T31439 standard in real time. If the limit is exceeded, a secondary adjustment is automatically triggered.

[0030] Before construction, the construction personnel selected the corrugated beam plate model 001 to be installed in the industrial control computer. During construction, GNSS, IMU, lidar, and RTK data were integrated. The RTK positioning antenna on the top of the tracked AGV platform 1 provided centimeter-level position signals, and the laser galvanometer stereo camera 3 simultaneously output RGB images and corresponding depth images to scan the construction environment. The equipment navigation and precise layout of the column installation points were carried out based on RTK data, completing the accurate calibration of each installation point of the column, replacing manual total station layout. When construction reached an area where GNSS signals were temporarily lost, the system switched to IMU and lidar. The integrated SLAM mode, with IMU-led pose recursion and lidar observations-led update correction, ensures uninterrupted navigation and stakeout, thereby controlling the positioning and stakeout error within a preset range. Simultaneously, it transmits the precise calibration of each installation point of the column to the external piling machine. After the external piling machine accurately places the column, it performs piling. At this time, the laser galvanometer stereo camera 3 collects the position data of the three preset points at the top, middle, and bottom of the column in real time and transmits it to the piling machine control system. The hammer angle is dynamically adjusted to keep the column deviation within the preset range, completing the piling and avoiding column displacement caused by changes in soil stress.

[0031] After the columns are installed, the tracked AGV platform 1 travels to the storage location of the corrugated beam plate 001. The contour-following magnetic suction composite end effector grabs the corrugated beam plate 001. Then, the six-axis robot 2 moves the corrugated beam plate 001 between the columns. At the same time, the vision processing algorithm module built into the laser galvanometer stereo camera 3 is activated. The strong light suppression unit and rain and fog removal unit of the image preprocessing submodule perform dynamic range compression and restoration processing on the acquired image. The processed RGB image and depth image are sent to the deep learning detection network embedded in the corrugated beam plate recognition submodule to perform synchronous recognition and spatial positioning of the corrugated beam plate 001 and the columns. Then, the industrial control computer controls the six-axis robot 2 to align and fit the bolt holes of the corrugated beam plate 001 with the mounting surface of the column, based on the selected corrugated beam plate 001 model and the relative position of the bolt holes of the column and the corrugated beam plate 001 as recognized by vision.

[0032] After the bolt holes of the corrugated beam plate 001 are aligned and fitted with the mounting surface of the column, the linear quantitative inspection process begins. The laser galvanometer stereo camera 3 scans along the surface of the corrugated beam plate 001 at a preset sampling interval to perform visual measurement. The inspection data is compared with the GB / T31439 standard in real time. If the installation accuracy is within the tolerance range, it is deemed qualified, and the six-axis robot 2 can release the corrugated beam plate 001. Then, the operator completes the final bolt tightening. If the limit is exceeded, the industrial control computer controls the six-axis robot 2, which is still holding the corrugated beam plate 001, to perform position fine adjustment. After adjustment, the scan is repeated until the installation accuracy is within the tolerance range. After tightening, the contour magnetic suction composite end effector releases the corrugated beam plate 001, and the installation of the corrugated beam plate 001 is completed. This process is repeated to install each corrugated beam plate 001 individually.

[0033] Although this disclosure has been described with respect to only a limited number of embodiments, those skilled in the art who benefit from this disclosure will understand that various other embodiments can be devised without departing from the scope of the invention. Therefore, the scope of the invention should be limited only by the appended claims.

Claims

1. A vision robot for automated installation of corrugated beam steel guardrails for highways, characterized in that, include: A tracked AGV platform (1) serves as a mobile carrier and is equipped with a six-axis robotic arm (2). A contour-following magnetic composite end effector is connected to the end of the six-axis manipulator (2); The sensing component is connected to the tracked AGV platform (1) and the six-axis manipulator (2). The sensing component includes a laser galvanometer stereo camera (3) installed at the end of the six-axis manipulator (2) and an RTK positioning antenna, a lidar and an IMU installed on the top of the tracked AGV platform (1). The control component is electrically connected to the tracked AGV platform (1), the six-axis manipulator (2), the contour-following magnetic composite end effector, and the sensing component. The control component includes an industrial computer; and An energy component is installed on the tracked AGV platform (1) to supply power to various electrical devices.

2. The vision robot for automated installation of corrugated beam steel guardrails for highways according to claim 1, characterized in that, The energy components include a battery compartment (5) fixed to the tracked AGV platform (1) and a lithium iron phosphate battery pack with a temperature control system disposed in the battery compartment (5).

3. The vision robot for automated installation of corrugated beam steel guardrails for highways according to claim 1, characterized in that, The tracked AGV platform (1) is equipped with anti-slip teeth on its tracks and a hydraulic suspension system that is rigidly connected to the tracked chassis. This system is used to automatically adjust the track tension on sloping terrain to keep the vehicle level.

4. The vision robot for automated installation of corrugated beam steel guardrails for highways according to claim 1, characterized in that, The contour-following magnetic attraction composite end effector includes: Mounting plate (4), on which several magnetic units are mounted; and The protective unit is provided in several parts, all of which are connected to the mounting plate (4). The protective unit includes an electric rotating shaft (8) connected to the mounting plate (4) via a connecting block, a fixed plate (9) fixed to the rotating part of the electric rotating shaft (8), a mounting slide plate (10) slidably connected to the fixed plate (9), several locking mechanisms connected to the mounting slide plate (10), a disassembly plate (11) connected to several locking mechanisms, an arc-shaped rubber block (12) fixed to the disassembly plate (11), and two self-locking electric push rods (13) provided in the mounting slide plate (10). The electric rotating shaft (8) has a self-locking function when the power is off. The mounting parts of the two self-locking electric push rods (13) are fixedly connected to the fixing plate (9), and the telescopic ends of the two self-locking electric push rods (13) are fixedly connected to the mounting plate (10).

5. A vision robot for automated installation of corrugated beam steel guardrails for highways according to claim 4, characterized in that, Several magnetic attraction units are grouped into two pairs, with the two magnetic attraction units in the same group being symmetrical to each other.

6. The vision robot for automated installation of corrugated beam steel guardrails for highways according to claim 4, characterized in that, The magnetic attraction unit includes a plurality of magnetic attraction mechanisms connected to the mounting plate (4) and a limiting plate (7) connected to all the magnetic attraction mechanisms. The limiting plate (7) is fixedly connected to the mounting plate (4). The magnetic attraction mechanism includes a mounting buckle (601) inserted into the mounting plate (4), a plurality of miniature electric push rods (603) connected to the mounting buckle (601), a connecting plate (602) fixedly connected to the telescopic ends of the plurality of miniature electric push rods (603), and an arc-shaped neodymium iron boron permanent magnet (6) connected to the connecting plate (602).

7. The vision robot for automated installation of corrugated beam steel guardrails for highways according to claim 4, characterized in that, The locking mechanism includes a plug rod (14) fixedly connected to the disassembly plate (11), an elastic telescopic rod (15) disposed in the plug rod (14), a limiting head (16) rotatably connected to the elastic telescopic rod (15), and a pull rod (1602) fixedly connected to the limiting head (16). Wherein, the telescopic end of the elastic telescopic rod (15) is fixedly connected to the insert rod (14), and the insert rod (14) and the limiting head (16) are initially connected to the mounting plate (10); the limiting head (16) is provided with two locking blocks (1601), and the mounting plate (10) is provided with two limiting notches (1002) and two through slots (1001) that match the two locking blocks (1601). The two locking blocks (1601) are initially located in one of the limiting notches (1002), and the elastic telescopic rod (15) is initially in a stretched state.

8. A vision robot for automated installation of corrugated beam steel guardrails for highways according to claim 7, characterized in that, The locking mechanism, disassembly plate (11) and arc-shaped rubber block (12) are used as peripheral replacement kits. When facing different models of corrugated beam plates (001), the above kits can be replaced before construction.

9. A vision robot for automated installation of corrugated beam steel guardrails for highways according to claim 1, characterized in that, The laser galvanometer stereo camera (3) has a built-in vision processing algorithm module, which includes: An image preprocessing submodule includes a strong light suppression unit and a rain / fog removal unit. The strong light suppression unit performs dynamic range compression on overexposed pixels in the acquired image, and the rain / fog removal unit restores images degraded by rain and fog. The corrugated beam (001) recognition submodule has an embedded deep learning detection network, which is used to receive preprocessed RGB images and depth images, and to simultaneously recognize and spatially locate the corrugated beam (001) and the column.

10. A vision robot for automated installation of corrugated beam steel guardrails for highways according to any one of claims 1-9, characterized in that, Installation is performed using the following construction process, including the following steps: Step 1, Positioning and layout: The tracked AGV platform (1) obtains centimeter-level position information through the RTK positioning system, autonomously drives to the construction point, and the laser galvanometer stereo camera (3) scans the construction environment to complete the layout of the column installation point; Step 2, pile driving assistance: When the external pile driver starts operation, the laser galvanometer stereo camera (3) collects the three-point position data of the column in real time to guide the pile driver to adjust the hammering angle; Step 3, installation of corrugated beam plate (001): The corrugated beam plate (001) is gripped by the contour magnetic suction composite end effector. After the laser galvanometer stereo camera (3) identifies the precise position of the corrugated beam plate (001) and the column, it guides the six-axis robot (2) to automatically attach the corrugated beam plate (001) to the column. Step 4, quantitative inspection and acceptance: The laser galvanometer stereo camera (3) measures the line shape of the waveform beam plate (001), and compares the inspection data with the preset standard in real time. If the limit is exceeded, a secondary adjustment is automatically triggered.

Images