Prefabricated laminated slab stacking cushion positioning device and positioning method

Abstract

This invention discloses a positioning device and method for precast composite slab stacking pads, belonging to the field of precast component stacking positioning technology. The device includes a first and second lateral support assembly disposed on opposite sides of the stacking area, a first and second projection assembly that move with corresponding lifting seats, a slab height detection assembly, a composite slab contour detection assembly disposed on top of the two support assemblies, four fixed reference assemblies, and a control assembly. The control assembly establishes a fixed spatial coordinate system based on pre-stored reference coordinates, acquires the composite slab contour and determines the safe support area of ​​the slab surface, performs coverage verification on multiple pad placement areas under the fixed coordinates, and generates composite slab position adjustment information when the verification fails. After the composite slab is lowered, the position of the projection assembly is adjusted according to the slab height, and multiple pad placement marks are formed on the slab surface for manual pad placement. This invention can improve the vertical alignment accuracy of pads in different layers.

Description

Technical Field

[0001] This invention belongs to the field of prefabricated component stacking and positioning technology, and specifically relates to a prefabricated composite slab stacking pad positioning device and positioning method. Background Technology

[0002] Precast composite slabs are typically poured, cured, demolded, and temporarily stored in a prefabrication plant. Due to space constraints in the plant, completed precast composite slabs usually need to be stacked in multiple layers within a designated stacking area. To avoid direct contact between adjacent layers of precast composite slabs and to provide operational space for subsequent lifting, multiple wooden blocks or other supports are usually placed on the upper surface of each layer of precast composite slabs, allowing adjacent layers to be supported at intervals by these supports.

[0003] During the stacking of precast composite slabs, in order for the load of the upper precast composite slab to be transferred downwards layer by layer through the pads, the corresponding pads in each layer usually need to be located at the same or nearly the same horizontal position to form a continuous vertical force transmission path. If the positional deviation of the pads in adjacent layers is large, it is easy for the precast composite slab to form local suspended supports or eccentric forces, increasing the risk of local bending moments and cracking of the slab, and in severe cases, it may also affect the overall stability of the stack.

[0004] In existing precast slab plants, spacers are typically placed manually by operators based on experience. Operators usually estimate the placement of the current layer of spacers by observing the position of the lower layer spacers, the distance to the slab edges, or the distribution of truss reinforcement. As the number of precast composite slabs stacked increases, the lower layer spacers are gradually obscured by the upper layer, making it difficult for operators to directly obtain the accurate position of the lower layer spacers. This easily leads to cumulative placement errors layer by layer, making it difficult to ensure that corresponding spacers in different layers are vertically aligned.

[0005] Therefore, it is necessary to provide a positioning device and method for prefabricated composite slab stacking pads suitable for prefabrication plant stacking operations. Summary of the Invention

[0006] The purpose of this invention is to provide a positioning device and method for prefabricated composite slab stacking pads.

[0007] The present invention is achieved through the following measures: a prefabricated composite slab stacking pad positioning device, characterized in that it includes a first side support assembly, a second side support assembly, a first projection assembly, a second projection assembly, a slab height detection assembly, and a control assembly; The first side support assembly and the second side support assembly are respectively disposed on opposite sides of the stacking area of ​​the prefabricated composite slab, and both the first side support assembly and the second side support assembly are located outside the vertical projection range of the stacking area; Both the first side support assembly and the second side support assembly include a fixed base, a vertical column disposed on the fixed base, a lifting seat that moves up and down along the vertical column, and a lifting drive mechanism connected to the lifting seat. The first projection component and the second projection component are respectively mounted on the lifting seats of the first side support component and the second side support component. The projection directions of the first projection component and the second projection component are both towards the stacking area, and the projection range of the first projection component and the second projection component together constitute a projection area covering the upper surface of the prefabricated composite plate located in the stacking area, so as to form multiple pad placement marks on the upper surface of the prefabricated composite plate. The panel height detection component is disposed on at least one of the lifting seats of the first side support component and the second side support component, and moves up and down with the corresponding lifting seat. The detection direction of the panel height detection component is towards the stacking area. The control component is connected to the first projection component, the second projection component, the panel height detection component, and the two lifting drive mechanisms, respectively.

[0008] Furthermore, it also includes a composite plate contour detection component, which includes a first contour detection unit and a second contour detection unit. The first contour detection unit and the second contour detection unit are respectively fixedly disposed on the top of the first side support assembly and the second side support assembly, and both are located outside the vertical projection range of the stacked area; The detection directions of the first contour detection unit and the second contour detection unit are both directed toward the stacked area and obliquely downward, and their detection fields of view together cover the stacked area and at least partially overlap. The first contour detection unit and the second contour detection unit are respectively used to obtain the contour information of the concrete slab of the precast composite slab located in the stacking area and the truss reinforcement on the concrete slab, and both are connected to the control component.

[0009] Furthermore, it also includes four fixed reference components, which are respectively fixedly disposed around the perimeter of the stacking area and are all located outside the vertical projection range of the stacking area; Each of the aforementioned fixed reference components includes a reference base, a fixed reference plate fixedly disposed on the reference base, and a reference center disposed on the fixed reference plate; The control component stores the preset reference coordinates of the reference centers of the four fixed reference components, the preset installation posture parameters of the first side support component and the second side support component relative to the fixed spatial coordinate system, the preset installation posture parameters of the first contour detection unit and the second contour detection unit relative to the fixed spatial coordinate system, the preset installation posture parameters of the first projection component and the second projection component relative to the corresponding lifting seat, and the preset installation posture parameters of the plate height detection component relative to the corresponding lifting seat.

[0010] Furthermore, both the first projection component and the second projection component include a visible light laser, a two-dimensional scanning galvanometer, a galvanometer driver, and a projection lens; The two-dimensional scanning galvanometer is disposed on the light output path between the visible light laser and the projection lens, and each galvanometer driver is connected to the corresponding two-dimensional scanning galvanometer and the control component. The first projection component is used to form three pad placement marks in a first projection zone on the upper surface of the prefabricated composite slab, and the second projection component is used to form another three pad placement marks in a second projection zone on the upper surface of the prefabricated composite slab.

[0011] Furthermore, the lifting drive mechanism includes a lifting motor, a lead screw arranged along the length direction of the vertical column, and a lead screw nut threadedly connected to the lead screw; The output end of the lifting motor is connected to the lead screw drive, and the lead screw nut is fixedly connected to the corresponding lifting seat; A position detector for detecting the lifting displacement of the lifting seat is provided between the lifting seat and the vertical column, and the lifting motor and the position detector are respectively connected to the control component.

[0012] Furthermore, the panel height detection component includes a first ranging sensor, a second ranging sensor, and a third ranging sensor; The first ranging sensor and the second ranging sensor are mounted on the lifting seat of the first side support assembly, and the third ranging sensor is mounted on the lifting seat of the second side support assembly. The detection axes of the first, second, and third ranging sensors are all oriented toward the stacked area and obliquely downward, and respectively correspond to the concrete slab area between adjacent truss reinforcement bars on the precast composite slab, so as to form three non-collinear slab surface detection points on the upper surface of the precast composite slab.

[0013] The present invention also provides a positioning method based on a prefabricated composite slab stacking pad positioning device, characterized by the following steps: S1, the control component calls the fixed spatial coordinate system parameters and the installation posture parameters of each component that were pre-stored during the installation calibration stage, and determines the fixed horizontal coordinates of multiple pad placement areas in the fixed spatial coordinate system, wherein the fixed horizontal coordinates of the multiple pad placement areas remain unchanged during the layer-by-layer stacking of the prefabricated composite slabs; S2. The current prefabricated composite slab to be stacked is hoisted to the stacking area and kept in the hoisted state. The slab body contour information of the current prefabricated composite slab is obtained through the first contour detection unit and the second contour detection unit, and the slab body contour information is sent to the control component. The control component determines the safe support area of ​​the slab surface of the current prefabricated composite slab based on the slab body contour information. S3. The control component performs a coverage check between the multiple pad placement areas and the plate surface safety support area. When the complete outline of the multiple pad placement areas is located within the safe support area of ​​the slab surface, the position of the current precast composite slab is deemed qualified. When the complete outline of at least one of the pad placement areas is not located within the safety support area of ​​the slab surface, the position of the current precast composite slab is determined to be unqualified. The fixed horizontal coordinates of the multiple pad placement areas remain unchanged, and position adjustment information of the current precast composite slab is generated based on the positional relationship between the multiple pad placement areas and the safety support area of ​​the slab surface. S4. Adjust the current precast composite slab in the hoisting state according to the position adjustment information, and re-obtain the slab contour information of the current precast composite slab after adjustment through the first contour detection unit and the second contour detection unit, and re-perform the coverage check until the complete contour of the multiple pad block placement areas is located within the safe support area of ​​the slab surface of the current precast composite slab after adjustment, and lower the current precast composite slab with qualified position to the stacking position; S5. The height of the upper surface of the current prefabricated composite slab after it is lowered is detected by the panel height detection component, and the detected panel height information is sent to the control component. S6. The control component controls the lifting drive mechanism of the first side support component and the second side support component to move according to the plate height information, so as to drive the first projection component and the second projection component to move in the vertical direction respectively, so that the vertical distance between the first projection component and the second projection component and the upper surface of the current prefabricated composite plate is within the preset projection distance range. S7. The control component generates projection control data based on the lifting displacement of the two lifting seats, the preset installation posture parameters of the first projection component and the second projection component relative to the corresponding lifting seats, and the fixed horizontal coordinates of the multiple pad placement areas. It then controls the first projection component and the second projection component to form multiple pad placement marks on the upper surface of the current precast composite slab that correspond one-to-one with the multiple pad placement areas. S8. According to the multiple pad placement marks, place multiple pads on the upper surface of the current precast composite slab, and after hoisting the next layer of precast composite slab, repeat S2 to S8 for the next layer of precast composite slab so that the corresponding pads between different layers of precast composite slabs correspond to each other in the vertical direction.

[0014] During the installation phase of the prefabricated composite slab stacking pad positioning device: A fixed spatial coordinate system is established based on the reference centers of the four fixed reference components. The installation poses of the first side support component and the second side support component relative to the fixed spatial coordinate system are measured. The installation poses of the first contour detection unit and the second contour detection unit relative to the fixed spatial coordinate system are also measured. The installation poses of the first projection component, the second projection component, and the plate height detection component relative to the corresponding lifting seat are also measured. The reference coordinates of the four reference centers and the installation poses of each are stored as preset parameters in the control component; The control component determines the current position and orientation of the first projection component, the second projection component, and the plate height detection component in the fixed spatial coordinate system based on the corresponding lifting displacement of the lifting seat and the preset parameters.

[0015] Determining the safe support area of ​​the current precast composite slab surface includes: Based on the slab contour information obtained by the first contour detection unit and the second contour detection unit, the concrete slab of the current precast composite slab and the truss reinforcement set on the concrete slab are distinguished, and the actual boundary of the concrete slab is extracted. The actual boundary of the concrete slab is offset inward by a preset safe distance to obtain the initial safe support area. The projection area of ​​the truss reinforcement on the upper surface of the current precast composite slab is determined based on the slab contour information, and the projection area is expanded outward by a preset avoidance distance to obtain the truss avoidance area; The truss avoidance area is removed from the initial safety support area to obtain the plate surface safety support area; The control component determines whether the complete outline of the multiple pad placement areas is located within the safe support area of ​​the plate surface.

[0016] The detection of the upper surface height of the current precast composite slab using the slab height detection component includes: Three distance sensors installed on the two lifting seats are used to measure the distance between the concrete slab areas between adjacent truss reinforcement bars on the current precast composite slab, and three slab distance detection values ​​are obtained. Based on the lifting displacement of the two lifting seats, the preset installation position of the three distance sensors relative to the corresponding lifting seats, the detection axis direction of the three distance sensors, and the corresponding plate surface distance detection value, the coordinates of the intersection point of the detection axis of the three distance sensors and the concrete slab surface area are determined respectively, and the three plate surface height detection values ​​are determined based on the vertical coordinates of the three intersection point coordinates. The three plate height detection values ​​are sorted in ascending order to obtain the first sorted height value, the second sorted height value, and the third sorted height value. When the difference between the third sorted height value and the first sorted height value does not exceed the preset height difference threshold, the three panel height detection values ​​are determined as a group of effective height detection values. When the difference between the third sorting height value and the first sorting height value exceeds the preset height difference threshold, the first adjacent height difference between the second sorting height value and the first sorting height value, and the second adjacent height difference between the third sorting height value and the second sorting height value are determined respectively. When the smaller of the first adjacent height difference and the second adjacent height difference does not exceed the preset height difference threshold, and the first adjacent height difference and the second adjacent height difference are not equal, the two sorted height values ​​corresponding to the smaller adjacent height difference are determined as the effective height detection value group. When both the first adjacent height difference and the second adjacent height difference exceed the preset height difference threshold, or when the first adjacent height difference and the second adjacent height difference are equal, the panel height detection is determined to be abnormal, and the two lifting seats are controlled to move back to the pre-detection position and then the panel height is detected again. The upper surface height of the current precast composite slab is determined based on the average value of each effective height detection value in the effective height detection value group.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects.

[0018] First, the present invention places two side-mounted support components outside the vertical projection range of the stacking area, and does not provide a transverse connecting member between the two support components, which can preserve a complete vertical lifting channel for the composite plate, slings and lifting tools.

[0019] Second, the present invention predetermines the fixed horizontal coordinates of multiple pad placement areas in a fixed spatial coordinate system. The positions of the multiple pads do not change with the actual horizontal offset of each layer of the composite plate, thereby arranging the corresponding pads between different layers in the vertical direction and reducing the placement error accumulated layer by layer.

[0020] Third, the present invention obtains the actual boundary of the concrete slab and the distribution of the truss reinforcement of the composite slab by setting the contour detection unit on the top of the two support components, and performs a coverage check on the area where the fixed pad is placed; if the coverage is not qualified, the composite slab is adjusted without changing the fixed coordinates of the pad, thereby taking into account both the vertical correspondence of the pad and the safe support of the slab surface.

[0021] Fourth, the present invention sets both the projection component and the panel height detection component on the lifting seat, which can adjust the position of the projection component according to the actual height of the top layer of the stacked panel, thereby reducing the variation in projection distance and projection accuracy under different stacking heights.

[0022] Fifth, the present invention uses three distance sensors distributed on two lifting seats to detect the height of the plate. The three detection points are not collinear, which can reduce the influence of single-sided detection and truss reinforcement and local protrusions on the judgment of the plate height.

[0023] Sixth, the present invention retains four permanent fixed reference components and stores the installation calibration parameters in the control component. During daily operation, there is no need to set and identify the coding mark. After the device is disassembled, repaired or the foundation is changed, the installation relationship between each component and the fixed spatial coordinate system can be restored by using the four fixed reference components. Attached Figure Description

[0024] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings listed below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 This is the present invention. Figure 1 A schematic diagram of the structure with the fixed reference component removed; Figure 3 This is a schematic diagram of the projection component; Figure 4 This is a structural diagram of the pad placement markings.

[0026] The components represented by each number in the attached diagram are as follows: 100, First side support assembly; 200, Second side support assembly; 300, First projection assembly; 400, Second projection assembly; 500, Panel height detection assembly; 700, Composite panel contour detection assembly; 800, Fixed reference assembly; 900, Precast composite panel; 970, Stacking area; 110, Fixed base; 120, Vertical column; 130, Lifting seat; 140, Drive mechanism; 141, Motor; 142, Lead screw; 143. Lead screw nut; 310. Visible light laser; 320. Two-dimensional scanning galvanometer; 330. Galvanometer driver; 340. Projection lens; 521. First ranging sensor; 522. Second ranging sensor; 523. Third ranging sensor; 511. Sensor base; 910. First pad placement mark; 920. Second pad placement mark; 930. Third pad placement mark; 940. Fourth pad placement mark; 950. Fifth pad placement mark; 960. Sixth pad placement mark. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. Of course, the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] Example 1: The precast composite slab stacking pad positioning device and positioning method provided by the present invention will be further described below with reference to the accompanying drawings. It should be noted that the structural form, number of components, installation position, and control parameters described in this embodiment are used to illustrate specific implementations of the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0029] like Figures 1-4 As shown, this embodiment provides a prefabricated composite slab stacking pad positioning device, including a first side support component 100, a second side support component 200, a first projection component 300, a second projection component 400, a slab height detection component 500, a control component, a composite slab contour detection component 700, and four fixed reference components 800.

[0030] The precast composite slabs 900 are hoisted and stacked layer by layer within a pre-designated stacking area 970. Each precast composite slab comprises a concrete slab and multiple rows of reinforcing steel trusses positioned above the concrete slab. Some precast composite slabs 900 may also have protruding reinforcing bars on their sides.

[0031] The first side support assembly 100 and the second side support assembly 200 are respectively disposed on opposite sides of the stacking area 970, and both are located outside the vertical projection range of the stacking area 970 corresponding to the largest precast composite slab 900. No connecting beam is provided between the first side support assembly 100 and the second side support assembly 200 across the stacking area 970, thereby preserving a complete vertical lifting channel for the precast composite slab 900, lifting tools, slings and hooks.

[0032] In this embodiment, the first side support assembly 100 and the second side support assembly 200 are respectively disposed on both sides of the prefabricated composite slab 900 in the width direction. In other embodiments, the two side support assemblies can also be disposed on both sides of the prefabricated composite slab 900 in the length direction, depending on the yard layout and the hoisting direction of the prefabricated composite slab 900.

[0033] Both the first side support assembly 100 and the second side support assembly 200 include a fixed base 110, a vertical column 120, a lifting seat 130, and a drive mechanism 140.

[0034] Two fixed bases 110 are anchored to the ground foundation on both sides of the stacking area 970. Two vertical columns 120 are vertically installed on the fixed bases.

[0035] The lifting platform 130 moves up and down along the vertical column 120. The lifting platform 130 is used to support the projection component and the distance measuring sensor.

[0036] The drive mechanism 140 includes a lifting motor 141, a lead screw 142, and a lead screw nut 143. The lifting motor 141 is located at the top of the vertical column 120, and its output shaft is coaxially connected to the lead screw 142. The lead screw 142 extends continuously along the length of the vertical column 120, and the lead screw nut 143 is threadedly connected to the lead screw 142 and fixedly connected to the lifting seat 130.

[0037] Position detectors are installed between the lifting platform 130 and the vertical column 120. The position detectors are used to detect the lifting displacement of the corresponding lifting platform and send the detection results to the control component.

[0038] The position detector can be an absolute encoder, a linear encoder, a magnetic encoder, or a linear displacement sensor.

[0039] The first projection component 300 and the second projection component 400 are respectively fixedly mounted on the corresponding lifting base 130. The physical structures of both projection components are located outside the vertical projection range of the stacking area 970, and only the projection light path enters the stacking area 970.

[0040] Both the first projection assembly 300 and the second projection assembly 400 include a visible light laser 310, a two-dimensional scanning galvanometer 320, a galvanometer driver 330, and a projection lens 340. The two-dimensional scanning galvanometer 320 is disposed on the light output path between the visible light laser 310 and the projection lens 340, and the galvanometer driver 330 is connected to both the two-dimensional scanning galvanometer 320 and the control assembly.

[0041] Both the first projection component 300 and the second projection component 400 can be programmable two-dimensional galvanometer industrial laser projectors capable of receiving external vector projection data. The control component controls the high-speed deflection of the two-dimensional scanning galvanometer through the corresponding galvanometer driver, so that the laser beam scans cyclically along multiple preset scanning trajectories, thereby forming multiple separate pad placement marks on the upper surface of the prefabricated composite plate 900.

[0042] In this embodiment, six pads are placed on each layer of prefabricated composite slab 900. The first projection component 300 forms a first pad placement mark 910, a second pad placement mark 920, and a third pad placement mark 930 in the first projection partition; the second projection component 400 forms a fourth pad placement mark 940, a fifth pad placement mark 950, and a sixth pad placement mark 960 in the second projection partition.

[0043] The six pad placement markings 910 to 960 are arranged symmetrically in three groups relative to the preset center line of the stacking area 970.

[0044] Each pad placement marker includes a center positioning line extending along the length of the pad and end positioning lines located at both ends of the center positioning line. The operator determines the extension direction of the pad based on the center positioning line and the end positions of the pad based on the end positioning lines.

[0045] In this embodiment, the pads are strip-shaped wooden blocks, and the placement area of ​​each pad is the area that matches the complete horizontal projection outline of the corresponding pad on the upper surface of the precast composite slab 900. When performing coverage verification, the complete outline of the pad placement area is used as the judgment object, rather than just the center point of the pad.

[0046] The panel height detection component 500 includes a first distance sensor 521, a second distance sensor 522, and a third distance sensor 523.

[0047] The first ranging sensor 521 and the second ranging sensor 522 are mounted on the lifting seat of the first side support assembly 100 via sensor base 511, and the third ranging sensor 523 is mounted on the lifting seat of the second side support assembly 200 via sensor base 511. All three ranging sensors are connected to the control assembly and move up and down with their respective lifting seats.

[0048] The physical structures of the three ranging sensors and their corresponding sensor mounts are all located outside the vertical projection range of the stacking area 970. The detection axes of the three ranging sensors are all oriented towards the stacking area 970 and extend obliquely downwards, intersecting with the concrete slab area between adjacent truss reinforcement bars on the precast composite slab 900.

[0049] Three detection beams form three non-collinear detection points on the upper surface of the concrete slab. By ensuring that the three detection points are non-collinear, the influence of local protrusions, debris, or individual truss reinforcement bars on the determination of the slab height can be reduced.

[0050] Let the first The current detection starting point of each ranging sensor in a fixed spatial coordinate system is:

[0051] No. The unit direction vector of the detection axis of each ranging sensor is:

[0052] The corresponding measured plate distance is Then the coordinates of the intersection point of the detection axis of the ranging sensor and the concrete slab surface are:

[0053] The corresponding panel height detection value is the intersection point. Vertical coordinates:

[0054] Because the detection axis of the ranging sensor is set obliquely downwards, the vertical component of the direction vector... It is a negative value.

[0055] The control component determines the current detection starting point of each distance sensor based on the lifting displacement of the corresponding lifting platform, the preset installation position of the distance sensor relative to the lifting platform, and the direction of the detection axis. and combined with the distance measurement value Calculate the measured height of the board surface.

[0056] The composite plate contour detection assembly 700 includes a first contour detection unit and a second contour detection unit.

[0057] The first contour detection unit is fixedly mounted on the top of the first side support assembly 100, and the second contour detection unit is fixedly mounted on the top of the second side support assembly 200. Neither contour detection unit moves with the lifting seat.

[0058] The first contour detection unit and the second contour detection unit are both located outside the vertical projection range of the stacked region 970, and their detection directions are respectively set diagonally downward from both sides of the stacked region 970. The two detection fields of view jointly cover the stacked region 970 and form an overlapping detection area in the middle of the stacked region 970.

[0059] In this embodiment, the first contour detection unit and the second contour detection unit each employ an industrial binocular 3D camera. In other embodiments, a 3D depth camera, a line laser contour sensor, or a combination of an industrial camera and a laser contour sensor may also be used.

[0060] The installation height, lens field of view, and effective detection distance of the first contour detection unit and the second contour detection unit are determined based on the maximum planar dimension of the stacking area 970, the minimum board height, and the preset maximum stacking height.

[0061] The combined effective detection range of the two contour detection units covers the minimum allowable plate height to the maximum allowable plate height in the vertical direction, so that the first layer of prefabricated composite plate 900 and the uppermost layer of prefabricated composite plate 900 when the preset maximum stacking height is reached are both within the effective detection distance.

[0062] Both contour detection units have at least partially overlapping detection fields of view across the entire allowable stacking height range. Therefore, as the precast composite slab 900 is raised layer by layer, the contour information of the current precast composite slab 900 can be continuously acquired without moving the two contour detection units.

[0063] During the device installation and calibration phase, the transformation relationship between the detection coordinate system of the first contour detection unit and the fixed spatial coordinate system of the second contour detection unit is determined, and the corresponding transformation parameters are stored in the control component.

[0064] During operation, the control component converts the contour points acquired by the two contour detection units to a fixed spatial coordinate system, and matches and fuses the two sets of contour data based on the plate corner points, plate edge segments and truss reinforcement feature points in the overlapping area of ​​the two detection fields.

[0065] The control component distinguishes between concrete slabs, truss reinforcement, and overhanging reinforcement based on the height layer, continuous surface features, and rod-like structural features in the contour data, and excludes the contour points corresponding to the truss reinforcement and overhanging reinforcement to extract the actual boundary of the concrete slab.

[0066] There are four fixed reference components 800, namely the first fixed reference component, the second fixed reference component, the third fixed reference component and the fourth fixed reference component.

[0067] Four fixed reference components 800 are respectively set on the outer side of the four corners of the stacking area 970, and all are located outside the vertical projection range of the stacking area 970.

[0068] Each fixed reference assembly includes a reference base, a fixed reference plate, crosshairs on the fixed reference plate, and a central positioning hole. The intersection of the crosshairs coincides with the axis of the central positioning hole, and this coincidence position serves as the reference center of the corresponding fixed reference assembly.

[0069] The four fixed reference components 800 do not participate in real-time detection during daily stacking operations, but serve as permanent physical measurement references for initial installation calibration of the device, coordinate restoration after disassembly and assembly of the side support components, recalibration after replacement of the contour detection unit or projection component, remeasurement after ground foundation maintenance, and periodic equipment verification.

[0070] After the device is installed, the reference center of the four fixed reference components 800 is measured using a total station, laser tracker or other spatial measurement equipment.

[0071] In this embodiment, the first fixed reference component ( Figure 4 The origin O of the coordinate system is the center of the first fixed reference component (located on the upper left side). The coordinate system points from the first fixed reference component to the second fixed reference component. Figure 4 The direction of the second fixed reference component (located on the upper right side) is taken as the positive direction of the X-axis. A Y-axis perpendicular to the X-axis is established in the horizontal plane, and the vertically upward direction is taken as the Z-axis to establish a fixed spatial coordinate system O-XYZ.

[0072] Then, measurements were taken and determined: The installation pose of the first side support assembly 100 and the second side support assembly 200 relative to the fixed spatial coordinate system; The installation poses of the first contour detection unit and the second contour detection unit relative to the fixed spatial coordinate system; The mounting position of the first projection component 300 relative to the lifting seat 130 of the first side support component 100; The mounting position of the second projection component 400 relative to the lifting seat of the second side support component 200; The installation positions and detection axis directions of the first ranging sensor 521, the second ranging sensor 522, and the third ranging sensor 523 relative to their respective lifting seats; The initial height of the two lifting platforms.

[0073] The aforementioned reference coordinates and installation pose parameters are all stored in the control component. Fourth fixed reference component ( Figure 4 The lower right corner (in the middle) can be used as a verification benchmark to check whether the fixed spatial coordinate system established by the other fixed benchmark components has changed.

[0074] When the device is disassembled, collided, undergoes foundation repairs, or experiences significant settlement, the above installation position parameters are remeasured and updated using four fixed reference components 800.

[0075] The control components include a processor, memory, input / output interfaces, and a display terminal.

[0076] At least the following should be stored in the memory: Preset reference coordinates for four fixed reference components 800; The preset installation positions of the first side support assembly 100 and the second side support assembly 200; The preset mounting poses of the first contour detection unit and the second contour detection unit; The preset installation positions of the first projection component 300 and the second projection component 400 relative to the corresponding lifting base; The three distance sensors are positioned relative to the preset installation positions and detection axis directions of the corresponding lifting platforms; Templates for arranging spacers for different specifications of precast composite slabs 900; Fixed horizontal coordinates of the six pad placement areas; Safety distance at the edge of the plate; Truss reinforcement clearance distance; The effective measurement range of the ranging sensor; Preset projection distance range; Preset height difference threshold.

[0077] The control components are connected to two lifting motors 141, two position detectors, a first projection component 300, a second projection component 400, three distance sensors, and two contour detection units.

[0078] S1. Establish fixed spatial coordinates and determine the placement area of ​​the pad blocks. The control component calls the fixed spatial coordinate system parameters and the installation pose parameters of each component that were pre-stored during the installation calibration phase, and restores or calls the fixed spatial coordinate system that remains fixed relative to the stacking area.

[0079] Based on the specifications of the prefabricated composite slab 900 to be stacked, the corresponding pad arrangement template is retrieved from the memory, and the fixed horizontal coordinates of the six pad placement areas are determined in the fixed spatial coordinate system.

[0080] The fixed horizontal coordinates of the six pad block placement areas remain unchanged during the stacking of precast composite slabs 900 layer by layer, and do not change with the actual hoisting offset of each layer of precast composite slabs 900.

[0081] S2. Hoist the current precast composite slab and obtain the slab outline. The hoisting equipment lifts the current precast composite slab 900 to the stacking area 970 and keeps the current precast composite slab 900 in the hoisted state.

[0082] The first and second contour detection units acquire the three-dimensional contour data of the current precast composite slab 900, respectively. The control component converts the two sets of contour data to a fixed spatial coordinate system and performs registration and fusion.

[0083] The control component extracts the actual boundary of the concrete slab and the projection area of ​​the truss reinforcement on the upper surface of the concrete slab from the fused contour data.

[0084] S3. Determine the safe support area of ​​the plate surface. The control component offsets the actual boundary of the concrete slab by a preset safe distance inward to obtain the initial safe support area.

[0085] The preset safety distance is determined based on the dimensions of the pad block along the direction close to the edge of the slab, the allowable error for manual placement, and the minimum support margin required for the edge of the concrete slab.

[0086] The control component expands the projected area of ​​the truss reinforcement on the upper surface of the concrete slab outward by a preset clearance distance to obtain the truss clearance area. The preset clearance distance is determined based on the width of the pad block, the projected width of the truss reinforcement, and the allowable error for manual placement.

[0087] The truss avoidance area is removed from the initial safe support area to obtain the plate surface safe support area.

[0088] S4, Coverage Verification and Location Adjustment Information Generation The control component determines whether the complete outline of the six pad placement areas is located within the safe support area of ​​the plate surface.

[0089] When the complete outline of the six pad block placement areas is within the safe support area of ​​the slab surface, the position of the current precast composite slab 900 is deemed qualified.

[0090] When the complete outline of at least one pad placement area is not within the safe support area of ​​the slab surface, the position of the current precast composite slab 900 is determined to be unqualified, and the fixed horizontal coordinates of the six pad placement areas remain unchanged.

[0091] The control component determines the actual center position and actual centerline direction of the current precast composite slab 900 based on the actual boundary of the concrete slab, and determines the target coverage area based on the outer envelope of the six pad block placement areas.

[0092] When the pad placement area extends beyond the safe support area of ​​the plate along the X-axis, the control component determines the X-axis adjustment direction and X-axis adjustment distance based on the maximum extension along the X-axis.

[0093] When the pad placement area extends beyond the safe support area of ​​the plate along the Y-axis, the control component determines the Y-axis adjustment direction and Y-axis adjustment distance based on the maximum excess along the Y-axis.

[0094] When there is an angle between the actual centerline direction of the current precast composite slab 900 and the target centerline direction of the pad block arrangement template, the control component determines the adjustment direction and adjustment angle around the Z-axis based on the angle.

[0095] The control component outputs at least one of the following via a display terminal: X-axis adjustment distance, Y-axis adjustment distance, and Z-axis adjustment angle. Based on the position adjustment information output by the display terminal, the operator controls the hoisting equipment to translate and / or rotate the currently hoisted precast composite slab 900.

[0096] After adjustment, the first contour detection unit and the second contour detection unit reacquire the contour data of the current precast composite slab 900, and the control component re-executes the coverage check until the complete contour of the six pad block placement areas is within the safe support area of ​​the slab surface.

[0097] After the coverage verification is passed, the current precast composite slab 900 is lowered to the stacking position.

[0098] S5, Lifting seat pre-positioning and precise distance measurement of the panel surface Since the three distance sensors move with the lifting platform 130, the two lifting platforms are pre-positioned before the precise distance measurement of the plate surface is performed.

[0099] After the current precast composite slab 900 is lowered to the stacking position, the control component determines the predicted height of the current slab surface based on the slab height of the previous layer of precast composite slab, the preset slab thickness of the current precast composite slab 900, and the preset height of the spacer between two adjacent layers of precast composite slabs.

[0100] Optionally, the control component can also determine the approximate height of the current slab surface based on the three-dimensional contour data of the current prefabricated composite slab 900 obtained by the first contour detection unit and the second contour detection unit.

[0101] The control component controls the lifting motor 141 to move the lifting seat 130 to the pre-detected position based on the predicted height or rough height.

[0102] At the pre-detection position, the predicted distances between the three ranging sensors and the upper surface of the current prefabricated composite slab 900 are all within the effective measurement range of the corresponding ranging sensors.

[0103] Subsequently, the first distance sensor 521, the second distance sensor 522, and the third distance sensor 523 measure the distance between the concrete slab areas between adjacent truss reinforcement bars, respectively, and obtain three slab distance detection values.

[0104] The control component calculates three plate height detection values ​​based on the current lifting displacement of the two lifting seats 130, the installation position of the three distance sensors relative to the corresponding lifting seats 130, the direction of the detection axis, and the measured plate distance detection value, denoted as follows: , and .

[0105] The control component sorts the three panel height detection values ​​in ascending order to obtain the first sorted height value. Second sorting height value and the third sort height value And satisfy:

[0106] The control component further calculates the height difference between the three sorted height values:

[0107]

[0108]

[0109] in, The maximum height difference between the three panel height detection values. The first adjacent height difference This represents the second adjacent height difference.

[0110] When the maximum height difference Not exceeding the preset height difference threshold When this occurs, it indicates that there is consistency among the three panel height detection values, and the control component will... , and All values ​​are determined as valid height detection values, and the current board height is determined according to the following formula. :

[0111] When the maximum height difference Exceeding the preset height difference threshold At that time, the control component compares the first adjacent height difference. The second adjacent height difference .

[0112] When the following conditions are met: and: At that time, the first sort height value Second sort height value The effective height detection value group is determined, and the current panel height is determined according to the following formula:

[0113] When the following conditions are met: and: At that time, the second sort height value and the third sort height value The effective height detection value group is determined, and the current panel height is determined according to the following formula:

[0114] When the first adjacent height difference Second adjacent height difference All exceeded the preset height difference threshold. If the reading is negative, it indicates that there is no effective consistency among the three panel height detection values, and the control component determines that the panel height detection is abnormal.

[0115] When the maximum height difference Exceeding the preset height difference threshold And the first adjacent height difference The second adjacent height difference When the heights are equal, it is impossible to determine which two panel height detection values ​​have higher consistency based on the adjacent height difference, and the control component will also determine that the panel height detection is abnormal.

[0116] When the panel height detection is found to be abnormal, the control component does not adjust the height of the first projection component 300 and the second projection component 400 according to the current panel height detection result. Instead, it controls the two lifting seats 130 to move back to the pre-detection position and controls the first distance sensor 521, the second distance sensor 522 and the third distance sensor 523 to perform distance measurement again.

[0117] Therefore, the control component can not only eliminate abnormal height detection values ​​caused by a single ranging sensor detecting local protrusions, debris on the slab surface, or truss reinforcement, but also stop using the detection result when the three detection values ​​cannot form a clear and consistent relationship, thus avoiding the projection component height adjustment deviation caused by incorrect slab height.

[0118] By first moving the lifting platform to the pre-detection position and then performing precise distance measurement on the panel, it is possible to avoid the distance sensor exceeding its effective measurement range due to the lifting platform remaining at the corresponding position on the previous floor.

[0119] S6. Adjust the height of the projection component. The control unit controls the lifting motor to move the lifting seat along the corresponding vertical column based on the precisely determined current panel height.

[0120] Two position detectors provide feedback on the actual lifting displacement of the two lifting seats.

[0121] When the vertical distance between the first projection component 300 and the second projection component 400 and the upper surface of the current prefabricated composite plate 900 is within the preset projection distance range, the control component stops the corresponding lifting drive mechanism.

[0122] S7, Projection Coordinate Transformation and Digital Distortion Compensation The control component determines the current projection origin of the first projection component 300 and the second projection component 400 in the fixed spatial coordinate system based on the actual lifting displacement of the two lifting seats.

[0123] The control component further establishes the current projection coordinate system of the first projection component 300 and the second projection component 400 respectively based on the preset installation position and preset installation direction of the first projection component 300 and the second projection component 400 relative to the corresponding lifting seat.

[0124] The control component converts the boundary coordinates of the six pad placement areas in a fixed spatial coordinate system into the scan coordinates of the corresponding projection components.

[0125] Optionally, the control component fits the spatial plane of the current concrete slab surface based on the three non-collinear plate surface detection points, and determines the corresponding position of the boundary point of each pad block placement area in the projection coordinate system based on the spatial plane, the current projection origin of the corresponding projection component, and the projection beam direction.

[0126] The control component performs digital size compensation and perspective distortion compensation on the length, width and end position of the pad placement mark according to the current projection distance and the incident direction of the projection beam relative to the current board surface, so that the pad placement mark formed by the projection matches the actual contour of the corresponding pad placement area.

[0127] The mechanical mounting orientation of the first projection assembly 300 and the second projection assembly 400 remains unchanged during operation. Changes in projection position and graphic distortion caused by different stacking heights are compensated for by updating the scanning trajectory of the two-dimensional scanning galvanometer, eliminating the need for external pitch or horizontal deflection adjustment mechanisms.

[0128] After coordinate transformation and digital compensation are completed, the first projection component 300 forms the first to third pad placement marks 910 to 930, and the second projection component 400 forms the fourth to sixth pad placement marks 940 to 960.

[0129] S8. Manually place pads and repeat layer by layer. According to the six pad placement markings 910-960, the operator places the six pads on the upper surface of the current precast composite slab 900, so that the center line, extension direction and end position of each pad match the corresponding pad placement marking.

[0130] After the placement of the six pad blocks is completed, the next layer of precast composite slabs is hoisted, and the contour detection, safety support area determination, coverage verification, position adjustment, pre-positioning of the lifting seat, accurate distance measurement of the slab surface, projection height adjustment, and pad block marking projection process are repeated for the next layer of precast composite slabs.

[0131] Since the horizontal coordinates of the placement areas of each layer of pads remain unchanged in the fixed spatial coordinate system, the corresponding pads between different layers correspond to each other in the vertical direction, thus forming a continuous vertical load transfer path, reducing the local additional bending moment and uneven stress on the composite plate caused by the misalignment of the upper and lower layers of pads. Example 2 This embodiment uses the precast composite slab stacking pad positioning device described in Embodiment 1. Its mechanical structure, component connection relationship, fixed spatial coordinate system establishment method, slab contour information acquisition method, and slab surface height detection method are the same as in Embodiment 1. This embodiment focuses on describing a specific implementation method of the control component generating precast composite slab position adjustment information and projection control data.

[0132] (a) Determination of candidate adjustment poses The control component obtains the current precast composite slab 900's surface safety support area A and calls the six pad placement areas. Fixed coordinates in a fixed spatial coordinate system, where .

[0133] When at least one pad is placed in the area When the complete outline is not located within the safe support area A of the plate surface, the control component maintains the fixed coordinates of the six pad placement areas and generates multiple candidate adjustment poses within the preset adjustment range. The k-th candidate adjustment pose is represented as:

[0134] in, and These are the candidate translations along the X and Y axes of a fixed spatial coordinate system, respectively. The candidate rotation angle is centered around the Z-axis.

[0135] The preset adjustment range is determined based on the horizontal adjustment range, angle adjustment range, and stopping accuracy of the hoisting equipment. The control component can generate candidate adjustment poses using hierarchical search, continuous optimization, or geometric constraint solving methods.

[0136] For each candidate adjustment pose, the control component performs pose transformation on the current safe support area of ​​the board surface according to the corresponding candidate translation amount and candidate rotation angle to obtain the candidate safe support area. .

[0137] When the following conditions are met: When the time comes, the corresponding candidate adjustment pose will be determined as a qualified candidate pose.

[0138] Preferably, before making a coverage judgment, the placement area of ​​each pad is expanded outward by a preset verification distance to compensate for contour detection error, hoisting and positioning error and manual placement error.

[0139] For each qualified candidate pose, the control component calculates the adjustment evaluation value:

[0140] in, , and These are the evaluation weights for the X-axis direction, Y-axis direction, and the direction around the Z-axis, respectively. This is the characteristic length of the laminate used to convert the angle adjustment amount into an equivalent edge displacement. Used to convert the angle adjustment amount into the equivalent linear displacement at the edge of the composite plate.

[0141] The control component determines the qualified candidate pose with the smallest adjustment value as the target adjustment pose, and generates at least one of the following based on the difference between the target adjustment pose and the current actual pose: X-axis adjustment distance, Y-axis adjustment distance, and Z-axis adjustment angle.

[0142] The control component outputs the position adjustment information via a display terminal, and the operator adjusts the current precast composite slab 900 in the hoisting state according to the position adjustment information. After the adjustment is completed, the first contour detection unit and the second contour detection unit re-acquire the slab contour information and re-perform a coverage check.

[0143] When there are no qualified candidate poses within the preset adjustment range, the control component stops generating pad placement marks and outputs a prompt to reselect the pad placement template, check the composite plate specifications, or perform manual verification.

[0144] (ii) Projected coordinate mapping After the prefabricated composite slab 900 is lowered and the slab height is detected, the control component determines the current spatial pose of the two projection components in the fixed spatial coordinate system based on the lifting displacement detected by the two position detectors and the preset installation pose parameters of the first projection component 300 and the second projection component 400 relative to the corresponding lifting seat.

[0145] The control component determines the spatial position and normal direction of the current concrete slab surface based on three non-collinear detection points obtained from three ranging sensors.

[0146] For any boundary point Q in the pad placement area, the control component converts the boundary point into the scanning coordinates of the corresponding two-dimensional scanning galvanometer based on the current spatial pose of the corresponding projection component, the current plate parameters, and the installation calibration parameters:

[0147] in, To correspond to the lifting displacement of the lifting seat, For the current panel parameters, These are the installation calibration parameters for the corresponding projection components. These are the converted scan coordinates.

[0148] The installation calibration parameters include at least the installation position and direction of the projection assembly relative to the lifting platform, as well as the geometric calibration parameters of the projection lens and the two-dimensional scanning galvanometer.

[0149] The control component performs size compensation and perspective compensation on the scanning coordinates based on the distance between the projection component and the current board surface and the incident direction of the projection beam relative to the board surface; and performs distortion compensation on the scanning coordinates based on the projection error calibration data obtained during the installation phase.

[0150] The projection error calibration data can be represented using a parametric model, calibration grid, partition interpolation table, or a combination thereof. The control component generates the scanning trajectory corresponding to the center and end positioning lines of each pad placement marker based on the compensated scanning coordinates.

[0151] The first projection component 300 cyclically scans the first pad placement mark 910, the second pad placement mark 920, and the third pad placement mark 930; the second projection component 400 cyclically scans the fourth pad placement mark 940, the fifth pad placement mark 950, and the sixth pad placement mark 960.

[0152] When making an idle jump between two adjacent pad placement marks, the control component shuts down the visible laser or reduces its output power to avoid forming an irrelevant connection line between the two pad placement marks.

[0153] As the prefabricated composite slabs are stacked layer by layer, the control assembly re-executes the projected coordinate mapping based on the current lifting displacement of the two lifting seats and the current slab surface parameters to update the scanning trajectory of the two-dimensional scanning galvanometer. The horizontal coordinates of the six pad placement areas remain unchanged in the fixed spatial coordinate system.

[0154] Example 3: This embodiment uses the prefabricated composite slab stacking pad positioning device described in Embodiment 1. Its mechanical structure, the method of establishing the fixed spatial coordinate system, and the installation method of the first contour detection unit and the second contour detection unit are the same as those in Embodiment 1.

[0155] This embodiment focuses on a specific implementation method by which the control component determines the actual boundary of the concrete slab, the projection area of ​​the truss reinforcement, and the safe support area of ​​the slab surface based on the three-dimensional point cloud data obtained by the first contour detection unit and the second contour detection unit.

[0156] I. Point Cloud Acquisition and Coordinate Unification When the precast composite slab 900 is hoisted to the stacking area 970 and kept in the hoisted state, the first contour detection unit and the second contour detection unit respectively collect the first three-dimensional point cloud data and the second three-dimensional point cloud data of the precast composite slab 900 from both sides of the stacking area 970 diagonally downward.

[0157] The control component converts the first three-dimensional point cloud data and the second three-dimensional point cloud data to the fixed spatial coordinate system according to the preset installation pose parameters of the two contour detection units relative to the fixed spatial coordinate system determined during the device installation and calibration stage.

[0158] The detection fields of the two contour detection units overlap in the middle of the stacked area 970. The control component registers and fuses the two sets of three-dimensional point cloud data based on the plate corner points, plate edge segments and / or truss reinforcement features in the overlapping detection area to obtain the combined three-dimensional point cloud data of the current precast composite slab 900.

[0159] Point cloud registration can be achieved using rigid registration based on corresponding features, nearest neighbor point cloud registration, or other equivalent methods that can unify two sets of 3D point clouds into a fixed spatial coordinate system.

[0160] II. Point Cloud Preprocessing The control component trims the combined 3D point cloud data based on the preset spatial range of the stacking area 970 and the predicted height range of the current prefabricated composite slab 900, excluding the point clouds corresponding to the ground, side support components, hoisting equipment, and other objects outside the stacking area.

[0161] Furthermore, the control component removes outliers that are more than a preset outlier threshold away from the surrounding point cloud, and downsamples the remaining point cloud to reduce the number of point clouds while preserving the outline features of the plate edge and truss reinforcement.

[0162] The point cloud preprocessing can employ statistical outlier removal, radius outlier removal, voxel downsampling, or a combination of the above methods.

[0163] III. Concrete Slab Identification The control component extracts near-horizontal continuous surfaces from the preprocessed combined 3D point cloud data that meet the following conditions: The angle between the surface normal and the vertical direction does not exceed a preset angle threshold. Continuously distributed in the horizontal direction; The horizontal projected area is greater than the preset area threshold. The distances of each point in the plane relative to the fitted plane are within the preset range of plate surface undulation. The control component determines the near-horizontal continuous surface that meets the above conditions and has the largest horizontal projected area as the upper surface reference surface of the concrete slab.

[0164] The upper surface reference plane can be extracted by combining plane fitting and connected component analysis; the plane fitting can be random sampling consistency plane fitting, least squares plane fitting or other equivalent methods.

[0165] IV. Identification of Reinforcing Steel in Concrete Slabs and Trusses The control component identifies the point cloud located near the upper surface reference plane and continuously distributed in the horizontal direction, as well as the point cloud located below the upper surface reference plane within a preset plate thickness range and connected to the plate surface point cloud, as the concrete plate point cloud.

[0166] The control component further extracts the protruding point cloud located above the upper surface reference plane and identifies the truss reinforcement point cloud based on the following characteristics: The height difference between the protruding point cloud and the upper surface reference plane is within the preset truss height range; The protruding point cloud extends continuously in a linear or rod-like shape; The lateral dimension of the protruding point cloud is greater than its lateral dimension; The cross-sectional dimension of the protruding point cloud is smaller than the preset rod size threshold; Multiple protruding point clouds are distributed according to a preset spacing or an approximately parallel relationship. For point clouds that extend continuously outward from the side of the concrete slab and have rod-like features, the control component identifies them as point clouds of outward-extending reinforcing bars.

[0167] When determining the actual boundary of the concrete slab, the control components exclude the point cloud of truss reinforcement and the point cloud of overhanging reinforcement to avoid the reinforcement point cloud causing the outline of the concrete slab to be incorrectly expanded.

[0168] This embodiment does not require distinguishing the top chord bars, bottom chord bars, and web members in the truss reinforcement bars one by one; it only needs to determine the overall area occupied by the truss reinforcement bars on the upper surface of the concrete slab.

[0169] V. Determination of the actual boundary of the concrete slab The control component projects the point cloud of the concrete slab vertically onto the horizontal reference plane to obtain the projection point set of the slab.

[0170] The control component performs connectivity analysis on the projection point set of the slab and extracts the outer contour from the largest connected region to obtain the actual boundary of the concrete slab.

[0171] The actual boundary can be determined using contour tracing, polygon envelope, rasterized boundary extraction, or other equivalent methods.

[0172] When the standard shape of the precast composite slab 900 is known, the control component can also call the corresponding standard slab outline template to fill in the local boundary missing caused by the sling obstruction or the blind spot of the detection; the filling does not change the horizontal position and deflection angle of the current precast composite slab 900 actually detected.

[0173] VI. Determination of the projection area of ​​truss reinforcement The control component projects the identified truss reinforcement point cloud vertically onto the upper surface reference plane of the concrete slab to obtain the initial projection point set of the truss reinforcement.

[0174] The initial projection points of truss reinforcement bars that are interconnected or have a spacing less than the preset merging distance are merged and their outlines are enclosed to obtain one or more truss reinforcement bar projection areas.

[0175] The truss reinforcement projection area is used to indicate the area occupied by the truss reinforcement on the concrete slab surface where it may interfere with the pad block, without needing to reproduce the precise cross-sectional shape of each reinforcement.

[0176] VII. Construction of the Safety Support Area on the Slab Let P be the area enclosed by the actual boundary of the concrete slab, and let the preset safety distance between the slab edges be... The control component shifts the plate area P inward by the preset plate edge safety distance. Thus, the initial safe support area is obtained.

[0177] Let the first The projection area of ​​the truss reinforcement is The preset truss clearance distance is The control component projects the reinforcement bars of each truss into the designated area. Expand the preset truss clearance distance outward This yields the corresponding truss avoidance area.

[0178] The safe support area of ​​the plate surface is represented as follows:

[0179] in: A represents the safe support area of ​​the plate surface; This indicates that the plate area P is offset inward by a preset safe distance from the plate edge; Indicates the first The projection area of ​​each truss reinforcement bar expands outward by a preset truss clearance distance; m represents the number of truss reinforcement projection areas. The operations of shrinking within a region, expanding outwards from a region, and differencing a region can be implemented using polygon offset operations, raster morphological operations, or other equivalent geometric region operations.

[0180] The control component uses the generated plate safety support area to determine whether the complete outline of multiple pad placement areas is located within it.

[0181] VIII. Abnormal Data Handling The control component determines that the current point cloud data does not meet the conditions for determining the safe support area of ​​the board surface when any of the following conditions occur: The two sets of 3D point cloud data could not be registered. The identified projected area of ​​the concrete slab is less than a preset area threshold. The fitting error of the concrete slab surface exceeds the preset error threshold. The actual boundary of the concrete slab contains continuous missing segments exceeding the preset length; The boundary of the concrete slab cannot be identified due to obstruction by slings or lifting equipment. The generated safety support area on the board surface cannot be validated. When the above situation occurs, the control component pauses the generation of the current precast composite slab 900 position adjustment information and pad placement mark, and outputs prompts on the display terminal to re-collect point cloud data, adjust the sling position, or perform manual verification.

[0182] When the point cloud data of one contour detection unit is partially missing, while the corresponding area can be acquired by the other contour detection unit, the control component can use the point cloud data from the other side to supplement the partially missing area.

[0183] This embodiment obtains the actual boundary of the concrete slab and the area occupied by the truss reinforcement on the slab surface by performing coordinate unification, preprocessing, concrete slab surface recognition, truss reinforcement and overhanging reinforcement recognition, slab boundary extraction and truss reinforcement projection processing on the three-dimensional point cloud data obtained by two contour detection units.

[0184] Based on this, by shrinking the actual boundary of the concrete slab and expanding and eliminating the projection area of ​​the truss reinforcement, a safe support area for the slab surface is constructed, thereby providing a data basis for the coverage verification in Example 1 and the candidate adjustment pose selection in Example 2.

[0185] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A positioning device for prefabricated composite slab stacking pads, characterized in that, It includes a first side support assembly, a second side support assembly, a first projection assembly, a second projection assembly, a panel height detection assembly, and a control assembly; The first side support assembly and the second side support assembly are respectively disposed on opposite sides of the stacking area of ​​the prefabricated composite slab, and both the first side support assembly and the second side support assembly are located outside the vertical projection range of the stacking area; Both the first side support assembly and the second side support assembly include a fixed base, a vertical column disposed on the fixed base, a lifting seat that moves up and down along the vertical column, and a lifting drive mechanism connected to the lifting seat. The first projection component and the second projection component are respectively mounted on the lifting seats of the first side support component and the second side support component. The projection directions of the first projection component and the second projection component are both towards the stacking area, and the projection range of the first projection component and the second projection component together constitute a projection area covering the upper surface of the prefabricated composite plate located in the stacking area, so as to form multiple pad placement marks on the upper surface of the prefabricated composite plate. The panel height detection component is disposed on at least one of the lifting seats of the first side support component and the second side support component, and moves up and down with the corresponding lifting seat. The detection direction of the panel height detection component is towards the stacking area. The control component is connected to the first projection component, the second projection component, the panel height detection component, and the two lifting drive mechanisms, respectively.

2. The precast composite slab stacking pad positioning device according to claim 1, characterized in that, It also includes a composite plate contour detection component, which includes a first contour detection unit and a second contour detection unit. The first contour detection unit and the second contour detection unit are respectively fixedly disposed on the top of the first side support assembly and the second side support assembly, and both are located outside the vertical projection range of the stacked area; The detection directions of the first contour detection unit and the second contour detection unit are both towards the stacked area and are set obliquely downward. Their detection fields of view together cover the stacked area and at least partially overlap. The first contour detection unit and the second contour detection unit are respectively used to obtain the contour information of the concrete slab of the precast composite slab located in the stacking area and the truss reinforcement on the concrete slab, and both are connected to the control component.

3. The precast composite slab stacking pad positioning device according to claim 2, characterized in that, It also includes four fixed reference components, which are respectively fixedly disposed around the perimeter of the stacking area and are all located outside the vertical projection range of the stacking area; Each of the aforementioned fixed reference components includes a reference base, a fixed reference plate fixedly disposed on the reference base, and a reference center disposed on the fixed reference plate; The control component stores the preset reference coordinates of the reference centers of the four fixed reference components, the preset installation posture parameters of the first side support component and the second side support component relative to the fixed spatial coordinate system, the preset installation posture parameters of the first contour detection unit and the second contour detection unit relative to the fixed spatial coordinate system, the preset installation posture parameters of the first projection component and the second projection component relative to the corresponding lifting seat, and the preset installation posture parameters of the plate height detection component relative to the corresponding lifting seat.

4. The precast composite slab stacking pad positioning device according to claim 3, characterized in that, Both the first projection component and the second projection component include a visible light laser, a two-dimensional scanning galvanometer, a galvanometer driver, and a projection lens; The two-dimensional scanning galvanometer is disposed on the light output path between the visible light laser and the projection lens, and each galvanometer driver is connected to the corresponding two-dimensional scanning galvanometer and the control component. The first projection component is used to form three pad placement marks in a first projection zone on the upper surface of the prefabricated composite slab, and the second projection component is used to form another three pad placement marks in a second projection zone on the upper surface of the prefabricated composite slab.

5. The precast composite slab stacking pad positioning device according to claim 1, characterized in that, The lifting drive mechanism includes a lifting motor, a lead screw arranged along the length of the vertical column, and a lead screw nut threadedly connected to the lead screw. The output end of the lifting motor is connected to the lead screw drive, and the lead screw nut is fixedly connected to the corresponding lifting seat; A position detector for detecting the lifting displacement of the lifting seat is provided between the lifting seat and the vertical column, and the lifting motor and the position detector are respectively connected to the control component.

6. The precast composite slab stacking pad positioning device according to claim 4, characterized in that, The plate height detection component includes a first ranging sensor, a second ranging sensor, and a third ranging sensor; The first ranging sensor and the second ranging sensor are mounted on the lifting seat of the first side support assembly, and the third ranging sensor is mounted on the lifting seat of the second side support assembly. The detection axes of the first, second, and third ranging sensors are all oriented toward the stacked area and obliquely downward, and respectively correspond to the concrete slab area between adjacent truss reinforcement bars on the precast composite slab, so as to form three non-collinear slab surface detection points on the upper surface of the precast composite slab.

7. A positioning method based on the prefabricated composite slab stacking pad positioning device according to claim 6, characterized in that, Includes the following steps: S1. The control component calls the fixed spatial coordinate system parameters and the installation posture parameters of each component that were pre-stored during the installation calibration stage, and determines the fixed horizontal coordinates of multiple pad placement areas in the fixed spatial coordinate system. The fixed horizontal coordinates of the multiple pad placement areas remain unchanged during the process of stacking the prefabricated composite slabs layer by layer. S2. The current prefabricated composite slab to be stacked is hoisted to the stacking area and kept in the hoisted state. The slab body contour information of the current prefabricated composite slab is obtained through the first contour detection unit and the second contour detection unit, and the slab body contour information is sent to the control component. The control component determines the safe support area of ​​the slab surface of the current prefabricated composite slab based on the slab body contour information. S3. The control component performs a coverage check between the multiple pad placement areas and the plate surface safety support area. When the complete outline of the multiple pad placement areas is located within the safe support area of ​​the slab surface, the position of the current precast composite slab is deemed qualified. When the complete outline of at least one of the pad placement areas is not located within the safety support area of ​​the slab surface, the position of the current precast composite slab is determined to be unqualified. The fixed horizontal coordinates of the multiple pad placement areas remain unchanged, and position adjustment information of the current precast composite slab is generated based on the positional relationship between the multiple pad placement areas and the safety support area of ​​the slab surface. S4. Adjust the current precast composite slab in the hoisting state according to the position adjustment information, and re-obtain the slab contour information of the current precast composite slab after adjustment through the first contour detection unit and the second contour detection unit, and re-perform the coverage check until the complete contour of the multiple pad block placement areas is located within the safe support area of ​​the slab surface of the current precast composite slab after adjustment, and lower the current precast composite slab with qualified position to the stacking position; S5. The height of the upper surface of the current prefabricated composite slab after it is lowered is detected by the panel height detection component, and the detected panel height information is sent to the control component. S6. The control component controls the lifting drive mechanism of the first side support component and the second side support component to move according to the plate height information, so as to drive the first projection component and the second projection component to move in the vertical direction respectively, so that the vertical distance between the first projection component and the second projection component and the upper surface of the current prefabricated composite plate is within the preset projection distance range. S7. The control component generates projection control data based on the lifting displacement of the two lifting seats, the preset installation posture parameters of the first projection component and the second projection component relative to the corresponding lifting seats, and the fixed horizontal coordinates of the multiple pad placement areas. It then controls the first projection component and the second projection component to form multiple pad placement marks on the upper surface of the current precast composite slab that correspond one-to-one with the multiple pad placement areas. S8. According to the multiple pad placement marks, place multiple pads on the upper surface of the current precast composite slab, and after hoisting the next layer of precast composite slab, repeat S2 to S8 for the next layer of precast composite slab so that the corresponding pads between different layers of precast composite slabs correspond to each other in the vertical direction.

8. The method for positioning precast composite slab stacking pads according to claim 7, characterized in that, During the installation phase of the prefabricated composite slab stacking pad positioning device: A fixed spatial coordinate system is established based on the reference centers of the four fixed reference components. The installation poses of the first side support component and the second side support component relative to the fixed spatial coordinate system are measured. The installation poses of the first contour detection unit and the second contour detection unit relative to the fixed spatial coordinate system are also measured. The installation poses of the first projection component, the second projection component, and the plate height detection component relative to the corresponding lifting seat are also measured. The reference coordinates of the four reference centers and the installation poses of each are stored as preset parameters in the control component; The control component determines the current position and orientation of the first projection component, the second projection component, and the plate height detection component in the fixed spatial coordinate system based on the corresponding lifting displacement of the lifting seat and the preset parameters.

9. The method for positioning precast composite slab stacking pads according to claim 7, characterized in that, Determining the safe support area of ​​the current precast composite slab surface includes: Based on the slab contour information obtained by the first contour detection unit and the second contour detection unit, the concrete slab of the current precast composite slab and the truss reinforcement set on the concrete slab are distinguished, and the actual boundary of the concrete slab is extracted. The actual boundary of the concrete slab is offset inward by a preset safe distance to obtain the initial safe support area. The projection area of ​​the truss reinforcement on the upper surface of the current precast composite slab is determined based on the slab contour information, and the projection area is expanded outward by a preset avoidance distance to obtain the truss avoidance area; The truss avoidance area is removed from the initial safety support area to obtain the plate surface safety support area; The control component determines whether the complete outline of the multiple pad placement areas is located within the safe support area of ​​the plate surface.

10. The method for positioning precast composite slab stacking pads according to claim 7, characterized in that, The detection of the upper surface height of the current precast composite slab using the slab height detection component includes: Three distance sensors installed on the two lifting seats are used to measure the distance between the concrete slab areas between adjacent truss reinforcement bars on the current precast composite slab, and three slab distance detection values ​​are obtained. Based on the lifting displacement of the two lifting seats, the preset installation position of the three distance sensors relative to the corresponding lifting seats, the detection axis direction of the three distance sensors, and the corresponding plate surface distance detection value, the coordinates of the intersection point of the detection axis of the three distance sensors and the concrete slab surface area are determined respectively, and the three plate surface height detection values ​​are determined based on the vertical coordinates of the three intersection point coordinates. The three plate height detection values ​​are sorted in ascending order to obtain the first sorted height value, the second sorted height value, and the third sorted height value. When the difference between the third sorted height value and the first sorted height value does not exceed the preset height difference threshold, the three panel height detection values ​​are determined as a group of effective height detection values. When the difference between the third sorting height value and the first sorting height value exceeds the preset height difference threshold, the first adjacent height difference between the second sorting height value and the first sorting height value, and the second adjacent height difference between the third sorting height value and the second sorting height value are determined respectively. When the smaller of the first adjacent height difference and the second adjacent height difference does not exceed the preset height difference threshold, and the first adjacent height difference and the second adjacent height difference are not equal, the two sorted height values ​​corresponding to the smaller adjacent height difference are determined as the effective height detection value group. When both the first adjacent height difference and the second adjacent height difference exceed the preset height difference threshold, or when the first adjacent height difference and the second adjacent height difference are equal, the panel height detection is determined to be abnormal, and the two lifting seats are controlled to move back to the pre-detection position and then the panel height is detected again. The upper surface height of the current precast composite slab is determined based on the average value of each effective height detection value in the effective height detection value group.

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