Intelligent acceptance device for large prefabricated component reinforcement cage

Abstract

The application provides a large prefabricated component steel reinforcement cage intelligent acceptance device, which comprises a sliding rail, a pulley, a connecting plate, a folding arm, a pitch angle adjusting assembly, an anti-shake holder and a binocular camera. The sliding rail is used for laying on the side of the steel reinforcement cage. The pulley is arranged in the sliding rail. The connecting plate is connected with the pulley. The first end of the folding arm is connected with the connecting plate. The pitch angle adjusting assembly is connected with the tail end of the folding arm. The anti-shake holder is arranged at the tail end of the pitch angle adjusting assembly. The binocular camera is arranged in the anti-shake holder. A microcomputer is arranged in the anti-shake holder and connected with the binocular camera. The automatic detection work can be carried out on the outside or the inside of the steel reinforcement cage, the manual detection mode can be replaced, the full automation and high-precision acceptance of the steel reinforcement spacing can be realized in the complex construction environment, and the detection efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of building quality inspection technology, specifically to an intelligent acceptance device for large precast component steel cages. Background Technology

[0002] Currently, the quality acceptance of large precast steel reinforcement cages mainly relies on manual visual inspection and random checks with handheld measuring tools. In practice, workers must climb inside or to the side of the cage to measure the spacing between the steel bars point by point using tools such as measuring tapes. This method has significant drawbacks: Uncontrollable subjective errors: In areas with dense intersecting steel bars (such as at welded joints), missed detections are likely to occur due to obstructed vision; at the same time, the curvature of bent steel bars will further amplify measurement deviations, making it difficult to guarantee data accuracy.

[0003] Low operational efficiency: Manual inspection of a single steel cage often takes more than 40 minutes per test, and due to limitations in the scope of operation and inspection methods, it can only cover less than 20% of the steel reinforcement nodes, which cannot meet the acceptance efficiency requirements of large-scale production.

[0004] Significant safety risks: High-altitude climbing and working in confined spaces can easily lead to accidents such as falls and electric shocks; according to statistics from the construction site, accidents caused by such operations account for 23% of all accidents on site.

[0005] In recent years, computer vision and mobile robot technologies have been gradually applied in the field of building inspection, such as concrete crack recognition systems based on unmanned vehicles and automated inspection solutions for component surface quality based on fixed industrial cameras. However, these existing solutions have certain limitations and are difficult to adapt to the needs of rebar cage inspection: Poor environmental adaptability: Drastic changes in lighting at the construction site (such as strong reflection or backlight) or dust interference can easily lead to the loss of image features, causing significant fluctuations in detection accuracy and making it difficult to output stable results.

[0006] Limitations of detection targets: Existing algorithms are mostly designed for planar defects such as cracks and honeycomb pits, and lack a dedicated model for measuring the spacing of steel bars in three-dimensional space, so they cannot be directly transferred to the detection of core parameters of steel cages.

[0007] Insufficient deployment flexibility: Fixed cameras have a fixed field of view and require repeated adjustments to the installation position to cover the detection area; wheeled robots are difficult to move stably inside dense steel cages and are easily blocked by the steel structure.

[0008] Therefore, there is an urgent need to develop an intelligent acceptance device and system that can move autonomously inside and outside the rebar cage, adapt to complex lighting environments, and achieve high-precision resolution of rebar spacing. This device must meet two core requirements: firstly, it must be adaptable to all scenarios, capable of traversing track-type structures to eliminate blind spots and completely eliminating the safety risks associated with manual climbing; secondly, it must effectively overcome the image segmentation bottleneck caused by intersecting rebars, ensuring the accuracy of engineering measurements and meeting the core technical requirements for rebar cage quality acceptance. Summary of the Invention

[0009] In view of one of the defects in the prior art, the purpose of this application is to provide an intelligent acceptance device for large precast component steel cages.

[0010] The first aspect of this application provides an intelligent acceptance device for large precast component steel cages, comprising: The slide rail is laid on the inner or outer side of the reinforcing cage, and its extension direction is consistent with the length direction of the reinforcing cage. Two pulleys are mounted on the slide rail. Each pulley has a remotely controllable drive motor integrated inside it, which is used to drive the pulley to move back and forth along the slide rail. A connecting plate is fixedly connected to the pulley and moves synchronously with the pulley; The folding arm, whose head end is connected to the connecting plate, can be unfolded or folded. A pitch angle adjustment assembly is installed at the end of the folding arm; A stabilizer gimbal is located at the output end of the pitch angle adjustment component; A binocular camera, mounted on the image-stabilized gimbal, is used to acquire image data of the steel cage; A microcomputer is integrated into the image stabilization gimbal and electrically connected to the binocular camera.

[0011] Optionally, the slide rail is a parallel double-rail structure with a segmented design, and the segments are detachably connected by snap-fit ​​interfaces.

[0012] Optionally, the pulley is a concave wheel with an inwardly recessed annular guide groove on its outer periphery. The guide groove is slidably engaged with the slide rail to prevent the pulley from disengaging from the slide rail and to ensure that the pulley makes directional linear movement along the extension direction of the slide rail.

[0013] Optionally, the drive motor is a geared motor, whose power output shaft is directly connected to the axle or wheel of the pulley, driving the pulley to rotate around its own axis and causing the pulley itself to move along the slide rail.

[0014] Optionally, the pulley is equipped with a sensor to collect the pulley's moving speed and direction.

[0015] Optionally, the connecting plate is an integral cross-shaped flat plate composed of a transverse arm and a longitudinal arm, and is disposed below the slide rail; The transverse arm is arranged along the extension direction of the slide rail, and two pulleys are connected to each end by magnetic buckles or bolts, so that the pulleys can roll along the slide rail; The longitudinal arm extends forward and backward from the center of the cross, and its extension direction is perpendicular to the length direction of the slide rail. The folding arms are connected at the center of the cross by a hinge structure.

[0016] Optionally, the folding arm includes a first arm and a second arm; The front end of the first arm is hinged to the connecting plate, and the rear end is hinged to the front end of the second arm. The rear end of the second arm is connected to the pitch angle adjustment assembly. Both the first arm and the second arm are telescopic sleeves.

[0017] Optionally, the anti-shake gimbal is rigidly connected to the pitch angle adjustment component via a mechanical interface.

[0018] Optionally, the microcomputer is connected to the binocular camera via a waterproof electrical interface to transmit image data and control commands.

[0019] Optionally, the binocular camera is fixed to the image stabilization gimbal and includes a binocular CMOS image sensor, a ring light, and a polarizing filter; The binocular CMOS image sensor is located in the central area of ​​the image stabilization gimbal; The polarizing filter is mounted close to the front of the binocular CMOS image sensor, covering the light-transmitting apertures of the two lenses of the sensor; The ring-shaped fill light is arranged around the polarizing filter and consists of uniformly distributed LED beads to provide uniform illumination.

[0020] This application discloses an intelligent acceptance device for large precast steel cage components. A sliding rail, in conjunction with pulleys powered by a built-in drive motor, enables the device to move autonomously along its length, either inside or outside the steel cage, replacing manual climbing and significantly improving inspection safety and efficiency. A mechanical connection structure using a connecting plate and a folding arm provides stable support and spatial extension capabilities for subsequent functional modules. Through the coordinated action of a pitch angle adjustment component and a gimbal with image stabilization, the device effectively adapts to complex installation postures and suppresses motion vibrations, ensuring imaging stability. Combined with a binocular camera and a microcomputer integrated into the gimbal, it achieves real-time acquisition and front-end processing of stereo images, possessing non-contact, full-stroke, multi-angle, and high-response intelligent inspection capabilities. The overall structure is rationally laid out and reliably operated, providing an integrated solution for the automated quality acceptance of large precast steel cage components, integrating movement, adjustment, imaging, and computation.

[0021] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0022] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a three-dimensional schematic diagram of an intelligent acceptance device for a large precast component steel cage according to an exemplary embodiment; Figure 2 This is a schematic diagram illustrating the connection relationship between a pulley and a slide rail according to an exemplary embodiment; Figure 3 This is a schematic diagram illustrating the connection relationship between the connecting plate and the folding arm according to an exemplary embodiment; Figure 4 This is a schematic diagram of the structure of a pitch angle adjustment assembly according to an exemplary embodiment; In the diagram, 1-slide rail, 2-pulley, 3-connecting plate, 4-folding arm, 5-tilt angle adjustment assembly, 6-anti-shake gimbal, 7-binocular camera, 8-microcomputer; 21-Guide groove; 41-First arm, 42-Second arm, 421Second connecting ear; 51-Fixing plate, 52-First connecting ear. Detailed Implementation

[0023] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.

[0024] Traditional manual inspection of precast steel cages suffers from problems such as low efficiency, poor accuracy, lack of data traceability, and safety risks associated with working at heights. To address these issues, this application provides an intelligent acceptance device for large precast steel cage components.

[0025] Reference Figure 1 As shown, an intelligent acceptance device for large precast steel cage components includes a slide rail 1, a pulley 2, a connecting plate 3, a folding arm 4, a pitch angle adjustment component 5, a gimbal 6, a binocular camera 7, and a microcomputer 8.

[0026] The slide rail 1 is laid on the inner or outer side of the rebar cage, and its extension direction is consistent with the length direction of the rebar cage; two pulleys 2 are set on the slide rail 1, and the pulleys 2 have an integrated remotely controllable drive motor to drive the pulleys 2 to move back and forth along the slide rail; the connecting plate 3 is fixedly connected to the pulley and moves synchronously with the pulley 2; the folding arm 4 has its head end connected to the connecting plate and can be unfolded or retracted; the pitch angle adjustment component is installed at the end of the folding arm 4; the anti-shake gimbal 6 is set at the output end of the pitch angle adjustment component; the binocular camera 7 is installed on the anti-shake gimbal 6 to collect image data of the rebar cage; the microcomputer 8 is integrated into the anti-shake gimbal 6 and electrically connected to the binocular camera 7.

[0027] The above embodiments of this application can carry out automatic inspection work on the outside or inside of the rebar cage, which can replace the manual inspection method and realize the fully automated and high-precision acceptance of rebar spacing in complex construction environments, thereby improving inspection efficiency.

[0028] In order to achieve stable movement of the detection device along the axial direction of the reinforcing cage, in some embodiments of this application, the slide rail adopts a parallel double-rail structure to provide double-sided support, effectively improving the structural rigidity and movement stability of the device during operation.

[0029] Specifically, the slide rail 1 is designed as a segmented, quick-release structure, laid along the length of the reinforcing cage. Each segment is connected and disassembled quickly via snap-fit ​​interfaces, facilitating on-site installation, transportation, and reuse. The number of track segments can be flexibly increased or decreased according to the actual length of the reinforcing cage, allowing for adaptive adjustment of the total slide rail length to accommodate precast components of different specifications.

[0030] During installation, it should be ensured that the overall axis of the slide rail is highly parallel to the axis of the main reinforcement of the steel cage, and the parallelism error should be controlled within ±2mm to avoid deviation of the movement trajectory of the detection device due to track offset, which would affect the accuracy of the image acquisition position and the reliability of subsequent measurement results.

[0031] The slide rail provided in this application embodiment not only has good versatility and expandability, but also meets the actual needs of construction sites for rapid equipment deployment and applicability to multiple scenarios.

[0032] To achieve a stable connection between the pulley and the rail, and to effectively prevent the pulley from derailing during operation, in some specific embodiments of this application, such as... Figure 2 As shown, pulley 2 is a concave wheel, that is, the outer circumference of the pulley is provided with an inwardly recessed annular guide groove 21. The guide groove 21 is slidably engaged with the slide rail 1 to prevent the pulley from disengaging from the slide rail and to ensure that the pulley makes directional linear movement along the extension direction of the slide rail. Furthermore, in this embodiment, a remotely controllable geared motor is integrated inside the pulley as a drive source. The motor is located inside the pulley, and its power output shaft is directly connected to the pulley hub or shaft, forming a rigid transmission connection (e.g., fixed by a keyway, spline, or flange structure).

[0033] For example, the drive motor is a TT motor-dual shaft-3-6V DC geared motor.

[0034] Of course, to ensure that the motor remains stationary (i.e., does not rotate with the pulley) while driving the pulley to rotate, this embodiment incorporates a bearing structure between the motor housing and the pulley. Specifically, the motor is fixed to the inner ring of the bearing, while the outer ring of the bearing is connected to the pulley body. When the motor starts, its output shaft drives the pulley to rotate around the bearing, while the motor body remains fixed to the inner ring and does not rotate.

[0035] In some other embodiments, flange bearings are installed at both ends of the pulley shaft. The outer diameter of the flange bearing is larger than the opening width between the slide rails. When the pulley is assembled in place, the end face of the flange bearing abuts against the outer side of the slide rail to achieve axial locking and prevent the pulley from moving axially.

[0036] The above embodiments of this application achieve reliable operation of the pulley under complex working conditions through multi-level structural coordination: the guide groove and the slide rail are engaged to achieve lateral limiting and guiding; the built-in geared motor and rigid connection achieve efficient power transmission; the bearing isolation design achieves separation of motor fixation and pulley rotation; the flange bearing axially limits and suppresses axial movement.

[0037] The above structures together construct a stable motion system with three degrees of freedom constraints (X-direction movement is retained, Y / Z-direction translation and rotation around the axis are restricted), which significantly improves the operational stability, positioning accuracy and safety performance of the detection device in complex field environments.

[0038] To acquire the camera's moving speed in real time, some specific embodiments of this application integrate sensors inside one or two pulleys to detect the pulley's moving speed and direction. Generally, this sensor can be a rotary encoder or an incremental photoelectric encoder, used to collect the pulley's moving speed and direction.

[0039] Because the overlap rate between two consecutive images captured by a binocular camera directly affects the accuracy of subsequent 3D point cloud stitching or feature matching during continuous image acquisition, precise control of the camera's movement speed is necessary. According to the requirements of laser scanning registration algorithms, the overlap area between adjacent scan frames should be greater than 30% to ensure sufficient common feature points for data alignment and coordinate transformation.

[0040] Based on the speed information fed back by the sensor, the microcomputer can dynamically adjust the travel speed of the pulley drive motor, or trigger the camera to take pictures at preset time intervals / displacement steps, thereby ensuring sufficient spatial overlap between image sequences and improving the continuity of overall detection data and reconstruction accuracy.

[0041] For example, the horizontal field of view of the binocular camera is set to 60°, and the effective imaging width is approximately 1.2 meters (at a shooting distance of 1.5 meters from the steel surface). To meet the requirement of the laser scanning registration algorithm that the overlap rate between adjacent images is not less than 30%, the moving distance between two adjacent shots should not exceed 0.84 meters (i.e., 1.2m × (1 0.3) = 0.84m).

[0042] At this time, sensors installed inside the pulley monitor its speed in real time. For example, when the device is detected to be moving at a constant speed of 0.2 m / s, the maximum allowable shooting interval is calculated to be 4.2 seconds (0.84 m ÷ 0.2 m / s), and the camera is set to trigger a shooting every 4 seconds to ensure that there is an overlap of more than 30% between adjacent images.

[0043] If the device accelerates to 0.4 m / s, the shooting frequency is dynamically adjusted to once every 2 seconds to maintain the same overlap rate. This achieves adaptive image acquisition control based on the actual operating speed, ensuring the accuracy of subsequent 3D reconstruction and rebar positioning.

[0044] In the embodiments described above, by setting up sensors, the overlap rate of the captured images can be guaranteed, thus ensuring the accuracy of subsequent 3D point cloud stitching or feature matching.

[0045] To better achieve the connection between the pulley and the folding arm, some specific embodiments of this application, such as... Figure 3 As shown, the connecting plate 3 is an integral cross-shaped flat plate, located below the slide rail 1. Its cross shape is composed of a transverse arm 11 and a longitudinal arm 12.

[0046] The transverse arm 11 is arranged along the extension direction of the slide rail, and its two ends are connected to two pulleys 2 by magnetic buckles or bolts. The longitudinal arm 12 extends forward and backward from the center of the cross, and its extension direction is perpendicular to the length direction of the slide rail; the folding arm 4 is connected by a hinge at the center of the cross.

[0047] Specifically, the magnetic snap fastener consists of two core components: a permanent magnet unit embedded in the pulley connection end, made of neodymium iron boron (NdFeB) permanent magnet material with a nickel-plated surface for corrosion resistance; and a magnetic armature plate fixed to the cross end of the connecting plate, made of low-carbon steel to optimize magnetic circuit conductivity. During attraction, when the pulley approaches the connecting plate to a distance of 10-15mm, an attractive force is generated between the permanent magnet and the armature plate. Three tapered positioning pins around the snap fastener ensure precise alignment between the pulley and the connecting plate. To disengage, the magnetic circuit connection can be released by manually rotating the pulley 15°.

[0048] In practical applications, most rebar cages are linear structures, requiring only a single guide rail along their length for the detection device to complete the full scan. However, some rebar cages have complex geometric shapes with corners, such as L-shapes and U-shapes, necessitating the placement of guide rails in two mutually perpendicular directions to achieve comprehensive coverage detection.

[0049] For this type of irregularly shaped steel cage, the structural characteristics of the cross-shaped connecting plate 4 can be used to realize the transition of the detection device between tracks in different directions.

[0050] Specifically, in the corner area of ​​the steel cage, two slide rails are laid orthogonally, corresponding to the transverse and longitudinal arms of the cross-shaped connecting plate, respectively.

[0051] As the detection device moves along the first track (X direction) to the corner area, the two pulleys connected by the transverse arm gradually detach from the end of the original track. At this time, the pulley connected to the end of the longitudinal arm is aligned and falls into the second vertical track (Y direction), forming a new support and guidance relationship. As the device continues to move forward, the center of gravity gradually shifts to the Y-direction pulley, and eventually, it is completely supported by this set of pulleys and moves along the new track, thus achieving a smooth transition from the X direction to the Y direction.

[0052] Because the cross-shaped connecting plate has connection interfaces extending in two orthogonal directions within the same plane, it can naturally adapt to the cross-track layout without the need for additional steering mechanisms or manual intervention. This design fully utilizes the rationality of the structural space layout, enabling continuous movement and automated scanning of the detection device on the multi-directional steel cage, significantly improving the equipment's applicability and operational efficiency.

[0053] In the above embodiments of this application, by adopting a cross-shaped connecting plate, not only is the structural connection and force transmission between the pulley and the folding arm realized, but also the orthogonally arranged bidirectional slide rail system can be adapted in the complex steel cage with corner structure, supporting the detection device to run continuously in two mutually perpendicular directions, thereby completing the all-round automated scanning operation.

[0054] In some specific embodiments of this application, the folding arm 4 includes a first arm 41 and a second arm 42. The front end of the first arm 41 is hinged to the connecting plate 3, and the rear end is hinged to the front end of the second arm 42. The rear end of the second arm 42 is connected to the pitch angle adjustment assembly.

[0055] Both the first arm 41 and the second arm 42 are telescopic sleeve structures. By adjusting the length of the first arm 41, the lateral position of the camera inside the steel cage can be adjusted; by adjusting the length of the second arm 42, the vertical position of the camera inside the steel cage can be adjusted.

[0056] In practical applications, the extension strokes of the first arm 41 and the second arm 42 are pre-set according to the standard width and height parameters of the steel cage to be inspected. Their lengths are then manually adjusted and fixed by a locking mechanism. This setup can be completed during initial equipment deployment, supporting rapid changes in inspection stations and improving operational efficiency. Alternatively, in other embodiments, an electric actuator or servo drive unit can be equipped at the hinge of the first arm 41 and the second arm 42 to achieve remote automatic adjustment, further reducing the need for manual intervention.

[0057] For example, the telescopic sleeve is made of high-strength lightweight steel pipe with a diameter of 8cm to 10cm, and the total extension length can be continuously adjusted within the range of 1.5m to 3m.

[0058] The embodiments described above in this application achieve spatial positioning of the end vision system inside the steel cage through the combination of the telescopic and articulated structure of the folding arm. It has high structural rigidity and good spatial adaptability, and can avoid areas with dense steel reinforcement or extend into narrow frames for close-range shooting.

[0059] In other alternative implementations, the folding arm can also be made of carbon fiber composite material, which can further reduce the overall weight while maintaining the same load-bearing capacity, reduce the load pressure on the connecting plate and pulley system, and improve the movement response speed and energy efficiency ratio.

[0060] In some specific embodiments of this application, a pitch angle adjustment component is connected to the end of the folding arm. For example... Figure 4 As shown, the pitch angle adjustment assembly 5 includes a fixing plate 51, which is used to rigidly connect with the image stabilization gimbal to support the imaging device.

[0061] A first connecting lug 52 is provided on one side of the fixed plate 51, and a first through hole is provided thereon; correspondingly, a second connecting lug 421 is provided at the end of the second arm 42 of the folding arm, and a second through hole is provided thereon. By inserting the hinge shaft into the first through hole and the second through hole, the fixed plate 51 and the second arm 42 form a hinge joint that rotates around the horizontal axis, thereby realizing attitude adjustment in the pitch direction.

[0062] In one embodiment, the operator can manually move the fixing plate 51 to swing it around the hinge axis, thus completing the angle setting during the initial installation or debugging phase. This method is suitable for pre-calibration before testing, requires no additional drive mechanism, has a simple structure, and is easy to deploy quickly on-site.

[0063] In another preferred embodiment, a pitch drive mechanism may be included to achieve automatic adjustment of the pitch angle. The pitch drive mechanism includes a servo motor and a transmission assembly. The servo motor is mounted on the second arm 42, and its output end is connected to a drive gear, which meshes with a driven gear fixed on the fixed plate 51. When the servo motor is started, it drives the fixed plate 51 to swing up and down around the hinge axis through gear transmission, thereby achieving dynamic adjustment of the camera's viewing angle during the detection process.

[0064] Those skilled in the art should understand that, in practical applications, either manual adjustment mode or electric automatic adjustment mode can be selected according to specific needs, and both can achieve the function of adjusting the pitch angle.

[0065] The pitch angle adjustment component of the above embodiments of this application can drive the anti-shake gimbal and the imaging device it carries to rotate synchronously, so as to realize the controllable adjustment of the pitch angle to adapt to the detection needs of different height positions.

[0066] In some specific embodiments of this application, a gimbal stabilization unit is used for installation and power transmission. The gimbal stabilization unit 6 is rigidly connected to the pitch adjustment assembly (specifically, the fixed plate 51) via a standard mechanical interface (such as an M3 threaded hole array or quick-release bayonet), forming a stable power transmission link from the folding arm to the camera. This connection method not only reliably transmits motion posture but also effectively suppresses vibration interference caused by uneven tracks or start-stop impacts. In some specific embodiments, the gimbal stabilization unit uses a three-axis gyroscope to detect vibration signals and a PID controller to drive a brushless motor to compensate for posture jitter in real time, maintaining stable imaging of the binocular camera. It should be noted that this rigid connection is only a mechanical installation method and does not affect the active image stabilization function inside the gimbal stabilization unit.

[0067] For example, the stabilization gimbals that can be used include, but are not limited to, the following models: similar to DJI RS 3, Zhiyun CRANE 3S or Feiyu SCORP.

[0068] In the embodiments described above, the anti-shake gimbal and the pitch angle adjustment component are rigidly connected through a mechanical interface to form a stable power transmission link, ensuring accurate transmission of attitude control commands; at the same time, combined with an inertial compensation mechanism, motion vibration is effectively suppressed, ensuring clear and stable image acquisition under complex working conditions.

[0069] In some specific embodiments of this application, the microcomputer 8 is fixed to the anti-shake gimbal (using screws, adhesive, etc.) and electrically connected to the binocular camera 7 via a waterproof electrical interface (IP67 or higher rating) for transmitting stereoscopic image data and receiving control signals. This interface is dustproof, waterproof, and resistant to electromagnetic interference, making it suitable for complex environments with high humidity, dust, and vibration at construction sites, ensuring long-term stable operation of the communication link.

[0070] The microcomputer uses an embedded edge computing platform (such as NVIDIA Jetson Nano or Raspberry Pi CM4) to support localized image preprocessing and preliminary recognition tasks, reducing dependence on external networks and improving system response efficiency.

[0071] The embodiments described above in this application achieve a reliable connection between a microcomputer and a binocular camera through a waterproof electrical interface, which has dustproof, waterproof, and anti-interference capabilities, ensuring stable transmission of image data and control signals in harsh environments at construction sites and improving the reliability of system operation.

[0072] In some specific embodiments of this application, the binocular camera 7 is fixed to the gimbal at the end of the folding arm and integrates three core components: a binocular CMOS image sensor, a 2000-lumen ring light, and a polarizing filter. The binocular CMOS image sensor is located in the center area of ​​the front end of the camera. The distance between the two lenses is fixed after calibration. As the core of stereo vision acquisition, it faces the surface of the steel cage and can acquire high-resolution three-dimensional point cloud information. The polarizing filter is installed close to the front of the CMOS sensor, completely covering the light-passing apertures of the left and right lenses. It is used to suppress specular reflections on the surface of metal steel bars, enhance texture contrast, and improve image usability. The ring-shaped fill light is evenly arranged around the polarizing filter and consists of multiple high-brightness LED beads with a total luminous flux of 2000 lumens. It can provide a soft and uniform lighting source in low-light environments and avoid shadows from affecting the recognition effect.

[0073] In actual testing, the supplementary light and polarizing filter work together: the supplementary light illuminates the target area, while the polarizing filter filters out the strong reflected light generated by the steel reinforcement surface, significantly improving the imaging quality. This is especially suitable for rainy days, nighttime, or conditions with severe internal obstructions.

[0074] The above embodiments of this application integrate a camera module with a binocular CMOS sensor, a 2000-lumen ring light, and a polarizing filter, which can acquire high-quality stereo images under low illumination and strong reflective conditions: the light provides uniform illumination, and the polarizing filter suppresses specular reflection on the metal surface. The two work together to significantly improve image contrast and usability, and enhance the accuracy of steel bar feature recognition.

[0075] In some specific embodiments of this application, the usage process of the above-mentioned intelligent acceptance device for large precast component steel cages is provided, which mainly includes the following steps: Lay the slide rail on the inside or outside of the steel cage to be inspected, so that the extension direction of the slide rail is consistent with the length direction of the steel cage. Two pulleys are installed on the slide rail, allowing them to roll along the rail. The pulleys have an integrated, remotely controllable drive motor. (It should be noted that the slide rail adopts a segmented design, and the segments can be spliced ​​together via quick connectors. The pulleys slide axially into the slide rail from the end through their guide grooves to complete the assembly. If necessary, limit blocks can be set at the beginning and end of the slide rail to prevent the pulleys from derailing.) The drive motor is activated by an external control signal, which drives the pulley to move back and forth along the slide rail. The pulley drives the connecting plate to move synchronously during its movement; The connecting plate drives the folding arm to move along the slide rail with the pulley; according to the testing requirements, the folding arm is unfolded to the working position; The pitch adjustment plate at the end of the folding arm adjusts the attitude to change the spatial orientation of the end device; The anti-shake gimbal is fixed to the pitch adjustment plate, and its output end remains stable. A binocular camera is mounted on a stabilized gimbal to collect image data inside the steel cage; The microcomputer receives image data acquired by the binocular camera and processes or stores it locally.

[0076] The entire device adopts a dual-mode power supply design: firstly, it provides continuous power supply through a sliding contact line power supply system set along the slide rail; secondly, it is equipped with a high-capacity lithium battery pack, which supports continuous operation for more than 4 hours without external power supply, meeting the needs of flexible deployment on the construction site.

[0077] The device is equipped with a flexible cable chain to reliably transmit electrical energy from the power input terminal to the drive motor, anti-shake gimbal and other power units inside the pulley, ensuring stable power supply, no tangling and no falling off during reciprocating motion.

[0078] Meanwhile, the device integrates an industrial-grade Wi-Fi communication module, which supports the reception of remote control commands and the real-time transmission of image data and detection results, enabling wireless and intelligent management of the detection process.

[0079] The embodiments described above in this application are compact in structure and stable in operation, achieving integrated walking, posture adjustment, image acquisition and data processing, thereby improving the automation level and inspection efficiency of steel cage acceptance.

[0080] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0082] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0083] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0084] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. An intelligent acceptance device for large precast component steel cages, characterized in that, include: The slide rail is laid on the inner or outer side of the reinforcing cage, and its extension direction is consistent with the length direction of the reinforcing cage. Two pulleys are mounted on the slide rail. Each pulley has a remotely controllable drive motor integrated inside it, which drives the pulley to reciprocate along the slide rail. A connecting plate is fixedly connected to the pulley and moves synchronously with the pulley; The folding arm, whose head end is connected to the connecting plate, can be unfolded or folded. A pitch angle adjustment assembly is installed at the end of the folding arm; A stabilizer gimbal is located at the output end of the pitch angle adjustment component; A binocular camera, mounted on the image-stabilized gimbal, is used to acquire image data of the steel cage; A microcomputer is integrated into the image stabilization gimbal and electrically connected to the binocular camera.

2. The intelligent acceptance device for large precast component steel cages according to claim 1, characterized in that, The slide rail is a parallel double-rail structure with a segmented design, and the segments are detachably connected by snap-fit ​​interfaces.

3. The intelligent acceptance device for large precast component steel cages according to claim 1, characterized in that, The pulley is a concave wheel with an inwardly recessed annular guide groove on its outer periphery. The guide groove is slidably engaged with the slide rail to prevent the pulley from disengaging from the slide rail and to ensure that the pulley makes directional linear movement along the extension direction of the slide rail.

4. The intelligent acceptance device for large precast component steel cages according to claim 1, characterized in that, The drive motor is a geared motor, whose power output shaft is directly connected to the axle or wheel of the pulley, driving the pulley to rotate around its own axis and causing the pulley itself to move along the slide rail.

5. The intelligent acceptance device for large precast component steel cages according to claim 1, characterized in that, The pulley is equipped with a sensor to collect the pulley's moving speed and direction.

6. The intelligent acceptance device for large precast component steel cages according to claim 1, characterized in that, The connecting plate is an integral cross-shaped flat plate composed of a horizontal arm and a vertical arm, and is located below the slide rail; The transverse arm is arranged along the extension direction of the slide rail, and two pulleys are connected to each end by magnetic buckles or bolts, so that the pulleys can roll along the slide rail; The longitudinal arm extends forward and backward from the center of the cross, and its extension direction is perpendicular to the length direction of the slide rail. The folding arms are connected at the center of the cross by a hinge structure.

7. The intelligent acceptance device for large precast component steel cages according to claim 1, characterized in that, The folding arm includes a first arm and a second arm; The front end of the first arm is hinged to the connecting plate, and the rear end is hinged to the front end of the second arm. The rear end of the second arm is connected to the pitch angle adjustment assembly. Both the first arm and the second arm are telescopic sleeves.

8. The intelligent acceptance device for large precast component steel cages according to claim 1, characterized in that, The anti-shake gimbal and the pitch adjustment component are rigidly connected via a mechanical interface.

9. The intelligent acceptance device for large precast component steel cages according to claim 1, characterized in that, The microcomputer is connected to the binocular camera via a waterproof electrical interface to transmit image data and control commands.

10. The intelligent acceptance device for large precast component steel cages according to claim 1, characterized in that, The binocular camera is fixed to the image stabilization gimbal and includes a binocular CMOS image sensor, a ring fill light, and a polarizing filter. The binocular CMOS image sensor is located in the central area of ​​the image stabilization gimbal; The polarizing filter is mounted close to the front of the binocular CMOS image sensor, covering the light-transmitting apertures of the two lenses of the sensor; The ring-shaped fill light is arranged around the polarizing filter and consists of uniformly distributed LED beads to provide uniform illumination.

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