CN115752245A - Visual scanning positioning system and using method thereof - Google Patents
Visual scanning positioning system and using method thereof Download PDFInfo
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- CN115752245A CN115752245A CN202211662983.6A CN202211662983A CN115752245A CN 115752245 A CN115752245 A CN 115752245A CN 202211662983 A CN202211662983 A CN 202211662983A CN 115752245 A CN115752245 A CN 115752245A
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Abstract
The invention discloses a visual scanning and positioning system and a using method thereof, and belongs to the technical field of tunnel construction. The method comprises the following steps: the device comprises a supporting device, an adjusting device, a visual device and a visual processor, wherein the supporting device is arranged on a lifting column lifting arm during tunnel construction, the adjusting device is arranged on the supporting device, the visual device is arranged on the adjusting device, the adjusting device comprises a sliding mechanism and a rotating mechanism, the visual device comprises a measuring positioning machine and a mechanism scanning mechanism, and the adjusting device and the visual device are electrically connected with the visual processor. The invention can adapt to the unstructured construction environment, so that an operator can independently complete the grabbing and hoisting installation work of the suspension posts in the cab without additional manual assistance, the complex working conditions in the tunnel are overcome, the safety factor of construction operation is improved, and the labor intensity of constructors is reduced.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a visual scanning and positioning system and a using method thereof.
Background
At present, during tunnel construction, in the process of installing a contact net lifting column, an operator controls a crane to grab the lifting column placed beside a track and convey the lifting column to a preset position for manual auxiliary installation. The manual auxiliary installation has certain danger, and work efficiency is not high, consequently needs an automatic davit to snatch installation device and guarantee tunnel construction's security and work efficiency. In order to realize automatic grabbing and mounting, the position and structure information of the suspension posts is acquired to be very important. Unlike general target positioning, the suspension post installation requires accurate docking of the mounting hole at the end thereof with a bolt previously fixed to the top of the tunnel, which requires accurate acquisition of structural information of the suspension post to calculate a proper gripping position. In order to assist the mechanical arm to complete automatic grabbing and installation, a scanning and positioning device is needed to acquire the structure and position information of the suspension posts.
Some existing scanning and positioning devices in China are mostly used in the fields with standard work flows of factories, logistics and the like, objects to be identified are often positioned on a conveyor belt or a conveyor disc and are conveyed to a fixed area to wait for scanning, and the interference to the scanning in the environment is less. However, the tunnel is a continuous and closed area, and the suspension posts are placed beside the area to be installed in advance before construction, but due to the complex working conditions in the tunnel and the nonstandard flow, obtaining the structure and position information of the suspension posts is still a great difficulty.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a visual scanning positioning system and a using method thereof, and aims to provide a visual scanning positioning system which comprises the following steps: the invention is different from the traditional scanning and positioning device, can adapt to the unstructured construction environment, assists the mechanical arm to complete the automatic grabbing and hoisting installation of the catenary suspension posts, enables an operator to independently complete the grabbing and hoisting installation work of the suspension posts in a cab through the arranged measuring and positioning system and the scanning system, does not need additional manual assistance, overcomes the complex working conditions in the tunnel, improves the safety factor of construction operation, and reduces the labor intensity of constructors.
The technical scheme adopted by the invention is as follows:
a visual scanning positioning system, comprising: strutting arrangement, adjusting device, visual device, vision treater, strutting arrangement installs on the davit jib loading boom during tunnel construction, adjusting device installs strutting arrangement is last, visual device installs adjusting device is last, adjusting device includes slide mechanism and rotary mechanism, visual device is including measuring positioning mechanism and scanning mechanism, adjusting device, visual device all are connected with vision treater electricity.
Preferably, the supporting device includes: the lifting device comprises a support assembly and an on-arm mounting assembly, wherein the support assembly is fixedly connected with the on-arm mounting assembly, the on-arm mounting assembly is mounted on a lifting column lifting arm, and the adjusting device is mounted on the support assembly.
Preferably, the sliding mechanism includes: the adjusting mechanism comprises an adjusting mechanism base and a sliding adjusting assembly, wherein the adjusting mechanism base is installed on a supporting device, the sliding adjusting assembly is connected with the adjusting mechanism base in a sliding mode, and the sliding adjusting assembly is connected with a rotating mechanism.
Preferably, the rotating mechanism includes: rotatory fixed subassembly, drive protection subassembly, drive subassembly, vision rotating basis installs on the sliding adjustment subassembly, rotatory fixed subassembly with vision rotating basis connects, drive subassembly with the cooperation of vision rotating basis is connected, drive protection subassembly sets up the connecting portion at drive subassembly and vision rotating basis.
Preferably, the scanning mechanism includes: second vision subassembly, second vision installation protection component is connected with rotary mechanism's rotating part, second vision unit mount is in the protection intracavity of second vision installation protection component, the protection chamber is provided with the opening, the lens part of second vision subassembly is towards the opening in protection chamber.
Further, the measurement positioning mechanism includes: y is to range finding subassembly, X to range finding subassembly, projection subassembly, first vision subassembly, Y is to range finding subassembly, X to range finding subassembly cross mounting on scanning mechanism, projection subassembly, first vision subassembly are all installed on scanning mechanism, projection subassembly, first vision subassembly are the same with the camera lens orientation of X to range finding subassembly.
Further, the second visual component is an industrial 3D structured light camera.
Further, Y is to range finding subassembly, X to range finding subassembly and is the laser range finder, the projection subassembly is cross projecting apparatus, first vision subassembly is industry 2D camera.
Further, the measurement positioning mechanism further comprises: the first visual installation protection component is installed outside the first visual component, the first visual installation protection component is provided with an opening, and the lens part of the first visual component faces the opening of the first visual installation protection component; the projection installation protection component is installed outside the projection component, the projection installation protection component is provided with an opening, and the lens part of the projection component faces the opening of the projection installation protection component.
A method for using a visual scanning positioning system, comprising the steps of:
s1: the visual scanning and positioning system is arranged on a lifting column boom during tunnel construction through a supporting device;
s2: acquiring a front image of a lifting column boom through a first vision assembly, and transmitting the acquired image to a vision processor;
s3: the visual processor identifies the front image acquired in the S2 through an identification algorithm to judge whether a suspension post exists in the visual field, if the suspension post does not exist in the visual field, the adjustment device and the suspension post lifting arm are controlled to adjust the spatial position of the visual device, and if the suspension post exists in the visual field, the adjustment device and the suspension post lifting arm are controlled through identification information and distance information obtained through the identification algorithm to adjust the spatial position of the visual device, and 3D point cloud data information of the suspension post is obtained through scanning;
s4: calculating a required grabbing position of the crane arm according to the 3D point cloud data information of the suspension post acquired in the S3, and controlling the crane arm to grab the suspension post;
s5: and moving the grabbed hoisting columns to the installation positions corresponding to the bolts in the tunnel for installation.
The invention is different from the traditional scanning positioning device, can adapt to the unstructured construction environment, assists the mechanical arm to complete the automatic grabbing and hoisting installation of the overhead line system suspension post, enables an operator to independently complete the grabbing and hoisting installation work of the suspension post in a cab through the arranged measuring and positioning system and the scanning system, does not need additional manual assistance, overcomes the complex working condition in the tunnel, improves the safety factor of construction operation, and reduces the labor intensity of constructors.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the supporting device of the present invention;
FIG. 3 is a schematic view of an adjusting device according to the present invention;
FIG. 4 is a schematic view of a visual device according to the present invention;
icon: 1-support means, 101-support means, 102-arm mounting means, 2-adjustment means, 201-adjustment means base, 202-rotation fixing means, 203-drive protection means, 204-slide adjustment means, 205-drive means, 206-vision rotation base, 3-vision means, 301-Y direction distance measurement means, 302-X direction distance measurement means, 303-projection means, 304-first vision means, 305-first vision mounting protection means, 306-projection mounting protection means, 307-second vision means, 308-second vision mounting protection means.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
The present invention will be described in detail with reference to fig. 1 to 4.
A method for using a visual scanning positioning system, comprising the steps of:
s1: the visual scanning and positioning system is arranged on a lifting column crane arm during tunnel construction through a supporting device 1;
s2: acquiring a front image of a lifting column boom through a first vision component 304, and transmitting the acquired image to a vision processor;
s3: the vision processor identifies the front image acquired in the S2 through an identification algorithm to judge whether a suspension post exists in the visual field, if the suspension post does not exist in the visual field, the adjustment device 2 and the suspension post lifting arm are controlled to adjust the spatial position of the vision device 3, if the suspension post exists in the visual field, the adjustment device 2 and the suspension post lifting arm are controlled through identification information and distance information obtained through the identification algorithm to adjust the spatial position of the vision device 3, and 3D point cloud data information of the suspension post is obtained through scanning;
s4: calculating a required grabbing position of the crane arm according to the 3D point cloud data information of the suspension post acquired in the S3, and controlling the crane arm to grab the suspension post;
s5: and moving the grabbed hoisting columns to the installation positions corresponding to the bolts in the tunnel for installation.
Example one
A visual scanning positioning system, comprising: the device comprises a supporting device 1, an adjusting device 2, a visual device 3 and a visual processor, wherein the supporting device 1 is installed on a lifting column lifting arm during tunnel construction, the adjusting device 2 is installed on the supporting device 1, the visual device 3 is installed on the adjusting device 2, the adjusting device 2 comprises a sliding mechanism and a rotating mechanism, the visual device 3 comprises a measuring and positioning mechanism and a scanning mechanism, and the adjusting device 2 and the visual device 3 are both electrically connected with the visual processor.
The support device 1 includes: the adjusting device comprises a supporting component 101 and an on-arm mounting component 102, wherein the supporting component 1 is fixedly connected with the on-arm mounting component 102, the on-arm mounting component 102 is mounted on a lifting column lifting arm, and the adjusting device 2 is mounted on the supporting component 101.
The slide mechanism includes: the adjusting mechanism comprises an adjusting mechanism base 201 and a sliding adjusting component 204, wherein the adjusting mechanism base 201 is installed on the supporting device 1, the sliding adjusting component 204 is connected with the adjusting mechanism base 201 in a sliding mode, and the sliding adjusting component 204 is connected with the rotating mechanism.
The rotating mechanism includes: the visual rotating base 206 is installed on the sliding adjusting component 204, the rotating fixing component 202 is connected with the visual rotating base 206, the driving component 205 is connected with the visual rotating base 206 in a matching mode, and the driving protecting component 203 is arranged at the connecting portion of the driving component 205 and the visual rotating base 206.
The scanning mechanism includes: the second visual component 307 and the second visual installation protection component 308 are connected, the second visual installation protection component 308 is connected with the rotating part of the rotating mechanism, the second visual component 307 is installed in a protection cavity of the second visual installation protection component 308, the protection cavity is provided with an opening, and a lens part of the second visual component 307 faces the opening of the protection cavity.
The measurement positioning mechanism includes: the system comprises a Y-direction distance measuring component 301, an X-direction distance measuring component 302, a projection component 303 and a first vision component 304, wherein the Y-direction distance measuring component 301 and the X-direction distance measuring component 302 are installed on a scanning mechanism in a crossed mode, the X-direction distance measuring component 302 is used for measuring the distance between a lifting column and a lifting arm in the lifting process of the lifting arm, and the Y-direction distance measuring component 301 is used for measuring the distance between a tunnel wall and the lifting arm to prevent the tunnel wall and the lifting arm from interfering; the projection assembly 303 and the first vision assembly 304 are both mounted on the scanning mechanism, and the lens orientations of the projection assembly 303 and the first vision assembly 304 are the same as those of the X-direction distance measuring assembly 302.
The measuring and positioning mechanism further comprises: a first visual mounting protection component 305, a projection mounting protection component 306, the first visual mounting protection component 305 being mounted outside the first visual mounting component 304, the first visual mounting protection component (305) being provided with an opening, the lens portion of the first visual mounting component 304 facing the opening of the first visual mounting protection component (305); projection installation protection component 306 is installed at projection component 303 outsidely, projection installation protection component (306) are equipped with the opening, projection component 303's the partial opening towards projection installation protection component 303 of lens, first vision installation protection component 305, projection installation protection component 306 are used for protecting respectively first vision component 304 and projection component 303 and avoid receiving the external object collision, avoid influencing measurement accuracy.
Example two
The supporting component 101 is an aluminum profile, the adjusting device base 201 is a ball screw plate, the adjusting device base 201 is fixed on the supporting component 101 in a bolt mode through an L-shaped mounting plate, the driving component 205 is a motor and a motor reducer, the driving protection component 203 is an end cover, the visual rotating base 206 is connected with the driving component 205 in a matched mode through the driving protection component 203 and fixed through nuts, the driving protection component 203 can avoid friction and collision between the driving component 205 and the visual device 3, and the driving component 205 and the visual device 3 can be protected.
EXAMPLE III
The Y-direction distance measuring component 301 and the X-direction distance measuring component 302 are both laser distance measuring instruments, the projection component 303 is a cross projection instrument, the first vision component 304 is an industrial 2D camera, the second vision component 307 is an industrial 3D structured light camera, the cross projector indicates an area irradiated by the scanning mechanism through a projected cross mark, the position of the cross mark of the cross projector in an image acquired by the industrial 2D camera is processed by the vision processor to reflect whether the scanning mechanism is aligned with the suspension post or not, whether the suspension post is conveyed to a specified position in a hoisting process or not is judged, accurate suspension post point cloud data are acquired through the industrial 3D structured light camera, and structural information of the suspension post is acquired on the basis of the point cloud data.
The above-mentioned embodiments only express the specific embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for those skilled in the art, without departing from the technical idea of the present application, several changes and modifications can be made, which are all within the protection scope of the present application.
Claims (10)
1. A visual scanning positioning system, comprising: strutting arrangement (1), adjusting device (2), visual device (3), vision treater, strutting arrangement (1) is installed on the davit jib during tunnel construction, adjusting device (2) are installed strutting arrangement (1) is last, visual device (3) are installed on adjusting device (2), adjusting device (2) include slide mechanism and rotary mechanism, visual device (3) are including measuring positioning mechanism and scanning mechanism, adjusting device (2), visual device (3) all are connected with vision treater electricity.
2. A visual scanning positioning system according to claim 1, characterized in that said supporting means (1) comprises: the lifting device comprises a supporting component (101) and an arm upper mounting component (102), wherein the supporting component (1) is fixedly connected with the arm upper mounting component (102), the arm upper mounting component (102) is mounted on a lifting column lifting arm, and the adjusting device (2) is mounted on the supporting component (101).
3. A visual scanning positioning system as claimed in claim 1, wherein said sliding mechanism comprises: adjustment mechanism base (201), slip adjustment subassembly (204), adjustment mechanism base (201) is installed on strutting arrangement (1), slip adjustment subassembly (204) and adjustment mechanism base (201) sliding connection, slip adjustment subassembly (204) are connected with rotary mechanism.
4. The visual scanning positioning system of claim 1, wherein the rotation mechanism comprises: the visual rotating base (206) is installed on the sliding adjusting component (204), the rotary fixing component (202) is connected with the visual rotating base (206), the driving component (205) is connected with the visual rotating base (206) in a matched mode, and the driving protecting component (203) is arranged on a connecting portion of the driving component (205) and the visual rotating base (206).
5. The visual scanning positioning system of claim 1, wherein the scanning mechanism comprises: the second visual component (307) and the second visual installation protection component (308) are connected with a rotating part of the rotating mechanism, the second visual component (307) is installed in a protection cavity of the second visual installation protection component (308), the protection cavity is provided with an opening, and a lens part of the second visual component (307) faces the opening of the protection cavity.
6. A visual scanning positioning system according to claim 1 or 5, wherein the measurement positioning mechanism comprises: y is to range finding subassembly (301), X to range finding subassembly (302), projection subassembly (303), first vision subassembly (304), Y is to range finding subassembly (301), X to range finding subassembly (302) cross mounting on scanning mechanism, projection subassembly (303), first vision subassembly (304) are all installed on scanning mechanism, projection subassembly (303), first vision subassembly (304) are the same with the camera lens orientation of X to range finding subassembly (302).
7. A visual scanning positioning system according to claim 5, where the second visual component (307) is an industrial 3D structured light camera.
8. A visual scanning positioning system according to claim 6, where the Y-direction distance measuring assembly (301) and the X-direction distance measuring assembly (302) are both laser distance measuring instruments, the projection assembly (303) is a cross projection instrument, and the first visual assembly (304) is an industrial 2D camera.
9. The visual scanning positioning system of claim 5, wherein the measurement positioning mechanism further comprises: a first visual mounting protection component (305), a projection mounting protection component (306), wherein the first visual mounting protection component (305) is mounted outside the first visual mounting component (304), the first visual mounting protection component (305) is provided with an opening, and a lens part of the first visual mounting component (304) faces the opening of the first visual mounting protection component (305); the projection installation protection component (306) is installed outside the projection component (303), the projection installation protection component (306) is provided with an opening, and the lens part of the projection component (303) faces the opening of the projection installation protection component (303).
10. A method for using a visual scanning positioning system, comprising the steps of:
s1: the visual scanning and positioning system is arranged on a lifting column boom during tunnel construction through a supporting device (1);
s2: acquiring a front image of a lifting column boom through a first vision component (304), and transmitting the acquired image to a vision processor;
s3: the visual processor identifies the front image acquired in the S2 through an identification algorithm to judge whether a suspension post exists in the visual field, if the suspension post does not exist in the visual field, the adjusting device (2) and the suspension post lifting arm are controlled to adjust the spatial position of the visual device (3), if the suspension post exists in the visual field, the adjusting device (2) and the suspension post lifting arm are controlled through identification information and distance information obtained through the identification algorithm to adjust the spatial position of the visual device (3), and 3D point cloud data information of the suspension post is obtained through scanning;
s4: calculating a required grabbing position of the crane arm according to the 3D point cloud data information of the suspension post acquired in the S3, and controlling the crane arm to grab the suspension post;
s5: and moving the grabbed suspension posts to the installation positions corresponding to the screw posts in the tunnel for installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211662983.6A CN115752245A (en) | 2022-12-23 | 2022-12-23 | Visual scanning positioning system and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211662983.6A CN115752245A (en) | 2022-12-23 | 2022-12-23 | Visual scanning positioning system and using method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN115752245A true CN115752245A (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211662983.6A Pending CN115752245A (en) | 2022-12-23 | 2022-12-23 | Visual scanning positioning system and using method thereof |
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| CN (1) | CN115752245A (en) |
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- 2022-12-23 CN CN202211662983.6A patent/CN115752245A/en active Pending
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