基于机器视觉的钢筋拉伸检测机器人系统研发  

Research and Development of Robot System for Steel Reinforcement Tensile Inspection Based on Machine Vision

作　　者：刘鹏 刘凤义 LIU Peng;LIU Fengyi(Shanghai Robot Industrial Technology Research Institute,Shanghai 200063,China)

机构地区：[1]上海机器人产业技术研究院,上海200063

出　　处：《工业技术创新》2023年第3期72-78,共7页Industrial Technology Innovation

摘　　要：在钢筋混凝土结构中,钢筋是混凝土的骨架,其拉伸性能对建筑工程质量具有直接影响。研发一套基于机器视觉的钢筋拉伸检测机器人系统,立足称重测长、试件拉伸、伸长测量、样品留样等钢筋拉伸检测试验基本流程,结合企业客户设计需求,开展布局设计、动作流程设计、结构设计和电气设计,并对机器人进行选型,实现智能化Modbus-TCP通信。对九点标定法、张氏标定法这两种工业相机标定方法进行比选,充分考虑客户实际需求及畸变矫正需求,优选张氏标定法开展钢筋拉伸检测试验。钢筋拉伸检测机器人系统检测结果与人工检测操作相对偏差值在5%以内,表明系统的各项性能指标满足实际需求。该系统有望取代传统的人工检测操作,对建筑钢筋检测检验机构优化人员结构、节省人力成本、保障钢筋样品检测效率等方面具有积极推动作用。In the steel reinforced concrete structures,the steel reinforcement is the skeleton of the concrete,and its tensile properties have a direct impact on the quality of construction projects.A robot system for the steel reinforcement tensile inspection based on machine vision was researched and developed.Based on the basic processes of steel reinforcement tensile inspection test,such as weighing and length measurement,specimen stretching,elongation measurement and sample retention,combined with the design requirements of enterprise customers,the layout design,action flow design,structural design and electrical design were performed,and the robot selection was carried out to realize the intelligent Modbus-TCP communication.The nine-point calibration method and Zhang's calibration method were compared.By fully taking account of the actual needs of customers and the necessity of distortion correction,Zhang's calibration method was selected out to carry out the steel reinforcement tensile inspection test.The relative deviation between the inspection results between the robot system for the steel reinforcement tensile inspection and the manual operation is less than 5%,which shows that the performance indicators of the system meet the actual needs.The system is expected to replace the traditional manual inspection operation,and has a positive role in optimizing the personnel structure.saving the labor costs and ensuring the inspection efficiency of steel reinforcement samples for the testing and inspection institutions of construction steel reinforcement.

关 键 词：钢筋拉伸检测 机器人系统 机器视觉 MODBUS-TCP 张氏标定法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]