Development Of Machine Vision Enhanced Semi-automatic Wire Binding Device

In the construction of buildings,bridges,tunnels and so on,there are a lot of reinforced concrete operations,in which the binding of steel bars is an indispensable link.Some of the new walls adopt modular construction,requiring the steel bar to be tied inside the wall.The traditional manual operation method can not successfully complete the work.At present,there is no steel bar binding tool in the market that can operate inside the wall.In order to solve this problem and facilitate workers to tie steel bars in blind areas,a device is designed,which has a slender rod shape and can enter the interior of the wall to tie the target.The device is equipped with a camera.When entering the work place with insufficient light,real-time images can be collected with the help of its own light source and camera.With the help of adding structured light,a laser spot will be displayed on the steel bar of the image.Real-time image signal is transmitted to operator's mobile device through image acquisition system.With the help of HALCON vision library,the collected image is processed and recognized.The wire,laser spot and device head are identified and the distance between them is calculated.The space distance between the device and the wire ring is determined by the appropriate mathematical model.The calculated distance results are displayed on the device,and the device guides the operator to move the device to a specified location by prompting.In the process of moving,the mobile device can update the real-time distance between the display device and the target,reduce errors and improve accuracy.After the device moves to the target,the wire coil is twisted to tie the reinforcing bar.The control unit adopts the micro-control board based on STM32 chip,and receives the configuration and control command of the host computer through serial communication.Then the micro-control board binds the reinforcing bar by controlling the electromagnet and motor and receiving the signal of position sensor.Because of the complex working environment in the construction,if we design a fully automatic wire-binding device,it is difficult and costly.Therefore,a set of semi-automatic wire-binding device is designed.When the device moves to the target,it needs manual operation by the operator.It can automatically identify and bind the steel bar,which can significantly improve the work efficiency...