A prefabricated staircase suspension control method, system, storage medium and intelligent terminal

Abstract

This application relates to the field of construction technology, and particularly to a precast staircase suspension control method, system, storage medium and intelligent terminal, which includes: obtaining the current position of the precast staircase and the height of the assembly floor; judging whether the position of the precast staircase is within the preset installation area; if not, continue to detect; if so, determine the installation position according to the height of the assembly floor; obtaining the installation distance between the corresponding position of the precast staircase and the installation position; judging whether the installation distance is greater than the preset detection distance; if so, continue to detect; if not, obtain the characteristic position of the precast staircase; judging whether the position corresponding to the characteristic position coincides with the preset installation position in the height direction; if so, lower the precast staircase for installation operation; if not, control the preset adjusting device to rotate the precast staircase until they coincide. This application has the effect of quickly aligning the precast staircase when it is lowered to the installation position by pre-adjusting the precast staircase, so as to improve the installation efficiency.

Description

Technical Field

[0001] The present application relates to the field of building construction technology, and in particular to a prefabricated stair suspension control method, system, storage medium and intelligent terminal. Background Art

[0002] In building construction, prefabricated building components are usually used, such as prefabricated stairs and wall panels. After the prefabricated components are completed, they are transported to the construction site by transport vehicles for installation, which can greatly shorten the concrete solidification period and improve the construction efficiency of the building.

[0003] In the related art, riveted parts are fixedly connected to the prefabricated stairs. After the prefabricated stairs are transported to the construction site by a transport vehicle, they are fixed and fastened with ropes and riveted parts. The ropes are then suspended with the help of a tower crane to suspend the prefabricated stairs to the floor where they need to be installed. Finally, the staff aligns the prefabricated stairs with the building staircase entrance for installation.

[0004] Regarding the above-mentioned related technologies, after the prefabricated stairs are suspended to the target floor, they are affected by wind and will shake. At this time, it is inconvenient to align the prefabricated stairs with the installation position, resulting in low installation efficiency. Summary of the Invention

[0005] In order to facilitate the alignment between the prefabricated stairs and the installation location and improve the installation efficiency, the present application provides a prefabricated stair suspension control method.

[0006] In a first aspect, the present application provides a method for controlling the suspension of prefabricated stairs, which adopts the following technical solutions:

[0007] A method for controlling the suspension of prefabricated stairs, comprising:

[0008] Obtain the current prefabricated stair position information and assembly floor height information when the prefabricated stair is in the hoisting state;

[0009] Determine whether the location information of the prefabricated staircase is within the preset installation area;

[0010] If the position corresponding to the prefabricated staircase position information is not within the preset installation area, continue detecting until the position corresponding to the prefabricated staircase position information is within the preset installation area;

[0011] If the prefabricated staircase location information is within the preset installation area, the installation location information is determined based on the assembly floor height information;

[0012] Lowering the prefabricated stairs according to the position corresponding to the installation position information, and obtaining the installation distance between the prefabricated stairs and the position corresponding to the installation position information;

[0013] Determine whether the installation distance is greater than the preset detection distance;

[0014] If the installation distance is greater than the detection distance, continue the detection;

[0015] If the installation distance is not greater than the detection distance, obtain the characteristic position information of the precast staircase;

[0016] Judge whether the position corresponding to the characteristic position information coincides with the preset installation position in the height direction;

[0017] If the position corresponding to the characteristic position information coincides with the preset installation position in the height direction, lower the precast staircase and carry out the installation operation;

[0018] If the position corresponding to the characteristic position information does not coincide with the preset installation position in the height direction, control the preset adjustment device to rotate the precast staircase until the position corresponding to the characteristic position information coincides with the preset installation position in the height direction.

[0019] By adopting the above technical solution, when the precast staircase moves to the preset installation area, lower the precast staircase, so that the precast staircase is closer to the preset installation position, which is convenient for aligning the precast staircase with the preset installation position, improves the accuracy during alignment, and thus helps to improve the subsequent installation efficiency of the precast staircase.

[0020] Optionally, when the position corresponding to the characteristic position information does not coincide with the preset installation position in the height direction, the control method of the adjustment device includes:

[0021] Obtain the real-time marking information on the precast staircase;

[0022] Judge whether the displacement of the mark corresponding to the real-time marking information is greater than the preset reference displacement;

[0023] If the displacement of the mark corresponding to the real-time marking information is greater than the reference displacement, control the limit manipulator preset on the adjustment device to interfere and limit the position of the precast staircase, and re-judge whether the displacement of the mark corresponding to the real-time marking information is greater than the preset reference displacement;

[0024] If the displacement of the mark corresponding to the real-time marking information is not greater than the reference displacement, lower the precast staircase to the preset installation position for installation operation.

[0025] By adopting the above technical solution, the pre-set marking information on the precast staircase is obtained in real time, so as to know the displacement of the mark corresponding to the real-time marking information. When the displacement of the mark is greater than the reference displacement, the precast staircase is interfered and limited by the preset limit manipulator, so that the precast staircase is not prone to shaking, which helps to improve the accuracy when the precast staircase is installed at the preset installation position.

[0026] Optionally, the interference limit method when the precast staircase is lowered to the installation position includes:

[0027] Establish a rectangular coordinate system with the adjusting device as the coordinate origin, and obtain the coordinates of the marked points preset on the precast staircase;

[0028] Determine the reference inclination angle value of the adjusting device based on the coordinates of the marked points and the preset reference plane;

[0029] Determine the movement path based on the reference inclination angle value and the coordinates of the adjusting device, and define the path with the minimum movement distance as the minimum movement path;

[0030] Define the coordinates of the marked points corresponding to the minimum movement path as the real-time marked point information;

[0031] Control the adjusting device to move towards the preset intervention position, and obtain the position information of the interference points within the preset radius range of the adjusting device;

[0032] Judge whether the position corresponding to the interference point position information is within the preset expansion range;

[0033] If the position corresponding to the interference point position information is not within the preset expansion range, after controlling the adjusting device to move to the preset intervention position, control the adjusting device to perform clamping interference when the precast staircase is lowered to the installation position;

[0034] If the position corresponding to the interference point position information is within the preset expansion range, eliminate the current minimum movement path and re-obtain the minimum movement path until the position corresponding to the interference point position information is not within the preset expansion range, and control the adjusting device to move towards the preset intervention position to control the adjusting device to perform clamping interference when the precast staircase is lowered to the installation position.

[0035] By adopting the above technical solution, when the adjusting device obtains the marked points, it can move along the minimum movement path, thereby reducing the time consumed during the movement, improving the working efficiency of the precast staircase, and avoiding the surrounding obstacle positions along the minimum movement path, so as to facilitate the adjusting device to move to a suitable interference point position to perform interference limit on the precast staircase.

[0036] When the adjusting device plans to obtain the marked points according to the reference inclination angle value, it moves to multiple position points required. By comparing the distances required to move to the multiple position points, the shortest movement path required is obtained, so as to reduce the time required for the adjusting device to move.

[0037] Optionally, before lowering the precast staircase to the position corresponding to the installation position information, the hoisting control method of the precast staircase further includes:

[0038] Obtain the counting value when the precast staircase is suspended, and the counting value is a positive integer;

[0039] Determine whether the counting value is even;

[0040] If the counting value is not even, control the precast staircase to rotate along a preset first rotation direction, and then lower the precast staircase to the installation position for installation operations;

[0041] If the counting value is even, control the precast staircase to rotate along a preset second rotation direction, and then lower the precast staircase to the installation position for installation operations.

[0042] By adopting the above technical solution, counting is performed during the suspension of the precast staircase to determine the installation orientations of two precast staircases between floors, and then the orientations of the staircases with a sequential installation order can be automatically adjusted. Thus, it is not necessary for the staff to intervene and adjust after moving the precast staircase to the preset installation area, which helps to improve the installation efficiency of the precast staircase.

[0043] Optionally, when the precast staircase is lowered to the installation position, the hoisting control method of the precast staircase further includes:

[0044] Obtain the staircase image of the precast staircase;

[0045] Determine whether there is a preset fracture feature in the staircase image;

[0046] If there is no preset fracture feature in the staircase image, lower the precast staircase to the installation position for installation operations;

[0047] If there is a preset fracture feature in the staircase image, control the precast staircase to move to the surface of the top floor of the building for placement, subtract one from the counting value, and re-hoist the staircase to the installation position for installation operations.

[0048] By adopting the above technical solution, image acquisition is performed during the lowering and installation of the precast staircase to determine whether there is damage to the installation part when an accidental collision occurs during the installation process of the precast staircase. Thus, the severely damaged precast staircase can be recovered to the floor surface in a timely manner, which is convenient for the staff to repair and reduces the probability of loose connection caused by damage to the connection part between the precast staircase and the building installation.

[0049] In a second aspect, the present application provides a precast staircase suspension control system, adopting the following technical solution:

[0050] A precast staircase suspension control system includes:

[0051] An acquisition module, which acquires the current precast staircase position information and the assembly floor height information of the precast staircase in the hoisting state;

[0052] A judgment module, connected to the acquisition module, and used to judge whether the precast staircase position information is within a preset installation area;

[0053] A processing module, connected to the acquisition module and the judgment module. When the position corresponding to the prefabricated staircase position information is not within the preset installation area, it determines the installation position information according to the assembly floor height information, lowers the prefabricated staircase according to the position corresponding to the installation position information, and obtains the installation distance between the prefabricated staircase and the position corresponding to the installation position information.

[0054] A judgment module, which judges whether the installation distance is greater than the preset detection distance. If the installation distance is greater than the detection distance, continue the detection. If the installation distance is not greater than the detection distance, the acquisition module acquires the characteristic position information of the prefabricated staircase.

[0055] The acquisition module judges whether the position corresponding to the characteristic position information coincides with the preset installation position in the height direction.

[0056] If the position corresponding to the characteristic position information coincides with the preset installation position in the height direction, the processing module lowers the prefabricated staircase and performs the installation operation.

[0057] If the position corresponding to the characteristic position information does not coincide with the preset installation position in the height direction, the processing module controls the preset adjustment device to rotate the prefabricated staircase until the position corresponding to the characteristic position information coincides with the preset installation position in the height direction.

[0058] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution:

[0059] An intelligent terminal includes a memory and a processor, and a computer program capable of being loaded and executed by the processor for any of the above prefabricated staircase suspension control methods is stored on the memory.

[0060] By adopting the above technical solution, through the use of the intelligent terminal, after the prefabricated staircase within the preset installation area coincides and aligns with the preset installation position in the vertical direction, the adjustment device is used for rotational fine-tuning to improve the installation efficiency and accuracy of the prefabricated staircase.

[0061] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which has the characteristics of lowering the prefabricated staircase after aligning it with the preset installation position in the vertical direction within the preset installation area and performing rotational fine-tuning through the adjustment device to improve the accuracy of the coincidence and alignment between the prefabricated staircase and the preset installation position, and is helpful for improving the installation efficiency of the prefabricated staircase. Adopting the following technical solution:

[0062] A computer-readable storage medium stores a computer program capable of being loaded and executed by the processor for any of the above prefabricated staircase suspension control methods.

[0063] By adopting the above technical solution, there is a computer program for the precast staircase suspension control method in the storage medium. When the precast staircase moves into the preset installation area, the precast staircase is lowered, so that the precast staircase is closer to the preset installation position, which is convenient for aligning the precast staircase with the preset installation position, improving the accuracy during alignment, and thus helping to improve the subsequent installation efficiency of the precast staircase.

[0064] In summary, the present application includes at least one of the following beneficial technical effects:

[0065] 1. When the precast staircase moves into the preset installation area, the precast staircase is lowered, so that the precast staircase is closer to the preset installation position, which is convenient for aligning the precast staircase with the preset installation position, improving the accuracy during alignment, and thus helping to improve the subsequent installation efficiency of the precast staircase;

[0066] 2. The pre-set marking information on the precast staircase is obtained in real time, so that the displacement of the corresponding marking of the real-time marking information can be known. When the displacement of the marking is greater than the reference displacement, the precast staircase is interfered and limited by the pre-set limiting manipulator, so that the precast staircase is not prone to shaking, which helps to improve the accuracy when the precast staircase is installed at the preset installation position;

[0067] 3. Counting is performed when the precast staircase is suspended to determine the installation orientations of two precast staircases between floors, and then the orientations of the staircases with a sequential installation order can be automatically adjusted, so that there is no need for staff to intervene and adjust after the precast staircase moves to the preset installation area, which helps to improve the installation efficiency of the precast staircase. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 is a flowchart of the precast staircase suspension control method.

[0069] Figure 2 is a flowchart of the method for obtaining real-time marking information on the precast staircase.

[0070] Figure 3 is a control method flowchart for the control adjustment device to obtain real-time marking information.

[0071] Figure 4 is a control method flowchart for controlling the precast staircase to turn to a suitable posture.

[0072] Figure 5 is a control method flowchart for replacing and moving the broken precast staircase.

[0073] Figure 6 is a module diagram of the precast staircase suspension control system. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0074] To make the objectives, technical solutions and advantages of the present application clearer and more understandable, the following further elaborates on the present application in conjunction with the appended Figure 1-6 drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0075] The following further describes the embodiments of the present invention in detail in conjunction with the drawings of the specification.

[0076] The embodiment of the present application discloses a method for controlling the suspension of a precast staircase. First, obtain the current position information of the precast staircase in the suspended state and the floor assembly height information of the installation position to determine whether the tower crane suspends the precast staircase to the installation area. When the precast staircase is located in the installation area, lower the precast staircase to the installation position corresponding to the installation position information. During the lowering process, when the precast staircase is lowered to a preset detection distance, obtain the preset feature position information on the precast staircase, and then determine whether the feature corresponding to the feature position information coincides with the installation position on the building in the vertical direction. When they coincide, lower the precast staircase and install it, so as to complete automatic alignment during the process of moving the precast staircase towards the installation position to a short distance, facilitate direct installation, and thus improve the installation efficiency of the precast staircase.

[0077] Referring to Figure 1 , the method flow of the method for controlling the suspension of the precast staircase includes the following steps:

[0078] Step S100: Obtain the current position information of the precast staircase in the hoisting state and the floor height information of the assembly floor.

[0079] The precast staircase is a precast member formed by pouring in advance according to the needs of the building. The precast staircase has different models and sizes. The precast staircase in this embodiment is a straight ladder arranged obliquely, and the specific size is set by the staff according to the actual situation and will not be described in detail. The position corresponding to the current position information of the precast staircase is the position during the process of hoisting the precast staircase from the ground to the top floor of the building for installation, which can be determined by the stretching length of the sling of the tower crane, or can be positioned by installing GPS on the precast staircase in advance. In this embodiment, the positioning by installing GPS on the precast staircase in advance is taken as an example for introduction. The height corresponding to the floor assembly height information is the height of the current floor surface in the vertical direction, and the height of each floor can be obtained according to the data in the building drawings and by positioning through installing GPS.

[0080] Step S101: Determine whether the position information of the precast staircase is within the preset installation area.

[0081] The area referred to by the preset installation area is the area demarcated by the staff around the position where the precast staircase is to be installed. When the precast staircase moves into the preset installation area, the precast staircase is aligned with the installation position on the building in the vertical direction. The size of the demarcated area is determined by the staff according to the actual situation and will not be elaborated in detail in this embodiment. The purpose of determining whether the precast staircase is located within the preset installation area is to know whether the precast staircase can be lowered, so as to facilitate the subsequent installation operation of the precast staircase. The judgment method can be obtained by comparing the GPS installed on the precast staircase with the preset installation area for coincidence.

[0082] Step S102: If the position corresponding to the precast staircase position information is not within the preset installation area, continue to detect until the position corresponding to the precast staircase position information is within the preset installation area.

[0083] If the position corresponding to the precast staircase position information is not within the preset installation area, it means that the precast staircase has not yet moved above the installation position. At this time, it is necessary to continue to detect until the precast staircase moves into the preset installation area to facilitate the subsequent control of the installation of the precast staircase.

[0084] Step S103: If the precast staircase position information is within the preset installation area, determine the installation position information according to the assembly floor height information.

[0085] If the precast staircase position information is within the preset installation area, it means that the precast staircase coincides with the installation position in the vertical direction at this time. At this time, the tower crane can be controlled to lower the precast staircase for installation operations. The installation position corresponding to the installation position information is the specific position where the floor supplies the precast staircase to be lowered and installed at a certain height. Since the heights between different floors are inconsistent, the installation position changes. Therefore, the installation position can be determined by the height corresponding to the floor assembly height information.

[0086] Step S104: Lower the precast staircase according to the position corresponding to the installation position information, and obtain the installation distance between the precast staircase and the position corresponding to the installation position information.

[0087] The distance corresponding to the installation distance is the distance between the lower side wall of the precast staircase and the floor surface during the lowering of the precast staircase. The GPS can be set on the upper and lower sides of the precast staircase, and then the difference between the height of the GPS and the height of the plane where the installation position is located can be calculated to obtain the distance between the precast staircase and the installation position during the lowering process.

[0088] Step S105: Judge whether the installation distance is greater than the preset detection distance.

[0089] The preset detection distance is the distance between the precast staircase and the plane where the installation position is located. The specific value of the detection distance is set by the staff according to the actual situation and will not be described in detail in this embodiment. The purpose of the judgment is to know when to start the subsequent detection of the precast staircase for subsequent control of the precast staircase.

[0090] Step S106: If the installation distance is greater than the detection distance, continue the detection.

[0091] When the installation distance is greater than the detection distance, it indicates that the distance between the precast staircase and the installation position is relatively far. At this time, there is no need to perform subsequent control on the precast staircase, and it is necessary to continue to detect the detection distance until the detection distance is not greater than the preset distance, and then perform the subsequent control detection steps.

[0092] Step S107: If the installation distance is not greater than the detection distance, obtain the characteristic position information of the precast staircase.

[0093] If the installation distance is not greater than the detection distance, it means that the distance between the precast staircase and the installation position is relatively close at this time. At this time, the subsequent detection steps can be carried out. The characteristic corresponding to the characteristic position information is the positioning insertion column provided on the precast staircase. During installation, the positioning insertion column needs to be inserted and matched with the positioning hole opened on the building so that the precast staircase can be accurately installed at the installation position, thereby making the precast staircase not easily deviate. The position corresponding to the characteristic is the position of the positioning insertion column in the horizontal direction.

[0094] Step S108: Judge whether the position corresponding to the characteristic position information coincides with the preset installation position in the height direction.

[0095] The purpose of the judgment is to know whether the positioning insertion column is aligned and coincides with the insertion hole in the vertical direction for subsequent control of the precast staircase. When judging, it can be determined through the relative position of the GPS on the precast staircase. The relative position of the insertion hole in the horizontal direction can be obtained through the construction drawings. When the relative position between the GPS and the precast staircase is determined, the relative position of the positioning insertion column is determined, and the relative position of the positioning insertion column and the insertion hole is aligned by adjusting the relative position of the GPS.

[0096] Step S109: If the position corresponding to the characteristic position information coincides with the preset installation position in the height direction, lower the precast staircase and perform the installation operation.

[0097] The position corresponding to the characteristic position information coincides with the preset installation position in the height direction, indicating that the positioning insertion column is aligned with the insertion hole in the vertical direction at this time. At this time, the precast staircase can be lowered so that the positioning insertion column is inserted into the insertion hole, and the subsequent installation operation can be carried out.

[0098] Step S1010: If the position corresponding to the feature position information does not coincide with the preset installation position in the height direction, control the preset adjustment device to rotate the precast staircase until the position corresponding to the feature position information coincides with the preset installation position in the height direction.

[0099] If the position corresponding to the feature position information does not coincide with the preset installation position in the height direction, it indicates that there is a slight offset between the positioning plug post and the plug hole. At this time, it is necessary to perform interference adjustment on the fine adjustment of the precast staircase. In this embodiment, the preset adjustment device is an engineering vehicle, and a clamping manipulator can be set on the engineering vehicle to clamp and limit the precast staircase. When there is a slight deviation between the positioning plug post and the plug hole, the clamping manipulator can slightly move the precast staircase so that after the positioning plug post and the plug hole are aligned, the installation operation of the precast staircase can be carried out.

[0100] Refer to Figure 2 , when the position corresponding to the feature position information does not coincide with the preset installation position in the height direction, the control method of the adjustment device includes:

[0101] Step S200: Obtain the real-time marking information on the precast staircase.

[0102] The marking corresponding to the real-time marking information is a marking set on the side wall of the precast staircase. The specific shape of the marking is designed by the staff according to actual needs and will not be elaborated in detail. The acquisition of the marking can be obtained by setting a camera on the engineering vehicle. When acquiring, the camera continuously acquires the position of the marking within a period of time, and defines the position corresponding to the marking as the real-time marking information.

[0103] Step S201: Determine whether the displacement of the marking corresponding to the real-time marking information is greater than the preset reference displacement.

[0104] The displacement corresponding to the reference displacement is the distance that the marking moves in the horizontal direction, which is set by the staff. When the precast staircase sways in the horizontal wind direction under the action of wind, it will cause the displacement of the marking. When judging, take the first moment when the marking is obtained as the starting point, and the maximum displacement of the marking continuously obtained in a subsequent period of time as the end point, and calculate the displacement distance of the marking between the starting point and the end point, and compare the marking displacement distance with the reference displacement. The purpose of the judgment is to know whether the swaying amplitude of the precast staircase will affect the alignment and installation of the precast staircase, so as to facilitate the subsequent installation operation of the precast staircase.

[0105] Step S202: If the displacement of the marking corresponding to the real-time marking information is greater than the reference displacement, control the limit manipulator preset on the adjustment device to perform interference limitation on the position of the precast staircase, and re-determine whether the displacement of the marking corresponding to the real-time marking information is greater than the preset reference displacement.

[0106] If the displacement of the mark corresponding to the real-time marking information is greater than the reference displacement, it indicates that the sway amplitude of the precast staircase exceeds the allowed range. At this time, it is not convenient to align the precast staircase with the installation position. At this time, interference limiting is required for the precast staircase to keep the precast staircase from swaying easily during the alignment process. During interference, clamping and limiting are performed by a manipulator preset on the engineering trolley. After the manipulator performs interference limiting on the precast staircase, it is necessary to re-determine whether the displacement of the mark corresponding to the real-time marking information is greater than the reference displacement to reduce the sway of the precast staircase and facilitate the installation and alignment of the precast staircase. The use of the manipulator is well-known in the art, so in this embodiment, the specific structure of the manipulator will not be described in detail.

[0107] Step S203: If the displacement of the mark corresponding to the real-time marking information is not greater than the reference displacement, lower the precast staircase to the preset installation position for installation operations.

[0108] If the displacement of the mark corresponding to the real-time marking information is not greater than the reference displacement, it indicates that the sway amplitude of the precast staircase is very small. At this time, it does not affect the downward installation after the precast staircase is aligned. The precast staircase can be lowered to the installation position for installation operations.

[0109] Refer to Figure 3 , the interference limiting method when the precast staircase is lowered to the installation position includes:

[0110] Step S300: Establish a rectangular coordinate system with the adjusting device as the coordinate origin, and obtain the coordinates of the marking points preset on the precast staircase.

[0111] The method of establishing the rectangular coordinate system is common knowledge for those skilled in the art and will not be elaborated. The relative position between the position of the marking points on the precast staircase and the precast staircase is known to the staff in advance. Therefore, after establishing the coordinate system with the adjusting device, the relative position of the marking points can be obtained. In this embodiment, the adjusting device is an engineering trolley, and the engineering trolley cooperates with the manipulator to perform relative adjustment after clamping the precast staircase.

[0112] Step S301: Determine the reference inclination angle value of the adjusting device according to the marking point coordinates and the preset reference plane.

[0113] When the adjusting device obtains the image of the marking points through the camera, it needs to move to one side of the precast staircase and then rotate the camera to take pictures of the marking points. At this time, the angle formed by the rotation angle of the camera in the vertical plane and the horizontal plane is defined as the reference inclination angle value.

[0114] Step S302: Determine the movement path according to the reference inclination angle value and the coordinates of the adjusting device, and define the path with the minimum movement distance as the minimum movement path.

[0115] After obtaining the reference inclination angle value and the coordinate relationship of the adjustment device, multiple position points where the adjustment device can capture the image of the marking point can be obtained. The multiple position points have corresponding coordinates. Connect the position points with the smallest distance from the adjustment device, and define the path formed by this connection as the minimum movement path, so that the adjustment device can move according to the minimum movement path and capture the image of the marking point, thereby improving the working efficiency of image acquisition.

[0116] Step S303: Define the marking point coordinates corresponding to the minimum movement path as the real-time marking point information.

[0117] By defining the corresponding coordinates of the marking points corresponding to the minimum movement path as the marking point information, the purpose of the definition is to facilitate controlling the adjustment device for subsequent movement and subsequent control.

[0118] Step S304: Control the adjustment device to move towards the preset intervention position, and obtain the position information of the interference points within the preset radius range of the adjustment device.

[0119] The preset intervention position is the position adjacent to the precast staircase in the horizontal direction. When the adjustment device moves to this position, the manipulator provided on the adjustment device can contact the precast staircase. The specific position is set by the staff according to the actual situation and will not be elaborated. During the process of the adjustment device moving towards the intervention position, an infrared induction system is installed on the adjustment device to obtain the obstacle situation around the adjustment device. The position corresponding to the obstacle is defined as the interference point position information. The acquisition range is circularly divided, and the circular range formed by the division is defined as the preset expansion range.

[0120] Step S305: Determine whether the position corresponding to the interference point position information is within the preset expansion range.

[0121] The purpose of the determination is to know whether the adjustment device will interfere and collide with the obstacles at the interference point positions during the movement process, so as to avoid it during the subsequent movement of the adjustment device, so that the adjustment device can move to a suitable interference point position to perform interference adjustment on the precast staircase.

[0122] Step S306: If the position corresponding to the interference point position information is not within the preset expansion range, then after controlling the adjustment device to move to the preset intervention position, control the adjustment device to perform clamping interference when the precast staircase is lowered to the installation position.

[0123] If the positions corresponding to the interference point position information are not within the preset unfolding range, it indicates that after the adjusting device moves to the interference point position and the manipulator of the adjusting device unfolds to interfere with the precast staircase, there will be no interference obstruction with surrounding objects. At this time, the adjusting device can be controlled to adjust the precast staircase when lowering it to the installation position.

[0124] Step S307: If the positions corresponding to the interference point position information are within the preset unfolding range, then eliminate the current minimum movement path and re-obtain the minimum movement path until the positions corresponding to the interference point position information are not within the preset unfolding range, and control the adjusting device to move towards the preset intervention position to control the adjusting device to perform clamping interference on the precast staircase when lowering it to the installation position.

[0125] If the positions corresponding to the interference point position information are within the preset unfolding range, it indicates that there are obstacle objects on the periphery of the adjusting device that hinder the unfolding of the adjusting device. At this time, it is not conducive to the manipulator on the adjusting device to unfold and interfere with the precast staircase for adjustment. Execute the step of re-obtaining the interference point position, and control the adjusting device to move to the re-obtained interference point position. At the same time, judge whether there is an obstacle when stretching the manipulator of the interference adjusting device at the re-obtained interference point position until the best interference point position is found, and then unfold the manipulator to perform interference clamping adjustment on the precast staircase.

[0126] Refer to Figure 4 , before lowering the precast staircase according to the position corresponding to the installation position information, the hoisting control method of the precast staircase further includes:

[0127] Step S400: Obtain the counting value when the precast staircase is suspended, and the counting value is a positive integer.

[0128] The counting value corresponds to the number of hoisting times during the suspension process of the precast staircase. The counting value is usually an integer. The purpose of obtaining the counting value is to facilitate the subsequent control of the precast staircase.

[0129] Step S401: Judge whether the counting value is an even number.

[0130] The purpose of the judgment is to know the current order of the precast staircase. When assembling precast staircases on the same floor, the number of precast staircases required is two, and the inclination directions of the two precast staircases are different. Judging even and non-even numbers helps to adjust the staircase orientation subsequently to improve the installation operation efficiency of the precast staircase.

[0131] Step S402: If the counting value is not an even number, then control the precast staircase to rotate along the preset first rotation direction and then lower the precast staircase to the installation position for installation operation.

[0132] If the counted value is not an even number, it indicates that the precast staircase is the first staircase to be installed on this floor. The orientation of the first staircase is known in advance by the staff. When the precast staircase is rotated to this orientation, the rotated direction is defined as the first rotation direction. During rotation, it can be rotated by a manipulator. The rotation angle is obtained by a camera installed on the adjustment device for image acquisition and image recognition. During recognition, it can be matched by establishing a database of orientation features to determine the orientation of the precast staircase. The establishment of the database is common knowledge for those skilled in the art and will not be elaborated in this embodiment.

[0133] Step S403: If the counted value is an even number, then control the precast staircase to rotate along the preset second rotation direction, and then lower the precast staircase to the installation position for installation operations.

[0134] The rotation direction corresponding to the preset second rotation direction is opposite to the rotation orientation of the preset first rotation direction. When the counted value is an even number, it indicates that the precast staircase is the second staircase to be installed on the current floor. The second rotation direction is opposite to the orientation of the first precast staircase installed on the current floor. After controlling the precast staircase to rotate towards the second rotation direction by a manipulator, lower the precast staircase to the installation position for installation operations.

[0135] Refer to Figure 5 , when the precast staircase is lowered to the installation position, the hoisting control method of the precast staircase further includes:

[0136] Step S500: Obtain the staircase image of the precast staircase.

[0137] The staircase image is the image before the precast staircase is lowered to the installation position, and is obtained by the camera on the adjustment device. The purpose of obtaining it is to know whether there has been an accidental collision and damage after the precast staircase is hoisted from the ground to the preset installation area, so as to perform corresponding processing on the precast staircase subsequently.

[0138] Step S501: Determine whether there is a preset broken feature in the staircase image.

[0139] The broken feature is the feature that there is breakage on the surface of the precast staircase in the image. The broken feature can be stored by establishing a broken image feature database. During determination, the staircase image can be input into the broken image feature database for comparison and analysis to determine whether there is a broken feature in the staircase image, so as to know whether the broken situation affects the safety during installation. The judgment factors are set by the staff according to the actual situation and will not be elaborated in this embodiment.

[0140] Step S502: If there is no preset broken feature in the staircase image, then lower the precast staircase to the installation position for installation operations.

[0141] If there is no preset broken feature in the staircase image, it indicates that the surface integrity of the precast staircase is good. At this time, it can be directly lowered to the installation position and installation operations can be carried out.

[0142] Step S503: If there is a preset broken feature in the staircase image, control the precast staircase to move to the surface of the top floor of the building, subtract one from the count value, and then re-lift the staircase to the installation position for installation operations.

[0143] If there is a preset broken feature in the staircase image, control the precast staircase to move to the top surface of the building, and repair the precast staircase so that it can be reinstalled, reducing the construction cost when replacing a new precast staircase due to partial breakage of the precast staircase. When the precast staircase moves to the building surface, subtract one from the count value to ensure that the count value is not inaccurately counted due to the accumulation of the count value before the precast staircase is installed. After the precast staircase is repaired, it is re-lifted, and when lifting, the count value is accumulated again.

[0144] Refer to Figure 6 , based on the same inventive concept, an embodiment of the present invention provides a precast staircase suspension control system, including: an acquisition module for acquiring the current precast staircase position information and the assembly floor height information of the precast staircase in the hoisting state;

[0145] A judgment module, connected to the acquisition module, for judging whether the precast staircase position information is within a preset installation area;

[0146] A processing module, connected to the acquisition module and the judgment module. When the position corresponding to the precast staircase position information is not within the preset installation area, determine the installation position information according to the assembly floor height information, lower the precast staircase according to the position corresponding to the installation position information, and obtain the installation distance between the precast staircase and the position corresponding to the installation position information;

[0147] The judgment module judges whether the installation distance is greater than a preset detection distance. If the installation distance is greater than the detection distance, continue to detect. If the installation distance is not greater than the detection distance, the acquisition module acquires the characteristic position information of the precast staircase;

[0148] The acquisition module judges whether the position corresponding to the characteristic position information coincides with the preset installation position in the height direction;

[0149] If the position corresponding to the characteristic position information coincides with the preset installation position in the height direction, the processing module lowers the precast staircase and performs installation operations;

[0150] If the position corresponding to the feature position information does not coincide with the preset installation position in the height direction, the processing module controls the preset adjusting device to rotate the precast staircase until the position corresponding to the feature position information coincides with the preset installation position in the height direction.

[0151] The alignment control module detects whether the precast staircase moves beyond the preset reference displacement amount and performs clamping interference on the precast staircase to improve the accuracy when the precast staircase is aligned with the installation position.

[0152] The interference judgment module judges the best path when the adjusting device acquires the mark, and after controlling the adjusting device to acquire the mark, moves to the preset interference point to perform clamping interference on the precast staircase.

[0153] The steering adjustment module judges the installation inclination direction of the precast staircase according to the parity of the counting value, so that the precast staircase can be accurately lowered and installed.

[0154] The damage acquisition module acquires the apparent damage condition of the precast staircase, judges whether the precast staircase meets the installation conditions, controls the movement of the precast staircase with local damage caused by accidental collision during the hoisting process, and re-hoists a suitable precast staircase for installation.

[0155] The orientation control module controls the windward orientation of the precast staircase so that the precast staircase is not affected by the wind when suspended to the installation area, thereby reducing the probability of the precast staircase colliding with the building due to the influence of the wind.

[0156] The attitude adjustment module controls the precast staircase to perform pre-hoisting note adjustment before being hoisted to the installation area, so that when the precast staircase is hoisted to the installation area without being affected by the wind, the subsequent rotation adjustment steps are reduced, further improving the installation operation efficiency.

[0157] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0158] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor to control the suspension of a precast staircase.

[0159] Computer storage media include, for example: various media that can store program code, such as USB flash drives, external hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0160] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, and a computer program capable of being loaded and executed by the processor to control a prefabricated staircase suspension is stored on the memory.

[0161] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0162] The above are all preferred embodiments of the present application. Without limiting the protection scope of the present application accordingly, any feature disclosed in this specification (including the abstract and drawings), unless specifically described, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically described, each feature is only an example of a series of equivalent or similar features.

Claims

1. A precast staircase suspension control method, characterized in that, Including: Obtain the current precast staircase position information and the assembly floor height information of the precast staircase in the hoisting state; Judge whether the precast staircase position information is within the preset installation area; If the position corresponding to the precast staircase position information is not within the preset installation area, continue to detect until the position corresponding to the precast staircase position information is within the preset installation area; If the precast staircase position information is within the preset installation area, determine the installation position information according to the assembly floor height information; Lower the precast staircase according to the position corresponding to the installation position information, and obtain the installation distance between the precast staircase and the position corresponding to the installation position information; Judge whether the installation distance is greater than the preset detection distance; If the installation distance is greater than the detection distance, continue to detect; If the installation distance is not greater than the detection distance, obtain the characteristic position information of the precast staircase; Judge whether the position corresponding to the characteristic position information coincides with the preset installation position in the height direction; If the position corresponding to the characteristic position information coincides with the preset installation position in the height direction, lower the precast staircase and perform the installation operation; If the position corresponding to the characteristic position information does not coincide with the preset installation position in the height direction, control the preset adjustment device to rotate the precast staircase until the position corresponding to the characteristic position information coincides with the preset installation position in the height direction; When the position corresponding to the characteristic position information does not coincide with the preset installation position in the height direction, the control method of the adjustment device includes: obtaining the real-time marking information on the precast staircase; judging whether the displacement of the mark corresponding to the real-time marking information is greater than the preset reference displacement; if the displacement of the mark corresponding to the real-time marking information is greater than the reference displacement, control the limit manipulator preset on the adjustment device to interfere and limit the position of the precast staircase, and re-judge whether the displacement of the mark corresponding to the real-time marking information is greater than the preset reference displacement; if the displacement of the mark corresponding to the real-time marking information is not greater than the reference displacement, lower the precast staircase to the preset installation position and perform the installation operation; The interference limiting method when the precast staircase is lowered to the installation position includes: establishing a rectangular coordinate system with the adjusting device as the coordinate origin, and obtaining the coordinates of the marked points preset on the precast staircase; determining the reference inclination angle value of the adjusting device according to the coordinates of the marked points and the preset reference plane; determining the movement path according to the reference inclination angle value and the coordinates of the adjusting device, and defining the path with the minimum movement distance as the minimum movement path; defining the coordinates of the marked points corresponding to the minimum movement path as the real-time marked point information; controlling the adjusting device to move towards the preset intervention position, and obtaining the position information of the interference points within the preset radius range of the adjusting device; judging whether the position corresponding to the position information of the interference points is within the preset expansion range; if the position corresponding to the position information of the interference points is not within the preset expansion range, then after controlling the adjusting device to move to the preset intervention position, controlling the adjusting device to clamp and interfere when the precast staircase is lowered to the installation position; if the position corresponding to the position information of the interference points is within the preset expansion range, then deleting the current minimum movement path and re-obtaining the minimum movement path until the position corresponding to the position information of the interference points is not within the preset expansion range, and controlling the adjusting device to move towards the preset intervention position to control the adjusting device to clamp and interfere when the precast staircase is lowered to the installation position.

2. A precast staircase suspension control method according to claim 1, characterized in that, Before lowering the precast staircase according to the position corresponding to the installation position information, the hoisting control method of the precast staircase further includes: Obtaining the counting value when the precast staircase is suspended, and the counting value is a positive integer; Judging whether the counting value is an even number; [[ID= ​ 3. A precast staircase suspension control method according to claim 2, characterized in that, ​ ​ ​ ​ ​ 4. An intelligent terminal, characterized in that, ​ 5. A computer-readable storage medium, characterized in that, ​

Images