A curtain wall installation control system and method for a mechanical arm based on visual positioning

Abstract

The present application provides a curtain wall installation control system and method for a mechanical arm based on visual positioning. The system includes: a seven-degree-of-freedom mechanical arm, a distance measurement system, an AGV trolley and a visual control system; the distance measurement system is used to obtain a first distance and a second distance, and send the first distance and the second distance to the visual control system; the visual control system is used to determine the mechanical arm adjustment information according to the first distance, and control the seven-degree-of-freedom mechanical arm to adjust the posture according to the mechanical arm adjustment information; after the posture adjustment of the seven-degree-of-freedom mechanical arm is completed, the trolley adjustment information is determined according to the second distance, and sent to the AGV trolley; the AGV trolley is used to adjust the posture of the AGV trolley according to the trolley adjustment information; the visual control system is used to control the seven-degree-of-freedom mechanical arm to install the glass curtain wall into the installation frame of the glass curtain wall after the posture adjustment of the AGV trolley is completed. The present application can improve work efficiency, ensure the safety of construction personnel and the stability of construction equipment.

Description

Technical Field

[0001] The present application relates to the field of robot control, and in particular to a curtain wall installation control system and method of a robot arm based on visual positioning. Background Art

[0002] For the installation of existing curtain walls, the glass is grabbed to the installation position by an electric suction cup, and then the glass curtain wall is manually lifted to the installation position between the installation frames. The staff then stand on the aerial work vehicle to make further position adjustments until the glass is placed in the slot of the support frame, and then the glass is fixed.

[0003] It can be seen that the current curtain wall installation method is too dependent on manual labor, resulting in low curtain wall installation efficiency. In addition, curtain wall installation is generally performed at high altitude, and the personal safety of workers is poor. Summary of the invention

[0004] The present application provides a curtain wall installation control system and method of a mechanical arm based on visual positioning, so as to solve the problem in the prior art that the glass curtain wall installation process is too dependent on manual labor, resulting in low installation efficiency and poor manual safety.

[0005] In a first aspect, the present application provides a curtain wall installation control system of a mechanical arm based on visual positioning, comprising:

[0006] A seven-degree-of-freedom mechanical arm, a distance measurement system, an AGV trolley and a visual control system, wherein the first end of the seven-degree-of-freedom mechanical arm is rotatably connected to the AGV trolley, the seven-degree-of-freedom mechanical arm, the distance measurement system and the AGV trolley are all communicatively connected to the visual control system, and the second end of the seven-degree-of-freedom mechanical arm is used to grab the glass curtain wall;

[0007] The distance measuring system is used to obtain a first distance and a second distance, and send the first distance and the second distance to the visual control system, the first distance is the vertical distance between the seven-degree-of-freedom robotic arm and the glass curtain wall, and the second distance is the vertical distance between the AGV trolley and the mounting frame of the glass curtain wall;

[0008] The visual control system is used to determine the mechanical arm adjustment information according to the first distance, and control the seven-degree-of-freedom mechanical arm to adjust the posture according to the mechanical arm adjustment information; and after the posture adjustment of the seven-degree-of-freedom mechanical arm is completed, determine the trolley adjustment information according to the second distance, and send the trolley adjustment information to the AGV trolley;

[0009] The AGV trolley is used to adjust the posture of the AGV trolley according to the trolley adjustment information;

[0010] The visual control system is used to control the seven-degree-of-freedom robotic arm to install the glass curtain wall into the installation frame of the glass curtain wall after the posture adjustment of the AGV vehicle is completed;

[0011] Wherein, the curtain wall installation control system of the mechanical arm based on visual positioning further includes at least one electric suction cup and a suction cup frame, wherein the suction cup frame is fixedly mounted on the second end of the seven-degree-of-freedom mechanical arm, and the at least one electric suction cup is fixedly mounted on the suction cup frame;

[0012] The visual control system is further used to send a grasping instruction to the at least one electric suction cup after the posture adjustment of the seven-degree-of-freedom mechanical arm is completed, so as to control the at least one electric suction cup to grasp the glass curtain wall;

[0013] The curtain wall installation control system of the mechanical arm based on visual positioning also includes a tilt sensor, which is fixedly installed on the roof of the AGV and is communicatively connected with the visual control system;

[0014] The inclination sensor is used to obtain the inclination angle of the AGV and send the inclination angle to the visual control system;

[0015] The visual control system is used for:

[0016] Determining whether the tilt angle is equal to a preset tilt angle;

[0017] If the tilt angle is not equal to the preset tilt angle, it is determined that the suction cup frame is not perpendicular to the roof plane of the AGV, and first angle adjustment information is generated, and the first angle adjustment information is sent to the seven-degree-of-freedom robotic arm to make the suction cup frame on the seven-degree-of-freedom robotic arm perpendicular to the horizontal plane, and second angle adjustment information is generated at the same time, and the second angle adjustment information is sent to the AGV;

[0018] The AGV trolley is used to adjust the roof plane of the AGV trolley to be parallel to the horizontal plane according to the second angle adjustment information;

[0019] The curtain wall installation control system of the mechanical arm based on visual positioning also includes an industrial camera, a third laser ranging sensor and a fixture, wherein the fixture is fixedly installed at a target position behind the installation frame of the glass curtain wall, and the industrial camera and the third laser ranging sensor are both fixed on the fixture and are both connected to the visual control system for communication;

[0020] The industrial camera is used to acquire a sign image in real time and send the sign image to the visual control system; the sign image is an image of a region on the glass curtain wall with a preset sign;

[0021] The third laser ranging sensor is used to obtain a third distance from the third laser ranging sensor to the preset mark, and send the third distance to the visual control system;

[0022] The visual control system is used for:

[0023] Inputting the mark image and the third distance into a position correction model, and outputting an offset angle and a moving distance, wherein the position correction model is obtained by training a mathematical model based on geometric correction;

[0024] Sending the offset angle and the moving distance to the seven-degree-of-freedom robotic arm;

[0025] The seven-degree-of-freedom mechanical arm is controlled to adjust the installation position of the glass curtain wall and the installation frame of the glass curtain wall according to the offset angle and the moving distance.

[0026] In a second aspect, the present application provides a curtain wall installation control method of a mechanical arm based on visual positioning, which is applied to the visual control system in the curtain wall installation control system of the mechanical arm based on visual positioning as described in the first aspect above, and is characterized in that the control method comprises:

[0027] Acquire a first vertical distance between the seven-degree-of-freedom robotic arm and the glass curtain wall, and use the first distance to adjust the posture of the seven-degree-of-freedom robotic arm;

[0028] After the posture adjustment of the seven-degree-of-freedom robotic arm is completed, controlling the electric suction cup to grab the glass curtain wall;

[0029] Obtaining a second distance between the front of the AGV and the lower frame of the mounting frame of the glass curtain wall, and adjusting the posture of the AGV using the second distance;

[0030] After the posture adjustment of the AGV vehicle is completed, the seven-degree-of-freedom robotic arm is controlled to install the glass curtain wall into the installation frame of the glass curtain wall.

[0031] The present application provides a curtain wall installation control system and method based on a mechanical arm of visual positioning, the system comprising a seven-degree-of-freedom mechanical arm, a distance measurement system, an AGV trolley and a visual control system, wherein the first end of the seven-degree-of-freedom mechanical arm is rotatably connected to the AGV trolley, the seven-degree-of-freedom mechanical arm, the distance measurement system and the AGV trolley are all communicatively connected to the visual control system, and the second end of the seven-degree-of-freedom mechanical arm is used to grab the glass curtain wall; the distance measurement system is used to obtain a first distance and a second distance, and send the first distance and the second distance to the visual control system, the first distance being the vertical distance between the seven-degree-of-freedom mechanical arm and the glass curtain wall, and the second distance being The vertical distance between the AGV trolley and the installation frame of the glass curtain wall; a visual control system, used to determine the adjustment information of the robotic arm according to the first distance, and control the seven-degree-of-freedom robotic arm to adjust the posture according to the robotic arm adjustment information; and after the posture adjustment of the seven-degree-of-freedom robotic arm is completed, determine the trolley adjustment information according to the second distance, and send the trolley adjustment information to the AGV trolley; the AGV trolley is used to adjust the posture of the AGV trolley according to the trolley adjustment information; the visual control system is used to control the seven-degree-of-freedom robotic arm to install the glass curtain wall into the installation frame of the glass curtain wall after the posture adjustment of the AGV trolley is completed. This application, by introducing a visual control system and a distance measurement system, can obtain the precise distance information between the robot arm and the glass curtain wall, and between the AGV and the installation frame in real time, thereby realizing precise adjustment of the robot arm's grasping posture, improving positioning accuracy and grasping stability; the visual control system can analyze the construction environment in real time, dynamically adjust the movement path and posture of the robot arm and the AGV according to environmental changes, and enhance the system's adaptability to complex and changeable construction environments; this application also realizes efficient collaborative operation between the robot arm and the AGV, and ensures the coordination of the actions between the two through real-time information exchange and collaborative control mechanisms, significantly improving the operating efficiency, and effectively reducing the safety risks in the construction process through precise positioning, stable grasping, and efficient collaborative operation, ensuring the safety of construction personnel and the stability of construction equipment. At the same time, through real-time monitoring and feedback mechanisms, potential safety hazards can be discovered and dealt with in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 It is a structural schematic diagram of a curtain wall installation control system of a mechanical arm based on visual positioning provided in an embodiment of the present application;

[0034] Figure 2It is a structural schematic diagram of a ranging system of a robotic arm provided in an embodiment of the present application;

[0035] FIG3 (a) is a schematic diagram of an unadjusted plane angle provided in an embodiment of the present application;

[0036] FIG3 ( b ) is a schematic diagram of a plane angle after adjustment provided in an embodiment of the present application;

[0037] FIG4 (a) is a schematic diagram showing that the suction cup frame provided by an embodiment of the present application is not parallel to the glass curtain wall;

[0038] FIG4( b ) is a schematic diagram of a suction cup frame provided in an embodiment of the present application and being parallel to a glass curtain wall;

[0039] Figure 5 It is a structural schematic diagram of the distance measurement system of the AGV car provided in the embodiment of the present application;

[0040] FIG6 (a) is a schematic diagram showing that the front of the vehicle is not parallel to the lower frame provided by an embodiment of the present application;

[0041] FIG6 (b) is a schematic diagram of the vehicle front and the lower frame in parallel provided by an embodiment of the present application;

[0042] FIG. 7 ( a ) is a schematic diagram showing that the suction cup frame and the trolley provided in an embodiment of the present application are not perpendicular to each other;

[0043] FIG7 ( b ) is a vertical schematic diagram of the suction cup frame and the trolley provided in an embodiment of the present application;

[0044] Figure 8 is a schematic diagram of a glass curtain wall and a mounting frame not being aligned with each other provided in an embodiment of the present application;

[0045] FIG9 (a) is a schematic diagram of an unadjusted glass curtain wall and a mounting frame provided in an embodiment of the present application;

[0046] FIG9( b ) is a schematic diagram of adjusting the glass curtain wall and the installation frame provided in an embodiment of the present application;

[0047] Fig.10 It is a flow chart of the implementation of the curtain wall installation control method of the mechanical arm based on visual positioning provided in the embodiment of the present application;

[0048] Fig.11 It is a flowchart of the operation of the seven-degree-of-freedom robotic arm provided in an embodiment of the present application;

[0049] Fig.12 This is a flowchart of the AGV vehicle operation provided in the embodiment of the present application.

[0050] As shown in the figure: 1. 7-DOF robotic arm; 2. Distance measurement system; 21, 22 and 23 are all ultrasonic distance measurement sensors; 24, 25 and 26 are all first laser distance measurement sensors; 27 and 28 are all second laser distance measurement sensors; 3. AGV car; 4. Visual control system; 5. Electric suction cup; 6. Suction cup rack; 7. Inclination sensor; 8. Industrial camera; 9. Third laser distance measurement sensor; 10. Fixture; 11. Industrial remote control; is the plane angle. DETAILED DESCRIPTION

[0051] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0052] In order to make the purpose, technical solutions and advantages of the present application clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0053] Figure 1 This is a schematic diagram of the structure of the curtain wall installation control system based on the visual positioning mechanical arm provided in the embodiment of the present application. Figure 1 As shown, the curtain wall installation control system of the robotic arm based on visual positioning includes a seven-degree-of-freedom robotic arm 1, a distance measurement system 2, an AGV trolley 3 and a visual control system 4.

[0054] The first end of the seven-degree-of-freedom robotic arm 1 is rotatably connected to the AGV trolley 3. The seven-degree-of-freedom robotic arm 1, the distance measuring system 2, and the AGV trolley 3 are all communicatively connected to the visual control system 4. The second end of the seven-degree-of-freedom robotic arm 1 is used to grab the glass curtain wall.

[0055] The distance measuring system 2 is used to obtain the first distance and the second distance, and send the first distance and the second distance to the visual control system 4. The first distance is the vertical distance between the seven-degree-of-freedom robotic arm 1 and the glass curtain wall, and the second distance is the vertical distance between the AGV trolley 3 and the mounting frame of the glass curtain wall.

[0056] The visual control system 4 is used to determine the robot arm adjustment information according to the first distance, and control the seven-degree-of-freedom robot arm 1 to adjust the posture according to the robot arm adjustment information; and after the posture adjustment of the seven-degree-of-freedom robot arm 1 is completed, determine the car adjustment information according to the second distance, and send the car adjustment information to the AGV car 3.

[0057] The AGV trolley 3 is used to adjust the position and posture of the AGV trolley 3 according to the trolley adjustment information.

[0058] The visual control system 4 is used to control the seven-degree-of-freedom robotic arm 1 to install the glass curtain wall into the installation frame of the glass curtain wall after the posture adjustment of the AGV 3 is completed.

[0059] The existing installation of glass curtain walls usually involves grabbing the glass to the installation position using an electric suction cup, then manually lifting the glass curtain wall to the installation frame for installation, and then having workers stand on an aerial work vehicle to make further position adjustments. This not only complicates the installation operation and may result in inaccurate installation of the glass curtain wall, but also greatly increases the safety risks of the workers.

[0060] First of all, during the installation of the glass curtain wall, how to ensure that the robot arm can accurately and stably grasp the glass curtain wall and accurately align it with the installation frame is the primary technical challenge. Traditional robot arm control systems often rely on preset coordinates or manual instructions, and are difficult to adapt to complex and changeable construction environments. Therefore, the embodiment of the present application introduces a visual control system and a distance measurement system to obtain the precise distance information between the robot arm and the glass curtain wall, and the AGV trolley and the installation frame in real time, thereby achieving precise adjustment of the robot arm's grasping posture and improving positioning accuracy and grasping stability.

[0061] Then, at the curtain wall installation site, there are often dynamic factors such as space limitations, many obstacles, and large changes in lighting. These factors put forward higher requirements on the positioning accuracy and path planning of the robot arm and AGV trolley. It is difficult for traditional methods to try to adjust strategies to cope with these changes. Therefore, the embodiment of the present application analyzes the construction environment in real time through a visual control system, and dynamically adjusts the movement path and posture of the robot arm and AGV trolley according to environmental changes, thereby enhancing the system's ability to adapt to complex and changing construction environments.

[0062] Secondly, the collaborative operation between the robot arm and the AGV requires efficient communication and collaborative control mechanisms. If the information exchange between the two is not timely or there are errors, it will seriously affect the work efficiency and installation quality. Therefore, the embodiment of the present application ensures the coordination of the actions between the two through real-time information exchange and collaborative control mechanisms, which significantly improves the work efficiency.

[0063] Finally, when working at high altitude or in narrow spaces, any slight deviation of the robot arm and the AGV trolley may lead to serious safety accidents. Therefore, the safety and stability of the entire system must be ensured. The embodiments of the present application effectively reduce the safety risks in the construction process and ensure the stability of construction personnel and construction equipment through precise positioning, stable grasping and efficient collaborative operation.

[0064] Furthermore, through real-time monitoring and feedback mechanisms, the embodiments of the present application can promptly discover and handle potential safety hazards.

[0065] In one possible implementation, referring to Figure 1 The curtain wall installation control system of the robotic arm based on visual positioning can also include at least one electric suction cup 5 and a suction cup frame 6, the suction cup frame 6 is fixedly mounted on the second end of the seven-degree-of-freedom robotic arm 1, and at least one electric suction cup 5 is fixedly mounted on the suction cup frame 6.

[0066] The visual control system 4 is also used to send a grasping instruction to at least one electric suction cup 5 after the posture adjustment of the seven-degree-of-freedom robot arm 1 is completed, so as to control at least one electric suction cup 5 to grasp the glass curtain wall.

[0067] Optionally, the embodiment of the present application is intended to grasp a glass curtain wall, so the system also includes at least one electric suction cup 5 and a suction cup frame 6, at least one electric suction cup 5 is fixedly mounted on the seven-degree-of-freedom robotic arm 1 through the suction cup frame 6, and after the seven-degree-of-freedom robotic arm 1 is moved to a precise position, the visual control system 4 sends a grasping instruction to control at least one electric suction cup 5 to grasp the corresponding glass curtain wall.

[0068] Among them, since the glass curtain wall needs to be handled with care, and the peeling curtain wall is generally rectangular, four electric suction cups are generally set, respectively aimed at the four corners of the rectangular glass curtain wall, so as to ensure that the glass curtain wall is stable when it is grabbed and lifted.

[0069] In a possible implementation, the robot arm adjustment information may include robot arm angle adjustment information.

[0070] Reference Figure 2 The distance measuring system 2 may include three ultrasonic distance measuring sensors (respectively 21, 22, and 23), and the three ultrasonic distance measuring sensors are fixed on the suction cup frame 6 in the same plane but not in the same line.

[0071] The first distance includes the corresponding vertical distance between each ultrasonic distance measuring sensor fixed on the seven-degree-of-freedom robotic arm 1 and the glass curtain wall.

[0072] Each ultrasonic distance measuring sensor is used to collect the first distance and send the first distance to the vision control system 4 .

[0073] Vision control system 4 for:

[0074] Calculate the plane angle between the suction cup frame 6 and the glass curtain wall using the first distance between each ultrasonic distance measuring sensor and the glass curtain wall;

[0075] Determine whether the plane angle is equal to the preset angle;

[0076] If the plane angle is not equal to the preset angle, it is determined that the suction cup frame 6 is not parallel to the glass curtain wall, and the robot arm angle adjustment information is generated, and the seven-degree-of-freedom robot arm 1 is controlled to adjust the angle according to the robot arm angle adjustment information.

[0077] Optionally, three ultrasonic distance measuring sensors are fixedly installed on the suction cup frame 6 in a coplanar but non-colinear manner, and the first distance from each ultrasonic distance measuring sensor to the glass curtain wall plane is measured respectively. The first distances collected by the three ultrasonic distance measuring sensors are sent to the visual control system 4 respectively. The visual control system 4 is used to:

[0078] The first distance between each ultrasonic distance measuring sensor and the glass curtain wall is respectively used to calculate the plane angle between the suction cup frame and the glass curtain wall.

[0079] The specific angle calculation can be shown in Figure 3 (a). It is the angle between the straight line of the first distance and the vertical glass curtain wall, that is, the plane angle between the suction cup frame and the glass curtain wall.

[0080] Then determine the angle of the plane Whether it is equal to the preset angle, if it is equal, it is determined that the suction cup frame is parallel to the glass curtain wall; if not equal, it is determined that the suction cup frame is not parallel to the glass curtain wall, and the robot arm angle adjustment information is generated, and the robot arm angle adjustment information is used to control the seven-degree-of-freedom robot arm to adjust the angle.

[0081] Exemplarily, when it is determined that the suction cup frame is not parallel to the glass curtain wall, the robot arm angle adjustment information is generated, and the seven-degree-of-freedom robot arm is controlled to adjust the angle, and finally adjusted to the position shown in FIG. 3( b ).

[0082] In a possible implementation manner, the robot arm adjustment information may include robot arm direction adjustment information.

[0083] Reference Figure 2 The distance measuring system may include three first laser distance measuring sensors (respectively including 24, 25, and 26), and the three first laser distance measuring sensors are fixed on the suction cup frame 6 in the same plane but not in the same line.

[0084] The first distance includes the corresponding vertical distance between each first laser distance measuring sensor fixed on the seven-degree-of-freedom mechanical arm 1 and the edge auxiliary fixture of the glass curtain wall.

[0085] Each first laser ranging sensor is used to collect the first distance and send the first distance to the vision control system 4.

[0086] Vision control system 4 for:

[0087] Determine whether the first distances between each first laser ranging sensor and the edge auxiliary fixture of the glass curtain wall are all equal;

[0088] If there is an unequal first distance, it is determined that the suction cup frame 6 is not aligned with the glass curtain wall, and robot arm direction adjustment information is generated, and the seven-degree-of-freedom robot arm 1 is controlled to adjust its direction according to the robot arm direction adjustment information.

[0089] Before grabbing the glass curtain wall, simple edge auxiliary fixtures or frames are manually installed on both vertical sides of the glass curtain wall so that each first laser ranging sensor can detect the first distance from the suction cup frame to both sides of the glass curtain wall. After grabbing is completed, the edge auxiliary fixtures or frames are manually released.

[0090] Optionally, three first laser distance measuring sensors are coplanarly but not colinearly fixedly mounted on the suction cup frame 6, and the first distance from each first laser distance measuring sensor to the edge auxiliary fixture of the glass curtain wall is measured respectively. The first distances collected by the three first laser distance measuring sensors are sent to the visual control system 4 respectively. The visual control system 4 is used to:

[0091] It is determined whether the first distances between each first laser ranging sensor and the edge auxiliary fixture of the glass curtain wall are equal. If they are equal, it is determined that at least one electric suction cup on the suction cup frame is aligned with the position on the glass curtain wall. If there are unequal first distances, it is determined that at least one electric suction cup on the suction cup frame is not aligned with the position on the glass curtain wall, and mechanical arm direction adjustment information is generated. The mechanical arm direction adjustment information is used to control the seven-degree-of-freedom mechanical arm to adjust its direction.

[0092] Exemplarily, if the position of the suction cup rack is as shown in FIG4(a), it is determined that there is an unequal first distance, and the visual control system 4 is used to generate robot arm direction adjustment information (the current robot arm direction adjustment information is right turn), and the seven-degree-of-freedom robot arm is controlled to turn right to the direction shown in FIG4(b).

[0093] After adjusting the posture of the seven-degree-of-freedom robotic arm, the embodiment of the present application controls the seven-degree-of-freedom robotic arm to approach the glass curtain wall to be grasped. After grasping, the edge auxiliary clamp is manually released, and then the posture of the AGV vehicle is adjusted.

[0094] In a possible implementation, the trolley adjustment information may include trolley direction adjustment information.

[0095] Reference Figure 5 The distance measuring system 2 may further include two second laser distance measuring sensors (respectively 27 and 28 ), and the two second laser distance measuring sensors are respectively arranged on both sides of the front of the AGV vehicle 3 .

[0096] The second distance is the vertical distance between each second laser distance measuring sensor fixed on both sides of the front of the AGV trolley 3 and the lower frame of the mounting frame of the glass curtain wall.

[0097] Each second laser ranging sensor is used to collect the second distance and send the second distance to the vision control system 4.

[0098] Vision control system 4 for:

[0099] Determine whether the second distance between each second laser ranging sensor and the lower frame of the mounting frame of the glass curtain wall is equal;

[0100] If the second distance between each second laser ranging sensor and the lower frame of the mounting frame of the glass curtain wall is not equal, it is determined that the head of the AGV trolley 3 is not parallel to the lower frame of the mounting frame of the glass curtain wall, and the trolley direction adjustment information is generated and sent to the AGV trolley 3;

[0101] AGV trolley 3 is used to adjust the direction of the front of the AGV trolley according to the trolley direction adjustment information.

[0102] Among them, the AGV car has a separate control system, and the movement of the AGV car is generally controlled by sending control instructions by the visual control system 4, and the AGV car moves according to the control instructions.

[0103] Optionally, two second laser distance measuring sensors are fixedly arranged on both sides of the front of the AGV trolley 3, respectively, and the second distance from each second laser distance measuring sensor to the lower frame of the mounting frame of the glass curtain wall is measured, and the two second distances are respectively sent to the visual control system 4. The visual control system 4 is used for:

[0104] Determine whether the second distance between each second laser ranging sensor and the lower edge of the mounting frame of the glass curtain wall is equal. If they are equal, determine that the front of the AGV trolley is parallel to the lower frame of the mounting frame of the glass curtain wall; if they are not equal, determine that the front of the AGV trolley is not parallel to the lower frame of the mounting frame of the glass curtain wall, generate trolley direction adjustment information, and send the trolley direction adjustment information to the AGV trolley.

[0105] Then, after receiving the direction adjustment information, the AGV adjusts the direction of the front of the AGV according to the direction adjustment information.

[0106] Exemplarily, if the front of the AGV trolley and the lower frame of the mounting frame of the glass curtain wall are at the position shown in FIG6 (a), the second distance between the two second laser ranging sensors (27, 28) and the lower frame of the mounting frame of the glass curtain wall is used to generate trolley adjustment information, and the AGV trolley adjusts the pointing direction of the front of the AGV trolley according to the trolley adjustment information, as shown in FIG6 (b).

[0107] In one possible implementation, referring to Figure 1The curtain wall installation control system of the mechanical arm based on visual positioning also includes a tilt sensor 7.

[0108] 7( a ), the tilt sensor 7 is fixedly mounted on the roof of the AGV 3 and is in communication connection with the vision control system 4 .

[0109] The inclination sensor 7 is used to obtain the inclination angle of the AGV 3 and send the inclination angle to the visual control system 4.

[0110] Vision control system 4 for:

[0111] Determine whether the tilt angle is equal to a preset tilt angle;

[0112] If the tilt angle is not equal to the preset tilt angle, it is determined that the suction cup frame 6 is not perpendicular to the roof plane of the AGV trolley 3, and first angle adjustment information is generated, and the first angle adjustment information is sent to the seven-degree-of-freedom robotic arm 1, so that the suction cup frame 6 on the seven-degree-of-freedom robotic arm is perpendicular to the horizontal plane, and second angle adjustment information is generated at the same time, and the second angle adjustment information is sent to the AGV trolley 3;

[0113] The AGV trolley 3 is used to adjust the roof plane of the AGV trolley 3 to be parallel to the horizontal plane according to the second angle adjustment information.

[0114] Optionally, the embodiment of the present application further includes an inclination sensor 7 , which is fixedly mounted on the roof of the AGV 3 and is communicatively connected to the vision control system 4 .

[0115] The inclination sensor 7 obtains the inclination angle of the AGV and sends the inclination angle to the visual control system 4.

[0116] Vision control system 4 is used to:

[0117] Determine whether the inclination angle is equal to the preset inclination angle. If so, determine that the suction cup frame 6 and the roof plane of the AGV trolley 3 are perpendicular; if not, determine that the suction cup frame 6 and the roof plane of the AGV trolley 3 are not perpendicular, generate the first angle adjustment information, and send the first angle adjustment information to the seven-degree-of-freedom robotic arm 1, control the suction cup frame 3 on the seven-degree-of-freedom robotic arm 1 to be perpendicular to the horizontal plane, and generate the second angle adjustment information at the same time, and send the second angle adjustment information to the AGV trolley.

[0118] The AGV adjusts the roof plane of the AGV to be parallel to the horizontal plane according to the second angle adjustment information.

[0119] Exemplarily, if the position of the roof plane of the AGV 3 and the suction cup frame 6 is as shown in Figure 7 (a), the visual control system 4 generates first angle adjustment information to control the seven-degree-of-freedom robot arm 1 to adjust the angle, and generates second angle adjustment information to send to the AGV 3. The AGV 3 adjusts the angle of the AGV 3 according to the second angle adjustment information, so that the position of the AGV 3 and the suction cup frame 6 is as shown in Figure 7 (b).

[0120] In a possible implementation, after the AGV vehicle's posture adjustment is completed,

[0121] A visual control system is used to determine the moving distance of the AGV car toward the mounting frame of the glass curtain wall by using the straight-line distance between the AGV car and the mounting frame of the glass curtain wall, and send the moving distance to the AGV car;

[0122] The AGV trolley is used to move the AGV trolley to a specified position according to the moving distance.

[0123] Optionally, after the posture of the seven-degree-of-freedom manipulator and the posture of the AGV are adjusted, the visual control system can also obtain the straight-line distance between the AGV and the installation frame of the glass curtain wall, calculate the moving distance of the AGV toward the installation frame of the glass curtain wall, and send the moving distance to the AGV. The AGV moves itself to the specified position according to the moving distance.

[0124] After the direction and inclination of the AGV are adjusted, the position of the glass curtain wall and the installation frame of the glass curtain wall may be as follows: Figure 8 The situation shown, Figure 8 From left to right and from top to bottom in the figure are the front view, side view and top view of the glass curtain wall and its installation frame. At this time, the seven-degree-of-freedom robotic arm needs to be adjusted again to align the positions of the glass curtain wall and its installation frame.

[0125] In one possible implementation, referring to Figure 1 The curtain wall installation control system of the robotic arm based on visual positioning also includes an industrial camera 8, a third laser ranging sensor 9 and a clamp 10. The clamp 10 is fixedly installed at the target position behind the installation frame of the glass curtain wall. The industrial camera 8 and the third laser ranging sensor 9 are both fixed on the clamp 10 and are both communicatively connected to the visual control system 4.

[0126] The industrial camera 8 is used to obtain the mark image in real time and send the mark image to the visual control system 4; the mark image is an image of the area with a preset mark on the glass curtain wall;

[0127] A third laser ranging sensor 9 is used to obtain a third distance from the third laser ranging sensor 9 to a preset mark, and send the third distance to the visual control system 4;

[0128] Vision control system 4 for:

[0129] Inputting the mark image and the third distance into a position correction model, outputting the offset angle and the moving distance, the position correction model is obtained by training a mathematical model based on geometric correction;

[0130] Send the offset angle and moving distance to the seven-degree-of-freedom robot arm 1;

[0131] The seven-degree-of-freedom robot arm 1 is controlled to adjust the installation positions of the glass curtain wall and the installation frame of the glass curtain wall according to the offset angle and the moving distance.

[0132] Optionally, in order to readjust the position of the glass curtain wall and the mounting frame of the glass curtain wall, the system in the embodiment of the present application further includes an industrial camera 8 , a third laser ranging sensor 9 and a clamp 10 .

[0133] The industrial camera 8 acquires the logo image in real time and sends the acquired logo image to the visual control system 4 .

[0134] The third laser ranging sensor 9 obtains a third distance from itself to the preset mark, and sends the third distance to the visual control system 4 .

[0135] Vision control system 4 is used to:

[0136] First, the mark image and the third distance are simultaneously input into a position correction model obtained by training a mathematical model based on geometric correction, and the corresponding offset angle and moving distance are output. Then, the offset angle and moving distance are sent to the seven-degree-of-freedom robotic arm 1, and the seven-degree-of-freedom robotic arm 1 is controlled to adjust the installation position of the glass curtain wall and the installation frame of the glass curtain wall according to the offset angle and the moving distance.

[0137] Exemplarily, if the positions of the glass curtain wall and the mounting frame of the glass curtain wall are as shown in FIG9 (a), FIG9 (a) is, from left to right, a front view, a side view, and a mark image acquired by an industrial camera of the glass curtain wall and the mounting frame of the glass curtain wall. The mark image is acquired by the industrial camera and the third distance is acquired by the third laser ranging sensor. The visual control system uses the mark image and the third distance to determine the offset angle and moving distance of the seven-degree-of-freedom robotic arm, and sends them to the seven-degree-of-freedom robotic arm to adjust the installation position of the glass curtain wall and the mounting frame of the glass curtain wall. The adjustment result is shown in FIG9 (b).

[0138] In a possible implementation, after the seven-degree-of-freedom robotic arm 1 is adjusted again, the visual control system sends an installation instruction to the seven-degree-of-freedom robotic arm, so that the seven-degree-of-freedom robotic arm installs the glass curtain wall into the installation frame of the glass curtain wall.

[0139] In one possible implementation, referring to Figure 1 The curtain wall installation control system of the robotic arm based on visual positioning can also include an industrial remote control 11, which is communicatively connected to the seven-degree-of-freedom robotic arm 1, the ranging system 2 and the AGV car 3 respectively.

[0140] The industrial remote controller 11 is used for manually controlling the operation of the seven-degree-of-freedom robotic arm 1, the distance measuring system 2 and the AGV vehicle 3.

[0141] The present application provides a curtain wall installation control system of a mechanical arm based on visual positioning, the system comprising a seven-degree-of-freedom mechanical arm, a distance measurement system, an AGV trolley and a visual control system, wherein the first end of the seven-degree-of-freedom mechanical arm is rotatably connected to the AGV trolley, the seven-degree-of-freedom mechanical arm, the distance measurement system and the AGV trolley are all communicatively connected with the visual control system, and the second end of the seven-degree-of-freedom mechanical arm is used to grab the glass curtain wall; the distance measurement system is used to obtain a first distance and a second distance, and send the first distance and the second distance to the visual control system, wherein the first distance is a vertical distance between the seven-degree-of-freedom mechanical arm and the glass curtain wall, and the second .... The vertical distance between the GV trolley and the installation frame of the glass curtain wall; the visual control system is used to determine the adjustment information of the robotic arm according to the first distance, and control the seven-degree-of-freedom robotic arm to adjust the posture according to the robotic arm adjustment information; and after the posture adjustment of the seven-degree-of-freedom robotic arm is completed, determine the trolley adjustment information according to the second distance, and send the trolley adjustment information to the AGV trolley; the AGV trolley is used to adjust the posture of the AGV trolley according to the trolley adjustment information; the visual control system is used to control the seven-degree-of-freedom robotic arm to install the glass curtain wall into the installation frame of the glass curtain wall after the posture adjustment of the AGV trolley is completed. This application, by introducing a visual control system and a distance measurement system, can obtain the precise distance information between the robot arm and the glass curtain wall, and between the AGV and the installation frame in real time, thereby realizing precise adjustment of the robot arm's grasping posture, improving positioning accuracy and grasping stability; the visual control system can analyze the construction environment in real time, dynamically adjust the movement path and posture of the robot arm and the AGV according to environmental changes, and enhance the system's adaptability to complex and changeable construction environments; this application also realizes efficient collaborative operation between the robot arm and the AGV, and ensures the coordination of the actions between the two through real-time information exchange and collaborative control mechanisms, significantly improving the operating efficiency, and effectively reducing the safety risks in the construction process through precise positioning, stable grasping, and efficient collaborative operation, ensuring the safety of construction personnel and the stability of construction equipment. At the same time, through real-time monitoring and feedback mechanisms, potential safety hazards can be discovered and dealt with in a timely manner.

[0142] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0143] The following is an embodiment of the method of the present application. For details not described in detail, please refer to the above-mentioned corresponding visual control system embodiment of the curtain wall installation control system of the robotic arm based on visual positioning.

[0144] Fig.10 The following is a flowchart of the curtain wall installation control method based on visual positioning of a mechanical arm provided in an embodiment of the present application, which is described in detail as follows:

[0145] In step 1001, a first vertical distance between a seven-degree-of-freedom robotic arm and a glass curtain wall is obtained, and the posture of the seven-degree-of-freedom robotic arm is adjusted using the first distance.

[0146] In an embodiment of the present application, three ultrasonic ranging sensors are used to obtain three first distances between the seven-degree-of-freedom robotic arm and the glass curtain wall, and the three first distances are used to adjust the posture of the seven-degree-of-freedom robotic arm.

[0147] In step 1002, after the posture adjustment of the seven-degree-of-freedom robotic arm is completed, the electric suction cup is controlled to grab the glass curtain wall.

[0148] In an embodiment of the present application, after adjusting the posture of the seven-degree-of-freedom robotic arm, at least one electric suction cup on the seven-degree-of-freedom robotic arm is controlled to grasp the glass curtain wall.

[0149] In step 1003, a second distance between the front of the AGV and the lower frame of the installation frame of the glass curtain wall is obtained, and the position and posture of the AGV is adjusted using the second distance.

[0150] In an embodiment of the present application, after grabbing the glass curtain wall, three first laser ranging sensors are used to obtain the second distance between the front of the AGV and the lower frame of the mounting frame of the glass curtain wall, and the three second distances are used to adjust the posture of the AGV.

[0151] In step 1004, after the posture adjustment of the AGV is completed, the seven-degree-of-freedom robotic arm is controlled to install the glass curtain wall into the installation frame of the glass curtain wall.

[0152] In the embodiment of the present application, after the posture adjustment of the AGV vehicle is completed, the seven-degree-of-freedom robotic arm is controlled to install the glass curtain wall into the installation frame of the glass curtain wall.

[0153] For example, the working process of the seven-degree-of-freedom robotic arm of the curtain wall installation control system based on the visual positioning robotic arm is shown in FIG. Fig.11 As shown, the details are as follows:

[0154] Step 11.1, system initialization, and initialization of buttons and process parameters.

[0155] Step 11.2, determine whether the connection status of each sensor is good, if so, go to step 11.5; if not, go to step 11.3.

[0156] Step 11.3, determine whether the retry is successful, if so, go to step 11.2; if not, go to step 11.4.

[0157] Step 11.4: The system reports an error and the operation ends.

[0158] Step 11.5, set the motion parameters, start the screen (jog, point setting), select the joystick remote control mode to start the robot arm remote control operation.

[0159] Step 11.6, determine whether to maintain remote control operation, if so, go to step 11.7; if not, go to step 11.8.

[0160] Step 11.7, calculate the speed according to the position, control the motor to rotate, control the robot arm to move, and go to step 11.6.

[0161] Step 11.8, the automatic program starts and performs data analysis; the current position is subtracted from the target position to obtain the calculation result; the output result is updated to the current position, the motor rotates, the robot arm moves, the movement is detected, and the instruction is completed; it is determined whether the entire program is completed. If so, the automatic program ends; if not, go to step 11.8.

[0162] Step 11.9, in response to the user time, performs program management, instruction parsing and instruction distribution respectively, and then goes to step 11.8 and performs motion detection at the same time.

[0163] Step 11.10, capture user events, perform mode switching, remote control data collection and remote control data processing respectively, and go to step 11.7; and determine whether the status is normal, if so, go to step 11.4; if not, go to step 11.10.

[0164] Step 11.11, information collection is initialized, and then the motor encoder data is collected to determine whether abnormal data is recorded. If so, go to step 11.4; if not, go to step 11.12.

[0165] Step 11.12, calculate the single-axis mechanical position, use positive kinematics to output the robot arm position, and store the data, and go to steps 11.7 and 11.8 respectively.

[0166] Step 11.13, determine whether the status detection is normal, if not, go to step 11.4; if yes, go to step 11.13.

[0167] Another exemplary method is to refer to the working process of the AGV trolley of the curtain wall installation control system based on the visual positioning robot arm Fig.12 As shown, the details are as follows:

[0168] Step 12.1, start the remote control and select the mode. If the chassis movement mode (i.e. AGV vehicle working mode) is selected, go to step 12.2. If the robot arm movement mode is selected, go to step 11.5.

[0169] Step 12.2, chassis movement mode starts, wireless connection is made, joystick information is sent wirelessly, and go to step 12.4 and step 12.3 respectively.

[0170] Step 12.3, determine whether the emergency stop button is activated, if so, the work is completed; if not, go to step 12.2.

[0171] Step 12.4, power on, PLC initialization, AGV trolley zeroing and preset angle reading, maintain the preset angle; receive joystick information, calculate wheel movement information according to joystick deflection angle, determine whether the joystick is in forward and backward mode, if so, go to step 12.8; if not, go to step 12.5.

[0172] Step 12.5, determine whether the joystick is tilted left or right. If it is left, go to step 12.6; if it is right, go to step 12.7.

[0173] Step 12.6, output to the AGV car encoder, the AGV car receives the information, moves left, and goes to step 12.11.

[0174] Step 12.7, output to the AGV car encoder, the AGV car receives the information, moves right, and goes to step 12.11.

[0175] Step 12.8, determine whether the joystick is tilted forward or backward. If it is forward, go to step 12.9; if it is backward, go to step 12.10.

[0176] Step 12.9, output to the AGV car encoder, the AGV car receives the information, the car moves forward, and goes to step 12.11.

[0177] Step 12.10, output to the AGV car encoder, the AGV car receives the information, the car moves backward, and goes to step 12.11.

[0178] Step 12.11, store the location information and determine whether the driving mode is turned on. If so, go to step 12.12; if not, go to step 12.4.

[0179] Step 12.12, read the stored position information and control the AGV to maintain the current position.

[0180] The present application provides a curtain wall installation control method of a robotic arm based on visual positioning, which is applied to a visual control system in a curtain wall installation control system of a robotic arm based on visual positioning. The control method comprises: obtaining a first vertical distance between a seven-degree-of-freedom robotic arm and a glass curtain wall, and adjusting the posture of the seven-degree-of-freedom robotic arm by using the first distance; after the posture adjustment of the seven-degree-of-freedom robotic arm is completed, controlling an electric suction cup to grasp the glass curtain wall; obtaining a second distance between the front of an AGV trolley and a lower frame of an installation frame of the glass curtain wall, and adjusting the posture of the AGV trolley by using the second distance; after the posture adjustment of the AGV trolley is completed, controlling the seven-degree-of-freedom robotic arm to install the glass curtain wall into the installation frame of the glass curtain wall. This application, by introducing a visual control system and a distance measurement system, can obtain the precise distance information between the robot arm and the glass curtain wall, and between the AGV and the installation frame in real time, thereby realizing precise adjustment of the robot arm's grasping posture, improving positioning accuracy and grasping stability; the visual control system can analyze the construction environment in real time, dynamically adjust the movement path and posture of the robot arm and the AGV according to environmental changes, and enhance the system's adaptability to complex and changeable construction environments; this application also realizes efficient collaborative operation between the robot arm and the AGV, and ensures the coordination of the actions between the two through real-time information exchange and collaborative control mechanisms, significantly improving the operating efficiency, and effectively reducing the safety risks in the construction process through precise positioning, stable grasping, and efficient collaborative operation, ensuring the safety of construction personnel and the stability of construction equipment. At the same time, through real-time monitoring and feedback mechanisms, potential safety hazards can be discovered and dealt with in a timely manner.

[0181] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A curtain wall installation control system based on a mechanical arm with visual positioning, characterized in that: include: A seven-degree-of-freedom mechanical arm, a distance measurement system, an AGV trolley and a visual control system, wherein the first end of the seven-degree-of-freedom mechanical arm is rotatably connected to the AGV trolley, the seven-degree-of-freedom mechanical arm, the distance measurement system and the AGV trolley are all communicatively connected to the visual control system, and the second end of the seven-degree-of-freedom mechanical arm is used to grab the glass curtain wall; The distance measuring system is used to obtain a first distance and a second distance, and send the first distance and the second distance to the visual control system, the first distance is the vertical distance between the seven-degree-of-freedom robotic arm and the glass curtain wall, and the second distance is the vertical distance between the AGV trolley and the mounting frame of the glass curtain wall; The visual control system is used to determine the mechanical arm adjustment information according to the first distance, and control the seven-degree-of-freedom mechanical arm to adjust the posture according to the mechanical arm adjustment information; and after the posture adjustment of the seven-degree-of-freedom mechanical arm is completed, determine the trolley adjustment information according to the second distance, and send the trolley adjustment information to the AGV trolley; The AGV trolley is used to adjust the posture of the AGV trolley according to the trolley adjustment information; The visual control system is used to control the seven-degree-of-freedom robotic arm to install the glass curtain wall into the installation frame of the glass curtain wall after the posture adjustment of the AGV vehicle is completed; Wherein, the curtain wall installation control system of the mechanical arm based on visual positioning further includes at least one electric suction cup and a suction cup frame, wherein the suction cup frame is fixedly mounted on the second end of the seven-degree-of-freedom mechanical arm, and the at least one electric suction cup is fixedly mounted on the suction cup frame; The visual control system is further used to send a grasping instruction to the at least one electric suction cup after the posture adjustment of the seven-degree-of-freedom mechanical arm is completed, so as to control the at least one electric suction cup to grasp the glass curtain wall; The curtain wall installation control system of the mechanical arm based on visual positioning also includes a tilt sensor, which is fixedly installed on the roof of the AGV and is communicatively connected with the visual control system; The inclination sensor is used to obtain the inclination angle of the AGV and send the inclination angle to the visual control system; The visual control system is used for: Determining whether the tilt angle is equal to a preset tilt angle; If the tilt angle is not equal to the preset tilt angle, it is determined that the suction cup frame is not perpendicular to the roof plane of the AGV, and first angle adjustment information is generated, and the first angle adjustment information is sent to the seven-degree-of-freedom robotic arm to make the suction cup frame on the seven-degree-of-freedom robotic arm perpendicular to the horizontal plane, and second angle adjustment information is generated at the same time, and the second angle adjustment information is sent to the AGV; The AGV trolley is used to adjust the roof plane of the AGV trolley to be parallel to the horizontal plane according to the second angle adjustment information; The curtain wall installation control system of the mechanical arm based on visual positioning also includes an industrial camera, a third laser ranging sensor and a fixture, wherein the fixture is fixedly installed at a target position behind the installation frame of the glass curtain wall, and the industrial camera and the third laser ranging sensor are both fixed on the fixture and are both connected to the visual control system for communication; The industrial camera is used to acquire a sign image in real time and send the sign image to the visual control system; the sign image is an image of a region on the glass curtain wall with a preset sign; The third laser ranging sensor is used to obtain a third distance from the third laser ranging sensor to the preset mark, and send the third distance to the visual control system; The visual control system is used for: Inputting the mark image and the third distance into a position correction model, and outputting an offset angle and a moving distance, wherein the position correction model is obtained by training a mathematical model based on geometric correction; Sending the offset angle and the moving distance to the seven-degree-of-freedom robotic arm; The seven-degree-of-freedom mechanical arm is controlled to adjust the installation position of the glass curtain wall and the installation frame of the glass curtain wall according to the offset angle and the moving distance.

2. The curtain wall installation control system of the mechanical arm based on visual positioning according to claim 1 is characterized in that: After the posture adjustment of the AGV is completed, The visual control system is used to determine the moving distance of the AGV trolley toward the mounting frame of the glass curtain wall by using the straight-line distance between the AGV trolley and the mounting frame of the glass curtain wall, and send the moving distance to the AGV trolley; The AGV trolley is used to move the AGV trolley to a specified position according to the moving distance; The visual control system is also used to send an installation instruction to the seven-degree-of-freedom robotic arm after the AGV vehicle completes moving, so that the seven-degree-of-freedom robotic arm installs the glass curtain wall into the installation frame of the glass curtain wall.

3. The curtain wall installation control system based on the vision positioning robot arm according to claim 1, characterized in that: The mechanical arm adjustment information includes mechanical arm angle adjustment information; the distance measurement system includes three ultrasonic distance measurement sensors, and the three ultrasonic distance measurement sensors are fixed on the suction cup frame in the same plane but not in the same line; the first distance includes the vertical distance between each ultrasonic distance measurement sensor fixed on the seven-degree-of-freedom mechanical arm and the glass curtain wall; Each ultrasonic distance measuring sensor is used to collect the first distance and send the first distance to the visual control system; The visual control system is used for: Calculate the plane angle between the suction cup frame and the glass curtain wall using the first distance between each ultrasonic distance measuring sensor and the glass curtain wall; Determining whether the plane angle is equal to a preset angle; If the plane angle is not equal to the preset angle, it is determined that the suction cup frame is not parallel to the glass curtain wall, and robot arm angle adjustment information is generated, and the seven-degree-of-freedom robot arm is controlled to adjust the angle according to the robot arm angle adjustment information.

4. The curtain wall installation control system of the mechanical arm based on visual positioning according to claim 1 is characterized in that: The mechanical arm adjustment information includes mechanical arm direction adjustment information; the distance measurement system includes three first laser distance measurement sensors, and the three first laser distance measurement sensors are fixed on the suction cup frame in the same plane but not in the same line; the first distance includes the corresponding vertical distance between each first laser distance measurement sensor fixed on the seven-degree-of-freedom mechanical arm and the edge auxiliary fixture of the glass curtain wall; Each first laser distance measuring sensor is used to collect the first distance and send the first distance to the visual control system; The visual control system is used for: Determine whether the first distances between each first laser ranging sensor and the edge auxiliary fixture of the glass curtain wall are all equal; If there is an unequal first distance, it is determined that the suction cup frame is not aligned with the glass curtain wall, and robot arm direction adjustment information is generated, and the seven-degree-of-freedom robot arm is controlled to adjust its direction according to the robot arm direction adjustment information.

5. The curtain wall installation control system of the mechanical arm based on visual positioning according to claim 1, characterized in that: The trolley adjustment information includes trolley direction adjustment information; the distance measurement system also includes two second laser distance measurement sensors, and the two second laser distance measurement sensors are respectively arranged on both sides of the front of the AGV trolley; the second distance is the vertical distance between each second laser distance measurement sensor fixed on both sides of the front of the AGV trolley and the lower frame of the mounting frame of the glass curtain wall; Each second laser distance measuring sensor is used to collect the second distance and send the second distance to the visual control system; The visual control system is used for: Determine whether the second distance between each second laser ranging sensor and the lower frame of the mounting frame of the glass curtain wall is equal; If the second distance between each second laser ranging sensor and the lower frame of the mounting frame of the glass curtain wall is not equal, it is determined that the front of the AGV trolley is not parallel to the lower frame of the mounting frame of the glass curtain wall, and trolley direction adjustment information is generated and sent to the AGV trolley; The AGV trolley is used to adjust the pointing direction of the front of the AGV trolley according to the trolley direction adjustment information.

6. The curtain wall installation control system of the mechanical arm based on visual positioning according to claim 1, characterized in that: The curtain wall installation control system of the mechanical arm based on visual positioning also includes an industrial remote controller, which is respectively connected to the seven-degree-of-freedom mechanical arm, the distance measurement system and the AGV car for communication; The industrial remote controller is used to manually control the operation of the seven-degree-of-freedom robotic arm, the distance measuring system and the AGV vehicle.

7. A curtain wall installation control method based on a vision-based robotic arm, applied to a visual control system in a curtain wall installation control system based on a vision-based robotic arm as claimed in any one of claims 1 to 6, characterized in that: The control method comprises: Acquire a first vertical distance between the seven-degree-of-freedom robotic arm and the glass curtain wall, and use the first distance to adjust the posture of the seven-degree-of-freedom robotic arm; After the posture adjustment of the seven-degree-of-freedom robotic arm is completed, controlling the electric suction cup to grab the glass curtain wall; Obtaining a second distance between the front of the AGV and the lower frame of the mounting frame of the glass curtain wall, and adjusting the posture of the AGV using the second distance; After the posture adjustment of the AGV vehicle is completed, the seven-degree-of-freedom robotic arm is controlled to install the glass curtain wall into the installation frame of the glass curtain wall.

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