High-precision curtain wall panel positioning method

Abstract

The invention relates to the technical field of positioning measurement, in particular to a high-precision curtain wall panel positioning method, which comprises the following steps of: based on a curtain wall panel mounting scene, acquiring wind speed and temperature data of a mounting environment through a sensor, comparing the wind speed and temperature data with standard wind speed and temperature, identifying environmental deviation, and determining the position of a curtain wall panel according to the environmental deviation. And the moving speed and the supporting angle of the curtain wall panel installation mechanical arm are adjusted, the current installation condition is matched, and environment adaptation parameter adjustment information is obtained. By collecting environmental data and comparing the environmental data with a standard value, the mounting mechanical arm of the curtain wall panel can be adjusted in real time to adapt to the current mounting condition, the image of the curtain wall panel is captured through the image sensor and analyzed to determine the position deviation, control over the positioning and mounting precision is enhanced, positioning and alignment of the curtain wall panel are more accurate, and the mounting precision of the curtain wall panel is improved. The installation quality is improved, and the installation positioning precision and efficiency are ensured through real-time planning and adjustment of the installation path and monitoring and correction of the movement track.

Description

Technical Field

[0001] The invention relates to the technical field of positioning and measurement, and in particular to a high-precision curtain wall panel positioning method. Background Art

[0002] The field of position measurement technology involves the use of various measurement tools and methods to accurately determine the position of an object in space. This technology is essential in many industrial applications, including manufacturing, construction and engineering. High-precision spatial positioning is achieved using advanced equipment such as laser scanning, optical sensors, electronic angle measuring instruments and various positioning systems. These technologies enable non-contact measurement, which reduces the disturbance of complex or sensitive surfaces during operation.

[0003] Among them, the high-precision curtain wall panel positioning method is a measurement technology specifically used for the installation of building curtain walls. Building curtain walls usually include multiple large glass, metal or cement panels, which need to be precisely aligned during the installation process to ensure the overall beauty and structural safety of the structure. This high-precision positioning method uses measurement technology, such as laser ranging and optical alignment equipment, to accurately control the position of the panel. The main purpose of this technology is to improve the quality of the building's appearance, ensure uniform gaps between panels, and reduce installation errors, thereby saving time and cost, while improving the safety and durability of the building.

[0004] Traditional installation positioning methods rely on preset installation parameters and manual adjustments, which limits the ability to respond to changes in actual installation conditions. For example, under changing climate conditions, failure to adjust installation parameters in real time can lead to improper panel installation positioning, affecting the overall structural integrity and appearance. In addition, traditional methods rely on the operator's experience and skills to make fine adjustments, increasing the risk of human error. Due to the lack of real-time monitoring and automatic adjustment mechanisms, once deviations occur, readjustment or replacement of components is required, resulting in increased project costs and time delays, resulting in inefficiency, and low installation positioning accuracy, affecting the overall investment benefits of the project. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art and to propose a high-precision curtain wall panel positioning method.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: a high-precision curtain wall panel positioning method, comprising the following steps:

[0007] S1: Based on the curtain wall panel installation scenario, the wind speed and temperature data of the installation environment are collected through sensors, compared with the standard wind speed and temperature, and the environmental deviation is identified. According to the environmental deviation, the moving speed and support angle of the curtain wall panel installation robot are adjusted to match the current installation conditions, and the environmental adaptation parameter adjustment information is obtained;

[0008] S2: Based on the environmental adaptation parameter adjustment information, use an image sensor to capture an image of the curtain wall panel, analyze the image, identify the edge of the curtain wall panel, compare the predetermined installation position, identify the deviation between the current position and the predetermined position, and obtain installation position deviation information;

[0009] S3: Based on the installation position deviation information, perform installation path planning, adjust the moving path and moving speed of the curtain wall panel installation mechanical arm, guide the mechanical arm to adjust the installation position, optimize the positioning and alignment installation of the panel, and generate optimized installation positioning information;

[0010] S4: Based on the optimized installation positioning information, the actual moving trajectory of the curtain wall panel during the positioning and installation process is monitored, compared with the predetermined moving trajectory, the moving trajectory deviation is identified, the moving speed of the robot arm is adjusted in real time, the trajectory deviation is corrected, and the trajectory correction adjustment information is obtained.

[0011] The present invention is improved in that the method for identifying environmental deviation is:

[0012] S111: Based on the curtain wall panel installation scenario, the wind speed and temperature data of the installation environment are collected through sensors to obtain an environmental data set;

[0013] S112: Based on the environmental data set, the wind speed and temperature are compared with the preset standard wind speed and standard temperature, and the formula is:

[0014] ΔV=VV s

[0015] and

[0016] ΔT=TT s

[0017] Calculate the wind speed deviation ΔV and temperature deviation ΔT, where ΔV is the wind speed deviation, ΔT is the temperature deviation, V is the measured wind speed, and V s Indicates standard wind speed, T is the measured temperature, T s is the standard temperature;

[0018] S113: Based on the wind speed deviation ΔV and the temperature deviation ΔT, the formula:

[0019]

[0020] The environmental deviation index D is calculated, and the degree of environmental deviation is evaluated according to the size of the environmental deviation index D, where k, l, and m are weight parameters, D is the environmental deviation index, ΔV is the wind speed deviation, and ΔT is the temperature deviation.

[0021] The present invention is improved in that the step of obtaining the environmental adaptation parameter adjustment information is:

[0022] S121: Based on the environmental deviation index D, the wind speed deviation ΔV and the temperature deviation ΔT, the formula:

[0023]

[0024] and

[0025]

[0026] Calculate the adjusted moving speed v and the adjusted support angle α, where k, l and m are adjustment coefficients, v 0 is the base movement speed, α 0 is the basic angle, D is the environmental deviation index, ΔV is the wind speed deviation, and ΔT is the temperature deviation;

[0027] S122: Based on the adjusted moving speed v and the adjusted supporting angle α, the moving speed and supporting angle of the curtain wall panel installation robot are adjusted to match the current installation conditions, and the environmental adaptation parameter adjustment information is obtained.

[0028] The present invention is improved in that the method for identifying the edge of the curtain wall panel is:

[0029] S211: Implement the environmental adaptation parameter adjustment information to position and install the curtain wall panel. During the installation process, capture a real-time image of the curtain wall panel through an image sensor to obtain real-time image data;

[0030] S212: Based on the real-time image data, by formula:

[0031]

[0032] Calculate the edge strength E(x, y), where and are the gradients of the image in the x and y directions respectively, λ is the weight parameter, θ is the angle between the edge and the horizontal line, and E(x, y) represents the edge strength of the image at position (x, y).

[0033] S213: Based on the edge strength E(x, y), E(x, y) is compared with a preset edge threshold, and the coordinates exceeding the preset edge threshold are marked as curtain wall panel edges to obtain curtain wall panel edge identification information.

[0034] The present invention is improved in that the step of obtaining the installation position deviation information is:

[0035] S221: based on the curtain wall panel edge recognition information, capturing the coordinate data of the current installation position, and obtaining the coordinates of the predetermined installation position, to obtain positioning installation related data;

[0036] S222: Based on the positioning installation associated data, by formula:

[0037] Δx=x p -x c

[0038] and

[0039] Δy=y p -y c

[0040] Calculate the deviation Δx on the x-axis and the deviation Δy on the y-axis, where Δx and Δy represent the deviations on the x-axis and y-axis respectively, x p and p Respectively represent the predetermined x-axis and y-axis coordinates, x c and c Respectively represent the current x-axis and y-axis coordinates;

[0041] S223: Based on the deviation Δx on the x-axis and the deviation Δy on the y-axis, by formula:

[0042]

[0043] Calculate the position deviation index W, and evaluate the degree of deviation according to the size of W to obtain the installation position deviation information, where α, β and γ are adjustment coefficients, Δx and Δy represent the deviations on the x-axis and y-axis respectively, and W is the position deviation index.

[0044] The present invention is improved in that the step of obtaining the optimized installation positioning information is:

[0045] S311: Based on the installation position deviation information, the formula:

[0046]

[0047] and

[0048]

[0049] and

[0050]

[0051] Calculate the adjusted installation path coordinates p x，new and p y，new and the adjusted moving speed v, where p x，new and p y，new are the x and y coordinates of the adjusted installation path, v new is the adjusted movement speed, p x，old and p y，old are the x and y coordinates of the original installation path, vold is the original moving speed, k x and k y is the adjustment coefficient, λ x and λ y is the attenuation coefficient, μ is the speed adjustment coefficient, sgn(Δx) and sgn(Δy) are the sign functions, W is the position deviation index, and e is the base of the natural logarithm;

[0052] S312: Based on the adjusted installation path coordinates p x，new and p y，new With the adjusted moving speed v, the moving path and speed of the curtain wall panel installation robot are adjusted to optimize the positioning and alignment installation of the panel to obtain optimized installation positioning information.

[0053] The present invention is improved in that the method for identifying the movement trajectory deviation is:

[0054] S411: Continuously monitor the actual movement trajectory of the curtain wall panel during the positioning and installation process through the monitoring device to obtain the actual movement trajectory coordinate information;

[0055] S412: Based on the actual movement trajectory coordinate information, the actual movement trajectory coordinate information is compared with the predetermined movement trajectory coordinate information, and the formula is:

[0056]

[0057] Calculate the moving trajectory deviation value Δ traj , where α, β and γ are adjustment coefficients, x ac t and y act is the coordinate of the actual moving trajectory, x pre and pre is the coordinate of the predetermined moving trajectory, Δ traj is the moving trajectory deviation value;

[0058] S413: Based on the movement trajectory deviation value Δ traj , according to Δ traj The value is used to evaluate the degree of deviation of the moving trajectory.

[0059] The present invention is improved in that the step of obtaining the trajectory correction adjustment information is:

[0060] S421: Based on the movement trajectory deviation value Δ traj , through the formula:

[0061]

[0062] Calculate the movement speed v after compensation adjustment comp , where ∈ is the stability constant, η is the decay coefficient, and v initis the speed before compensation adjustment, κ is the speed adjustment coefficient, Δ traj is the moving trajectory deviation value, D max is the predetermined maximum tolerable deviation, v comp is the movement speed after compensation adjustment, and e is the base of the natural logarithm;

[0063] S422: Based on the compensation adjusted moving speed v comp , adjust the moving speed of the robot arm, correct the trajectory deviation, and obtain the trajectory correction adjustment information.

[0064] Compared with the prior art, the advantages and positive effects of the present invention are:

[0065] In the present invention, by collecting environmental data and comparing it with standard values, the installation robot arm of the curtain wall panel can be adjusted in real time to adapt to the current installation conditions, thereby solving the installation errors caused by environmental factors and optimizing the installation positioning quality. The curtain wall panel image is captured by an image sensor and analyzed to determine the position deviation, thereby enhancing the control over the positioning and installation accuracy, making the positioning and alignment of the curtain wall panel more precise and improving the installation quality. Through real-time planning and adjustment of the installation path, as well as monitoring and correction of the movement trajectory, the accuracy and efficiency of the installation positioning are ensured, the need for later maintenance and adjustment is reduced, costs are saved, and project time is shortened, thereby improving the overall installation quality of the curtain wall panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 is a flow chart of the method of the present invention;

[0067] Figure 2 Flowchart for identifying environmental deviations for the present invention;

[0068] Figure 3 A flow chart of obtaining environmental adaptation parameter adjustment information of the present invention;

[0069] Figure 4 A flow chart for identifying the edge of a curtain wall panel according to the present invention;

[0070] Figure 5 A flow chart of obtaining installation position deviation information of the present invention;

[0071] Figure 6 A flow chart for obtaining optimized installation positioning information for the present invention;

[0072] Figure 7 A flow chart for identifying movement trajectory deviations of the present invention;

[0073] Figure 8 The present invention is a flow chart for obtaining trajectory correction adjustment information. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0075] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating positions or positional relationships, are based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0076] Example

[0077] See also Figure 1 The present invention provides a technical solution: a high-precision curtain wall panel positioning method, comprising the following steps:

[0078] S1: Based on the curtain wall panel installation scenario, the wind speed and temperature data of the installation environment are collected through sensors, compared with the standard wind speed and temperature, and the environmental deviation is identified. According to the environmental deviation, the moving speed and support angle of the curtain wall panel installation robot are adjusted to match the current installation conditions, and the environmental adaptation parameter adjustment information is obtained;

[0079] S2: Based on the environmental adaptation parameter adjustment information, an image sensor is used to capture an image of the curtain wall panel, and the edge of the curtain wall panel is identified by analyzing the image, and the deviation between the current position and the predetermined position is identified by comparing the predetermined installation position, so as to obtain the installation position deviation information;

[0080] S3: Based on the installation position deviation information, perform installation path planning, adjust the moving path and moving speed of the curtain wall panel installation robot, guide the robot to adjust the installation position, optimize the positioning and alignment installation of the panel, and generate optimized installation positioning information;

[0081] S4: Based on the optimized installation positioning information, the actual moving trajectory of the curtain wall panel during the positioning and installation process is monitored, compared with the predetermined moving trajectory, the moving trajectory deviation is identified, the moving speed of the robot arm is adjusted in real time, the trajectory deviation is corrected, and the trajectory correction adjustment information is obtained.

[0082] The environmental adaptation parameter adjustment information includes the robot arm's movement speed adjustment value, support angle adjustment value and environmental feedback adjustment frequency; the installation position deviation information includes the panel edge coordinates, the predetermined installation mark coordinates and the deviation value between the edge and the mark; the optimized installation positioning information includes the predetermined movement path, speed setting parameters and angle adjustment instructions; the trajectory correction adjustment information includes the speed correction value and real-time trajectory correction feedback.

[0083] See also Figure 2 , the method to identify environmental deviations is:

[0084] S111: Based on the curtain wall panel installation scenario, the wind speed and temperature data of the installation environment are collected through sensors to obtain an environmental data set;

[0085] S112: Based on the environmental data set, compared with the preset standard wind speed and standard temperature, the formula is:

[0086] ΔV=VV s

[0087] and

[0088] ΔT=TT s

[0089] Calculate the wind speed deviation ΔV and temperature deviation ΔT, where ΔV is the wind speed deviation, ΔT is the temperature deviation, V is the measured wind speed, and V s Indicates standard wind speed, T is the measured temperature, T s is the standard temperature;

[0090] S113: Based on the wind speed deviation ΔV and the temperature deviation ΔT, the formula:

[0091]

[0092] The environmental deviation index D is calculated, and the degree of environmental deviation is evaluated according to the size of the environmental deviation index D, where k, l, and m are weight parameters, D is the environmental deviation index, ΔV is the wind speed deviation, and ΔT is the temperature deviation.

[0093] formula:

[0094] ΔV=VV s

[0095] and

[0096] ΔT=TT s

[0097] and

[0098]

[0099] Parameter details and how to obtain them:

[0100] Wind speed deviation ΔV: It indicates the difference between the actual measured wind speed and the standard set wind speed. The wind speed data V is continuously recorded by the wind speed sensor installed at the curtain wall installation site and compared with the preset standard wind speed V s Subtracting, V s It is the safe wind speed recommended in the design specifications.

[0101] Temperature deviation ΔT: It indicates the difference between the actual measured temperature and the standard set temperature. The temperature data set T is obtained by continuously recording the temperature sensor installed at the curtain wall installation site and comparing it with the preset standard temperature T. s Subtract and we get, T s For the preset common operating temperature range.

[0102] Weight parameters k, l and m: k is the weight coefficient of wind speed deviation, emphasizing the impact of wind speed changes on structural stability, which can be determined based on engineering experience or through wind tunnel experiments. l is the weight coefficient of temperature deviation, which smoothes the impact of extreme temperature values ​​by logarithmically processing the deviation, usually determined based on engineering research on thermal effects. m is a coefficient used to balance the results of the entire formula to ensure that the calculation results are within a reasonable range, which can be adjusted through standardized tests.

[0103] Calculation example:

[0104] Assumptions:

[0105] Actual wind speed V = 15m / s, standard wind speed V s =10m / s.

[0106] Actual temperature T = 35 degrees C, standard temperature T s =25 degrees C.

[0107] The weight coefficients are set to k=0.5, l=0.3, and m=10.

[0108] Calculation process:

[0109] Calculate wind speed deviation:

[0110] ΔV=VV s =15-10=5

[0111] Calculate the temperature deviation:

[0112] ΔT=TT s =35-25=10

[0113] Calculate the environmental deviation index:

[0114]

[0115] The calculated environmental deviation index D≈2.507 provides a quantitative environmental deviation level to guide the robot to adjust to the current environmental conditions. If the D value is high, it means that the current environment is significantly different from the standard setting, and the robot's movement speed and support angle need to be adjusted more significantly to ensure installation quality and safety.

[0116] See also Figure 3 , the steps for obtaining the environmental adaptation parameter adjustment information are:

[0117] S121: Based on the environmental deviation index D, wind speed deviation ΔV and temperature deviation ΔT, the formula:

[0118]

[0119] and

[0120]

[0121] Calculate the adjusted moving speed v and the adjusted support angle α, where k, l and m are adjustment coefficients, v 0 is the base movement speed, α 0 is the basic angle, D is the environmental deviation index, ΔV is the wind speed deviation, and ΔT is the temperature deviation;

[0122] S122: Based on the adjusted moving speed v and the adjusted support angle α, the moving speed and the support angle of the curtain wall panel installation robot are adjusted to match the current installation conditions, and the environmental adaptation parameter adjustment information is obtained.

[0123] formula:

[0124]

[0125] and

[0126]

[0127] Parameter details and how to obtain them:

[0128] Basic movement speed 0 :The basic movement speed is the starting or standard speed of the robot arm when operating, which is usually obtained through technical specifications provided by the manufacturer or through pre-testing in a safe environment.

[0129] Base angle α 0 : The base angle is the starting or standard angle of the robot arm support. Similar to the basic movement speed, the base angle is determined by the manufacturer's technical specifications or experimental settings.

[0130] Wind speed deviation ΔV: It indicates the difference between the actual measured wind speed and the standard set wind speed. It is calculated by measuring the actual wind speed with a wind speed sensor at the installation site and comparing it with the preset standard wind speed.

[0131] Temperature deviation ΔT: It indicates the difference between the actual measured temperature and the standard set temperature. It is calculated by measuring the actual temperature with the temperature sensor and comparing it with the preset standard temperature.

[0132] Environmental deviation index D: The environmental deviation evaluation value obtained by comprehensively considering the wind speed deviation and temperature deviation, calculated through the previous steps.

[0133] Adjustment coefficients k, l and m: The coefficients are used to adjust the basic movement speed and basic angle according to the deviation of wind speed and temperature. The coefficients are selected based on previous experimental data and simulation results and adjusted to suit different installation environments and conditions.

[0134] Calculation example:

[0135] Assumptions:

[0136] Basic movement speed 0 =2m / s, basic angle α 0 =30°, actual wind speed V = 20m / s, standard wind speed V s =15m / s, actual temperature T=25℃, standard temperature T s =20℃, adjustment coefficients k=0.1, l=0.05, m=0.2.

[0137] Calculation process:

[0138] Calculate the wind speed deviation ΔV = 20-15 = 5 m / s, calculate the temperature deviation ΔT = 25-20 = 5°C, and assume D = 1.0.

[0139] Calculate movement speed:

[0140]

[0141] Calculate the support angle:

[0142]

[0143] The moving speed v = 1.09 m / s is slower than the base speed to cope with the instability caused by the increase in wind speed. Support angle The angle is smaller than the base angle to reduce wind impact and improve structural stability. This adjustment helps the robot arm operate more safely in challenging environmental conditions.

[0144] See also Figure 4 , the method to identify the edge of the curtain wall panel is:

[0145] S211: Implementing environmental adaptation parameter adjustment information, positioning and installing the curtain wall panel. During the installation process, a real-time image of the curtain wall panel is captured by an image sensor to obtain real-time image data;

[0146] S212: Based on real-time image data, by formula:

[0147]

[0148] Calculate the edge strength E(x, y), where and are the gradients of the image in the x and y directions respectively, λ is the weight parameter, θ is the angle between the edge and the horizontal line, and E(x, y) represents the edge strength of the image at position (x, y).

[0149] S213: Based on the edge strength E(x, y), E(x, y) is compared with a preset edge threshold, and the coordinates exceeding the preset edge threshold are marked as curtain wall panel edges to obtain curtain wall panel edge identification information.

[0150] formula:

[0151]

[0152] Parameter details and how to obtain them:

[0153] Image brightness I(x, y): I(x, y) represents the brightness value at the (x, y) coordinate position of the image. It is directly obtained from the original image data captured by the image sensor. The value is a numerical representation of the light intensity of each pixel.

[0154] Image Gradient and The gradient represents the rate of change of the brightness of the image in the horizontal x and vertical y directions, respectively, and is calculated using an edge detection algorithm (such as the Sobel operator), which estimates the gradient by calculating the brightness difference within a pixel neighborhood.

[0155] Weight parameter λ: λ is used to adjust the sensitivity of edge detection so that the algorithm can respond more sensitively to edges with smaller brightness changes. It is adjusted based on experimental data and image characteristics to ensure that edges can be effectively recognized under different image conditions.

[0156] Angle θ between the edge and the horizontal line: θ represents the relative angle between the edge and the horizontal line, which is used to enhance the detection of edges that are sensitive to a specific direction. It is calculated by the gradient direction of the image and is usually related to the direction of the gradient. get.

[0157] Calculation example:

[0158] Assumptions:

[0159] At a certain point (x, y), the image brightness I(x, y) = 150, and the gradient Weight λ=0.5, the gradient direction θ is calculated as tan -1 (30 / 20)≈56°.

[0160] Calculation process:

[0161] Calculate the edge strength E(x, y):

[0162]

[0163] The calculated edge strength E(x, y)≈51 indicates that there is a strong edge at (x, y). The result helps determine the exact position of the edge of the curtain wall panel and provides accurate data for subsequent position adjustment.

[0164] See also Figure 5 , the steps for obtaining the installation position deviation information are:

[0165] S221: based on the curtain wall panel edge recognition information, capturing the coordinate data of the current installation position, and obtaining the coordinates of the predetermined installation position, to obtain positioning installation related data;

[0166] S222: Based on the positioning installation related data, the formula is:

[0167] Δx=x p -x c

[0168] and

[0169] Δy=y p -y c

[0170] Calculate the deviation Δx on the x-axis and the deviation Δy on the y-axis, where Δx and Δy represent the deviations on the x-axis and y-axis respectively, x p and p Respectively represent the predetermined x-axis and y-axis coordinates, x c and c Respectively represent the current x-axis and y-axis coordinates;

[0171] S223: Based on the deviation Δx on the x-axis and the deviation Δy on the y-axis, the formula:

[0172]

[0173] Calculate the position deviation index W, and evaluate the degree of deviation according to the size of W to obtain the installation position deviation information, where α, β and γ are adjustment coefficients, Δx and Δy represent the deviations on the x-axis and y-axis respectively, and W is the position deviation index.

[0174] formula:

[0175] Δx=x p -x c

[0176] and

[0177] Δy=y p -y c ;

[0178] and

[0179]

[0180] Parameter details and how to obtain them:

[0181] Deviation values ​​Δx and Δy: Δx and Δy represent the deviation of the installation position from the predetermined position in the horizontal and vertical directions, respectively. c ,y c ) and the predetermined coordinates (x p ,y p ) is calculated. The calculation method is Δx=x p -x c and Δy=y p -y c .

[0182] Weight parameters α, β, and γ: α and β adjust the weight of the influence of Δx and Δy in the total deviation calculation, while γ emphasizes the importance of smaller deviations in one direction. The parameters are set based on previous project experience and specific engineering needs. For example, if precise alignment in a certain direction is more critical, the corresponding weight will be increased.

[0183] Calculation example:

[0184] Assumptions:

[0185] Predetermined coordinate x p =200.0,y p =150.0

[0186] Current coordinate x c =198.5,y c =152.0

[0187] Δx=200.0-198.5=1.5

[0188] Δy=150.0-152.0=-2.0

[0189] The weight parameters are set to α=1.2, β=1.0, γ=0.5

[0190] Calculation process:

[0191] Calculate the deviation W:

[0192]

[0193] The calculated deviation W≈2.39 units represent the degree of deviation between the current installation position and the predetermined position. The value reflects the combined impact of the deviation in both directions and its importance. The results are used to evaluate and adjust the installation process to ensure the accuracy of the installation.

[0194] See also Figure 6 , the steps to obtain the optimized installation location information are:

[0195] S311: Based on the installation position deviation information, the formula:

[0196]

[0197] and

[0198]

[0199] and

[0200]

[0201] Calculate the adjusted installation path coordinates p x，new and p y，new and the adjusted moving speed v, where p x，new and p y，new are the x and y coordinates of the adjusted installation path, v new is the adjusted movement speed, p x，old and p y，old are the x and y coordinates of the original installation path, v old is the original moving speed, k x and k y is the adjustment coefficient, λ x and λ y is the attenuation coefficient, μ is the speed adjustment coefficient, sgn(Δx) and sgn(Δy) are the sign functions, W is the position deviation index, and e is the base of the natural logarithm;

[0202] S312: Based on the adjusted installation path coordinates p x，new and p y，new With the adjusted moving speed v, the moving path and speed of the curtain wall panel installation robot are adjusted to optimize the positioning and alignment installation of the panel to obtain optimized installation positioning information.

[0203] formula:

[0204]

[0205] and

[0206]

[0207] and

[0208]

[0209] Parameter details and how to obtain them:

[0210] p x，old and p y，old : The x and y coordinates of the original installation path, that is, the starting position of the robot arm before the installation begins.

[0211] k x and k y : Adjustment coefficient, used to amplify or reduce the impact of deviations in the x and y directions and determine the magnitude of path correction. The coefficient is usually determined based on the performance indicators of the robot arm and the installation accuracy requirements, and can be obtained through previous experimental data or simulation optimization.

[0212] λ x and λ y : Attenuation coefficient, which controls how the deviation size affects the sensitivity of the path adjustment, ensuring that the adjustment response does not over-amplify small errors. Similar to the adjustment coefficient, these values ​​are obtained through experiments and historical installation data analysis to optimize installation accuracy and response speed.

[0213] μ: Speed ​​adjustment coefficient, used to adjust the movement speed of the robot arm according to the comprehensive deviation, so that it can slow down when the deviation is large and reduce the installation error. It is determined by evaluating the dynamic requirements and safety standards of the installation task.

[0214] sgn(Δx) and sgn(Δy): Sign functions that determine the direction of adjustment based on whether the deviation in the x and y directions is positive or negative. If the deviation is positive, the function returns 1, and if the deviation is negative, it returns -1.

[0215] W: Position deviation index, calculated by the previous step.

[0216] Calculation example:

[0217] Assumptions:

[0218] Original path coordinates p x，old =100.0, p y，old =200.0

[0219] Original speed v old =5.0m / s

[0220] Deviation value Δx = 2.0, Δy = -3.0

[0221] Adjustment factor k x =0.8, k y =0.8

[0222] Attenuation coefficient λ x =0.1,λ y =0.1

[0223] Speed ​​adjustment coefficient μ=0.05

[0224] Position deviation index W = 3.0

[0225] Calculation process:

[0226] Calculate the x-path:

[0227] p x，new =100.0+0.8·sgn(2.0)·e -0.1·3.0

[0228] =100.0+0.8·1·0.7408

[0229] ≈100.5926

[0230] Calculate the y-path:

[0231] p y，new =200.0+0.8·sgn(-3.0)·e -0.1·3.0

[0232] =200.0+0.8·(-1)·0.7408

[0233] ≈199.4072

[0234] Calculation speed:

[0235] v new =5.0·(1-0.05·3.0)

[0236] =5.0·0.85

[0237] =4.25m / s

[0238] Path coordinates p x，new ≈100.5926 and p y，new ≈199.4072 shows how the robot should adjust its position to reduce the installation error, the speed v new =4.25m / s means reducing the moving speed in case of large deviation to improve installation accuracy. This adjustment helps to ensure installation quality and avoid position errors caused by rapid movement.

[0239] See also Figure 7 ,The method to identify the movement trajectory deviation is:

[0240] S411: Continuously monitor the actual movement trajectory of the curtain wall panel during the positioning and installation process through the monitoring device to obtain the actual movement trajectory coordinate information;

[0241] S412: Based on the actual movement trajectory coordinate information, compare it with the predetermined movement trajectory coordinates, through the formula:

[0242]

[0243] Calculate the moving trajectory deviation value Δ traj , where α, β and γ are adjustment coefficients, x act and act is the coordinate of the actual moving trajectory, x pre and pre is the coordinate of the predetermined moving trajectory, Δ traj is the moving trajectory deviation value;

[0244] S413: Based on the moving track deviation value Δ traj , according to Δ traj The value is used to evaluate the degree of deviation of the moving trajectory.

[0245] formula:

[0246]

[0247] Parameter details and how to obtain them:

[0248] α and β: Coefficients used to weight the deviation between the actual trajectory and the predetermined trajectory in the x and y directions, making the calculated trajectory deviation more sensitive to the actual change of the trajectory. Coefficients α and β are usually determined through experiments or pre-test data to ensure that they meet the sensitivity and accuracy requirements of specific application scenarios.

[0249] γ: γ is a coefficient used to enhance the influence of coordinate differences in calculations. It provides nonlinear adjustment capability by weighting the absolute difference between two coordinates. This parameter is obtained based on the analysis of the error response in the actual operation of the robot arm, and aims to optimize the robot arm's response to small deviations.

[0250] x act and act : The actual coordinates of the robot arm during the task execution,

[0251] x pre and pre : Predetermined path coordinates. The actual coordinates are provided by the navigation system of the robot arm. The predetermined coordinates are set in advance based on the task planning, and can also be obtained by adjusting the moving path in the previous step.

[0252] Calculation example:

[0253] Assume the parameter values ​​are:

[0254] Actual coordinate x act =105,y act =205

[0255] Predetermined coordinate x pre =100,y pre =200

[0256] Adjustment coefficients α = 1.1, β = 1.1, γ = 0.5

[0257] Calculation process:

[0258] Calculate the weighted deviation in the x- and y-directions:

[0259] α×(x act -x pre )=1.1×(105-100)=5.5

[0260] β×(y act -y pre )=1.1×(205-200)=5.5

[0261] Calculate trajectory deviation Δ traj :

[0262]

[0263] Trajectory deviation Δ traj ≈30.58 indicates that there is a significant deviation between the actual trajectory and the planned trajectory. This analysis helps to timely identify and correct the robot's trajectory, ensure installation accuracy, and improve operational efficiency and quality.

[0264] See also Figure 8 , the steps to obtain the trajectory correction adjustment information are:

[0265] S421: Based on the moving track deviation value Δ traj , through the formula:

[0266]

[0267] Calculate the movement speed v after compensation adjustment comp , where ∈ is the stability constant, η is the decay coefficient, and v init is the speed before compensation adjustment, κ is the speed adjustment coefficient, Δ traj is the moving trajectory deviation value, D max is the predetermined maximum tolerable deviation, v comp is the movement speed after compensation adjustment, and e is the base of the natural logarithm;

[0268] S422: Based on the compensation adjusted moving speed v comp , adjust the moving speed of the robot arm, correct the trajectory deviation, and obtain the trajectory correction adjustment information.

[0269] formula:

[0270]

[0271] Parameter details and how to obtain them:

[0272] v init : The speed before compensation adjustment is obtained through the robot operation data.

[0273] κ: Speed ​​adjustment factor, used to adjust the movement speed of the robot according to the trajectory deviation, measured through experiments or adjusted according to the historical performance data of the equipment to achieve the best installation accuracy and efficiency.

[0274] Δ traj : Moving trajectory deviation value, calculated through the previous steps.

[0275] D max :A predetermined maximum tolerable deviation, used to standardize the impact of deviations, set according to engineering requirements and safety standards to ensure that the deviation is within an acceptable range.

[0276] ∈: A small positive number used to ensure that the denominator is non-zero, increase the stability of the calculation, and choose a constant that is small enough to avoid division by zero errors.

[0277] η: Attenuation coefficient, used to increase the response to large deviations, determined through experiments based on the need for deviation sensitivity in actual operations.

[0278] Calculation example:

[0279] Assume the parameter values ​​are:

[0280] v init =5.0m / s,κ=0.2,Δ traj =4.0, D max =10.0, ∈=0.01, eta=0.05.

[0281] Calculate the compensated velocity v comp :

[0282]

[0283] The calculated compensation speed v comp≈3.57m / s means that the robot should reduce its speed to correct the deviation between the actual trajectory and the planned trajectory. This adjustment helps improve the accuracy of the robot when performing precision tasks and reduces the position error that may be caused by excessive speed, thereby ensuring the accurate installation of curtain wall panels.

[0284] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A high-precision curtain wall panel positioning method, characterized in that: The following steps are involved: Based on the curtain wall panel installation scenario, the wind speed and temperature data of the installation environment are collected through sensors, compared with the standard wind speed and temperature, and the environmental deviation is identified. According to the environmental deviation, the moving speed and support angle of the curtain wall panel installation robot are adjusted to match the current installation conditions and obtain the environmental adaptation parameter adjustment information; Based on the environmental adaptation parameter adjustment information, an image sensor is used to capture an image of the curtain wall panel, and by analyzing the image, an edge of the curtain wall panel is identified, and a predetermined installation position is compared to identify a deviation between the current position and the predetermined position, thereby obtaining installation position deviation information; Based on the installation position deviation information, perform installation path planning, adjust the moving path and moving speed of the curtain wall panel installation mechanical arm, guide the mechanical arm to adjust the installation position, optimize the positioning and alignment installation of the panel, and generate optimized installation positioning information; Based on the optimized installation positioning information, the actual moving trajectory of the curtain wall panel during positioning and installation is monitored and compared with the predetermined moving trajectory, the moving trajectory deviation is identified, the moving speed of the robot arm is adjusted in real time, the trajectory deviation is corrected, and the trajectory correction adjustment information is obtained.

2. The high-precision curtain wall panel positioning method according to claim 1, characterized in that: The method for identifying environmental deviations is: Based on the curtain wall panel installation scenario, the wind speed and temperature data of the installation environment are collected through sensors to obtain the environmental data set; Based on the environmental data set, compared with the preset standard wind speed and standard temperature, the formula is: ΔV=V-V s and ΔT=T-T s Calculate the wind speed deviation ΔV and temperature deviation ΔT, where ΔV is the wind speed deviation, ΔT is the temperature deviation, V is the measured wind speed, and V s Indicates standard wind speed, T is the measured temperature, T s is the standard temperature; Based on the wind speed deviation ΔV and temperature deviation ΔT, by formula: The environmental deviation index D is calculated, and the degree of environmental deviation is evaluated according to the size of the environmental deviation index D, where k, l, and m are weight parameters, D is the environmental deviation index, ΔV is the wind speed deviation, and ΔT is the temperature deviation.

3. The high-precision curtain wall panel positioning method according to claim 2, characterized in that: The step of obtaining the environmental adaptation parameter adjustment information is as follows: Based on the environmental deviation index D, wind speed deviation ΔV and temperature deviation ΔT, the formula: and Calculate the adjusted moving speed v and the adjusted support angle α, where k, l and m are adjustment coefficients, v0 is the basic moving speed, α0 is the basic angle, D is the environmental deviation index, ΔV is the wind speed deviation, and ΔT is the temperature deviation; Based on the adjusted moving speed v and the adjusted support angle α, the moving speed and the support angle of the curtain wall panel installation mechanical arm are adjusted to match the current installation conditions, and the environmental adaptation parameter adjustment information is obtained.

4. The high-precision curtain wall panel positioning method according to claim 1, characterized in that: The method for identifying the edge of the curtain wall panel is: Implement the environmental adaptation parameter adjustment information to position and install the curtain wall panel. During the installation process, capture the real-time image of the curtain wall panel through an image sensor to obtain real-time image data; Based on the real-time image data, by the formula: Calculate the edge strength E(x,y), where and are the gradients of the image in the x and y directions, λ is the weight parameter, θ is the angle between the edge and the horizontal line, and E(x,y) represents the edge strength of the image at position (x,y); Based on the edge strength E(x, y), E(x, y) is compared with a preset edge threshold, and the coordinates exceeding the preset edge threshold are marked as curtain wall panel edges to obtain curtain wall panel edge identification information.

5. The high-precision curtain wall panel positioning method according to claim 4, characterized in that: The steps for obtaining the installation position deviation information are as follows: Based on the curtain wall panel edge recognition information, the coordinate data of the current installation position is captured, and the coordinates of the predetermined installation position are obtained to obtain the positioning installation related data; Based on the positioning installation associated data, by formula: Δx=x p -x c and Δy=y p -y c Calculate the deviation Δx on the x-axis and the deviation Δy on the y-axis, where Δx and Δy represent the deviations on the x-axis and y-axis respectively, x p and p Respectively represent the predetermined x-axis and y-axis coordinates, x c and c Respectively represent the current x-axis and y-axis coordinates; Based on the deviation Δx on the x-axis and the deviation Δy on the y-axis, by the formula: Calculate the position deviation index W, and evaluate the degree of deviation according to the size of W to obtain the installation position deviation information, where α, β and γ are adjustment coefficients, Δx and Δy represent the deviations on the x-axis and y-axis respectively, and W is the position deviation index.

6. The high-precision curtain wall panel positioning method according to claim 1, characterized in that: The steps for obtaining the optimized installation positioning information are as follows: Based on the installation position deviation information, through the formula: and and Calculate the adjusted installation path coordinates p x，new and p y，new and the adjusted moving speed v, where p x，new and p y，new are the x and y coordinates of the adjusted installation path, v new is the adjusted movement speed, p x，old and p y，old are the x and y coordinates of the original installation path, v old is the original moving speed, k x and k y is the adjustment coefficient, λ x and λ y is the attenuation coefficient, μ is the speed adjustment coefficient, sgn(Δx) and sgn(Δy) are the sign functions, W is the position deviation index, and e is the base of the natural logarithm; Based on the adjusted installation path coordinates p x，new和 p y，new With the adjusted moving speed v, the moving path and speed of the curtain wall panel installation robot are adjusted to optimize the positioning and alignment installation of the panel to obtain optimized installation positioning information.

7. The high-precision curtain wall panel positioning method according to claim 1, characterized in that: The method for identifying movement trajectory deviation is: Through monitoring equipment, the actual movement trajectory of the curtain wall panel during positioning and installation is continuously monitored to obtain the coordinate information of the actual movement trajectory; Based on the actual moving track coordinate information, the coordinates are compared with the predetermined moving track coordinates, and the formula is: Calculate the moving trajectory deviation value Δ traj , where α, β and γ are adjustment coefficients, x act and act is the coordinate of the actual moving trajectory, x pre and pre is the coordinate of the predetermined moving trajectory, Δ traj is the moving trajectory deviation value; Based on the moving trajectory deviation value Δ traj , according to Δ traj The value is used to evaluate the degree of deviation of the moving trajectory.

8. The high-precision curtain wall panel positioning method according to claim 7, characterized in that: The steps for obtaining the trajectory correction adjustment information are as follows: Based on the moving trajectory deviation value Δ traj , through the formula: Calculate the movement speed v after compensation adjustment comp , where ∈ is the stability constant, η is the decay coefficient, and v init is the speed before compensation adjustment, K is the speed adjustment coefficient, Δ traj is the moving trajectory deviation value, D max is the predetermined maximum tolerable deviation, v comp is the movement speed after compensation adjustment, and e is the base of the natural logarithm; Based on the compensation adjusted moving speed v comp , adjust the moving speed of the robot arm, correct the trajectory deviation, and obtain the trajectory correction adjustment information.

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