External wall panel hoisting and positioning device and method for green building construction

Abstract

The invention belongs to the technical field of building construction, and discloses an external wall panel hoisting and positioning device and method for green building construction, and the device comprises a fixed seat, a rotating seat assembly, an overturning motor, a rope winding motor, a rope lifting mechanism, an extension assembly, a clamping assembly and a hoisting monitoring mechanism; a rotating seat assembly is rotatably arranged on the fixed seat; an overturning motor is fixedly arranged on the fixed seat; the output end of the overturning motor is fixedly connected with the center position of the rotating base assembly. A plurality of rope winding motors are fixedly arranged on the fixed seat; a plurality of lifting rope mechanisms are arranged on the toothed rail in a sliding manner; four groups of extension assemblies are arranged on the rotating seat assembly in a sliding manner; clamping assemblies are rotatably arranged on the extension assemblies; and a hoisting monitoring mechanism is fixedly arranged on the fixed seat. The hoisting process of the external wall panel is monitored in real time, possible abnormal conditions can be found and early warned in time, the external wall panel is prevented from shaking, overturning of the external wall panel between different states is supported, and the flexibility in the construction process is improved.

Description

Technical Field

[0001] The present application relates to the technical field of building construction, and more specifically, to a device and method for hoisting and positioning an exterior wall panel for green building construction. Background Art

[0002] In order to promote green building construction, concrete casting formwork is usually used to obtain complete exterior wall panels. Therefore, it is more environmentally friendly and easy to operate. During construction, only the exterior wall panels need to be hoisted with a hoisting device, which is more convenient and quick.

[0003] The document with the prior art publication number CN212315301U provides a hoisting and positioning device for exterior wall panels used in green building construction, which relates to the field of building construction technology. The hoisting and positioning device for exterior wall panels used in green building construction includes a hoisting device body, a working spring, a positioning plate and a functional spring. A hoisting rope is installed on the hoisting device body, and the hoisting rope is connected to the load-bearing plate. And a windbreak is installed on the load-bearing plate. The working spring is installed on the windbreak, and the working spring is connected to the moving slider. The moving slider and the windbreak fit each other, and the positioning plate and the windbreak fit each other. A linkage spring is installed on the positioning plate, and the linkage spring and the windbreak are connected to each other. The hoisting and positioning device for exterior wall panels used in green building construction adopts an automatic positioning device to ensure that the center position of the exterior wall panel is consistent with the center position of the load-bearing plate, so as to facilitate the force balance of the exterior wall panel, and adopts left and right fixing devices, so that the position of the exterior wall panel can be fixed when the exterior wall panel is hoisted to prevent it from slipping.

[0004] Although the above-mentioned prior art solutions can achieve relevant beneficial effects through the structure of the prior art, they still have the following defects: 1. It is impossible to monitor abnormal conditions during the hoisting process of the exterior wall panels, and it is impossible to find problems in time and avoid damage to the exterior wall. 2. The state of the exterior wall panels during storage or hoisting may be different from the actual state in use; the prior art cannot flip the exterior wall panels as needed, and manual intervention may be required at this time, and it is impossible to accurately control the flipping of the exterior wall panels.

[0005] In view of this, we propose a device and method for hoisting and positioning exterior wall panels for green building construction. Summary of the invention

[0006] 1. Technical issues to be solved

[0007] The purpose of the present application is to provide a device and method for hoisting and positioning exterior wall panels for green building construction, which solves the technical problems raised in the above-mentioned background technology, realizes real-time monitoring of the hoisting process of the exterior wall panels, including image acquisition and abnormality recognition, and can promptly discover and warn of possible tilt, offset, uneven force and other problems, thereby avoiding the occurrence of safety accidents and ensuring the safety of construction personnel and on-site equipment; through precise hoisting and positioning, it reduces damage or rework of exterior wall panels caused by improper construction, thereby reducing material loss and cost; supports the flipping of exterior wall panels between different states, increasing the technical effect of flexibility in the construction process.

[0008] 2. Technical solution

[0009] The technical solution of the present application provides a hoisting and positioning device for an exterior wall panel used in green building construction, comprising: a fixing seat, a rotating seat assembly, a flip motor, a rope winding motor, a rope hoisting mechanism, an extension assembly, a clamping assembly and a hoisting monitoring mechanism;

[0010] A rotating seat assembly is rotatably arranged on the fixed seat; a flip motor is fixedly arranged on the fixed seat; the output end of the flip motor is fixedly connected to the center position of the rotating seat assembly; the flip motor can drive the rotating seat assembly to rotate;

[0011] Several rope winding motors are fixed on the fixed seat; ropes are wound around the rotating shafts of the rope winding motors for lifting the exterior wall panels; the rope winding motors are installed at different positions of the fixed seat, and high-strength lifting ropes are wound around the rotating shafts of each motor. These ropes are connected to the exterior wall panels through a specific rope winding mechanism to achieve the lifting function.

[0012] A top plate is fixedly arranged on the top of the fixed seat, and a gear rail is fixedly arranged on the top plate;

[0013] A plurality of suspension rope mechanisms are slidably arranged on the rack rail;

[0014] Four groups of extension components are symmetrically and slidably arranged on the rotating seat component; and clamping components are rotatably arranged on the extension components. The extension components can be telescopically adjusted according to the size of the exterior wall panels. The clamping components can flexibly clamp exterior wall panels of different shapes and sizes.

[0015] A hoisting monitoring mechanism is fixedly installed on the fixed seat; the hoisting monitoring mechanism integrates a variety of sensors (such as displacement sensors, pressure sensors, inclination sensors, etc.) and an intelligent control system. Real-time monitoring of key parameters such as the position, posture, and force of the exterior wall panels during the hoisting process; the hoisting monitoring mechanism monitors abnormal conditions during the hoisting of the exterior wall panels; determines the clamping method of the exterior wall panels according to the size and shape of the exterior wall panels; controls the length of each rope; and controls the movement of the hoisting rope mechanism and the rotation of the swivel assembly.

[0016] Through the above technical solution, the hoisting monitoring mechanism determines the clamping method of the external wall panel according to the size and shape of the external wall panel; adjusts the position of each extension component, clamps and fixes the external wall panel through the clamping component; fixes the rope to the top and both sides of the external wall panel; then the hoisting and positioning operation of the external wall panel can be performed. The hoisting monitoring mechanism monitors abnormal conditions during the hoisting process of the external wall panel and detects abnormal conditions in time.

[0017] As an optional solution of the present invention, the rotating seat assembly includes a rotating plate, a pneumatic suction cup, a guide seat, and an extension drive mechanism;

[0018] The rotating plate is fixedly arranged at the output end of the flip motor;

[0019] Several pneumatic suction cups are fixed on the rotating plate; several guide seats are fixed on the rotating plate; the rotating plate is made of high-strength, wear-resistant materials to ensure stability and durability during the hoisting process. The pneumatic suction cups achieve adsorption and fixation of the exterior wall panels through air pressure control. During the hoisting process, the pneumatic suction cups can fit tightly to the surface of the exterior wall panels, provide stable adsorption force, and effectively prevent the exterior wall panels from shaking or falling off. A laser rangefinder, a level and an electronic angle meter are fixed on the rotating plate.

[0020] A plurality of extension drive mechanisms are fixedly arranged on the rotating plate; the extension drive mechanisms are transmission-connected with the extension components.

[0021] The extension drive mechanism includes a motor A and a spur gear A;

[0022] The motor A is fixedly arranged on the rotating plate; a spur gear A is coaxially fixedly arranged on the output end of the motor A; and the spur gear A is meshingly and transmission-connected with the extension component.

[0023] Through the above technical solution, the exterior wall panels can be adsorbed and fixed by pneumatic suction cups to prevent the exterior wall panels from shaking during the lifting process; the extension drive mechanism can drive the extension components to move and adjust the position.

[0024] As an optional solution of the present invention, the extension assembly includes a connecting plate and a tooth plate;

[0025] Two tooth plates are symmetrically fixed on the connecting plate; the tooth plates are meshed and transmission-connected with the corresponding spur gears A.

[0026] As an optional solution of the present invention, the clamping assembly includes a flap, a telescopic plate and an L-shaped positioning plate;

[0027] The flap is rotatably arranged on the connecting plate of the extension assembly;

[0028] A telescopic plate is slidably arranged on the flap; a plurality of L-shaped positioning plates are fixedly arranged on the telescopic plate; pressure sensors are fixedly arranged on two vertical surfaces of the L-shaped positioning plate; the size and shape of the L-shaped positioning plate can be customized as needed.

[0029] A plurality of electric push rods are fixedly arranged inside the flap, and the ends of the movable rods of the electric push rods are all fixedly connected with the telescopic plate.

[0030] A spur gear D is fixedly arranged on the flap;

[0031] A motor C is fixedly arranged on the connecting plate, and a spur gear C is coaxially fixedly arranged on the output end of the motor C; the spur gear C is meshed and transmission-connected with the spur gear D.

[0032] Through the above technical solution, the starting motor C drives the spur gear C to rotate, and the spur gear C drives the spur gear D to rotate, thereby driving the clamping assembly to rotate; the electric push rod can be used to drive the L-shaped positioning plate to adjust the position. The clamping assembly is used to limit the position of the exterior wall panel.

[0033] As an optional solution of the present invention, the rope suspension mechanism includes a sliding seat, a suspension ring, a motor B and a spur gear B;

[0034] The sliding seat is slidably arranged on the gear rail; three lifting rings are fixedly arranged on the lower end of the sliding seat;

[0035] A motor B is fixedly arranged on the sliding seat, and a spur gear B is coaxially fixedly arranged on the output end of the motor B; the spur gear B is meshingly and transmission-connected with the rack.

[0036] Through the above technical solution, the rope can be passed through the lifting ring to lift the exterior wall panel; the starter B drives the spur gear B to rotate, so that the lifting rope mechanism moves on the rack to adjust the position. The lifting rope mechanism can move easily on the rack to achieve rapid adjustment of the position of the exterior wall panel. The setting of three lifting rings enhances the load-bearing capacity and stability of the system, ensuring that the exterior wall panel remains stable during lifting and moving. A tension sensor is fixed on the rope to detect the tension of the rope.

[0037] As an optional solution of the present invention, the hoisting monitoring mechanism includes:

[0038] Data collection module: collect design drawings of exterior wall panels (including size, material, density and other data);

[0039] Image acquisition module: including high-definition camera, which collects high-definition images of exterior wall panels and lifting process;

[0040] Image preprocessing module: preprocess the collected images, including filtering, denoising, grayscale and normalization; improve image quality, reduce noise interference, and lay the foundation for subsequent feature extraction and recognition analysis.

[0041] Feature extraction module: extracts features from the preprocessed image, including color, texture and shape; by extracting key features, it provides a basis for the recognition, positioning and posture judgment of the exterior wall panels.

[0042] Center of gravity recognition module: Based on the image after feature extraction, the shape and size of the exterior wall panel are identified and the center of gravity position of the exterior wall panel is calculated; ensuring that the arrangement and adjustment of the lifting rope during the lifting process can be accurately carried out around the center of gravity of the exterior wall panel, thereby improving the stability and safety of the lifting.

[0043] Abnormal identification module: Identify and analyze the pre-processed images to promptly detect abnormal conditions during the installation of exterior wall panels, such as tilt, offset, uneven force, etc.

[0044] Flipping and repositioning assessment module: When the exterior wall panel needs to be flipped, the movement strategy of the hoisting rope mechanism and the adjustment strategy of the rope are formulated according to the size and shape of the exterior wall panel. This ensures that the exterior wall panel can be flipped or repositioned smoothly and accurately to meet various requirements during the hoisting process.

[0045] Alarm module: includes an alarm. Once an abnormal situation is detected (such as position deviation, uneven force, rope breakage, etc.), an alarm will be issued and corresponding control measures will be taken (such as emergency braking, adjusting rope length, adjusting clamping force, etc.) to ensure the safety and reliability of the lifting process.

[0046] The above technical solution realizes comprehensive monitoring and control of the hoisting process of the exterior wall panels. It can not only monitor key parameters in real time and detect abnormal situations in time, but also formulate accurate hoisting plans and control strategies according to the characteristics of the exterior wall panels to ensure the safety, efficiency and accuracy of the hoisting process.

[0047] As an optional solution of the present invention, the center of gravity recognition module recognizes the shape and size of the exterior wall panel according to the image after feature extraction, and calculates the center of gravity position of the exterior wall panel; comprising the following steps:

[0048] 1. Shape description: Identify basic shapes such as straight lines and circles through methods such as Hough Transform, or use contour fitting algorithms (such as least squares fitting of ellipses and polygons) to approximate the shape of the exterior wall panel.

[0049] 2. Dimension measurement: Measure the length, width, height and other dimension information of the exterior wall panel based on the detected edge or fitted contour. Extract the shape and size features of the exterior wall panel from the image to provide data support for the subsequent center of gravity calculation.

[0050] 3. Shape analysis and recognition:

[0051] Shape classification: Based on the extracted shape features, the exterior wall panels are classified into rectangles, polygons, circles or other complex shapes.

[0052] Feature matching: Match the extracted shape features with the predefined or databased siding shapes to improve recognition accuracy. Accurately identify the shape of the siding so that the appropriate center of gravity calculation formula or method can be used.

[0053] 4. Center of gravity calculation:

[0054] 4.1. Calculation of the center of gravity based on geometric shapes: For regular shapes such as rectangles and polygons, the center of gravity position can be directly calculated based on geometric formulas. For example, the center of gravity of a rectangle is located at the intersection of its diagonals. For polygons, the center of gravity position of polygonal exterior wall panels is calculated according to the following formula:

[0055] G x =(1 / 6S)*[∑ n i＝1 (x i +x i+1 )]*[∑ n i＝1 (x i y i+1 -y i x i+1 )];

[0056] G y =(1 / 6S)*[∑ n i＝1 (y i +y i+1 )]*[∑ n i＝1 (x i y i+1 -y i x i+1 )];

[0057] S=(1 / 2)*∑ n i＝1 (x i y i+1 -y i x i+1 );

[0058] In the formula, G x and G y Respectively represent the x and y coordinates of the center of gravity of the polygon. n represents the number of vertices of the polygon. (x i ,y i ) represents the x and y coordinates of the ith vertex. (x i+1 ,y i+1 ) represents the x and y coordinates of the i+1th vertex. S represents the area of ​​the polygon.

[0059] 4.2. Calculation of the center of gravity based on image density (for complex shapes): If the shape of the exterior wall panel is uneven, it is necessary to consider the pixel density distribution in the image to calculate the center of gravity. For complex shapes, the center of gravity is calculated according to the following formula:

[0060] In the formula, G x and G y Represents the x and y coordinates of the center of gravity of the polygon. I(x,y) is the grayscale value of the image at point (x,y), and x and y are the coordinates of the pixel.

[0061] Accurately calculate the center of gravity of the exterior wall panel to provide a basis for the arrangement and adjustment of the lifting ropes during the lifting process.

[0062] 5. Result output: The calculated center of gravity position coordinates are output to the hoisting control system. The control system adjusts the layout and length of the hoisting rope according to the center of gravity position to ensure that the exterior wall panels can move and rotate stably around the center of gravity during the hoisting process. At the same time, the center of gravity position and hoisting status are fed back to the operator in real time so that they can make necessary monitoring and adjustments.

[0063] As an optional solution of the present invention, the abnormality recognition module recognizes and analyzes the pre-processed image to timely detect abnormal conditions during the installation of the exterior wall panels, such as tilt, offset, damage, and uneven force. The following steps are included:

[0064] 1. Abnormal situation identification: Based on the extracted features, abnormal situations in the process of exterior wall panel hoisting are identified.

[0065] Tilt identification: Determine whether the siding is tilted by comparing the angle between the edge of the siding and the horizontal or vertical line.

[0066] Offset identification: By comparing the expected position of the exterior wall panel with the actual position, it is determined whether it has offset.

[0067] Identification of uneven force: By analyzing the deformation, crack distribution and other characteristics of the edge of the exterior wall panel and combining it with the mechanical model, it is possible to determine whether the force is uniform.

[0068] 2. Machine learning model: Train a machine learning model (such as convolutional neural network CNN), use the extracted features as input, and identify abnormal situations through model learning. It can automatically learn abnormal patterns from a large amount of data to improve the accuracy and efficiency of recognition.

[0069] 3. Result output: Feedback the identification results to relevant personnel in a timely manner so that corresponding measures can be taken.

[0070] Display the identified abnormalities in the form of images, text or alarm signals. Generate detailed abnormality reports, including abnormality type, location, severity and other information. Establish a feedback mechanism to allow relevant personnel to confirm or correct the recognition results, and adjust the parameters and performance of the recognition model based on the feedback. Improve the accuracy and stability of the abnormality recognition module through continuous learning and optimization.

[0071] As an optional solution of the present invention, the flipping position assessment module formulates the rotation strategy of the flipping motor, the movement strategy of the hoisting rope mechanism and the adjustment strategy of the rope according to the size and shape of the exterior wall panel when the exterior wall panel needs to be flipped. It ensures that the exterior wall panel can be flipped or transposed smoothly and accurately to meet various requirements during the hoisting process. It includes the following steps:

[0072] 1. Demand analysis: Determine the state from which the exterior wall panel needs to be flipped (such as horizontal to vertical, or vice versa). Collect information about the exterior wall panel, including size (length, width, height), weight, shape characteristics (whether there are special shapes or holes), material properties, etc. Assess site conditions and consider factors such as space limitations, wind force, and ground conditions at the hoisting site.

[0073] 2. Rope configuration design: According to the size and weight of the exterior wall panels, select appropriate rope lifting mechanisms (such as cranes, hoisting frames, etc.) and determine their quantity and location.

[0074] Plan the number, position, length and angle of the ropes to ensure that the weight of the exterior wall panels can be evenly distributed and to reduce stress concentration during the flipping process. Consider safety factors and ensure that the ropes have sufficient strength and toughness to withstand the dynamic load during the flipping process. At the same time, design safety devices (such as anti-unhooking, limiters, etc.) to prevent accidents. For each rope, the calculation formula for its winding length and speed is:

[0075] Where, ΔL i represents the reeled length of the i-th rope, that is, the change in the length of the rope during the rotation of the object. i represents the original length of the i-th rope before the object rotates. i = represents the distance from the i-th rope to the center of gravity of the object. A represents the angle of rotation of the object around the center of gravity. V represents the speed of the rope mechanism moving along the rack. W represents the width of the object. In the formula for calculating the rope winding speed, it represents the horizontal distance of the sliding block moving path, that is, the horizontal distance corresponding to the change in rope length. V(L i ) represents the reeling speed of the i-th rope, that is, the length of the rope reeled in unit time. |·| represents taking the absolute value, which is used to ensure that the change in rope length is non-negative.

[0076] 3. Flip or transposition strategy formulation:

[0077] Simulation analysis: Use computer simulation software or physical models to simulate and analyze the flipping or transposition process of the exterior wall panels to evaluate the stability, speed and safety under different strategies.

[0078] Develop detailed steps: Based on the simulation analysis results, develop detailed flipping or transposition steps, including the movement sequence of the suspension rope mechanism, speed control, rope adjustment timing, etc.

[0079] Consider special circumstances: Develop plans to deal with emergencies, such as rope breakage, tilting of exterior wall panels, and other emergency measures.

[0080] 4. Inspection before implementation: Check the lifting rope mechanism and ropes to ensure that all equipment is in good condition without damage or wear. Clean the lifting site to ensure that there are no obstacles that affect the flipping or transposition operation. Provide the operators with necessary safety equipment, such as safety helmets, safety belts, non-slip shoes, etc.

[0081] 5. Perform flipping or transposition operations: Perform flipping or transposition operations according to the detailed steps prepared in advance, and pay attention to controlling the moving speed of the suspension rope mechanism and the adjustment timing of the rope. During the flipping or transposition process, monitor the stability of the exterior wall panel and the force of the rope in real time, and adjust the strategy in time to deal with emergencies. Ensure that the communication between operators is smooth and information and instructions are transmitted in time.

[0082] 6. Evaluation and feedback: Evaluate the flipping or transposition effect of the exterior wall panels to check whether it meets the mission requirements and safety standards. Collect feedback from operators to understand the problems and difficulties encountered during the operation for subsequent improvements. Summarize the lessons learned from the flipping or transposition operation to provide reference and reference for similar tasks in the future.

[0083] The present invention provides a method for hoisting and positioning an exterior wall panel for green building construction, comprising the following steps:

[0084] S1. The image acquisition module of the hoisting monitoring mechanism collects high-definition images of the exterior wall panels and the hoisting process through a high-definition camera;

[0085] S2, the image preprocessing module preprocesses the collected image, including filtering, denoising, graying and normalization, etc.; the feature extraction module extracts features from the preprocessed image, and the extracted features include color, texture and shape;

[0086] S3. The center of gravity recognition module recognizes the shape and size of the exterior wall panel based on the image after feature extraction and calculates the center of gravity position of the exterior wall panel; ensuring that the arrangement and adjustment of the lifting rope during the lifting process can be accurately carried out around the center of gravity of the exterior wall panel.

[0087] S4. Place the swivel assembly on the side of the exterior wall panel so that the center position of the swivel assembly coincides with the center of gravity of the exterior wall panel; and absorb the exterior wall panel by means of a pneumatic suction cup;

[0088] S5. Adjust the positions of the extension components and clamp and fix the exterior wall panels by means of the clamping components;

[0089] S6. Fix the ropes to the top and both sides of the exterior wall panels, adjust the length of each rope to a suitable length; and perform hoisting and positioning operations on the exterior wall panels by means of a crane or a hoist.

[0090] S7. The abnormal identification module monitors the process of hoisting the exterior wall panels and promptly detects abnormal conditions during the process, such as tilt, offset, uneven force, etc.

[0091] S8. When the exterior wall panel needs to be flipped, the flipping position assessment module formulates a movement strategy for the suspension rope mechanism and an adjustment strategy for the rope according to the size and shape of the exterior wall panel.

[0092] S9. According to the planned strategy, the exterior wall panel is flipped and the angle is adjusted by flipping the motor, moving the suspension rope mechanism and adjusting the rope.

[0093] S10. Once an abnormal situation is found, the alarm module will sound an alarm and take corresponding control measures.

[0094] 3. Beneficial effects

[0095] One or more technical solutions provided in the technical solution of this application have at least the following technical effects or advantages:

[0096] 1. The present invention can timely discover and warn of possible tilt, offset, uneven force and other problems by real-time monitoring of the hoisting process of the exterior wall panels, including image acquisition and abnormality recognition, thereby avoiding the occurrence of safety accidents and ensuring the safety of construction personnel and on-site equipment.

[0097] 2. The present invention utilizes image processing and feature extraction technology to accurately identify the shape, size and center of gravity of the exterior wall panels, making the arrangement and adjustment of the lifting ropes more precise, ensuring that the exterior wall panels remain stable during the lifting process, and improving the construction accuracy and the accuracy of the final installation.

[0098] 3. The present invention reduces the time and error of manual judgment and operation through the automated and intelligent hoisting positioning method, and improves the efficiency of hoisting operations. At the same time, the flip position assessment module can formulate the optimal movement and adjustment strategy, further shortening the construction period.

[0099] 4. The present invention reduces damage or rework of exterior wall panels caused by improper construction through precise lifting and positioning, thereby reducing material loss and cost.

[0100] 5. Compared with traditional methods, the present invention reduces the waste of manpower and mechanical resources by adopting high-definition cameras and image processing technology, while avoiding additional energy consumption caused by multiple attempts and adjustments, which is in line with the environmental protection concept of green buildings.

[0101] 6. The present invention increases the flexibility in the construction process by supporting the flipping of the exterior wall panels between different states (from horizontal to vertical or vice versa), making the construction of complex building structures possible.

[0102] 7. The present invention avoids excessive shaking of the exterior wall panels during the hoisting process through a refined hoisting and positioning process, as well as a real-time abnormal monitoring and alarm mechanism; ensures the quality of the exterior wall panel installation and improves the stability and aesthetics of the overall building. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] Figure 1 A schematic diagram of a method for using a hoisting and positioning device for exterior wall panels used in green building construction disclosed in a preferred embodiment of the present application;

[0104] Figure 2 This is a schematic diagram of the overall structure of an exterior wall panel hoisting and positioning device for green building construction disclosed in a preferred embodiment of the present application;

[0105] Figure 3 A schematic diagram of an extension component and a clamping component of an exterior wall panel hoisting and positioning device for green building construction disclosed in a preferred embodiment of the present application;

[0106] Figure 4 A schematic diagram of a hoisting rope mechanism of an exterior wall panel hoisting and positioning device for green building construction disclosed in a preferred embodiment of the present application;

[0107] Figure 5 for Figure 3 Enlarged view of part A in the middle.

[0108] Reference numerals:

[0109] 1. Fixed seat; 2. Turntable assembly; 3. Flipping motor; 4. Rope winding motor; 5. Rope lifting mechanism; 6. Extension assembly; 7. Clamping assembly; 11. Top plate; 12. Gear rail; 21. Turntable; 22. Pneumatic suction cup; 23. Guide seat; 24. Extension drive mechanism; 241. Motor A; 242. Spur gear A; 51. Sliding seat; 52. Lifting ring; 53. Motor B; 54. Spur gear B; 61. Connecting plate; 62. Gear plate; 63. Spur gear C; 71. Flip plate; 72. Telescopic plate; 73. L-shaped positioning plate; 74. Spur gear D. DETAILED DESCRIPTION

[0110] The present application is further described in detail below in conjunction with the accompanying drawings.

[0111] Reference Figure 1 and Figure 2 , the embodiment of the present application provides a green building construction exterior wall panel hoisting positioning device, including: a fixing seat 1, a rotating seat assembly 2, a flip motor 3, a rope winding motor 4, a rope hoisting mechanism 5, an extension assembly 6, a clamping assembly 7 and a hoisting monitoring mechanism;

[0112] The fixing seat 1 serves as the basic supporting structure of the entire lifting and positioning device and is made of high-strength material to ensure stability and reliability.

[0113] A rotating seat assembly 2 is rotatably arranged on the fixed seat 1; a flip motor 3 is fixedly arranged on the fixed seat 1; the output end of the flip motor 3 is fixedly connected to the center position of the rotating seat assembly 2; the flip motor 3 can drive the rotating seat assembly 2 to rotate;

[0114] Several rope winding motors 4 are fixedly arranged on the fixing base 1; ropes are wound around the rotating shafts of the rope winding motors 4 for lifting the exterior wall panels; the rope winding motors 4 are respectively installed at different positions of the fixing base 1, and a high-strength lifting rope is wound around the rotating shaft of each motor. These ropes are connected to the exterior wall panels through a specific rope winding mechanism to achieve the lifting function. The rope winding motors 4 must have overload protection and emergency braking functions to ensure the safety of the lifting process.

[0115] A top plate 11 is fixedly arranged on the top of the fixing seat 1, and a rack 12 is fixedly arranged on the top plate 11;

[0116] A plurality of suspension rope mechanisms 5 are slidably arranged on the rack rail 12;

[0117] Four groups of extension components 6 are symmetrically and slidably arranged on the swivel assembly 2; and clamping components 7 are rotatably arranged on the extension components 6. The extension components 6 can be telescopically adjusted according to the size of the exterior wall panels. The clamping components 7 can flexibly clamp exterior wall panels of different shapes and sizes.

[0118] A hoisting monitoring mechanism is fixedly arranged on the fixed seat 1; the hoisting monitoring mechanism integrates a variety of sensors (such as displacement sensors, pressure sensors, inclination sensors, etc.) and an intelligent control system. The position, posture, force and other key parameters of the exterior wall panel during the hoisting process are monitored in real time; the hoisting monitoring mechanism monitors abnormal conditions during the hoisting of the exterior wall panel; determines the clamping method of the exterior wall panel according to the size and shape of the exterior wall panel; controls the length of each rope; and controls the movement of the hoisting rope mechanism 5 and the rotation of the swivel assembly 2.

[0119] In this technical solution, the hoisting monitoring mechanism determines the clamping method of the external wall panel according to the size and shape of the external wall panel; adjusts the position of each extension component 6, clamps and fixes the external wall panel through the clamping component 7; fixes the rope to the top and both sides of the external wall panel; and then the hoisting and positioning operation of the external wall panel can be performed. The hoisting monitoring mechanism monitors abnormal conditions during the hoisting process of the external wall panel and detects abnormal conditions in time.

[0120] Reference Figure 2 and Figure 3 , the rotating seat assembly 2 includes a rotating plate 21, a pneumatic suction cup 22, a guide seat 23, and an extension driving mechanism 24;

[0121] The rotating plate 21 is fixedly arranged at the output end of the flip motor 3;

[0122] Several pneumatic suction cups 22 are fixedly arranged on the rotating plate 21; several guide seats 23 are fixedly arranged on the rotating plate 21; the rotating plate 21 is made of high-strength, wear-resistant materials to ensure stability and durability during the hoisting process. The pneumatic suction cups 22 achieve adsorption and fixation of the exterior wall panels through air pressure control. During the hoisting process, the pneumatic suction cups 22 can closely fit the surface of the exterior wall panels, provide stable adsorption force, and effectively prevent the exterior wall panels from shaking or falling off. A laser rangefinder, a level and an electronic angle meter are fixedly arranged on the rotating plate 21.

[0123] A plurality of extension drive mechanisms 24 are fixedly disposed on the rotating plate 21 ; the extension drive mechanisms 24 are transmission-connected to the extension assembly 6 .

[0124] The extension drive mechanism 24 includes a motor A241 and a spur gear A242;

[0125] The motor A241 is fixedly arranged on the rotating plate 21 ; a spur gear A242 is coaxially fixedly arranged on the output end of the motor A241 ; the spur gear A242 is meshed and transmission-connected with the extension component 6 .

[0126] In this technical solution, the pneumatic suction cup 22 can be used to absorb and fix the exterior wall panel to prevent the exterior wall panel from shaking during the lifting process; the extension drive mechanism 24 can drive the extension component 6 to move and adjust the position.

[0127] Further, the extension assembly 6 includes a connecting plate 61 and a tooth plate 62;

[0128] Two tooth plates 62 are symmetrically fixedly arranged on the connecting plate 61; the tooth plates 62 are meshed and transmission-connected with the corresponding spur gears A242.

[0129] Reference Figure 3 and Figure 5 , the clamping assembly 7 includes a flap 71, a telescopic plate 72 and an L-shaped positioning plate 73;

[0130] The flap 71 is rotatably disposed on the connecting plate 61 of the extension assembly 6;

[0131] A telescopic plate 72 is slidably provided on the flap 71; a plurality of L-shaped positioning plates 73 are fixedly provided on the telescopic plate 72; pressure sensors are fixedly provided on the two vertical surfaces of the L-shaped positioning plates 73; the size and shape of the L-shaped positioning plates 73 can be customized as needed.

[0132] A plurality of electric push rods are fixedly arranged inside the flap 71 , and the movable rod ends of the electric push rods are all fixedly connected to the telescopic plate 72 .

[0133] A spur gear D74 is fixedly arranged on the flap 71;

[0134] A motor C is fixedly disposed on the connecting plate 61 , and a spur gear C63 is coaxially fixedly disposed on the output end of the motor C; the spur gear C63 is meshed and transmission-connected with the spur gear D74 .

[0135] In this technical solution, the starting motor C drives the spur gear C63 to rotate, and the spur gear C63 drives the spur gear D74 to rotate, thereby driving the clamping assembly 7 to rotate; the electric push rod can drive the L-shaped positioning plate 73 to adjust the position. The clamping assembly 7 is used to limit the exterior wall panel.

[0136] Reference Figure 2 and Figure 5 , the rope suspension mechanism 5 includes a sliding seat 51, a suspension ring 52, a motor B53 and a spur gear B54;

[0137] The sliding seat 51 is slidably disposed on the rack rail 12; three hanging rings 52 are fixedly disposed at the lower end of the sliding seat 51;

[0138] A motor B53 is fixedly arranged on the sliding seat 51 , and a spur gear B54 is coaxially fixedly arranged on the output end of the motor B53 ; the spur gear B54 is meshed and transmission-connected with the rack 12 .

[0139] In this technical solution, the outer wall panel can be lifted by passing the rope through the lifting ring 52; the starter B53 drives the spur gear B54 to rotate, so that the rope mechanism 5 moves and adjusts the position on the rack 12. The rope mechanism can move easily on the rack to achieve rapid adjustment of the position of the outer wall panel. The setting of three lifting rings enhances the load-bearing capacity and stability of the system, ensuring that the outer wall panel remains stable during lifting and moving. A tension sensor is fixed on the rope to detect the tension of the rope.

[0140] Furthermore, the hoisting monitoring mechanism integrates a variety of sensors (such as displacement sensors, pressure sensors, inclination sensors, etc.) and an intelligent control system. Real-time monitoring of key parameters such as the position, posture, and force of the exterior wall panels during the hoisting process; the hoisting monitoring mechanism monitors abnormal conditions during the hoisting of the exterior wall panels; determines the clamping method of the exterior wall panels according to the size and shape of the exterior wall panels; controls the length of each rope; and controls the movement of the hoisting rope mechanism 5 and the rotation of the swivel assembly 2. Including:

[0141] Data collection module: collect design drawings of exterior wall panels (including size, material, density and other data);

[0142] Image acquisition module: including high-definition camera, which collects high-definition images of exterior wall panels and lifting process;

[0143] Image preprocessing module: preprocess the collected images, including filtering, denoising, grayscale and normalization; improve image quality, reduce noise interference, and lay the foundation for subsequent feature extraction and recognition analysis.

[0144] Feature extraction module: extracts features from the preprocessed image, including color, texture and shape; by extracting key features, it provides a basis for the recognition, positioning and posture judgment of the exterior wall panels.

[0145] Center of gravity recognition module: Based on the image after feature extraction, the shape and size of the exterior wall panel are identified and the center of gravity position of the exterior wall panel is calculated; ensuring that the arrangement and adjustment of the lifting rope during the lifting process can be accurately carried out around the center of gravity of the exterior wall panel, thereby improving the stability and safety of the lifting.

[0146] Abnormal identification module: Identify and analyze the pre-processed images to promptly detect abnormal conditions during the installation of exterior wall panels, such as tilt, offset, uneven force, etc.

[0147] Flipping and repositioning assessment module: When the exterior wall panel needs to be flipped (for example, adjusted from a horizontal state to a vertical state, or from a vertical state to a horizontal state), the movement strategy of the rope hoisting mechanism 5 and the adjustment strategy of the rope are formulated according to the size and shape of the exterior wall panel. This ensures that the exterior wall panel can be flipped or repositioned smoothly and accurately to meet various requirements during the hoisting process.

[0148] Alarm module: includes an alarm. Once an abnormal situation is detected (such as position deviation, uneven force, rope breakage, etc.), an alarm will be issued and corresponding control measures will be taken (such as emergency braking, adjusting rope length, adjusting clamping force, etc.) to ensure the safety and reliability of the lifting process.

[0149] In this technical solution, comprehensive monitoring and control of the external wall panel hoisting process is achieved. It can not only monitor key parameters in real time and detect abnormal situations in time, but also formulate accurate hoisting plans and control strategies according to the characteristics of the external wall panels to ensure the safety, efficiency and accuracy of the hoisting process.

[0150] Furthermore, the center of gravity recognition module recognizes the shape and size of the exterior wall panel according to the image after feature extraction, and calculates the center of gravity position of the exterior wall panel; the following steps are included:

[0151] 1. Shape description: Identify basic shapes such as straight lines and circles through methods such as Hough Transform, or use contour fitting algorithms (such as least squares fitting of ellipses and polygons) to approximate the shape of the exterior wall panel.

[0152] 2. Dimension measurement: Measure the length, width, height and other dimension information of the exterior wall panel based on the detected edge or fitted contour. Extract the shape and size features of the exterior wall panel from the image to provide data support for the subsequent center of gravity calculation.

[0153] 3. Shape analysis and recognition:

[0154] Shape classification: Based on the extracted shape features, the exterior wall panels are classified into rectangles, polygons, circles or other complex shapes.

[0155] Feature matching: Match the extracted shape features with predefined or database exterior wall panel shapes to improve recognition accuracy.

[0156] Accurately identify the shape of the exterior wall panels so that the appropriate center of gravity calculation formula or method can be used.

[0157] 4. Center of gravity calculation:

[0158] 4.1. Calculation of the center of gravity based on geometric shapes: For regular shapes such as rectangles and polygons, the center of gravity position can be directly calculated based on geometric formulas. For example, the center of gravity of a rectangle is located at the intersection of its diagonals. For polygons, the center of gravity position of polygonal exterior wall panels is calculated according to the following formula:

[0159] G x =(1 / 6S)*[∑ n i＝1 (x i +x i+1 )]*[∑ n i＝1 (x i y i+1 -y i x i+1 )];

[0160] G y=(1 / 6S)*[∑ n i＝1 (y i +y i+1 )]*[∑ n i＝1 (x i y i+1 -y i x i+1 )];

[0161] S=(1 / 2)*∑ n i＝1 (x i y i+1 -y i x i+1 );

[0162] In the formula, G x and G y Respectively represent the x and y coordinates of the center of gravity of the polygon. n represents the number of vertices of the polygon. (x i ,y i ) represents the x and y coordinates of the ith vertex. (x i+1 ,y i+1 ) represents the x and y coordinates of the i+1th vertex. S represents the area of ​​the polygon.

[0163] 4.2. Calculation of the center of gravity based on image density (for complex shapes): If the shape of the exterior wall panel is uneven, it is necessary to consider the pixel density distribution in the image to calculate the center of gravity. For complex shapes, the center of gravity is calculated according to the following formula:

[0164] In the formula, G x and G y Represents the x and y coordinates of the center of gravity of the polygon. I(x,y) is the grayscale value of the image at point (x,y), and x and y are the coordinates of the pixel.

[0165] Accurately calculate the center of gravity of the exterior wall panel to provide a basis for the arrangement and adjustment of the lifting ropes during the lifting process.

[0166] 5. Result output: The calculated center of gravity position coordinates are output to the hoisting control system. The control system adjusts the layout and length of the hoisting rope according to the center of gravity position to ensure that the exterior wall panels can move and rotate stably around the center of gravity during the hoisting process. At the same time, the center of gravity position and hoisting status are fed back to the operator in real time so that they can make necessary monitoring and adjustments.

[0167] Furthermore, the abnormality recognition module recognizes and analyzes the pre-processed images to promptly detect abnormalities during the installation of the exterior wall panels, such as tilt, offset, damage, and uneven force. The following steps are included:

[0168] 1. Abnormal situation identification: Based on the extracted features, abnormal situations in the process of exterior wall panel hoisting are identified.

[0169] Tilt identification: Determine whether the siding is tilted by comparing the angle between the edge of the siding and the horizontal or vertical line.

[0170] Offset identification: By comparing the expected position of the exterior wall panel with the actual position, it is determined whether it has offset.

[0171] Identification of uneven force: By analyzing the deformation, crack distribution and other characteristics of the edge of the exterior wall panel and combining it with the mechanical model, it is possible to determine whether the force is uniform.

[0172] 2. Machine learning model: Train a machine learning model (such as convolutional neural network CNN), use the extracted features as input, and identify abnormal situations through model learning. It can automatically learn abnormal patterns from a large amount of data to improve the accuracy and efficiency of recognition.

[0173] 3. Result output: Feedback the identification results to relevant personnel in a timely manner so that corresponding measures can be taken.

[0174] Display the identified abnormalities in the form of images, text or alarm signals. Generate detailed abnormality reports, including abnormality type, location, severity and other information. Establish a feedback mechanism to allow relevant personnel to confirm or correct the recognition results, and adjust the parameters and performance of the recognition model based on the feedback. Improve the accuracy and stability of the abnormality recognition module through continuous learning and optimization.

[0175] Furthermore, when the exterior wall panel needs to be flipped (for example, adjusted from a horizontal state to a vertical state, or from a vertical state to a horizontal state), the flipping position assessment module formulates the rotation strategy of the flipping motor 3, the movement strategy of the suspension rope mechanism 5, and the adjustment strategy of the rope according to the size and shape of the exterior wall panel. This ensures that the exterior wall panel can be flipped or transposed smoothly and accurately to meet various requirements during the hoisting process. The following steps are included:

[0176] 1. Demand analysis:

[0177] Clarify task requirements: Determine from which state the exterior wall panel needs to be flipped to which state (such as horizontal to vertical, or vice versa).

[0178] Collect information about exterior wall panels: including size (length, width, height), weight, shape characteristics (whether there are special shapes or holes), material properties, etc.

[0179] Assess site conditions: Consider factors such as space limitations, wind forces, and ground conditions at the lifting site.

[0180] 2. Rope configuration design: According to the size and weight of the exterior wall panels, select appropriate rope lifting mechanisms (such as cranes, hoisting frames, etc.) and determine their quantity and location.

[0181] Plan the number, location, length and angle of the ropes to ensure that the weight of the exterior wall panels can be evenly distributed and to reduce stress concentration during the flipping process. Consider safety factors and ensure that the ropes have sufficient strength and toughness to withstand the dynamic load during the flipping process. At the same time, design safety devices (such as anti-unhooking, limiters, etc.) to prevent accidents.

[0182] For each rope, the calculation formula for its winding length and speed is:

[0183] Where, ΔL i represents the reeled length of the i-th rope, that is, the change in the length of the rope during the rotation of the object. i represents the original length of the i-th rope before the object rotates. i =W represents the distance from the i-th rope to the center of gravity of the object. A represents the angle of rotation of the object around the center of gravity. V represents the speed at which the rope suspension mechanism 5 moves along the rack 12. W represents the width of the object. In the formula for calculating the rope winding speed, it represents the horizontal distance of the sliding block moving path, that is, the horizontal distance corresponding to the change in rope length. V(L i ) represents the reeling speed of the i-th rope, that is, the length of the rope reeled in unit time. |·| represents taking the absolute value, which is used to ensure that the change in rope length is non-negative.

[0184] 3. Flip or transposition strategy formulation:

[0185] Simulation analysis: Use computer simulation software or physical models to simulate and analyze the flipping or transposition process of the exterior wall panels to evaluate the stability, speed and safety under different strategies.

[0186] Develop detailed steps: Based on the simulation analysis results, develop detailed flipping or transposition steps, including the movement sequence of the suspension rope mechanism, speed control, rope adjustment timing, etc.

[0187] Consider special circumstances: Develop plans to deal with emergencies, such as rope breakage, tilting of exterior wall panels, and other emergency measures.

[0188] 4. Inspection before implementation: Check the lifting rope mechanism and ropes to ensure that all equipment is in good condition without damage or wear. Clean the lifting site to ensure that there are no obstacles that affect the flipping or transposition operation. Provide the operators with necessary safety equipment, such as safety helmets, safety belts, non-slip shoes, etc.

[0189] 5. Implement flipping or transposition operations:

[0190] Perform the flipping or repositioning operation according to the detailed steps prepared in advance, paying attention to controlling the movement speed of the suspension rope mechanism and the timing of rope adjustment.

[0191] Real-time monitoring: During the flipping or transposition process, the stability of the exterior wall panels and the stress of the ropes are monitored in real time, and strategies are adjusted in time to deal with emergencies. Ensure smooth communication between operators and timely delivery of information and instructions.

[0192] 6. Evaluation and feedback: Evaluate the flipping or transposition effect of the exterior wall panels to check whether they meet the mission requirements and safety standards. Collect feedback from operators to understand the problems and difficulties encountered during the operation for subsequent improvements. Summarize the lessons learned from this flipping or transposition operation to provide reference and reference for similar missions in the future.

[0193] The present invention provides a method for hoisting and positioning an exterior wall panel for green building construction, comprising the following steps:

[0194] S1. The image acquisition module of the hoisting monitoring mechanism collects high-definition images of the exterior wall panels and the hoisting process through a high-definition camera;

[0195] S2, the image preprocessing module preprocesses the collected image, including filtering, denoising, graying and normalization, etc.; the feature extraction module extracts features from the preprocessed image, and the extracted features include color, texture and shape;

[0196] S3. The center of gravity recognition module recognizes the shape and size of the exterior wall panel based on the image after feature extraction and calculates the center of gravity position of the exterior wall panel; ensuring that the arrangement and adjustment of the lifting rope during the lifting process can be accurately carried out around the center of gravity of the exterior wall panel.

[0197] S4, placing the swivel assembly 2 on the side of the exterior wall panel so that the center position of the swivel assembly 2 coincides with the center of gravity of the exterior wall panel; and sucking the exterior wall panel by means of the pneumatic suction cup 22;

[0198] S5, adjusting the position of each extension component 6, and clamping and fixing the exterior wall panel through the clamping component 7;

[0199] S6. Fix the ropes to the top and both sides of the exterior wall panels, adjust the length of each rope to a suitable length; and perform hoisting and positioning operations on the exterior wall panels by means of a crane or a hoist.

[0200] S7. The abnormal identification module monitors the process of hoisting the exterior wall panels and promptly detects abnormal conditions during the process, such as tilt, offset, uneven force, etc.

[0201] S8. When the exterior wall panel needs to be flipped (for example, adjusted from a horizontal state to a vertical state, or from a vertical state to a horizontal state), the flipping position evaluation module formulates a movement strategy of the suspension rope mechanism 5 and an adjustment strategy of the rope according to the size and shape of the exterior wall panel.

[0202] S9. According to the planned strategy, the exterior wall panel is flipped and the angle is adjusted by flipping the motor 3, moving the suspension rope mechanism and adjusting the rope.

[0203] S10. Once an abnormal situation is found (such as position deviation, uneven force, rope breakage, etc.), the alarm module will sound an alarm and take corresponding control measures.

[0204] The working principle of the hoisting and positioning device for the exterior wall panel used in the green building construction of the present invention is as follows: the image acquisition module of the hoisting monitoring mechanism collects high-definition images of the exterior wall panel and the hoisting process through a high-definition camera; the image preprocessing module preprocesses the collected images, including filtering and denoising, graying and normalization, etc.; the feature extraction module extracts features from the preprocessed images, and the extracted features include color, texture and shape; the center of gravity recognition module recognizes the shape and size of the exterior wall panel according to the image after feature extraction, and calculates the center of gravity position of the exterior wall panel; ensure that the arrangement and adjustment of the lifting rope during the hoisting process can be accurately performed around the center of gravity of the exterior wall panel. Place the rotating seat assembly 2 on the side of the exterior wall panel so that the center position of the rotating seat assembly 2 coincides with the center of gravity position of the exterior wall panel; adsorb the exterior wall panel through the pneumatic suction cup 22; adjust the position of each extension assembly 6, and clamp and fix the exterior wall panel through the clamping assembly 7; fix the rope to the top and both sides of the exterior wall panel, and adjust the length of each rope to a suitable length; and perform the hoisting and positioning operation of the exterior wall panel through a crane or a crane. The abnormal identification module monitors the hoisting process of the exterior wall panel and promptly detects abnormal conditions in the hoisting process of the exterior wall panel; when the exterior wall panel needs to be flipped, the flip position assessment module formulates the movement strategy of the hanging rope mechanism 5 and the adjustment strategy of the rope according to the size and shape of the exterior wall panel. According to the planned strategy, the exterior wall panel is flipped and the angle is adjusted by the flip motor 3, the movement of the hanging rope mechanism and the adjustment of the rope. Once an abnormal condition is found, the alarm module will sound an alarm and take corresponding control measures.

[0205] The present invention can improve construction safety. By real-time monitoring of the hoisting process of the exterior wall panel, including image acquisition and abnormality recognition, it can timely discover and warn of possible tilt, offset, uneven force and other problems, thereby avoiding the occurrence of safety accidents and ensuring the safety of construction personnel and on-site equipment. The construction accuracy can be improved. By using image processing and feature extraction technology, the shape, size and center of gravity position of the exterior wall panel can be accurately identified, so that the arrangement and adjustment of the hoisting rope can be more accurate, ensuring that the exterior wall panel remains stable during the hoisting process, and improving the construction accuracy and the accuracy of the final installation. Through the automated and intelligent hoisting positioning method, the time and error of manual judgment and operation are reduced, and the efficiency of the hoisting operation is improved. At the same time, the flip position evaluation module can formulate the optimal movement and adjustment strategy, further shortening the construction period. Accurate hoisting and positioning reduce the damage or rework of the exterior wall panel caused by improper construction, thereby reducing material loss and cost. The flexibility can be enhanced, the flipping of the exterior wall panel between different states is supported, the flexibility in the construction process is increased, and the construction of complex building structures is possible.

[0206] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those 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 thereof may be replaced by equivalents. However, these 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 invention.

Claims

1. A method for hoisting and positioning exterior wall panels for green building construction, characterized in that: The following steps are involved: S1. The image acquisition module of the hoisting monitoring mechanism acquires high-definition images of the exterior wall panels and the hoisting process; S2, the image preprocessing module preprocesses the collected image; the feature extraction module extracts features from the preprocessed image, and the extracted features include color, texture and shape; S3, the center of gravity recognition module recognizes the shape and size of the exterior wall panel according to the image after feature extraction, and calculates the center of gravity position of the exterior wall panel; S4. Place the swivel assembly on the side of the exterior wall panel so that the center position of the swivel assembly coincides with the center of gravity of the exterior wall panel; and absorb the exterior wall panel by means of a pneumatic suction cup; S5. Adjust the positions of the extension components and clamp and fix the exterior wall panels by means of the clamping components; S6. Fix the ropes to the top and both sides of the exterior wall panels, adjust the lengths of the ropes to appropriate lengths, and perform hoisting and positioning operations on the exterior wall panels by means of a crane; S7. The abnormality identification module monitors the external wall panel hoisting process and promptly detects abnormal conditions during the external wall panel hoisting process; S8. When the exterior wall panel needs to be flipped, the flipping position assessment module formulates a movement strategy of the suspension rope mechanism and an adjustment strategy of the rope according to the size and shape of the exterior wall panel; S9, according to the planned strategy, the outer wall panel is flipped and the angle is adjusted by moving the flip motor, the hanging rope mechanism and the rope; S10. Once an abnormal situation is found, the alarm module sounds an alarm and takes corresponding control measures.

2. The method for hoisting and positioning exterior wall panels for green building construction according to claim 1 is characterized in that: Step S3 includes the following steps: S31, shape description: using contour fitting algorithm to approximate the shape of the exterior wall panel; S32, size measurement: measuring the length, width and height size information of the exterior wall panel according to the detected edge or fitted contour; extracting the shape and size features of the exterior wall panel from the image; S33, shape analysis and recognition: according to the extracted shape features, the exterior wall panels are classified into rectangles, polygons, circles or other complex shapes; the extracted shape features are matched with the predefined exterior wall panel shapes to accurately identify the shapes of the exterior wall panels; S34, center of gravity calculation: Calculate the center of gravity according to the shape of the exterior wall panel; accurately calculate the center of gravity position of the exterior wall panel to provide a basis for the arrangement and adjustment of the lifting rope during the lifting process; S35, result output: output the calculated center of gravity position coordinates to the hoisting control system; the control system adjusts the arrangement and length of the hoisting rope according to the center of gravity position.

3. The method for hoisting and positioning exterior wall panels for green building construction according to claim 2 is characterized in that: Step S34 includes the following steps: S34.

1. Calculation of the center of gravity based on geometric shapes: For rectangular and polygonal regular shapes, the center of gravity position is calculated directly according to the geometric formula; for polygons, the center of gravity position of the polygonal exterior wall panel is calculated according to the following formula: G x =(1 / 6S)*[∑ n i＝1 (x i +x i+1 )]*[∑ n i＝1 (x i y i+1 -y i x i+1 )]; G y =(1 / 6S)*[∑ n i＝1 (and i +y i+1 )]*[∑ n i＝1 (x i and i+1 -and i x i+1 )]; S=(1 / 2)*∑ n i＝1 (x i y i+1 -y i x i+1 );where G x and G y They represent the x and y coordinates of the center of gravity of the polygon respectively; n represents the number of vertices of the polygon; (x i ,y i ) represents the x and y coordinates of the i-th vertex; (x i+1 ,y i+1 ) represents the x and y coordinates of the i+1th vertex; S represents the area of ​​the polygon; S34.2 For complex shapes, calculate the center of gravity as follows: In the formula, G x and G y Respectively represent the x and y coordinates of the center of gravity of the polygon; I(x,y) is the grayscale value of the image at point (x,y), and x and y are the coordinates of the pixel.

4. The method for hoisting and positioning exterior wall panels for green building construction according to claim 1 is characterized in that: Step S7 includes the following steps: S71. Abnormal situation identification: Based on the extracted features, identify abnormal situations during the hoisting process of the exterior wall panel; judge whether it is tilted by comparing the angle between the edge of the exterior wall panel and the horizontal or vertical line; judge whether it is offset by comparing the expected position and the actual position of the exterior wall panel; judge whether the force is uniform by analyzing the deformation and crack distribution characteristics of the edge of the exterior wall panel and combining the mechanical model; S72. Machine learning model: Train a convolutional neural network (CNN) machine learning model, use the extracted features as input, and identify abnormal situations through model learning; S73. Result output: Display the identified abnormal situation in the form of images, text or alarm signals, generate a detailed abnormality report, and feed back the identification results to relevant personnel in a timely manner so that corresponding measures can be taken.

5. The method for hoisting and positioning exterior wall panels for green building construction according to claim 1 is characterized in that: Step S8 includes the following steps: S81. Demand analysis: determine the state from which the exterior wall panels need to be flipped; collect exterior wall panel information; evaluate site conditions; S82. Rope configuration design: According to the size and weight of the exterior wall panels, select the appropriate rope mechanism and determine its quantity and position; for each rope, the calculation formula for its winding length and speed is: Where, ΔL i represents the reeled length of the i-th rope; L i represents the original length of the i-th rope before the object rotates; d i represents the distance from the i-th rope to the center of gravity of the object; A represents the angle of rotation of the object around the center of gravity; V represents the speed of the rope mechanism moving along the rack; W represents the horizontal distance corresponding to the change in rope length; V(L i ) represents the winding speed of the i-th rope; |·| represents the absolute value; S83. Formulation of flipping or transposition strategy: Use computer simulation software to simulate and analyze the flipping or transposition process of the exterior wall panels, and evaluate the stability, speed and safety under different strategies; Based on the simulation analysis results, formulate detailed flipping or transposition steps, including the movement sequence of the suspension rope mechanism, speed control and rope adjustment timing; S84. Inspection before implementation: Check the lifting rope mechanism and ropes to ensure that all equipment is in good condition and free of damage or wear; clean the lifting site to ensure that there are no obstacles that affect the turning or transposition operation; S85. Perform flipping or transposition operation: Perform flipping or transposition operation according to the detailed steps prepared in advance, and pay attention to controlling the moving speed of the suspension rope mechanism and the adjustment timing of the rope; during the flipping or transposition process, monitor the stability of the exterior wall panel and the stress of the rope in real time, and adjust the strategy in time to deal with emergencies; S86. Evaluation and feedback: Evaluate the flipping or transposition effect of the exterior wall panels to check whether they meet the mission requirements and safety standards; summarize the lessons learned from the flipping or transposition operation to provide reference and reference for similar missions in the future.

6. The method for hoisting and positioning exterior wall panels for green building construction according to claim 1, characterized in that: The rotating seat assembly includes a rotating plate, a pneumatic suction cup, a guide seat, and an extension drive mechanism; The rotating plate is fixedly arranged at the output end of the flip motor; A plurality of pneumatic suction cups are fixedly arranged on the rotating plate; a plurality of guide seats are fixedly arranged on the rotating plate; a laser rangefinder, a level and an electronic angle meter are fixedly arranged on the rotating plate; A plurality of extension drive mechanisms are fixedly arranged on the rotating plate; the extension drive mechanisms are transmission-connected with the extension components; the extension drive mechanisms include a motor A and a spur gear A; The motor A is fixedly arranged on the rotating plate; a spur gear A is coaxially fixedly arranged on the output end of the motor A; and the spur gear A is meshingly and transmission-connected with the extension component.

7. The method for hoisting and positioning exterior wall panels for green building construction according to claim 6, characterized in that: The extension assembly includes a connecting plate and a tooth plate; two tooth plates are symmetrically fixedly arranged on the connecting plate; the tooth plate is meshed and transmission-connected with the corresponding spur gear A; The clamping assembly includes a flap, a telescopic plate and an L-shaped positioning plate; The flap is rotatably arranged on the connecting plate of the extension assembly; A telescopic plate is slidably arranged on the flap; a plurality of L-shaped positioning plates are fixedly arranged on the telescopic plate; pressure sensors are fixedly arranged on the two vertical surfaces of the L-shaped positioning plate; a plurality of electric push rods are fixedly arranged inside the flap, and the ends of the movable rods of the electric push rods are fixedly connected to the telescopic plate; A spur gear D is fixedly arranged on the flap; a motor C is fixedly arranged on the connecting plate, and a spur gear C is coaxially fixedly arranged on the output end of the motor C; the spur gear C and the spur gear D are meshed and transmission-connected.

8. The method for hoisting and positioning exterior wall panels for green building construction according to claim 4, characterized in that: The rope suspension mechanism comprises a sliding seat, a lifting ring, a motor B and a spur gear B; the sliding seat is slidably arranged on a rack; three lifting rings are fixedly arranged at the lower end of the slide; the motor B is fixedly arranged on the sliding seat, and the output end of the motor B is coaxially fixedly arranged with a spur gear B; the spur gear B and the rack are meshingly connected for transmission.

9. The method for hoisting and positioning exterior wall panels for green building construction according to claim 1, characterized in that: The hoisting monitoring agencies include: Data collection module: collects design drawings of exterior wall panels, including size, material and density data; Image acquisition module: including high-definition camera, which collects high-definition images of exterior wall panels and lifting process; Image preprocessing module: preprocess the collected images, including filtering, denoising, grayscale and normalization; Feature extraction module: extracts features from the preprocessed image. The extracted features include color, texture and shape. Center of gravity recognition module: recognizes the shape and size of the exterior wall panel based on the image after feature extraction, and calculates the center of gravity position of the exterior wall panel; Abnormal identification module: Identify and analyze the pre-processed images to promptly detect abnormalities during the installation of exterior wall panels; Flipping position assessment module: when the exterior wall panel needs to be flipped, the movement strategy of the suspension rope mechanism and the adjustment strategy of the rope are formulated according to the size and shape of the exterior wall panel; Alarm module: includes an alarm, which will promptly sound an alarm and take corresponding control measures once an abnormal situation is detected.

10. An exterior wall panel hoisting and positioning device for green building construction, comprising: A fixed seat, a rotating seat assembly, a flip motor, a rope winding motor, a rope lifting mechanism, an extension assembly, a clamping assembly and a lifting monitoring mechanism; the characteristics are: A rotating seat assembly is rotatably arranged on the fixed seat; a flip motor is fixedly arranged on the fixed seat; an output end of the flip motor is fixedly connected to the center position of the rotating seat assembly; A plurality of rope winding motors are fixedly arranged on the fixed seat; ropes are wound around the rotating shafts of the rope winding motors for lifting the exterior wall panels; a top plate is fixedly arranged on the top of the fixed seat, and a gear rail is fixedly arranged on the top plate; A plurality of hanging rope mechanisms are slidably arranged on the rack rail; four groups of extension components are symmetrically slidably arranged on the rotating seat component; and clamping components are rotatably arranged on the extension components; A hoisting monitoring mechanism is fixedly arranged on the fixing seat; the hoisting monitoring mechanism monitors the position, posture and stress condition parameters of the exterior wall panel during the hoisting process in real time; the hoisting monitoring mechanism monitors abnormal conditions during the hoisting process of the exterior wall panel.

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