Glass curtain wall construction system and method of flexible cable driven parallel robot

Abstract

The invention discloses a glass curtain wall construction system with a flexible cable driving parallel robot, and the system comprises a server which is in wireless connection with a terminal installed on a robot motion platform and a wireless communication module, and is used for receiving and transmitting data, obtaining a BIM model of a building needing to be installed, and constructing an overall installation module, and a process two-dimensional code is generated and pasted to the position where the glass curtain wall needs to be installed. The invention relates to the technical field of glass curtain wall installation. According to the glass curtain wall construction system and method of the flexible cable driven parallel robot, a camera and a marking two-dimensional code are used for cooperatively marking and installing each piece of glass, the rapidity and accuracy of installation are guaranteed, meanwhile, all data are recorded in a server, the installation process can be rapidly verified and modified, the reworking responsible degree is reduced, and the construction efficiency is improved. The problem that in the existing glass curtain wall installation process, the installation position is prone to occurring, reworking is caused, and the construction period is delayed is solved, meanwhile, the manual intervention process is added, and it is guaranteed that the whole installation process can be safely carried out.

Description

Technical Field

[0001] The present invention relates to the technical field of glass curtain wall installation, and in particular to a glass curtain wall construction system and method of a flexible cable driven parallel robot. Background Art

[0002] Glass curtain wall refers to the building's external protective structure or decorative structure that has a certain displacement ability relative to the main structure and does not share the effects on the main structure. It is a beautiful and novel method of building wall decoration and a significant feature of the modernist high-rise building era. The wall has two types of single-layer and double-layer glass, which have the advantages of being light and beautiful, not easy to pollute, and saving energy. In terms of movement, the existing glass curtain wall installation robots on the market mainly install cantilever beams on the roof and suspend the glass curtain wall with a wire rope winder. Since a hoisting device needs to be installed on the roof, there will be certain damage to the building, and the layout time is too long, resulting in low overall operation efficiency. Moreover, since there is only a constraint in one direction, the glass curtain wall and the installation basket have poor stability and a low safety factor. The crane + "suction cup" installation method is mainly to install a suction cup at the end of the crane arm to transport the glass curtain wall for installation. The crane position needs to be readjusted each time the installation is installed, the installation efficiency is low, and the requirements for technical workers are high.

[0003] In the existing method of installing glass curtain walls on the market, since a lot of glass needs to be installed during construction and the building to be installed is also high, workers are required to manually mark each piece of glass. This method is very lengthy and extremely easy to cause glass to be installed incorrectly, resulting in construction delays and rework, causing unnecessary manpower losses. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a glass curtain wall construction system and method of a flexible cable-driven parallel robot, which solves the problems in the existing glass curtain wall installation method that each piece of glass needs to be manually marked, which easily causes the glass to be installed incorrectly, resulting in construction delays and rework; the glass curtain wall and the installation hanging basket have poor stability and a low safety factor when installed by hoisting; and the crane + "suction cup" installation method requires the crane position to be readjusted each time installation, resulting in low installation efficiency.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A glass curtain wall construction system of a flexible cable driven parallel robot, comprising: The server is connected to the terminal and wireless communication module installed on the robot motion platform through wireless communication to send and receive data, and then obtains the BIM model of the building to be installed to build the overall installation module, and generates a process QR code to be pasted at the location where the glass curtain wall needs to be installed. The installation inspection and acceptance module then inspects the installation quality; The curtain wall model construction module obtains the BIM model of the building to be installed to build the overall installation module; The construction process generation module locates and numbers all glass installation locations according to the team's construction process, sorts the work processes, and sends them to the workers for preparation. At the same time, according to the set process, the process QR code is pasted at the location where the glass curtain wall needs to be installed; QR code generation module: the QR code is written by the server and includes the installation sequence, installation method, installation location, installed curtain wall pictures and installation shifts. The installation location and the current status of the glass curtain wall can be located through the QR code; Install an early warning unit to monitor the installation process of the glass curtain wall and send an alarm message to the server when an installation error is identified; The process control unit pastes the installation sequence QR code inside the glass for verification during each installation to prevent rework caused by installation errors; The installation inspection and acceptance module detects the assembly quality of the glass curtain wall according to the image of the glass curtain wall collected by the terminal and feeds back the inspection results to the server, and the installer evaluates and determines whether the installation is good or not and whether it needs to be reinstalled; The robot motion platform includes an installed terminal, wireless communication module and depth camera. The terminal and wireless communication module are used to send and receive data, and the depth camera scans and identifies the QR code on the glass curtain wall to further verify the installation location and method; The ground camera locates the robot motion platform in real time.

[0006] A glass curtain wall construction method using a flexible cable driven parallel robot specifically comprises the following steps: S1. Build a BIM model according to the construction drawing and locate all glass curtain wall positions; S2. The team receives all the location information, analyzes all the installation location information, numbers all the glass curtain walls, generates the construction process according to the numbering, and sends it to the construction personnel; S3. The construction personnel print the QR code with the number and location data, and paste it to the location where it needs to be installed; S4. According to the glass curtain wall number data and position data written in S2, add the installation process data, installation status data and the relevant information of the adjacent label position number again, print the QR code, and paste it on all the glass. The specific operations are as follows: s41. The construction personnel set the installation process according to the current position of the QR code, determine the installation process, and input the data into the server; s42, the server automatically generates a QR code, prints the QR code, and the worker sticks it on the glass. The server identifies the UID code and enters the number, installation position, installation status, and number information of adjacent tags in the electronic tag corresponding to the glass curtain wall; S5. During the installation of the glass curtain wall, the ground camera is used to locate the installation motion platform in real time, and the early warning and alarm unit is activated. The worker scans the QR code on the glass curtain wall and inputs its data into the robot. After the robot decodes it, the robot performs installation movement according to the set process and reaches the installation location by itself for installation; S6. After the robot arrives at the installation location, it uses the depth camera to scan the QR code to further verify the installation location and method, and determine whether the installation location matches; S7. If they match, cooperate with the workers to install and complete the installation process. If they do not match, the current installation is judged to be wrong. If they do not match, an alarm will be directly triggered and feedback will be given to the server to ask for the next step. If the distance error range is within 5cm, it will be judged as a match. The motion platform of the ground camera will be used for positioning. If there is an error, the data will be fed back. If there is no error, the QR code will be rewritten and the installation process will be carried out again.

[0007] Preferably, in S1, the curtain wall construction drawings are imported into the BIM model as a reference for locating the curtain wall position. According to the construction drawings, the curtain wall grid tool is used to draw the grid lines of the curtain wall. According to the positions of the grid lines, the vertical bars, beams and panels of the curtain wall are placed, and the position and size of the glass are paid attention to to ensure that they are consistent with the construction drawings, and the position, size and angle of the curtain wall components are adjusted.

[0008] Preferably, in S2, a detailed position analysis is performed on the glass curtain wall in each area, including the floor where it is located, the wall position, and the relative position of the adjacent curtain walls, and a specific installation position code is assigned to each curtain wall unit based on the result of the position analysis.

[0009] Preferably, the specific operation steps in s42 are: A1. Use an RFID reader or other identification device to scan the electronic tag on the glass curtain wall, obtain its UID code, and compare the identified UID code with the information in the server database to confirm the identity of the electronic tag; A2. According to the electronic tag matched by the UID code, the corresponding number, installation location, installation status and other information are searched on the server, and the information is written into the storage area of ​​the electronic tag through the RFID reader or other communication methods; A3. Search the server for the adjacent tag number information of the current electronic tag, write the adjacent tag number information into the storage area of ​​the current electronic tag, or write it into the database of the server, and associate it with the UID code of the current electronic tag.

[0010] Preferably, in A2, the information is written into the storage area of ​​the electronic tag, and the following operations are performed on the data: a21. After the information is written, the server will verify the data to ensure that the written information is accurate. If there is any error, it will be corrected and rewritten in time; a22. Synchronously update the written information to the server's database to ensure that the information in the database is consistent with the information in the electronic tag.

[0011] Preferably, in S7, the detection and determination basis of the installation position and mode by the installation warning unit is: If the installation position does not match, the robot stops running and sends data to the server, and the camera set on the ground locates the motion platform; If it is correct, re-analyze the QR code data, perform manual intervention, re-write the QR code data, and continue the installation; If there is an error, the motion platform will move again according to the data in the QR code to complete the installation process and release the alarm. Beneficial Effects

[0012] The present invention provides a glass curtain wall construction system and method using a flexible cable driven parallel robot. Compared with the prior art, it has the following beneficial effects: (1) The glass curtain wall construction system and method of the flexible cable driven parallel robot are written by the server through the QR code, and the content includes the installation sequence, installation method, installation location, installed curtain wall picture and installation shift. The installation location and the current state of the glass curtain wall can be located through the QR code. The camera and the marking QR code are used to coordinately mark and install each piece of glass, ensuring the speed and accuracy of the installation and reducing the labor cost. At the same time, all the data are recorded in the server, which can quickly verify and modify the installation process and reduce the responsibility of rework.

[0013] (2) The glass curtain wall construction system and method of the flexible cable driven parallel robot locates and numbers all glass installation positions according to the construction process of the team, sorts the work process, and sends it to the workers for preparation. At the same time, according to the set process, the process QR code is pasted at the location where the glass curtain wall needs to be installed. Each glass curtain wall can be subjected to a separate process flow to control its installation, effectively reducing costs and improving reuse rate.

[0014] (3) The glass curtain wall construction system and method of the flexible cable driven parallel robot detects the assembly quality of the glass curtain wall based on the image of the glass curtain wall collected by the terminal and feeds back the detection result to the server. The installer evaluates the installation and determines whether the installation is good or not and whether it needs to be reinstalled. The installation position is monitored and an alarm message is sent when an installation error occurs, thereby saving costs and solving the problem of rework and construction delay caused by the installation position in the existing glass curtain wall installation process. At the same time, a manual intervention process is added to ensure that the entire installation process can be carried out safely, thereby enhancing the robustness of the entire system.

[0015] (4) The glass curtain wall construction system and method of the flexible cable driven parallel robot uses the terminal and wireless communication module on the robot motion platform to send and receive data, and the depth camera scans and identifies the QR code on the glass curtain wall to further verify the installation position and method. The two-dimensional code scanning verification and the ground-mounted camera real-time detection of the motion platform position can ensure the accuracy of the installation while also ensuring the safety of the installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural principle block diagram of the system of the present invention; Figure 2 It is a structural principle block diagram of the server of the present invention; Figure 3 It is a schematic diagram of the process of the construction method of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-3 , the present invention provides two technical solutions: Embodiment 1

[0019] A glass curtain wall construction system of a flexible cable driven parallel robot, comprising: The server is connected to the terminal and wireless communication module installed on the robot motion platform through wireless communication to send and receive data, and then obtains the BIM model of the building to be installed to build the overall installation module, and generates a process QR code to be pasted at the location where the glass curtain wall needs to be installed. The installation inspection and acceptance module then inspects the installation quality; The curtain wall model construction module obtains the BIM model of the building to be installed to build the overall installation module; The construction process generation module locates and numbers all glass installation locations according to the team's construction process, sorts the work processes, and sends them to the workers for preparation. At the same time, according to the set process, the process QR code is pasted at the location where the glass curtain wall needs to be installed; QR code generation module: the QR code is written by the server and includes the installation sequence, installation method, installation location, installed curtain wall pictures and installation shifts. The installation location and the current status of the glass curtain wall can be located through the QR code; Install an early warning unit to monitor the installation process of the glass curtain wall and send an alarm message to the server when an installation error is identified; The process control unit pastes the installation sequence QR code inside the glass for verification during each installation to prevent rework caused by installation errors; The installation inspection and acceptance module detects the assembly quality of the glass curtain wall according to the image of the glass curtain wall collected by the terminal and feeds back the inspection results to the server, and the installer evaluates and determines whether the installation is good or not and whether it needs to be reinstalled; The robot motion platform includes an installed terminal, wireless communication module and depth camera. The terminal and wireless communication module are used to send and receive data, and the depth camera scans and identifies the QR code on the glass curtain wall to further verify the installation location and method; The ground camera locates the robot motion platform in real time.

[0020] Embodiment 2

[0021] The difference compared with the first embodiment is that the present invention further discloses a glass curtain wall construction method of a flexible cable driven parallel robot, including a glass curtain wall construction system of a flexible cable driven parallel robot, which specifically includes the following steps: S1. Build a BIM model according to the construction drawing and locate all glass curtain wall positions; S2. The team receives all the location information, analyzes all the installation location information, numbers all the glass curtain walls, generates the construction process according to the numbering, and sends it to the construction personnel; S3. The construction personnel print the QR code with the number and location data, and paste it to the location where it needs to be installed; S4. According to the glass curtain wall number data and position data written in S2, add the installation process data, installation status data and the relevant information of the adjacent label position number again, print the QR code, and paste it on all the glass. The specific operations are as follows: s41. The construction personnel set the installation process according to the current position of the QR code, determine the installation process, and input the data into the server; s42, the server automatically generates a QR code, prints the QR code, and the worker sticks it on the glass. The server identifies the UID code and enters the number, installation position, installation status, and number information of adjacent tags in the electronic tag corresponding to the glass curtain wall; S5. During the installation of the glass curtain wall, the ground camera is used to locate the installation motion platform in real time, and the early warning and alarm unit is activated. The worker scans the QR code on the glass curtain wall and inputs its data into the robot. After the robot decodes it, the robot performs installation movement according to the set process and reaches the installation location by itself for installation; S6. After the robot arrives at the installation location, it uses the depth camera to scan the QR code to further verify the installation location and method, and determine whether the installation location matches; S7. If they match, cooperate with the workers to install and complete the installation process. If they do not match, the current installation is judged to be wrong. If they do not match, an alarm will be directly triggered and feedback will be given to the server to ask for the next step. If the distance error range is within 5cm, it will be judged as a match. The motion platform of the ground camera will be used for positioning. If there is an error, the data will be fed back. If there is no error, the QR code will be rewritten and the installation process will be carried out again.

[0022] In an embodiment of the present invention, S1 imports the curtain wall construction drawings into the BIM model as a reference for locating the curtain wall position. According to the construction drawings, the curtain wall grid tool is used to draw the grid lines of the curtain wall. According to the positions of the grid lines, the vertical bars, beams and panels of the curtain wall are placed. Pay attention to the position and size of the glass to ensure that they are consistent with the construction drawings, and adjust the position, size and angle of the curtain wall components.

[0023] In the embodiment of the present invention, in S2, a detailed position analysis is performed on the glass curtain wall in each area, including the floor where it is located, the wall position, and the relative position of the adjacent curtain walls. According to the result of the position analysis, a specific installation position code is assigned to each curtain wall unit.

[0024] In the embodiment of the present invention, the specific operation steps in s42 are: A1. Use an RFID reader or other identification device to scan the electronic tag on the glass curtain wall, obtain its UID code, and compare the identified UID code with the information in the server database to confirm the identity of the electronic tag; A2. According to the electronic tag matched by the UID code, the corresponding number, installation location, installation status and other information are searched on the server, and the information is written into the storage area of ​​the electronic tag through the RFID reader or other communication methods; A3. Search the server for the adjacent tag number information of the current electronic tag, write the adjacent tag number information into the storage area of ​​the current electronic tag, or write it into the database of the server, and associate it with the UID code of the current electronic tag.

[0025] In the embodiment of the present invention, A2 writes information into the storage area of ​​the electronic tag, and performs the following operations on the data: a21. After the information is written, the server will verify the data to ensure that the written information is accurate. If there is any error, it will be corrected and rewritten in time; a22. Synchronously update the written information to the server's database to ensure that the information in the database is consistent with the information in the electronic tag.

[0026] In the embodiment of the present invention, in S7, the installation warning unit detects and determines the installation position and method based on: If the installation position does not match, the robot stops running and sends data to the server, and the camera set on the ground locates the motion platform; If it is correct, re-analyze the QR code data, perform manual intervention, re-write the QR code data, and continue the installation; If there is an error, the motion platform will move again according to the data in the QR code to complete the installation process and release the alarm.

[0027] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0028] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A glass curtain wall construction system of a flexible cable driven parallel robot, characterized in that: include: The server is connected to the terminal and wireless communication module installed on the robot motion platform through wireless communication to send and receive data, and then obtains the BIM model of the building to be installed to build the overall installation module, and generates a process QR code to be pasted at the location where the glass curtain wall needs to be installed. The installation inspection and acceptance module then inspects the installation quality; The curtain wall model construction module obtains the BIM model of the building to be installed to build the overall installation module; The construction process generation module locates and numbers all glass installation locations according to the team's construction process, sorts the work processes, and sends them to the workers for preparation. At the same time, according to the set process, the process QR code is pasted at the location where the glass curtain wall needs to be installed; QR code generation module: the QR code is written by the server and includes the installation sequence, installation method, installation location, installed curtain wall pictures and installation shifts. The installation location and the current status of the glass curtain wall can be located through the QR code; Install an early warning unit to monitor the installation process of the glass curtain wall and send an alarm message to the server when an installation error is identified; The process control unit pastes the installation sequence QR code inside the glass for verification during each installation to prevent rework caused by installation errors; The installation inspection and acceptance module detects the assembly quality of the glass curtain wall according to the image of the glass curtain wall collected by the terminal and feeds back the inspection results to the server, and the installer evaluates and determines whether the installation is good or not and whether it needs to be reinstalled; The robot motion platform includes an installed terminal, wireless communication module and depth camera. The terminal and wireless communication module are used to send and receive data, and the depth camera scans and identifies the QR code on the glass curtain wall to further verify the installation location and method; The ground camera locates the robot motion platform in real time.

2. A glass curtain wall construction method using a flexible cable driven parallel robot, comprising a glass curtain wall construction system using a flexible cable driven parallel robot as claimed in claim 1, characterized in that: The specific steps include: S1. Build a BIM model according to the construction drawing and locate all glass curtain wall positions; S2. The team receives all the location information, analyzes all the installation location information, numbers all the glass curtain walls, generates the construction process according to the numbering, and sends it to the construction personnel; S3. The construction personnel print the QR code with the number and location data, and paste it to the location where it needs to be installed; S4. According to the glass curtain wall number data and position data written in S2, add the installation process data, installation status data and the relevant information of the adjacent label position number again, print the QR code, and paste it on all the glass. The specific operations are as follows: s41. The construction personnel set the installation process according to the current position of the QR code, determine the installation process, and input the data into the server; s42, the server automatically generates a QR code, prints the QR code, and the worker sticks it on the glass. The server identifies the UID code and enters the number, installation position, installation status, and number information of adjacent tags in the electronic tag corresponding to the glass curtain wall; S5. During the installation of the glass curtain wall, the ground camera is used to locate the installation motion platform in real time, and the early warning and alarm unit is activated. The worker scans the QR code on the glass curtain wall and inputs its data into the robot. After the robot decodes it, the robot performs installation movement according to the set process and reaches the installation location by itself for installation; S6. After the robot arrives at the installation location, it uses the depth camera to scan the QR code to further verify the installation location and method, and determine whether the installation location matches; S7. If they match, cooperate with the workers to install and complete the installation process. If they do not match, the current installation is judged to be wrong. If they do not match, an alarm will be directly triggered and feedback will be given to the server to ask for the next step. If the distance error range is within 5cm, it will be judged as a match. The motion platform of the ground camera will be used for positioning. If there is an error, the data will be fed back. If there is no error, the QR code will be rewritten and the installation process will be carried out again.

3. The glass curtain wall construction method of a flexible cable driven parallel robot according to claim 2, characterized in that: In S1, the curtain wall construction drawings are imported into the BIM model as a reference for locating the curtain wall position. According to the construction drawings, the curtain wall grid tool is used to draw the grid lines of the curtain wall. According to the positions of the grid lines, the vertical bars, beams and panels of the curtain wall are placed. The position and size of the glass are noted to ensure that they are consistent with the construction drawings, and the position, size and angle of the curtain wall components are adjusted.

4. The glass curtain wall construction method of a flexible cable driven parallel robot according to claim 2, characterized in that: In S2, a detailed position analysis is performed on the glass curtain wall in each area, including the floor where it is located, the wall position, and the relative position of the adjacent curtain walls. According to the result of the position analysis, a specific installation position code is assigned to each curtain wall unit.

5. The glass curtain wall construction method of a flexible cable driven parallel robot according to claim 2, characterized in that: The specific operation steps in s42 are: A1. Use an RFID reader or other identification device to scan the electronic tag on the glass curtain wall, obtain its UID code, and compare the identified UID code with the information in the server database to confirm the identity of the electronic tag; A2. According to the electronic tag matched by the UID code, the corresponding number, installation location, installation status and other information are searched on the server, and the information is written into the storage area of ​​the electronic tag through the RFID reader or other communication methods; A3. Search the server for the adjacent tag number information of the current electronic tag, write the adjacent tag number information into the storage area of ​​the current electronic tag, or write it into the database of the server, and associate it with the UID code of the current electronic tag.

6. The glass curtain wall construction method of a flexible cable driven parallel robot according to claim 5, characterized in that: In A2, the information is written into the storage area of ​​the electronic tag, and the following operations are performed on the data: a21. After the information is written, the server will verify the data to ensure that the written information is accurate. If there is any error, it will be corrected and rewritten in time; a22. Synchronously update the written information to the server's database to ensure that the information in the database is consistent with the information in the electronic tag.

7. The glass curtain wall construction method of a flexible cable driven parallel robot according to claim 2, characterized in that: In S7, the installation warning unit detects and determines the installation position and method based on: If the installation position does not match, the robot stops running and sends data to the server, and the camera set on the ground locates the motion platform; If it is correct, re-analyze the QR code data, perform manual intervention, re-write the QR code data, and continue the installation; If there is an error, the motion platform will move again according to the data in the QR code to complete the installation process and release the alarm.

Images