Fabricated wallboard installation control method, system and equipment and medium

Abstract

The invention discloses an assembly type wallboard installation control method, system and device and a medium. After an installation control instruction is received, the actual distance value of a laser range finder relative to a to-be-installed wallboard is obtained, and a captured to-be-recognized image is obtained; determining horizontal laser line information corresponding to horizontal laser emitted by the laser emitter and vertical laser line information corresponding to vertical laser emitted by the laser emitter from the to-be-identified image, and determining feature line information of a to-be-calibrated feature line from the to-be-identified image; according to the characteristic line information, the horizontal laser line information, the vertical laser line information and the actual distance value, deviation correction index information of the wallboard to be installed is determined; if the deviation correction index information meets the deviation correction condition, the installation deviation correction amount corresponding to the hoisting equipment is determined according to the deviation correction index information, and the installation deviation correction amount is sent to the hoisting equipment, so that the hoisting equipment conducts installation posture deviation correction on the wallboard to be installed according to the installation deviation correction amount. By means of the method, the mounting precision and efficiency of the fabricated wallboard are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building engineering, and in particular to a method, system, equipment and medium for controlling installation of assembled wall panels. Background Art

[0002] In the field of construction, the installation of prefabricated wall panels is usually involved. Currently, the installation of prefabricated wall panels is mainly achieved by operators operating lifting equipment. During the installation process, if the operator does not have sufficient installation experience, it is difficult to quickly and accurately align the prefabricated wall panels with the installation location, thereby affecting the installation effect of the prefabricated wall panels and even affecting the subsequent installation results of other prefabricated wall panels.

[0003] In addition, if you want to achieve high-precision installation, you will need to spend a lot of manpower and time, which increases the investment in installation costs. Summary of the invention

[0004] The present invention provides a method, system, device and medium for controlling the installation of prefabricated wall panels, so as to solve the problem that it is difficult to quickly and accurately align the prefabricated wall panels with the installation position when manually operating the lifting equipment, and the high manpower and time costs are incurred in achieving high-precision installation.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling installation of an assembled wall panel, the method comprising:

[0006] Receiving an installation control instruction sent by the hoisting equipment after placing the wall panel to be installed at a set position, obtaining an actual distance value of the laser rangefinder relative to the wall panel to be installed, and obtaining the captured image to be identified;

[0007] Determine, from the image to be identified, horizontal laser line information corresponding to the horizontal laser emitted by the laser emitter and vertical laser line information corresponding to the vertical laser emitted, and determine characteristic line information of the characteristic line to be calibrated from the image to be identified;

[0008] Determine the deviation correction index information of the wall panel to be installed according to the characteristic line information, the horizontal laser line information, the vertical laser line information, and the actual distance value;

[0009] If the correction index information meets the correction conditions, the installation correction amount corresponding to the hoisting equipment is determined according to the correction index information, and the installation correction amount is sent to the hoisting equipment, so that the hoisting equipment corrects the installation posture of the wall panel to be installed according to the installation correction amount.

[0010] In a second aspect, an embodiment of the present invention provides a control system for installing a prefabricated wall panel, the system comprising: a control device, a hoisting device, a laser transmitter, and a laser rangefinder; the control device establishes a communication connection with the hoisting device;

[0011] The control device comprises:

[0012] A receiving module, used for receiving an installation control instruction sent by the hoisting equipment after placing the wall panel to be installed at a set position, obtaining an actual distance value of the laser rangefinder relative to the wall panel to be installed, and obtaining a captured image to be identified;

[0013] an identification module, used to determine, from the image to be identified, horizontal laser line information corresponding to the horizontal laser emitted by the laser emitter and vertical laser line information corresponding to the vertical laser emitted, and to determine characteristic line information of the characteristic line to be calibrated from the image to be identified;

[0014] A first determination module, used to determine the correction index information of the wall panel to be installed according to the characteristic line information, the horizontal laser line information, the vertical laser line information, and the actual distance value;

[0015] The second determination module is used to determine the installation correction amount corresponding to the lifting equipment according to the correction index information if the correction index information meets the correction conditions, and send the installation correction amount to the lifting equipment, so that the lifting equipment can correct the installation posture of the wall panel to be installed according to the installation correction amount.

[0016] In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising:

[0017] at least one processor;

[0018] and a memory communicatively coupled to the at least one processor;

[0019] Wherein, the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a prefabricated wall panel installation control method described in any embodiment of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a prefabricated wall panel installation control method described in any embodiment of the present invention when executed.

[0021] In a fifth aspect, an embodiment of the present invention further provides a computer program product, characterized in that the computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements a method for controlling installation of prefabricated wall panels according to any embodiment of the present invention.

[0022] The technical solution of the embodiment of the present invention is to obtain the actual distance value of the laser rangefinder relative to the wall panel to be installed after receiving the installation control instruction, and obtain the captured image to be identified; determine the horizontal laser line information corresponding to the horizontal laser emitted by the laser transmitter and the vertical laser line information corresponding to the vertical laser emitted from the image to be identified, and determine the characteristic line information of the characteristic line to be calibrated from the image to be identified; determine the correction index information of the wall panel to be installed according to the characteristic line information, the horizontal laser line information, the vertical laser line information and the actual distance value; if the correction index information meets the correction condition, determine the installation correction amount corresponding to the hoisting equipment according to the correction index information, and send the installation correction amount to the hoisting equipment, so that the hoisting equipment performs installation posture correction on the wall panel to be installed according to the installation correction amount. By determining the correction index information of the wall panel to be installed, when the correction conditions are met, the installation correction amount corresponding to the lifting equipment is determined according to the correction index information, and the installation correction amount is sent to the lifting equipment, so that the lifting equipment can correct the installation position of the wall panel to be installed according to the installation correction amount, thereby reducing manual intervention, improving the accuracy and efficiency of the installation of prefabricated wall panels, and saving manpower and time costs.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 A flowchart of a method for controlling installation of assembled wall panels provided by an embodiment of the present invention;

[0026] Figure 2 An example diagram of setting up a prefabricated wall panel installation control system involved in realizing a prefabricated wall panel installation control method is provided;

[0027] Figure 3 A schematic diagram of the structure of an assembled wall panel installation control system provided by an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of the structure of a control device in a prefabricated wall panel installation control system provided by an embodiment of the present invention;

[0029] Figure 5 A schematic diagram of the structure of an electronic device that can be used to implement an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] It should be noted that the installation of prefabricated wall panels is often done by operators operating lifting equipment. This method makes it difficult to quickly and accurately align the prefabricated wall panels with the installation position, affecting the installation effect of the prefabricated wall panels and the subsequent installation of other prefabricated wall panels. In addition, if high-precision installation is to be achieved, it will cost a lot of manpower and time.

[0033] Based on this, an embodiment of the present invention provides a method for controlling installation of assembled wall panels. Figure 1 A flow chart of a prefabricated wall panel installation control method provided in an embodiment of the present invention. The embodiment of the present invention is applicable to the scenario of installing prefabricated wall panels. The method can be executed by a control device in a prefabricated wall panel installation control system. The control device can be implemented in the form of software and / or hardware. Optionally, it can be implemented by an electronic device. The electronic device is preferably a mobile terminal, a desktop computer, a laptop computer, and a server. The prefabricated wall panel installation control system also includes: a hoisting device, a laser transmitter, and a laser rangefinder.

[0034] Specifically, the control device can be understood as a device equipped with an image capture device, image feature recognition function, data acquisition function, logic operation processing function and logic execution function, wherein the image capture device can realize the image capture function during the lifting process, the image feature recognition function can analyze the captured image and recognize certain features in the image, the data acquisition function can obtain data from the device connected to the control device by wireless or wired means, such as the control device can obtain the distance measurement data from the laser rangefinder, the logic operation processing function can make decisions, and the logic execution function can execute logic control commands. The lifting equipment can be considered as a mechanical device with the function of lifting and moving prefabricated wall panels, such as a crane, etc., and the lifting equipment is equipped with a device such as a host computer that can establish communication with other devices, so that the lifting equipment can be connected to the control device by wireless means such as mobile hotspot, Bluetooth, or wired means, and the lifting can be realized by manual operation, or by automatic lifting through a preset automation program.

[0035] It should be noted that the installation areas of various devices in the prefabricated wall panel installation control system do not interfere with each other.

[0036] like Figure 1 As shown, a method for controlling installation of assembled wall panels provided by an embodiment of the present invention may specifically include:

[0037] S101, receiving an installation control instruction sent by a hoisting device after placing a wall panel to be installed at a set position, obtaining an actual distance value of a laser rangefinder relative to the wall panel to be installed, and obtaining a captured image to be identified.

[0038] Among them, the wall panels to be installed can be understood as prefabricated wall panels that meet installation requirements. The set position can be understood as the position where each wall panel to be installed should reach when it is accurately installed using a control device, which is set and saved in advance according to a simulation model through a large number of experiments. The image to be identified captured by the image capture device at the set position can include the wall panel to be installed, the bolt holes on the wall panel to be installed, and the laser beam projection emitted by the laser transmitter on the wall panel to be installed. The actual distance value can be considered to be the actual distance value between the wall panel to be installed and the laser rangefinder measured by the laser rangefinder. The image to be identified can be understood as an image that contains the wall panel to be installed with laser beam projection and bolt holes and meets the identification requirements.

[0039] In this embodiment, when the hoisting device moves the prefabricated wall panel to be installed to the set position, the hoisting device will send an installation control instruction to the control device to inform the control device that the wall panel to be installed has reached the specified position. After receiving the installation control instruction sent by the hoisting device, the control device obtains the actual distance value between the wall panel to be installed and the laser rangefinder from the laser rangefinder, and obtains the image to be identified captured by the image capture device. The image capture device can be at any position that does not interfere with other devices in the prefabricated wall panel installation control system and can capture the required image to be identified. The image capture device can flexibly select the best time to capture the image according to the actual situation within a short time after receiving the installation control instruction.

[0040] S102, determining horizontal laser line information corresponding to the horizontal laser emitted by the laser emitter and vertical laser line information corresponding to the vertical laser emitted from the image to be identified, and determining feature line information of the feature line to be calibrated from the image to be identified.

[0041] The horizontal laser emitted by the laser emitter is projected onto the wall panel to be installed to form a horizontal laser line, and the vertical laser emitted by the laser emitter is projected onto the wall panel to be installed to form a vertical laser line.

[0042] In this embodiment, the horizontal laser line information can be understood as the coordinate information and angle information of the horizontal laser line. The vertical laser line information can be understood as the coordinate information and angle information of the vertical laser line. The characteristic line to be calibrated can be considered as a line formed by connecting the bolt holes on the wall panel to be installed, which is used to determine the degree of rotation of the wall panel to be installed in the vertical direction. The characteristic line information can be considered as the coordinate information and angle information of the characteristic line to be calibrated.

[0043] Specifically, methods such as deep learning, support vector machine, feature matching, edge detection or threshold segmentation can be used to identify the features of the image to be identified, and the horizontal laser line information corresponding to the horizontal laser emitted by the laser emitter and the vertical laser line information corresponding to the vertical laser emitted by the laser emitter can be determined from the image to be identified. At the same time, the characteristic line to be calibrated and the characteristic line information of the characteristic line to be calibrated can be determined from the image to be identified according to the bolt hole coordinate information by an image recognition method.

[0044] S103, determining the deviation correction index information of the wall panel to be installed according to the characteristic line information, the horizontal laser line information, the vertical laser line information, and the actual distance value.

[0045] The deviation correction index information may be understood as index information that reflects the degree of deviation between the actual position of the wall panel to be installed and the expected position, such as horizontal position difference, rotation angle difference, etc., and is used as reference information for further determining a specific adjustment plan.

[0046] In this embodiment, the deviation correction index information of the wall panel to be installed is determined by calculation according to the relationship between the characteristic line information, the horizontal laser line information, the vertical laser line information, and the actual distance value.

[0047] S104. If the correction index information satisfies the correction condition, the installation correction amount corresponding to the hoisting equipment is determined according to the correction index information, and the installation correction amount is sent to the hoisting equipment, so that the hoisting equipment performs installation posture correction on the wall panel to be installed according to the installation correction amount.

[0048] The correction condition can be understood as a rule pre-set for each correction index information, which is used to determine whether the wall panel to be installed corresponding to the correction index information needs to be adjusted. The installation correction amount can be considered as a specific adjustment amount determined according to the correction index information, which is used to tell the operator or the automated program what kind of adjustment (correction) is needed to get close to the expected position, such as how far to move the wall panel to be installed in which direction, how much angle to rotate in which direction, etc. Installation posture correction can be understood as adjusting the position and posture of the wall panel to be installed so that it is closer to the expected position.

[0049] In this embodiment, the correction index information is compared with the correction condition. If the correction condition is met, that is, it indicates that the deviation of the wall panel to be installed exceeds the acceptable range, the installation correction amount corresponding to the hoisting device is determined according to the correction index information, and the installation correction amount is sent to the hoisting device through wireless or wired communication. After receiving the installation correction amount, the hoisting device can display the installation correction amount, and manually operate according to the installation correction amount to adjust the installation posture of the wall panel to be installed. The automatic program preset in the hoisting device can also automatically adjust the installation posture to be installed directly according to the installation correction amount. The adjustment process may involve movement, rotation or other adjustment actions.

[0050] It should be noted that after the installation posture of the wall panel to be installed is corrected, the actual distance value of the laser rangefinder relative to the wall panel to be installed is returned to be re-acquired, and the captured image to be identified is obtained, and subsequent steps S102-S104 are executed until the correction index information does not meet the correction conditions. At this time, an installation instruction is sent to the lifting equipment, so that the lifting equipment installs the wall panel to be installed according to the current installation posture.

[0051] The present embodiment provides a method for controlling the installation of prefabricated wall panels. The method comprises the following steps: obtaining an actual distance value of a laser rangefinder relative to a wall panel to be installed after receiving an installation control instruction, and obtaining a captured image to be identified; determining horizontal laser line information corresponding to a horizontal laser emitted by a laser emitter and vertical laser line information corresponding to a vertical laser emitted from the image to be identified, and determining characteristic line information of characteristic lines to be calibrated from the image to be identified; determining correction index information of the wall panel to be installed according to the characteristic line information, the horizontal laser line information, the vertical laser line information and the actual distance value; and determining an installation correction amount corresponding to a hoisting device according to the correction index information if the correction index information satisfies a correction condition, and sending the installation correction amount to the hoisting device so that the hoisting device performs installation posture correction on the wall panel to be installed according to the installation correction amount. The present technical solution determines the correction index information of the wall panel to be installed, and when the correction conditions are met, determines the installation correction amount corresponding to the lifting equipment according to the correction index information, and sends the installation correction amount to the lifting equipment, so that the lifting equipment can correct the installation position of the wall panel to be installed according to the installation correction amount, thereby reducing manual intervention, improving the accuracy and efficiency of the installation of prefabricated wall panels, and saving manpower and time costs.

[0052] As a first optional embodiment of this embodiment, the control device, laser emitter and laser rangefinder are pre-fixed at designated positions in the space to be installed according to set installation parameters. The horizontal laser emitted by the laser emitter is projected onto the wall panel to be installed to form a horizontal laser line, and the vertical laser emitted is projected onto the wall panel to be installed to form a vertical laser line.

[0053] Specifically, before assembling the wall panels to be installed, the control device, laser transmitter and laser rangefinder need to be placed in advance at the designated position in the space to be installed. The steps for setting the designated position are as follows. Since all the wall panels to be installed are of uniform size, the results after the installation of all the wall panels to be installed can be modeled first. For example, only the situation where the control device, laser transmitter and laser rangefinder are installed on the installed base plate or floor is considered. By analyzing the expected installation position of each wall panel to be installed and the expected location of the hoisting equipment in the established model, the placement distance, installation height and laser emission angle of the laser transmitter and laser rangefinder from the expected installation position are determined through a large number of experiments, so that the operation of the control device, laser transmitter, laser rangefinder and hoisting equipment does not interfere with each other.

[0054] It should be noted that the placement distance, installation height and laser emission angle of the laser transmitter should be such that the horizontal laser line formed by the horizontal laser emitted by the laser transmitter and projected onto the wall panel to be installed is on the horizontal center line of the wall panel to be installed at the expected position, and the vertical laser line formed by the vertical laser emitted and projected onto the wall panel to be installed is on the vertical center line of the wall panel to be installed at the expected position, wherein the horizontal center line is the line connecting the midpoints of the two short sides of the surface where the horizontal laser line is located (the connecting line is a straight line), and the vertical center line is the line connecting the midpoints of the two long sides of the surface where the vertical laser line is located (the connecting line is a straight line).

[0055] Following the above, the model will be used to determine the placement distance, installation height and laser emission angle of the control equipment, laser emitter and laser rangefinder corresponding to each wall panel to be installed in different positions. The proportional conversion will be carried out according to the correspondence between the model size and the actual size to determine the installation parameters of the control equipment, laser emitter and laser rangefinder during the actual installation of the prefabricated wall panels, and the installation parameters will be stored.

[0056] In this embodiment, the control device, laser emitter and laser rangefinder search for corresponding installation parameters in advance according to the wall panels to be installed, and then fix the control device, laser emitter and laser rangefinder at designated positions in the space to be installed according to the corresponding installation parameters.

[0057] For example, Figure 2 An example diagram of the installation of a prefabricated wall panel installation control system involved in implementing a prefabricated wall panel installation control method is provided. Figure 2 As shown, in the presented image, the hoisting device 22 is located outside the installed base plate or floor 25, and the control device 21, the laser transmitter 23 and the laser rangefinder 24 are installed on the pre-installed base plate or floor 25. The laser transmitter 23 may be a portable laser transmitter, and the laser transmitter 23 and the laser rangefinder 24 may be installed by fixing them with bolts and the reserved bolt holes on the installed base plate or floor 25. The laser transmitter 23 can emit horizontal laser and vertical laser to form a horizontal laser plane 27 and a vertical laser plane 28 respectively. The horizontal laser in the horizontal laser plane 27 is projected on the wall panel 26 to be installed to form a horizontal laser line 29, and the vertical laser in the vertical laser plane 27 is projected on the wall panel 26 to be installed to form a vertical laser line 30.

[0058] Accordingly, based on the above embodiment, the step of determining the horizontal laser line information corresponding to the horizontal laser emitted by the laser emitter and the vertical laser line information corresponding to the vertical laser emitted by the laser emitter from the image to be identified can be concretized into the following steps:

[0059] a1) performing feature recognition on the image to be recognized, and respectively representing first coordinate point information of the horizontal laser line and second coordinate point information of the vertical laser line from the image to be recognized.

[0060] The first coordinate point information may be understood as the coordinate information of the endpoint of the horizontal laser line in the image to be identified; and the second coordinate point information may be understood as the coordinate information of the endpoint of the vertical laser line in the image to be identified.

[0061] In this embodiment, the control device performs feature recognition on the image to be identified through methods such as edge detection, threshold segmentation or feature matching, determines the first coordinate point information of the horizontal laser line from the image to be identified, and characterizes the first coordinate point information, and simultaneously finds the second coordinate point information of the vertical laser line and characterizes the second coordinate point information.

[0062] Exemplarily, the representation can be achieved by establishing a pixel point coordinate system, with the upper left corner of the image to be identified as the origin, the horizontal direction as the X-axis, and the vertical direction as the Y-axis, and representing the first coordinate point information and the second coordinate point information in the form of a combination of horizontal and vertical coordinates.

[0063] b1) determining a first slope value and a first midpoint coordinate of the horizontal laser line based on the first coordinate point information, and determining the first slope value and the first midpoint coordinate as the horizontal laser line information.

[0064] The first slope value may be understood as the slope value of the horizontal laser line; and the first midpoint coordinate may be understood as the coordinate value of the midpoint of the horizontal laser line.

[0065] In this embodiment, based on the coordinate information of the two endpoints of the horizontal laser line contained in the first coordinate point information, the first slope value of the horizontal laser line is determined by calculating the quotient of the difference between the ordinate and the abscissa between the two endpoints, and the first midpoint coordinates of the horizontal laser line are determined by respectively calculating the average values ​​of the abscissa and ordinate of the two endpoints, and the first slope value and the first midpoint coordinates are determined as the horizontal laser line information.

[0066] c1) determining a second slope value and a second midpoint coordinate of the vertical laser line based on the second coordinate point information, and determining the second slope value and the second midpoint coordinate as the vertical laser line information.

[0067] The second slope value may be understood as the slope value of the vertical laser line; and the second midpoint coordinate may be understood as the coordinate value of the midpoint of the vertical laser line.

[0068] In this embodiment, according to the coordinate information of the two endpoints of the vertical laser line contained in the second coordinate point information, the second slope value of the vertical laser line is determined by calculating the quotient of the difference between the ordinate and the abscissa between the two endpoints, and the second midpoint coordinates of the vertical laser line are determined by respectively calculating the average values ​​of the abscissas and ordinates of the two endpoints, and the second slope value and the second midpoint coordinates are determined as the vertical laser line information.

[0069] The above technical scheme of the present embodiment characterizes the first coordinate point information of the horizontal laser line and the second coordinate point information of the vertical laser line through feature recognition, and determines the first slope value, the first midpoint coordinate and the second slope value, the second midpoint coordinate according to the first coordinate point information and the second coordinate point information, thereby determining the horizontal laser line information and the vertical laser line information, thereby improving the accuracy of subsequent identification of the installation position deviation of the wall panel to be installed.

[0070] As a second optional embodiment of this embodiment, the step of determining the feature line information of the feature line to be calibrated from the image to be identified may be specifically optimized into the following steps:

[0071] a2) performing feature recognition on the image to be recognized, and identifying bolt hole coordinate points representing target bolt holes on the wall panel to be installed from the image to be recognized.

[0072] The target bolt holes can be considered as the four bolt holes on the wall panel to be installed that are closest to the end point of the horizontal laser line and distributed on both sides of the horizontal laser line, and the four bolt holes on the wall panel to be installed that are closest to the end point of the vertical laser line and distributed on both sides of the vertical laser line. The bolt hole coordinate point can be understood as the coordinate position of the target bolt hole in the image to be identified.

[0073] In this embodiment, by performing feature recognition on the image to be recognized, the target bolt hole on the wall panel to be installed is recognized in the image to be recognized, and the bolt hole coordinate point of the target bolt hole is characterized.

[0074] Exemplarily, the characterization may be performed by establishing a pixel point coordinate system, with the upper left corner of the image to be identified as the origin, the horizontal direction as the X-axis, and the vertical direction as the Y-axis, and representing the target bolt hole in the form of a combination of horizontal and vertical coordinates.

[0075] b2) forming a first characteristic line to be calibrated in the horizontal direction and a second characteristic line to be calibrated in the vertical direction according to the bolt hole coordinate points.

[0076] In this embodiment, according to any two bolt hole coordinate points among the bolt hole coordinate points that are close to the horizontal laser line and are respectively located at both ends and on the same side of the horizontal laser line, or according to any two bolt hole coordinate points among the bolt hole coordinate points that are close to the vertical laser line and are located on both sides and at the same end of the vertical laser line, a straight line in the horizontal direction is formed, which is the first characteristic line to be calibrated and is used to calibrate the horizontal posture of the wall panel to be installed; according to any two bolt hole coordinate points among the bolt hole coordinate points that are close to the vertical laser line and are respectively located at both ends and on the same side of the vertical laser line, or according to the bolt hole coordinate points that are close to the horizontal laser line and are at the same end, a straight line in the vertical direction is formed, which is the second characteristic line to be calibrated and is used to calibrate the vertical posture of the wall panel to be installed.

[0077] c2) determining a third slope value and a third midpoint coordinate of the first characteristic line to be calibrated, and determining a fourth slope value and a fourth midpoint coordinate of the second characteristic line to be calibrated.

[0078] The third slope value can be understood as the slope value of the first characteristic line to be calibrated; the third midpoint coordinate can be considered as the coordinate value of the midpoint of the first characteristic line to be calibrated. The fourth slope value can be understood as the slope value of the second characteristic line to be calibrated; the fourth midpoint coordinate can be considered as the coordinate value of the midpoint of the second characteristic line to be calibrated.

[0079] In this embodiment, according to the coordinate information of the bolt hole coordinate points at both ends of the first characteristic line to be calibrated, the third slope value of the first characteristic line to be calibrated is determined by calculating the quotient of the difference between the ordinate and the abscissa between the two bolt hole coordinate points, and the third midpoint coordinates of the first characteristic line to be calibrated are determined by respectively calculating the average values ​​of the abscissa and the ordinate of the two bolt hole coordinate points; according to the coordinate information of the bolt hole coordinate points at both ends of the second characteristic line to be calibrated, the fourth slope value of the second characteristic line to be calibrated is determined by calculating the quotient of the difference between the ordinate and the abscissa between the two bolt hole coordinate points, and the fourth midpoint coordinates of the second characteristic line to be calibrated are determined by respectively calculating the average values ​​of the abscissa and the ordinate of the two bolt hole coordinate points.

[0080] d2) determining the third slope value and the third midpoint coordinate and the fourth slope value and the fourth midpoint coordinate as characteristic line information of the characteristic line to be calibrated.

[0081] In this embodiment, the third slope value and the third midpoint coordinate of the first characteristic line to be calibrated, and the fourth slope value and the fourth midpoint coordinate of the second characteristic line to be calibrated are uniformly determined as characteristic line information of the characteristic line to be calibrated.

[0082] The above technical scheme of the present embodiment, by identifying the bolt hole coordinate points representing the target bolt holes on the wall panel to be installed from the image to be identified, determines the first characteristic line to be calibrated, the second characteristic line to be corrected and the third slope value, the third midpoint coordinates, the fourth slope value and the fourth midpoint coordinates respectively according to the bolt hole coordinate point information, and determines the third slope value and the third midpoint coordinates and the fourth slope value and the fourth midpoint coordinates as the characteristic line information of the characteristic line to be calibrated, thereby improving the accuracy of subsequent identification of the installation position deviation of the wall panel to be installed.

[0083] As a third optional embodiment of this embodiment, the number of the laser rangefinders is two, and a first reference distance value and a second reference distance value are pre-set for the two laser rangefinders respectively; the actual distance values ​​of the two laser rangefinders are respectively recorded as the first actual distance value and the second actual distance value.

[0084] The first reference distance value can be understood as the distance between the first laser rangefinder and the wall panel to be installed at the desired position; the second reference distance value can be understood as the distance between the second laser rangefinder and the wall panel to be installed at the desired position. The first actual distance value can be considered as the actual distance between the first laser rangefinder and the wall panel to be installed determined by real-time measurement; the second actual distance value can be considered as the actual distance between the second laser rangefinder and the wall panel to be installed determined by real-time measurement.

[0085] Specifically, the number of laser rangefinders is selected to be two, and modeling is performed based on the results of all the wall panels to be installed, and the expected positions of each wall panel to be installed in the model and the positions of other equipment such as hoisting equipment and control equipment are considered to determine the appropriate installation positions, heights and angles of the two laser rangefinders. The positions, heights and angles of the two laser rangefinders to be installed are proportionally converted according to the corresponding relationship between the model size and the actual size, thereby determining the first reference distance value and the second reference distance value.

[0086] Following the above, when receiving the installation control instruction sent by the hoisting equipment after placing the wall panel to be installed at the set position, the actual distance values ​​between the wall panel to be installed measured by the two laser rangefinders at this time are recorded as the first actual distance value and the second actual distance value respectively.

[0087] Accordingly, based on the above embodiment, the correction index information of the wall panel to be installed can be determined according to the characteristic line information, the horizontal laser line information, the vertical laser line information, and the actual distance value, which can be concretized into the following steps:

[0088] a3) obtaining a preset first reference distance value and a second reference distance value, and determining a plate torque index value and a plate forward and backward movement index value according to the first reference distance value and the second reference distance value and the first actual distance value and the second actual distance value.

[0089] The plate torque index value can be understood as an index value used to determine how much the wall panel to be installed needs to be rotated horizontally to reach the expected position. The plate forward and backward movement index value can be understood as an index value used to determine how much the wall panel to be installed needs to be moved forward and backward to reach the expected position.

[0090] In this embodiment, the first reference distance value and the second reference distance value of two pre-set laser rangefinders are obtained, and the first actual distance value and the second actual distance value are obtained. According to the first reference distance value and the second reference distance value of the two laser rangefinders and the first actual distance value and the second actual distance value, the plate torque index value and the plate forward and backward movement index value are determined.

[0091] As one implementation method, this optional embodiment can further specify the determination of the plate torque index value and the plate forward and backward movement index value according to the first reference distance value and the second reference distance value and the first actual distance value and the second actual distance value as follows:

[0092] a31) determining a difference between a first deviation value and a second deviation value as the plate torque index value, wherein the first deviation value is a difference between the first actual distance value and the first reference distance value, and the second deviation value is a difference between the second actual distance value and the second reference distance value.

[0093] In this embodiment, the first actual distance value is subtracted from the first reference distance value, and the difference obtained is determined as the first deviation value. The second actual distance value is subtracted from the second reference distance value, and the difference obtained is determined as the second deviation value. The first deviation value is subtracted from the second deviation value, and the difference obtained is the plate torque index value.

[0094] a32) Determine the difference between the first sum value and the second sum value as the plate forward and backward movement index value, the first sum value is the sum of the first actual distance value and the first reference distance value, and the second sum value is the sum of the second actual distance value and the second reference distance value.

[0095] In this embodiment, the first actual distance value is added to the first reference distance value, and the obtained value is the first sum value. The second actual distance value is added to the second reference distance value, and the obtained value is the second sum value. The first sum value is subtracted from the second sum value, and the obtained difference is the plate forward and backward movement index value.

[0096] The above technical solution of this embodiment provides an implementation method for determining the plate torque index value and the plate forward and backward movement index value based on the first reference distance value and the second reference distance value and the first actual distance value and the second actual distance value. This implementation method can be used in an automation system, and the plate torque index value and the plate forward and backward movement index value are used to guide the installer or the automation system to make necessary adjustments, thereby ensuring the accuracy of the wall panel to be installed during installation.

[0097] b3) determining the coordinate difference between the first midpoint coordinate in the horizontal laser line information and the third midpoint coordinate in the characteristic line information as the plate horizontal displacement index value.

[0098] The panel horizontal displacement index value may be understood as an index value used to determine how much the wall panel to be installed needs to be moved left and right in the horizontal direction to reach the expected position.

[0099] In this embodiment, the coordinate difference between the first midpoint coordinate in the horizontal laser line information and the abscissa in the third midpoint coordinate in the characteristic line information is obtained, and the obtained coordinate difference is the plate horizontal displacement index value.

[0100] c3) determining the difference between the second slope value in the vertical laser line information and the fourth slope value in the characteristic line information as the plate vertical rotation index value.

[0101] The vertical rotation index value of the panel can be understood as an index value used to determine the amount by which the wall panel to be installed needs to be rotated in the vertical direction, that is, the vertical tilt angle to reach the expected position.

[0102] In this embodiment, the second slope value in the vertical laser line information is subtracted from the fourth slope value in the characteristic line information, and the difference obtained is the plate vertical rotation index value.

[0103] d3) determining the panel torque index value, panel forward and backward movement index value, panel horizontal displacement index value and panel vertical rotation index value as the deviation correction index information of the wall panel to be installed.

[0104] In this embodiment, the panel torque index value, the panel forward and backward movement index value, the panel horizontal displacement index value, and the panel vertical rotation index value are uniformly determined as the deviation correction index information of the wall panel to be installed.

[0105] The above technical scheme of the present embodiment provides an implementation scheme for determining the plate torque index value, the plate forward and backward movement index value, the plate horizontal displacement index value and the plate vertical rotation index value, and determines the plate torque index value, the plate forward and backward movement index value, the plate horizontal displacement index value and the plate vertical rotation index value as the correction index information of the wall panel to be installed, and adjusts the installation posture of the wall panel to be installed through a variety of adjustment indicators, thereby improving the installation efficiency and accuracy of the wall panel to be installed.

[0106] As a fourth optional embodiment of this embodiment, the correction index information satisfies the correction condition:

[0107] At least one of the plate torque index value, the plate forward and backward movement index value, the plate horizontal displacement index value and the plate vertical rotation index value included in the deviation correction index information is greater than the corresponding set error threshold.

[0108] The error threshold may be understood as a pre-set standard value used to determine whether the wall panel to be installed needs to be corrected.

[0109] In this embodiment, by modeling the results of all the wall panels to be installed after installation, and analyzing and experimenting according to the various postures that may occur during the installation of each wall panel to be installed, the acceptable installation error ranges of the plate torque index value, plate front-to-back movement index value, plate horizontal displacement index value, and plate vertical rotation index value included in the correction index information are determined for each wall panel to be installed. That is, if one of the correction index values ​​exceeds this range, it means that there is a significant deviation in the installation position of the wall panel to be installed, thereby determining the corresponding error thresholds of the plate torque index value, plate front-to-back movement index value, plate horizontal displacement index value, and plate vertical rotation index value. When at least one of the plate torque index value, plate front-to-back movement index value, plate horizontal displacement index value, and plate vertical rotation index value included in the correction index information is greater than the corresponding set error threshold, the correction condition is met.

[0110] The above technical solution of this embodiment provides a method for implementing the deviation correction index information to meet the deviation correction conditions, thereby ensuring the alignment accuracy of the wall panels to be installed.

[0111] As a fifth optional embodiment of this embodiment, the step of determining the installation correction amount corresponding to the hoisting equipment according to the correction index information can be specifically optimized into the following steps:

[0112] a4) obtaining the plate torque index value, plate forward and backward movement index value, plate horizontal displacement index value and plate vertical rotation index value included in the deviation correction index information.

[0113] In this embodiment, the panel torque index value, panel forward and backward movement index value, panel horizontal displacement index value and panel vertical rotation index value included in the correction index information are respectively obtained from the correction index information of the wall panel to be installed.

[0114] b4) Searching a preset correction relationship table to determine the torque correction amount corresponding to the plate torque index value, the forward and backward movement correction amount corresponding to the plate forward and backward movement index value, the horizontal displacement correction amount corresponding to the plate horizontal displacement index value, and the vertical rotation correction amount corresponding to the plate vertical rotation index value.

[0115] Among them, the torque correction amount can be understood as the angle value that the wall panel to be installed needs to rotate horizontally. The forward and backward movement correction amount can be understood as the distance value that the wall panel to be installed needs to move in the forward and backward directions. The horizontal displacement correction amount can be understood as the distance that the wall panel to be installed needs to move left and right in the horizontal direction. The vertical rotation correction amount can be understood as the angle value that the wall panel to be installed needs to rotate in the vertical direction, that is, the tilt angle value. The correction relationship table can be understood as a table that stores the torque index value of each plate and the corresponding torque correction amounts, the forward and backward movement index value of each plate and the corresponding forward and backward movement correction amounts, the horizontal displacement index value of each plate and the corresponding horizontal displacement correction amounts, and the vertical rotation index value of each plate and the corresponding vertical rotation correction amounts.

[0116] It should be noted that by modeling the various deviations of the wall panels to be installed from the expected installation position during the installation process, and through a large number of experiments and data analysis, the corresponding relationship between each indicator value in the correction index information and the corresponding correction amount of the indicator under different values ​​or different value ranges can be determined, thereby setting a correction relationship table.

[0117] For example, by modeling a certain installation structure, the corresponding relationship between each index value included in the correction index information and the corresponding correction amount of the index under different values ​​can be obtained, thereby establishing a correction relationship table. According to the correspondence between the plate forward and backward movement index value and the forward and backward movement correction amount, a record information in the correction relationship table is obtained, and the record information can be that when the plate forward and backward movement index value is 10, the corresponding forward and backward movement correction amount is -20, which can indicate that the wall panel to be installed moves back 20 cm.

[0118] Exemplarily, following the above example, according to the correspondence between the vertical rotation index value of the board and the vertical rotation correction amount, a record information in the correction relationship table is obtained. The record information may be that when the vertical rotation index value of the board in the correction relationship table is 20, the corresponding vertical rotation correction amount is 20, which may indicate that the wall panel to be installed is tilted 20 degrees to the right.

[0119] In this embodiment, the acquired plate torque index value, plate front and rear movement index value, plate horizontal displacement index value and plate vertical rotation index value are respectively searched in a pre-set correction relationship table to determine the torque correction amount corresponding to the plate torque index value, the front and rear movement correction amount corresponding to the plate front and rear movement index value, the horizontal displacement correction amount corresponding to the plate horizontal displacement index value and the vertical rotation correction amount corresponding to the plate vertical rotation index value.

[0120] Exemplarily, following the above example, when the correction index information meets the correction conditions, the forward and backward movement index value of the plate is 10. By searching the correction relationship table, it can be determined that the forward and backward movement correction amount corresponding to the forward and backward movement index value of 10 is -20, that is, the wall panel to be installed moves 20 cm forward and backward.

[0121] c4) determining the torque correction amount, the front and rear movement correction amount, the horizontal displacement correction amount and the vertical rotation correction amount as the installation correction amount corresponding to the lifting equipment.

[0122] Among them, the installation correction amount can be understood as a complete set of adjustment information.

[0123] In this embodiment, the torque correction amount, forward and backward movement correction amount, horizontal displacement correction amount and vertical rotation correction amount are uniformly determined as the installation correction amount corresponding to the lifting equipment, and the installation correction amount is sent to the lifting equipment. The lifting equipment forms corresponding electric drive information according to the installation correction amount, thereby controlling the wall panel to be installed to perform installation posture correction through posture adjustment.

[0124] The above technical scheme of this embodiment determines the torque correction amount, forward and backward movement correction amount, horizontal displacement correction amount and vertical rotation correction amount by looking up a pre-set correction relationship table, thereby determining the installation correction amount, realizing automatic adjustment of the wall panels to be installed and accurate and convenient installation, thereby improving installation efficiency.

[0125] Figure 3 This is a schematic diagram of the structure of a prefabricated wall panel installation control system provided by an embodiment of the present invention. Figure 3 As shown, the system includes: a control device 31, a hoisting device 32, a laser transmitter 33 and a laser rangefinder 34, wherein the control device 31 establishes a communication connection with the hoisting device 32.

[0126] Figure 4 This is a schematic diagram of the structure of a control device in a prefabricated wall panel installation control system provided by an embodiment of the present invention. Figure 4 As shown, the control device 31 includes: a receiving module 41, an identification module 42, a first determination module 43 and a second determination module 44, wherein:

[0127] The receiving module 41 is used to receive the installation control instruction sent by the hoisting equipment after placing the wall panel to be installed at the set position, obtain the actual distance value of the laser rangefinder relative to the wall panel to be installed, and obtain the captured image to be identified;

[0128] The recognition module 42 is used to determine the horizontal laser line information corresponding to the horizontal laser emitted by the laser emitter and the vertical laser line information corresponding to the vertical laser emitted from the image to be recognized, and determine the characteristic line information of the characteristic line to be calibrated from the image to be recognized;

[0129] A first determination module 43, configured to determine the deviation correction index information of the wall panel to be installed according to the characteristic line information, the horizontal laser line information, the vertical laser line information, and the actual distance value;

[0130] The second determination module 44 is used to determine the installation correction amount corresponding to the hoisting equipment according to the correction index information if the correction index information meets the correction conditions, and send the installation correction amount to the hoisting equipment, so that the hoisting equipment can perform installation posture correction on the wall panel to be installed according to the installation correction amount.

[0131] An embodiment of the present invention provides an assembled wall panel installation control system, which obtains the actual distance value of a laser rangefinder relative to a wall panel to be installed after receiving an installation control instruction, and obtains a captured image to be identified; determines horizontal laser line information corresponding to a horizontal laser emitted by a laser transmitter and vertical laser line information corresponding to a vertical laser emitted from the image to be identified, and determines characteristic line information of a characteristic line to be calibrated from the image to be identified; determines correction index information of the wall panel to be installed according to the characteristic line information, the horizontal laser line information, the vertical laser line information and the actual distance value; if the correction index information meets the correction condition, determines the installation correction amount corresponding to the hoisting equipment according to the correction index information, and sends the installation correction amount to the hoisting equipment, so that the hoisting equipment performs installation posture correction on the wall panel to be installed according to the installation correction amount. The present technical solution determines the correction index information of the wall panel to be installed, and when the correction conditions are met, determines the installation correction amount corresponding to the lifting equipment according to the correction index information, and sends the installation correction amount to the lifting equipment, so that the lifting equipment can correct the installation position of the wall panel to be installed according to the installation correction amount, thereby reducing manual intervention, improving the accuracy and efficiency of the installation of prefabricated wall panels, and saving manpower and time costs.

[0132] Furthermore, the control device, the laser transmitter and the laser rangefinder are fixedly installed at designated positions in the installation space according to the set installation parameters in advance, the horizontal laser emitted by the laser transmitter is projected onto the wall panel to be installed to form a horizontal laser line, and the vertical laser emitted is projected onto the wall panel to be installed to form a vertical laser line;

[0133] Accordingly, the identification module 42 may be specifically used for:

[0134] Performing feature recognition on the image to be recognized, and respectively representing first coordinate point information of the horizontal laser line and second coordinate point information of the vertical laser line from the image to be recognized;

[0135] Based on the first coordinate point information, determine a first slope value and a first midpoint coordinate of the horizontal laser line, and determine the first slope value and the first midpoint coordinate as the horizontal laser line information;

[0136] Based on the second coordinate point information, a second slope value and a second midpoint coordinate of the vertical laser line are determined, and the second slope value and the second midpoint coordinate are determined as the vertical laser line information.

[0137] Furthermore, the identification module 42 may also be used for:

[0138] Performing feature recognition on the image to be recognized, and identifying bolt hole coordinate points representing target bolt holes on the wall panel to be installed from the image to be recognized;

[0139] According to the bolt hole coordinate points, a first characteristic line to be calibrated in the horizontal direction and a second characteristic line to be calibrated in the vertical direction are formed;

[0140] Determine a third slope value and a third midpoint coordinate of the first characteristic line to be calibrated, and determine a fourth slope value and a fourth midpoint coordinate of the second characteristic line to be calibrated;

[0141] The third slope value and the third midpoint coordinate and the fourth slope value and the fourth midpoint coordinate are determined as characteristic line information of the characteristic line to be calibrated.

[0142] Furthermore, the number of the laser rangefinders is two, and a first reference distance value and a second reference distance value are pre-set for the two laser rangefinders respectively; the actual distance values ​​of the two laser rangefinders are recorded as the first actual distance value and the second actual distance value respectively;

[0143] Accordingly, the first determining module 43 may specifically include:

[0144] a plate forward and backward movement index value determining unit, for obtaining a preset first reference distance value and a second reference distance value, and determining a plate torque index value and a plate forward and backward movement index value according to the first reference distance value and the second reference distance value and the first actual distance value and the second actual distance value;

[0145] a plate horizontal displacement index value determination unit, used to determine the coordinate difference between the first midpoint coordinate in the horizontal laser line information and the third midpoint coordinate in the characteristic line information as the plate horizontal displacement index value;

[0146] a panel vertical rotation index value determining unit, configured to determine a difference between a second slope value in the vertical laser line information and a fourth slope value in the characteristic line information as a panel vertical rotation index value;

[0147] The correction index information determining unit is used to determine the panel torque index value, panel forward and backward movement index value, panel horizontal displacement index value and panel vertical rotation index value as the correction index information of the wall panel to be installed.

[0148] Furthermore, the board forward and backward movement index value determination unit can be specifically used for:

[0149] determining a difference between a first deviation value and a second deviation value as the plate torque index value, the first deviation value being a difference between the first actual distance value and the first reference distance value, and the second deviation value being a difference between the second actual distance value and the second reference distance value;

[0150] The difference between the first sum value and the second sum value is determined as the plate forward and backward movement index value, the first sum value is the sum of the first actual distance value and the first reference distance value, and the second sum value is the sum of the second actual distance value and the second reference distance value.

[0151] Furthermore, the correction index information in the second determination module 44 satisfies the correction condition:

[0152] At least one of the plate torque index value, the plate forward and backward movement index value, the plate horizontal displacement index value and the plate vertical rotation index value included in the deviation correction index information is greater than the corresponding set error threshold.

[0153] Furthermore, the second determining module 44 may be specifically configured to:

[0154] Obtaining the plate torque index value, plate forward and backward movement index value, plate horizontal displacement index value and plate vertical rotation index value included in the deviation correction index information;

[0155] Searching a preset correction relationship table to determine the torque correction amount corresponding to the plate torque index value, the front-to-back movement correction amount corresponding to the plate front-to-back movement index value, the horizontal displacement correction amount corresponding to the plate horizontal displacement index value, and the vertical rotation correction amount corresponding to the plate vertical rotation index value;

[0156] Determine the torque correction amount, the front-rear movement correction amount, the horizontal displacement correction amount and the vertical rotation correction amount as the installation correction amount corresponding to the hoisting equipment;

[0157] Among them, the hoisting equipment forms corresponding electric drive information according to the installation correction amount to control the wall panel to be installed to perform installation posture correction through posture adjustment.

[0158] An assembled wall panel installation control system provided by an embodiment of the present invention can execute an assembled wall panel installation control method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0159] Figure 5 A schematic diagram of an electronic device 50 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0160] like Figure 5 As shown, the electronic device 50 includes at least one processor 51, and a memory connected to the at least one processor 51 in communication, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 to the random access memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, the ROM 52, and the RAM 53 are connected to each other via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0161] A number of components in the electronic device 50 are connected to the I / O interface 55, including: an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0162] The processor 51 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 51 executes the various methods and processes described above, such as a method for controlling the installation of assembled wall panels.

[0163] In some embodiments, a method for controlling the installation of a prefabricated wall panel may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 58. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 50 via the ROM 52 and / or the communication unit 59. When the computer program is loaded into the RAM 53 and executed by the processor 51, one or more steps of the method for controlling the installation of a prefabricated wall panel described above may be performed. Alternatively, in other embodiments, the processor 51 may be configured to execute a method for controlling the installation of a prefabricated wall panel by any other appropriate means (e.g., by means of firmware).

[0164] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0165] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0166] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0167] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0168] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0169] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0170] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0171] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the installation of assembled wall panels, characterized in that: The method is executed by a control device in a prefabricated wall panel installation control system, wherein the prefabricated wall panel installation control system further comprises: a hoisting device, a laser transmitter and a laser rangefinder. The method comprises: Receiving an installation control instruction sent by the hoisting equipment after placing the wall panel to be installed at a set position, obtaining an actual distance value of the laser rangefinder relative to the wall panel to be installed, and obtaining the captured image to be identified; Determine, from the image to be identified, horizontal laser line information corresponding to the horizontal laser emitted by the laser emitter and vertical laser line information corresponding to the vertical laser emitted, and determine characteristic line information of the characteristic line to be calibrated from the image to be identified; Determine the deviation correction index information of the wall panel to be installed according to the characteristic line information, the horizontal laser line information, the vertical laser line information, and the actual distance value; If the correction index information meets the correction conditions, the installation correction amount corresponding to the hoisting equipment is determined according to the correction index information, and the installation correction amount is sent to the hoisting equipment, so that the hoisting equipment corrects the installation posture of the wall panel to be installed according to the installation correction amount.

2. The method according to claim 1, characterized in that The control device, laser transmitter and laser rangefinder are fixed at designated positions in the installation space in advance according to the set installation parameters. The horizontal laser emitted by the laser transmitter is projected on the wall panel to be installed to form a horizontal laser line, and the vertical laser emitted is projected on the wall panel to be installed to form a vertical laser line. Correspondingly, the determining, from the image to be identified, the horizontal laser line information corresponding to the horizontal laser emitted by the laser emitter and the vertical laser line information corresponding to the vertical laser emitted by the laser emitter, comprises: Performing feature recognition on the image to be recognized, and respectively representing first coordinate point information of the horizontal laser line and second coordinate point information of the vertical laser line from the image to be recognized; Based on the first coordinate point information, determine a first slope value and a first midpoint coordinate of the horizontal laser line, and determine the first slope value and the first midpoint coordinate as the horizontal laser line information; Based on the second coordinate point information, a second slope value and a second midpoint coordinate of the vertical laser line are determined, and the second slope value and the second midpoint coordinate are determined as the vertical laser line information.

3. The method according to claim 1, characterized in that The step of determining feature line information of a feature line to be calibrated from the image to be identified includes: Performing feature recognition on the image to be recognized, and identifying bolt hole coordinate points representing target bolt holes on the wall panel to be installed from the image to be recognized; According to the bolt hole coordinate points, a first characteristic line to be calibrated in the horizontal direction and a second characteristic line to be calibrated in the vertical direction are formed; Determine a third slope value and a third midpoint coordinate of the first characteristic line to be calibrated, and determine a fourth slope value and a fourth midpoint coordinate of the second characteristic line to be calibrated; The third slope value and the third midpoint coordinate and the fourth slope value and the fourth midpoint coordinate are determined as characteristic line information of the characteristic line to be calibrated.

4. The method according to claim 1, characterized in that: There are two laser rangefinders, and a first reference distance value and a second reference distance value are pre-set for the two laser rangefinders respectively; the actual distance values ​​of the two laser rangefinders are recorded as the first actual distance value and the second actual distance value respectively; Correspondingly, determining the deviation correction index information of the wall panel to be installed according to the characteristic line information, the horizontal laser line information, the vertical laser line information, and the actual distance value includes: Obtaining a preset first reference distance value and a second reference distance value, and determining a plate torque index value and a plate forward and backward movement index value according to the first reference distance value and the second reference distance value and the first actual distance value and the second actual distance value; Determine the coordinate difference between the first midpoint coordinate in the horizontal laser line information and the third midpoint coordinate in the characteristic line information as the plate horizontal displacement index value; determining the difference between the second slope value in the vertical laser line information and the fourth slope value in the characteristic line information as the plate vertical rotation index value; The panel torque index value, panel forward and backward movement index value, panel horizontal displacement index value and panel vertical rotation index value are determined as the deviation correction index information of the wall panel to be installed.

5. The method according to claim 4, characterized in that Determining the plate torque index value and the plate forward and backward movement index value according to the first reference distance value and the second reference distance value and the first actual distance value and the second actual distance value comprises: determining a difference between a first deviation value and a second deviation value as the plate torque index value, the first deviation value being a difference between the first actual distance value and the first reference distance value, and the second deviation value being a difference between the second actual distance value and the second reference distance value; The difference between the first sum value and the second sum value is determined as the plate forward and backward movement index value, the first sum value is the sum of the first actual distance value and the first reference distance value, and the second sum value is the sum of the second actual distance value and the second reference distance value.

6. The method according to claim 1, characterized in that The correction index information satisfies the correction condition: At least one of the plate torque index value, the plate forward and backward movement index value, the plate horizontal displacement index value and the plate vertical rotation index value included in the deviation correction index information is greater than the corresponding set error threshold.

7. The method according to claim 1, characterized in that The step of determining the installation deviation correction amount corresponding to the hoisting equipment according to the deviation correction index information includes: Obtaining the plate torque index value, plate forward and backward movement index value, plate horizontal displacement index value and plate vertical rotation index value included in the deviation correction index information; Searching a preset correction relationship table to determine the torque correction amount corresponding to the plate torque index value, the front-to-back movement correction amount corresponding to the plate front-to-back movement index value, the horizontal displacement correction amount corresponding to the plate horizontal displacement index value, and the vertical rotation correction amount corresponding to the plate vertical rotation index value; Determine the torque correction amount, the front-rear movement correction amount, the horizontal displacement correction amount and the vertical rotation correction amount as the installation correction amount corresponding to the hoisting equipment; Among them, the hoisting equipment forms corresponding electric drive information according to the installation correction amount to control the wall panel to be installed to perform installation posture correction through posture adjustment.

8. An assembled wall panel installation control system, characterized in that: The system comprises: a control device, a hoisting device, a laser transmitter and a laser rangefinder; the control device establishes a communication connection with the hoisting device; The control device comprises: A receiving module, used for receiving an installation control instruction sent by the hoisting equipment after placing the wall panel to be installed at a set position, obtaining an actual distance value of the laser rangefinder relative to the wall panel to be installed, and obtaining a captured image to be identified; an identification module, used to determine, from the image to be identified, horizontal laser line information corresponding to the horizontal laser emitted by the laser emitter and vertical laser line information corresponding to the vertical laser emitted, and to determine characteristic line information of the characteristic line to be calibrated from the image to be identified; A first determination module, used to determine the correction index information of the wall panel to be installed according to the characteristic line information, the horizontal laser line information, the vertical laser line information, and the actual distance value; The second determination module is used to determine the installation correction amount corresponding to the lifting equipment according to the correction index information if the correction index information meets the correction conditions, and send the installation correction amount to the lifting equipment, so that the lifting equipment can correct the installation posture of the wall panel to be installed according to the installation correction amount.

9. An electronic device, characterized in that: The control device of the prefabricated wall panel installation control system according to claim 8 comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the prefabricated wall panel installation control method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the prefabricated wall panel installation control method described in any one of claims 1-7 when executed.

11. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the method for controlling installation of prefabricated wall panels according to any one of claims 1 to 7.

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