Automatic positioning system for high-altitude assembly of multiple bracket nodes

Abstract

The invention provides an automatic positioning system for high-altitude assembly of multiple bracket nodes, which comprises an automatic positioning platform used for moving along a preset track system in a high-altitude operation area; the multi-sensor module comprises a laser range finder, a camera and a tilt angle sensor and is used for monitoring the position, posture and relative distance of a bracket node in real time; the control system comprises a central controller and embedded software and is used for receiving sensor data, calculating positioning parameters and controlling actions of the automatic positioning platform and the executing mechanism; the executing mechanism comprises a multi-degree-of-freedom mechanical arm and a clamping device and is used for grabbing, moving and fixing the bracket node; and the human-computer interface is used for an operator to monitor the running state of the system, input a control instruction and carry out manual intervention. And data fusion and path planning are carried out through an advanced calculation algorithm. And the control system intelligently controls the mechanical arm and the clamping device to perform assembly operation by utilizing the accurate data and combining a PID control algorithm and an inverse kinematics algorithm.

Description

Technical Field

[0001] The invention relates to the technical field of high tower installation and positioning, in particular to an automated positioning system for high-altitude assembly of multi-corbel nodes. Background Art

[0002] In the process of modern building construction, especially in the construction of high-rise buildings and large-span structures, the assembly of multi-corbel joints is a key process. Corbel joints are important components used to carry and distribute loads in building structures. They are usually used to connect beams and columns, and bear and transmit complex stresses. However, traditional assembly methods mainly rely on manual operations, which is not only inefficient, but also poses great safety hazards when working at high altitudes.

[0003] The environment of high-altitude operations is complex, and factors such as wind speed and temperature will affect the safety and quality of construction. Workers manually positioning and assembling the corbel nodes at high altitudes require not only extremely high skill levels, but also long periods of concentration, which increases the difficulty of operation and labor intensity. Due to the inevitable errors of manual operations, the assembly accuracy of the corbel nodes is often difficult to meet the construction requirements of complex structures, resulting in problems with subsequent structural connections, affecting the safety and service life of the entire building.

[0004] In order to improve construction efficiency and safety, some automated equipment has begun to be used in high-altitude construction. However, current automated equipment is mostly used for single tasks, such as welding, spraying, etc., and there is no automated positioning system specifically for the assembly of multiple corbel nodes. In addition, existing automated equipment still has deficiencies in accuracy, flexibility and adaptability. For example, although some robot systems can operate at high altitudes, it is difficult to achieve accurate positioning and assembly of corbel nodes due to the lack of real-time monitoring and feedback mechanisms of multiple sensors.

[0005] With the development of sensor technology and control algorithms, the application of multi-sensor fusion technology and intelligent control systems has gradually become a new trend in automated construction equipment. Multi-sensor fusion technology can comprehensively utilize data from multiple sensors such as laser ranging, image processing, and inertial measurement to obtain and calculate position information and attitude information in complex environments in real time, thereby improving positioning accuracy and stability. Intelligent control systems can achieve precise control and flexible operation of automated equipment by combining advanced control algorithms such as PID control, fuzzy control, and neural network control, significantly improving construction efficiency and safety.

[0006] Based on the above background, an automatic positioning system for high-altitude assembly of multiple bracket nodes integrating multi-sensor modules and intelligent control systems is developed, which can realize the precise positioning and assembly of bracket nodes, and has important practical significance and application prospects. The system can not only improve construction efficiency and reduce labor intensity, but also enhance the safety of high-altitude operations and ensure the construction quality and safety of building structures. Summary of the invention

[0007] The purpose of the present invention is to provide an automated positioning system for high-altitude assembly of multiple bracket nodes to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: an automated positioning system for high-altitude assembly of multiple bracket nodes, comprising:

[0009] An automated positioning platform for moving along a predetermined track system in an aerial work area;

[0010] Multi-sensor module, including laser rangefinder, camera and tilt sensor, for real-time monitoring of the position, posture and relative distance of the corbel nodes;

[0011] Control system, including central controller and embedded software, used to receive sensor data and calculate positioning parameters, and control the actions of the automated positioning platform and actuators;

[0012] Actuators, including multi-degree-of-freedom manipulators and gripping devices, are used to grasp, move, and fix the corbel nodes;

[0013] The human-machine interface, including the operation panel and monitoring display, is used by operators to monitor the system operating status, input control instructions and perform manual intervention.

[0014] As a preferred technical solution of the present invention, the automated positioning platform moves in three dimensions via a track system installed on a building structure. The track system includes a horizontal track, a vertical track and a rotating track, and can achieve precise movement in the X, Y and Z directions.

[0015] As a preferred technical solution of the present invention, the laser rangefinder is used to measure the distance between the corbel node and the positioning platform. The specific measurement method is to use the laser rangefinder to emit a laser beam to the surface of the corbel node and receive the reflected beam, and calculate the distance D according to the time difference. The formula is as follows:

[0016]

[0017] Wherein, c is the speed of light, t is the time difference between the emission and reception of the laser beam, and the rangefinder has a multi-point ranging function to obtain multi-point distance data for position correction.

[0018] As a preferred technical solution of the present invention, the camera is used to obtain the spatial position image of the corbel node, and extract the feature point coordinates of the corbel node through an image processing algorithm, and calculate its three-dimensional position using stereo vision technology. The specific algorithm is:

[0019] (X, Y, Z) = triangulation (P1, P2, B)

[0020] Among them, P1 and P2 are the coordinates of the feature points obtained by the two cameras, B is the baseline distance of the cameras,

[0021] As a preferred technical solution of the present invention, the inclination sensor is used to monitor the posture of the positioning platform. The inclination sensor includes a three-axis accelerometer and a three-axis gyroscope. The Kalman filter algorithm is used to perform data fusion to calculate the inclination angles θ, φ, and ψ of the positioning platform. The specific algorithm is:

[0022]

[0023] in, is the estimated state vector, K k is the Kalman gain, z k is the measurement vector, and H is the measurement matrix.

[0024] As a preferred technical solution of the present invention, the central controller calculates the precise position and optimal assembly path of the corbel node according to the data provided by the multi-sensor module. The specific calculation method is:

[0025] P target =f(P initial , D, θ, φ, ψ)

[0026] Among them, P target is the target position of the corbel node, P i nitial is the initial position, D is the measured distance, θ, φ, ψ are the attitude angles of the positioning platform, and the control algorithm adopts PID control:

[0027]

[0028] Among them, e(t) is the error, K p , K i , K d To control the gain.

[0029] As a preferred technical solution of the present invention, the mechanical arm of the actuator can move along multiple degrees of freedom to achieve accurate grasping and positioning of the corbel node, and the movement of the mechanical arm is controlled by an inverse kinematics algorithm, specifically:

[0030] q=g -1 (x)

[0031] Among them, q is the joint angle vector, x is the position and posture vector of the end effector, and the inverse kinematics calculation uses the Jacobian matrix method:

[0032]

[0033] As a preferred technical solution of the present invention, the clamping device includes adjustable clamping claws for adapting to different sizes and

[0034] The clamping force of the clamping claw is monitored in real time by the force sensor and fed back to the control system to ensure the clamping stability and safety. The clamping force calculation formula is:

[0035] F=K f (F set -F measured )

[0036] Among them, F is the control signal, K f is the clamping force gain, F s et is the set clamping force, F m easured for measuring the clamping force.

[0037] As a preferred technical solution of the present invention, the human-machine interface includes a visual monitoring display for displaying sensor data and system status to help operators perform real-time monitoring and adjustments, and includes a touch screen operation panel for inputting control instructions and parameter settings. The human-machine interface supports three-dimensional model visualization and real-time data graphic display.

[0038] As a preferred technical solution of the present invention, the system also includes a safety protection mechanism, including collision detection and emergency stop devices. The collision detection is realized by a force sensor installed on the mechanical arm. When an abnormal force value is detected, the system automatically stops the operation to ensure safety. The collision detection algorithm is:

[0039]

[0040] When F c ollision When the set threshold is exceeded, an emergency stop is triggered.

[0041] Beneficial effects:

[0042] The automatic positioning system for high-altitude assembly of multiple corbel nodes of the present invention realizes accurate positioning and automatic assembly of corbel nodes by integrating multiple sensors and intelligent control technologies. This system significantly improves construction efficiency and assembly accuracy, greatly shortens construction time compared to traditional manual operations, reduces human errors, and ensures accurate connection of corbel nodes in complex high-altitude environments.

[0043] The system's multi-sensor modules, including laser rangefinders, cameras, and inclination sensors, can monitor the position and posture of the corbel nodes in real time, and perform data fusion and path planning through advanced computing algorithms. The control system uses these precise data, combined with PID control algorithms and inverse kinematics algorithms, to intelligently control the robotic arm and clamping device for assembly operations. This precise control not only improves assembly quality, but also reduces construction risks caused by misoperation.

[0044] In addition, the automated positioning system of the present invention enhances the safety of aerial work. The system includes collision detection and emergency stop devices, which can quickly respond and stop operations when abnormal conditions are detected to prevent accidents. By reducing the number of aerial workers and the labor intensity, the automated positioning system reduces potential safety hazards at the construction site and improves the safety and reliability of the overall construction. These beneficial effects make the system widely used in complex engineering projects such as high-rise buildings, long-span bridges, wind power towers and super-high-rise buildings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a system block diagram of the automated positioning system for high-altitude assembly of multiple corbel nodes proposed by the present invention. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] The following is a specific implementation method for the above claims. This section will elaborate on how to implement each key step of the method:

[0048] Example 1: Application in a high-rise building project

[0049] In a high-rise building project, the automatic positioning system for high-altitude assembly of multiple bracket nodes of the present invention is used to perform high-altitude assembly operations.

[0050] 1. Install the positioning platform: The automated positioning platform is installed on the structure of the high-rise building. The positioning platform moves in three dimensions through a pre-laid track system. The track system includes transverse tracks, longitudinal tracks and rotation tracks to ensure that the positioning platform can move freely around the building.

[0051] 2. Multi-sensor module initialization: The multi-sensor module is installed on the positioning platform, including a laser rangefinder, a camera, and an inclination sensor. When the system starts, the laser rangefinder and the camera perform self-calibration to ensure the accuracy of the measurement.

[0052] 3. Get the position of the corbel node: The laser rangefinder emits a laser beam to the surface of the corbel node and receives the reflected beam, and calculates the distance D based on the time difference: At the same time, the camera acquires the image of the corbel node, extracts the coordinates of the feature points through the image processing algorithm, and calculates the three-dimensional position of the corbel node by combining the laser ranging data.

[0053] 4. Attitude monitoring: The inclination sensor monitors the attitude of the positioning platform in real time, and uses the data of the three-axis accelerometer and three-axis gyroscope to fuse the Kalman filter algorithm to calculate the inclination angles θ, φ, and ψ of the positioning platform.

[0054] 5. Path calculation: The central controller calculates the precise location of the corbel node and the optimal assembly path based on multi-sensor data:

[0055] P target =f(P initial , D, θ, φ, ψ)

[0056] The control algorithm adopts PID control:

[0057]

[0058] q=g -1 (x)

[0059] Actuator operation: The robot arm moves according to the instructions of the control system, and uses the inverse kinematics algorithm to control the multi-degree-of-freedom movement: The clamping device adjusts the clamping claws, clamps the bracket node, and moves it precisely to the target position for assembly.

[0060] 7. Real-time monitoring and adjustment: The operator monitors the entire assembly process in real time through the human-machine interface, displaying sensor data and system status. If necessary, manual intervention and adjustment can be made through the operation panel. The human-machine interface supports 3D model visualization and real-time data graphic display.

[0061] Safety protection mechanism: The system includes collision detection and emergency stop devices. When abnormal force is detected, the system automatically stops operation to

[0062] Ensure safety. The collision detection algorithm is:

[0063]

[0064] When F c ollisionWhen a set threshold is exceeded, an emergency stop is triggered (see claim 10).

[0065] Example 2: Application in long-span bridge construction

[0066] In a large-span bridge construction project, the automatic positioning system for high-altitude assembly of multiple corbel nodes of the present invention is used for high-altitude assembly.

[0067] Platform installation and movement: The automated positioning platform is installed on the bridge structure and moves over the bridge through a track system. The track system includes horizontal and vertical tracks to ensure that the platform can cover the entire bridge assembly area. The automated positioning platform moves in three dimensions through a track system installed on the building structure. The track system includes horizontal tracks, vertical tracks and rotation tracks, which can achieve precise movement in the three directions of X, Y and Z.

[0068] Multi-sensor data acquisition: The laser rangefinder measures the distance of the corbel node, the camera obtains the image of the node, and the three-dimensional position of the node is calculated through stereo vision technology. The inclination sensor monitors the posture of the platform to ensure the stability of the platform.

[0069] Path planning and control: The central controller performs path planning based on sensor data and uses the PID control algorithm to calculate the optimal assembly path and control parameters. The robotic arm moves according to the inverse kinematics algorithm to grab the corbel node and position it at the specified position.

[0070] Assembly process monitoring: The assembly process is monitored in real time through the human-machine interface, which displays sensor data and system status, allowing operators to make necessary adjustments. The system also includes safety protection mechanisms, collision detection and emergency stop devices to ensure construction safety.

[0071] Example 3: Application in wind power tower assembly

[0072] In the construction of a wind power tower, the automatic positioning system for high-altitude assembly of multiple bracket nodes of the present invention is used to carry out high-altitude assembly of multiple bracket nodes.

[0073] Installation and movement: The automated positioning platform is installed on the tower of the wind turbine. The platform moves along the tower track system to cover the entire tower assembly area.

[0074] Sensor data acquisition: The multi-sensor module acquires the spatial position and posture of the corbel node, the laser rangefinder measures the distance, and the camera acquires the image and calculates the three-dimensional coordinates. The tilt sensor monitors the posture of the platform to ensure stability in high-altitude environments.

[0075] Path calculation and control: The central controller uses multi-sensor data to calculate the precise position and assembly path of the corbel node, and controls the movement of the robotic arm through PID control algorithm and inverse kinematics algorithm. The robotic arm grabs the corbel node and moves it to the specified position for assembly.

[0076] Assembly and monitoring: The operator monitors the entire assembly process through the human-machine interface. The system displays real-time data and status information and can intervene manually when necessary. The system's safety protection mechanism ensures construction safety and prevents accidental collisions and emergencies.

[0077] Example 4: Application in super high-rise buildings

[0078] In a super high-rise building project, the automatic positioning system for high-altitude assembly of multiple corbel nodes of the present invention is used to carry out high-altitude assembly of corbel nodes.

[0079] Platform installation and movement: The automated positioning platform is installed on the structure of the super high-rise building. The platform moves around the building through a pre-installed track system to cover all node areas that need to be assembled.

[0080] Sensor data acquisition: The multi-sensor module includes a laser rangefinder, a camera, and an inclination sensor to obtain the position, posture, and relative distance of the corbel node in real time. The laser rangefinder measures the distance, the camera acquires the image and calculates the three-dimensional position through the image processing algorithm, and the inclination sensor monitors the platform posture.

[0081] Path calculation and control: The central controller performs path planning based on sensor data and uses PID control algorithm to calculate the optimal assembly path and control parameters. The robotic arm controls multi-degree-of-freedom motion according to the inverse kinematics algorithm, and the gripper grabs and locates the corbel node.

[0082] Assembly process monitoring: The assembly process is monitored in real time through the human-machine interface. Operators can view sensor data and system status and make necessary manual adjustments. The system's safety protection mechanism, including collision detection and emergency stop devices, ensures the safety of high-altitude operations.

[0083] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0084] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated positioning system for high-altitude assembly of multiple bracket nodes, characterized in that: include: An automated positioning platform for moving along a predetermined track system in an aerial work area; Multi-sensor module, including laser rangefinder, camera and tilt sensor, for real-time monitoring of the position, posture and relative distance of the corbel nodes; Control system, including central controller and embedded software, used to receive sensor data and calculate positioning parameters, and control the actions of the automated positioning platform and actuators; Actuators, including multi-degree-of-freedom manipulators and gripping devices, are used to grasp, move, and fix the corbel nodes; The human-machine interface, including the operation panel and monitoring display, is used by operators to monitor the system operating status, input control instructions and perform manual intervention.

2. The system according to claim 1, characterized in that The automated positioning platform moves in three dimensions via a track system installed on a building structure. The track system includes a horizontal track, a vertical track, and a rotating track, and can achieve precise movement in the three directions of X, Y, and Z.

3. The automated positioning system for high-altitude assembly of multiple bracket nodes according to claim 1 or 2, characterized in that: The laser rangefinder is used to measure the distance between the corbel node and the positioning platform. The specific measurement method is to use the laser rangefinder to emit a laser beam to the surface of the corbel node and receive the reflected beam, and calculate the distance D according to the time difference. The formula is as follows: Wherein, c is the speed of light, and t is the time difference between the emission and reception of the laser beam. The rangefinder has a multi-point distance measurement function to obtain multi-point distance data for position correction.

4. The automated positioning system for high-altitude assembly of multiple bracket nodes according to claim 1 or 3, characterized in that: The camera is used to obtain the spatial position image of the corbel node, and extract the feature point coordinates of the corbel node through an image processing algorithm, and calculate its three-dimensional position using stereo vision technology. The specific algorithm is: (X, Y, Z) = triangulation (P1, P2, B) Among them, P1 and P2 are the coordinates of the feature points obtained by the two cameras, and B is the camera baseline distance.

5. The automated positioning system for high-altitude assembly of multiple bracket nodes according to claim 1 is characterized in that: The inclination sensor is used to monitor the posture of the positioning platform. The inclination sensor includes a three-axis accelerometer and a three-axis gyroscope. The Kalman filter algorithm is used to perform data fusion to calculate the inclination angles θ, φ, and ψ of the positioning platform. The specific algorithm is: in, is the estimated state vector, K k is the Kalman gain, z k is the measurement vector, and H is the measurement matrix.

6. The automated positioning system for high-altitude assembly of multiple bracket nodes according to claim 1, characterized in that: The central controller calculates the precise position of the corbel node and the optimal assembly path based on the data provided by the multi-sensor module. The specific calculation method is as follows: P target =f(P initial ,D,θ,φ,ψ) Among them, P target is the target position of the corbel node, P i nitial is the initial position, D is the measured distance, θ, φ, ψ are the attitude angles of the positioning platform, and the control algorithm adopts PID control: Among them, e(t) is the error, K p , K i , K d To control the gain.

7. The automated positioning system for high-altitude assembly of multiple bracket nodes according to claim 1 or 6, characterized in that: The mechanical arm of the actuator can move along multiple degrees of freedom to achieve accurate grasping and positioning of the corbel node. The movement of the mechanical arm is controlled by an inverse kinematics algorithm, specifically: q=g -1 (x) Among them, q is the joint angle vector, x is the position and posture vector of the end effector, and the inverse kinematics calculation uses the Jacobian matrix method:

8. The automated positioning system for high-altitude assembly of multiple bracket nodes according to claim 1, characterized in that: The clamping device includes an adjustable clamping claw to adapt to different sizes and shapes of corbel nodes. The clamping force of the clamping claw is monitored in real time by a force sensor and fed back to the control system to ensure clamping stability and safety. The clamping force calculation formula is: F=K f (F set -F measured ) Among them, F is the control signal, K f is the clamping force gain, F s et is the set clamping force, F m easured for measuring the clamping force.

9. The automated positioning system for high-altitude assembly of multiple bracket nodes according to claim 1, characterized in that: The human-machine interface includes a visual monitoring display for displaying sensor data and system status to help operators perform real-time monitoring and adjustments, and includes a touch screen operation panel for inputting control instructions and parameter settings. The human-machine interface supports three-dimensional model visualization and real-time data graphic display.

10. The automated positioning system for high-altitude assembly of multiple bracket nodes according to claim 1, characterized in that: The system also includes a safety protection mechanism, including collision detection and emergency stop devices. Collision detection is achieved through a force sensor installed on the robotic arm. When an abnormal force value is detected, the system automatically stops operating to ensure safety. The collision detection algorithm is: When F collision When the set threshold is exceeded, an emergency stop is triggered.

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