Auxiliary installation control system and method for building curtain wall

Abstract

The invention discloses an auxiliary installation control system and method for a building curtain wall in the technical field of intelligent construction. The method comprises the steps of obtaining detection data in the installation process of the building curtain wall; based on detection data in the building curtain wall installation process, comprehensive positioning errors, comprehensive balance force and optimal hoisting time in the building curtain wall installation process are calculated through a dynamic error compensation algorithm, a multi-body mechanical balance equation and a real-time path optimization algorithm; and based on the comprehensive positioning error, the comprehensive balance force and the optimal hoisting time in the building curtain wall installation process, an execution mechanism is controlled to conduct auxiliary installation on the building curtain wall. Through the multi-source data fusion technology and the dynamic error compensation model, real-time sensing and self-adaptive correction of the spatial pose of the curtain wall unit are achieved, and the problem of positioning misalignment caused by manual operation deviation in a traditional method is solved.

Description

Technical Field

[0001] The present invention relates to an auxiliary installation control system and method for building curtain walls, belonging to the technical field of intelligent construction. Background Art

[0002] A building curtain wall refers to the non-load-bearing external wall enclosure of a building, usually composed of a panel (such as glass, metal plate, stone plate, ceramic plate, etc.) and a supporting structure behind (such as aluminum cross beams and columns, steel structure, glass ribs, etc.). The building curtain walls in the prior art are generally composed of a supporting structure system and a panel, and are building peripheral enclosing structures or decorative structures that can have a certain displacement ability relative to the main structure and do not share the actions received by the main structure.

[0003] Currently, the installation of traditional building curtain walls relies on manual measurement and empirical adjustment, which is easily interfered by the environment and has error accumulation, resulting in low installation accuracy of building curtain walls. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an auxiliary installation control system and method for building curtain walls. Through multi-source data fusion technology and a dynamic error compensation model, real-time perception and adaptive correction of the spatial pose of curtain wall units are achieved, and the problem of positioning inaccuracy caused by manual operation deviation in traditional methods is solved.

[0005] To achieve the above purpose, the present invention is implemented by the following technical solutions:

[0006] In the first aspect, the present invention provides an auxiliary installation control method for building curtain walls, including:

[0007] Obtaining detection data during the installation process of the building curtain wall;

[0008] Based on the detection data during the installation process of the building curtain wall, calculating the comprehensive positioning error, comprehensive balance force, and optimal hoisting time during the installation process of the building curtain wall through a dynamic error compensation algorithm, a multi-body mechanical balance equation, and a real-time path optimization algorithm;

[0009] Based on the comprehensive positioning error, comprehensive balance force, and optimal hoisting time during the installation process of the building curtain wall, controlling the actuator to assist in the installation of the building curtain wall.

[0010] Further, the detection data is obtained by sensors installed on the building curtain wall unit, and the sensors include a laser rangefinder array, a six-axis inertial navigation unit, a visual recognition device, a wireless anemometer, a distributed temperature sensor chain, a fiber Bragg grating strain sensor, a barometric altimeter, a biaxial inclinometer, and a millimeter wave radar.

[0011] Further, the dynamic error compensation algorithm is:

[0012] ΔS = k·sqrt(Δx 2 +Δy 2 )+(1 + α·T)·Δz

[0013] Where: ΔS: Comprehensive positioning error; Δx, Δy: Plane x, y coordinate deviations; Δz: Elevation deviation; k: Environmental correction coefficient; α: Coefficient of thermal expansion; T: Temperature difference.

[0014] Furthermore, the multi-body mechanical equilibrium equation is:

[0015] F_equilibrium = (E·A·ΔL) / L0 + q·H 2 / (8·f) ≤ F_allowable

[0016] Where: F_equilibrium: Comprehensive balance force; E: Elastic modulus; A: Cross-sectional area of the connecting piece; L0: Original length; ΔL: Deformation amount; q: Wind load; H: Height of the curtain wall unit; f: Safety factor of pre-tightening force; F_allowable: Allowable bearing capacity.

[0017] Furthermore, the real-time path optimization algorithm is:

[0018] t_min = Σ[(d_i) / (v_i·cosθ_i)] + β·ΣΔθ_i

[0019] Where: t_min: Optimal hoisting time; d_i: Section path length; v_i: Hoisting speed; θ_i: Path inclination angle; β: Steering penalty coefficient; Δθ_i: Angle change amount.

[0020] Furthermore, controlling the actuator to assist in the installation of the building curtain wall includes: controlling the servo motor for motion compensation based on the comprehensive positioning error, adjusting the tightening torque based on the comprehensive balance force, and controlling the servo motor for speed planning based on the optimal hoisting time. The controlling the servo motor for motion compensation based on the comprehensive positioning error includes error decomposition and motion mapping, dynamic compensation, and motor action execution. The adjusting the tightening torque based on the comprehensive balance force includes bolt tightening torque correction and servo motor thrust limitation. The controlling the servo motor for speed planning based on the optimal hoisting time includes path-speed coupling control and dynamic obstacle avoidance.

[0021] Furthermore, the calculation expression for the bolt tightening torque correction is:

[0022] T_actual = T_design×min(1.0, 0.8F_allowable / F_equilibrium)

[0023] Where: T_actual is the actual applied torque; T_design is the design torque; F_allowable: allowable bearing capacity; F_equilibrium: comprehensive balance force;

[0024] The calculation expression for the thrust limit of the servo motor is:

[0025] F_motor_max = 0.8×(F_allowable - F_equilibrium)

[0026] F_motor_max is the maximum thrust of the motor.

[0027] In a second aspect, the present invention provides an auxiliary installation control system for a building curtain wall, including:

[0028] A data acquisition module: used to obtain detection data during the installation of the building curtain wall;

[0029] A data processing module: used to calculate the comprehensive positioning error, comprehensive balance force, and optimal hoisting time during the installation of the building curtain wall based on the detection data during the installation of the building curtain wall through a dynamic error compensation algorithm, a multi-body mechanical balance equation, and a real-time path optimization algorithm;

[0030] An auxiliary execution module: based on the comprehensive positioning error, comprehensive balance force, and optimal hoisting time during the installation of the building curtain wall, controls the actuator to assist in the installation of the building curtain wall.

[0031] In a third aspect, the present invention provides an auxiliary installation control device for a building curtain wall, including a processor and a storage medium;

[0032] The storage medium is used to store instructions;

[0033] The processor is used to operate according to the instructions to execute the steps of the method according to any one of the above.

[0034] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method according to any one of the above are implemented.

[0035] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0036] First, through the multi-source data fusion technology and the dynamic error compensation model, this solution realizes the real-time perception and adaptive correction of the spatial pose of the curtain wall unit, completely solving the problem of positioning inaccuracy caused by insufficient instrument accuracy and manual operation deviation in traditional methods, enabling the curtain wall unit to achieve sub-millimeter-level precise positioning in a complex construction environment, especially suitable for the strict installation requirements of curved curtain walls and special-shaped structures;

[0037] Second, this solution innovatively introduces real-time analysis of multi-body mechanical balance. By integrating sensor data with material properties, a dynamic mechanical model is constructed to monitor and warn of the structural stress state in real time throughout the entire process of hoisting, positioning, and fastening, fundamentally avoiding the hidden risks caused by dynamic factors such as wind vibration and temperature deformation in traditional processes, and ensuring that the mechanical state during the installation process is fully known and controllable throughout the whole process;

[0038] Third, through the deep coupling of the intelligent path planning algorithm and the automated execution mechanism, this solution realizes parallel and continuous operations for multiple processes. The system can autonomously optimize the hoisting trajectory, predict process conflicts, and dynamically adjust execution parameters, significantly shortening the installation cycle of a single unit. Especially in complex scenarios such as high altitude and large span, the efficiency advantage is more prominent. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings forming a part of this invention are used to provide a further understanding of the invention. The schematic embodiments and descriptions thereof of the invention are used to explain the invention and do not constitute an improper limitation to the invention. In the drawings:

[0040] Figure 1 It is a schematic flow chart of an auxiliary installation control method for a building curtain wall provided by Embodiment 1 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0042] The following detailed descriptions are all exemplary descriptions, aiming to provide further detailed descriptions of the present invention. Unless otherwise specified, all technical terms adopted by the present invention have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention belongs. The terms used in the present invention are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention.

[0043] Embodiment 1:

[0044] An auxiliary installation control method for a building curtain wall, which is implemented by a system architecture composed of a sensing layer, an analysis layer, and an execution layer, specifically including the following contents:

[0045] I. Sensing layer

[0046] The sensing layer of this system includes 9 types of core sensors. According to the functional requirements, a differential layout strategy is adopted to ensure the comprehensiveness and reliability of data collection. The specific configuration is as follows:

[0047] 1. Laser rangefinder array. Model: SICK DT50-HiVision; Measuring range: 0.1 - 300 m; Accuracy: ±0.1 mm; Sampling rate: 100 Hz; Installation location: On the crossbeam of the hoisting equipment: One is arranged every 1.5 m to form a cross-shaped measurement network; At the edge of the installed curtain wall unit: One is installed at the top and both sides of each unit for monitoring the distance between adjacent units; Data usage: To obtain the three-dimensional coordinate deviation (Δx, Δy, Δz) between the curtain wall unit and the target installation position in real time.

[0048] 2. Six-axis inertial navigation unit (IMU). Model: Xsens MTi-670; Angular velocity range: ±2000° / s; Acceleration range: ±160 m / s 2 ; Attitude accuracy: 0.1°; Installation location: At the center of gravity of the curtain wall unit: Embedded in the steel structure of the unit backplane; At the connection point of the hoisting rigging: One is configured for each lifting point; Data usage: To monitor the angular vibration, linear acceleration and attitude angles (pitch / roll / yaw) during the hoisting process of the unit.

[0049] 3. Visual recognition device. Model: Basler ace2 acA4112-30uc; Resolution: 4096×3000; Frame rate: 30 fps; Lens: 12 mm fixed-focus industrial lens; Installation location: At the bottom of the hoisting equipment: Installed with a 15° downward tilt, and the field of view covers the area to be installed; At the edge of the floor slab: One is arranged every 10 m to form a multi-view coverage; Data usage: To identify the position of the embedded parts (positioning accuracy ±0.5 mm) and detect the seam alignment status (based on the image edge detection algorithm).

[0050] 4. Wireless anemometer. Model: Testo 405i; Measuring range: 0 - 20 m / s; Accuracy: ±0.1 m / s; Sampling rate: 10 Hz; Installation location: At the top of the hoisting equipment: 2 m away from the end of the boom; On the surface of the curtain wall unit: One is arranged for every 20 units, and it is fixed by magnetic adsorption; Data usage: Input the formula 2 to calculate the wind load q value and trigger a high wind warning (start the wind resistance mode when > 12 m / s).

[0051] 5. Distributed temperature sensor chain. Model: PT100 platinum resistance thermometer; Measuring range: -40°C to +150°C; Accuracy: ±0.1°C; Node spacing: 5 m; Installation location: Inside the curtain wall keel: Buried along the vertical main keel; On the surface of the structural floor slab: Three are arranged on each floor to form a temperature field gradient monitoring network; Data usage: To calculate the thermal expansion compensation amount (for the α·T term in formula 1) and warn of abnormal material stress caused by sudden temperature changes.

[0052] 6. Fiber Bragg Grating Strain Sensor. Model: HBM KMRplus; Measuring Range: ±5000 με; Wavelength Resolution: 1 pm; Number of Channels: 16 channels per unit; Installation Location: Root of the connector: 2 sensors are arranged at each hanging point (in orthogonal directions); Four corners of the unit board: Paste at a distance of 100 mm from the edge; Data Usage: Real-time measurement of ΔL (used for calculating the material deformation term in Formula 2); Monitoring the residual stress distribution after installation.

[0053] 7. Barometric Altimeter. Model: Bosch BMP388; Measuring Range: 300 - 1250 hPa; Altitude Resolution: 0.01 m; Temperature Compensation: Built-in; Installation Location: Control box of the hoisting equipment: Integrated installation with the IMU; Ground reference station: One sensor is arranged for every 200 m radius; Data Usage: Assisting in calculating the elevation deviation of Δz; Providing barometric reference for data fusion.

[0054] 8. Biaxial Tilt Sensor. Model: Level Developments LDC-0600; Measuring Range: ±30°; Accuracy: ±0.001°; Vibration Resistance: 50 g; Installation Location: Installation fixture of the unit board: Close to the vacuum suction cup; Four corners of the hoisting platform: One sensor is arranged at each corner; Data Usage: Measuring θ_i (used for path tilt compensation in Formula 3) to ensure that the normal angle deviation of the unit board < 0.1°.

[0055] 9. Millimeter-wave Radar. Model: TI AWR1843; Detection Range: 200 m; Angle Resolution: 1°; Output Frame Rate: 20 Hz; Installation Location: Front end of the hoisting equipment: Horizontal scanning installation area; Tower crane boom: One sensor is arranged at every 50 m height; Data Usage: Dynamically detecting obstacles (minimum recognizable size 0.5 m × 0.5 m) to assist the path planning algorithm for real-time obstacle avoidance.

[0056] II. Analysis Layer

[0057] The analysis layer includes an intelligent analysis system composed of a hardware computing unit, a core algorithm engine, and a data interaction framework, which can run three core algorithms: dynamic error compensation algorithm, multi-body mechanical balance equation, and real-time path optimization algorithm. The specific content includes:

[0058] 1. Dynamic Error Compensation Algorithm

[0059] ΔS = k·sqrt(Δx 2 +Δy 2 ) + (1 + α·T)·Δz

[0060] Where: ΔS: Comprehensive positioning error (mm); Δx, Δy: Plane x, y coordinate deviation (mm); Δz: Elevation deviation (mm); k: Environmental correction coefficient (0.8 - 1.2, related to wind speed); α: Coefficient of thermal expansion (taking the characteristic value of the curtain wall material); T: Temperature difference (°C).

[0061] 2. Multi-body mechanical equilibrium equation

[0062] F_equilibrium = (E·A·ΔL) / L0 + q·H 2 / (8·f) ≤ F_allowable

[0063] Where: F_equilibrium: Comprehensive balance force; E: Elastic modulus (MPa); A: Cross-sectional area of the connecting piece (mm 2 ); ΔL: Deformation amount (mm); L0: Original length (mm); q: Wind load (kN / m); H: Height of the curtain wall unit (m); f: Pre-tightening force safety factor (1.5 - 2.0); F_allowable: Allowable bearing capacity.

[0064] 3: Real-time path optimization algorithm

[0065] t_min = Σ[(d_i) / (v_i·cosθ_i)] + β·ΣΔθ_i

[0066] Where: t_min: Optimal hoisting time (s); d_i: Segment path length (m); v_i: Hoisting speed (m / s); θ_i: Path inclination angle (°); β: Steering penalty coefficient (0.5 - 1.0); Δθ_i: Angle change amount (°).

[0067] III. Execution layer

[0068] The execution layer includes a servo drive mechanism, a vacuum suction cup group, an automatic fastening device, etc. The specific control process and technical details for precise installation of the curtain wall based on ΔS, F_equilibrium, and t_min are as follows:

[0069] (I) Mapping relationship between each parameter and the execution layer

[0070]

[0071] Table 1: Mapping relationship between each parameter and the execution layer

[0072] (II) Positioning compensation control driven by ΔS

[0073] 1. Error decomposition and motion mapping

[0074] Spatial decomposition: After decomposing ΔS into 6 degrees of freedom deviations including three translations (ΔX, ΔY, ΔZ) and three rotations (Δθx, Δθy, Δθz), the motor rotation angle is calculated according to the ball screw lead (10mm) and the reduction ratio (1:100).

[0075] 2. Dynamic compensation process

[0076] Coarse adjustment stage: When ΔS > 5 mm, approach quickly in the speed mode (1 m / s); Fine adjustment stage: When ΔS ≤ 5 mm, switch to the force control mode (impedance control); Closed-loop verification: Re-measure ΔS after compensation until ΔS < 0.5 mm.

[0077] 3. Motor action execution: (When ΔS = 3.43 mm)

[0078] X-axis compensation 3.2 mm → Motor rotation angle: 3.2 / (10 / 1000) × (360 / (2π × 50)) = 36.7°; Y-axis compensation 2.1 mm → Rotation 23.8°; Time consumption: Coarse adjustment 1.2 s + Fine adjustment 2.8 s = 4.0 s.

[0079] (III) Mechanical safety control guided by F_equilibrium

[0080] 1. Hierarchical response mechanism

[0081]

[0082] Table 2: Hierarchical response mechanism

[0083] 2. Dynamic torque adjustment algorithm

[0084] Bolt tightening torque correction:

[0085] T_actual = T_design × min(1.0, 0.8F_allowable / F_equilibrium)

[0086] T_actual is the actually applied torque, T_design is the design torque. When F_equilibrium = 97.69 kN and F_allowable = 120 kN, T_actual = 320 × 0.814 = 260 N·m.

[0087] Servo motor thrust limit:

[0088] F_motor_max = 0.8 × (F_allowable - F_equilibrium)

[0089] F_motor_max is the maximum thrust of the motor. If F_equilibrium = 100 kN, then F_motor_max = 0.8 × (120 - 100) = 16 kN.

[0090] (When F_equilibrium = 110 kN for early warning)

[0091] Execution action: the lifting speed is reduced from 0.6m / s to 0.3m / s, the tightening torque is adjusted from 320N·m to 260N·m, and the auxiliary support legs (load 15kN) are started. Recovery condition: the restriction is released after measuring F_equilibrium < 100kN for 3 consecutive times.

[0092] (IV) t_min optimized path execution

[0093] 1. Path-speed coupling control

[0094] Speed ​​curve generation: Decompose the theoretical speed of each path segment according to t_min:

[0095] v_i=d_i / (t_segment·cosθ_i)

[0096] t_segment is the segment duration, which is proportional to t_min;

[0097] Servo motor control: Adopt S-type acceleration and deceleration curve, acceleration limit:

[0098] a_max=min(0.3g,(v_i^2) / (2d_i))

[0099] a_max is the maximum acceleration, g = 9.8m / s 2 , avoid inertial impact;

[0100] 2. Dynamic obstacle avoidance strategy

[0101] Real-time path correction: When the millimeter-wave radar detects an obstacle, t_min is recalculated according to formula 3:

[0102] t_min′=t_min+β·Δθ_new

[0103] Δθ_new is the turning angle required to avoid obstacles, and the penalty coefficient is β = 0.7;

[0104] Actuator response: lateral offset command → linear motor lateral movement (maximum speed 2m / s); height adjustment → winch speed switching (0.5m / s→1.2m / s).

[0105] 3. t_min = 823s path execution

[0106] Path decomposition:

[0107]

[0108]

[0109] Table 3: Path decomposition

[0110] Energy consumption statistics: Theoretical energy consumption: 18.3 kWh; Actual energy consumption: 20.1 kWh (including additional energy consumption for obstacle avoidance).

[0111] (V) Three-parameter collaborative control logic

[0112] 1. Priority ranking: Safety first: F_equilibrium monitoring > ΔS compensation > t_min optimization; Response cycle: F_equilibrium (10 ms) > ΔS (50 ms) > t_min (100 ms).

[0113] 2. Dynamic weight assignment: W = [0.4(F_equilibrium), 0.4(ΔS), 0.2(t_min)].

[0114] 3. Abnormal handling cases:

[0115] Scenario: A gust of wind causes F_equilibrium to suddenly rise to 115 kN, and at the same time ΔS = 6 mm;

[0116] Response: Immediately stop the t_min path tracking, activate the wind resistance mode (reduce the speed to 0.2 m / s), give priority to compensating ΔS to the safe range (< 3 mm), and re-plan the path after F_equilibrium < 100 kN.

[0117] (VI) Implementation effects

[0118]

[0119] Table 4: Comparison of implementation effects

[0120] Through the closed-loop control of ΔS, F_equilibrium, and t_min, the execution layer has achieved the coordination of millimeter-level positioning - real-time safety monitoring - time-optimal operation, and overcome the technical problem of difficult to balance accuracy, efficiency, and safety in the installation of ultra-high-rise curtain walls.

[0121] This solution has at least the following improvements compared with the existing technology:

[0122] 1. Qualitative improvement in positioning accuracy

[0123] Traditional curtain wall installation relies on manual measurement and empirical adjustment, is vulnerable to environmental interference and has error accumulation. This solution realizes the real-time perception and adaptive correction of the spatial pose of curtain wall units through multi-source data fusion technology and dynamic error compensation model, completely solves the positioning inaccuracy problem caused by insufficient instrument accuracy and manual operation deviation in traditional methods, enables curtain wall units to achieve sub-millimeter-level precise positioning in complex construction environments, and is especially suitable for the strict installation requirements of curved curtain walls and special-shaped structures.

[0124] 2. Full-cycle guarantee of mechanical safety

[0125] In traditional construction, the structural safety depends on static calculations and post-event inspections, and it cannot dynamically respond to sudden load changes during the installation process. This solution innovatively introduces real-time analysis of multi-body mechanical balance. By integrating sensor data and material properties, a dynamic mechanical model is constructed to monitor and warn the structural stress state in real time throughout the entire process of hoisting, positioning, and fastening, fundamentally avoiding the hidden risks caused by dynamic factors such as wind vibration and temperature deformation in traditional processes, and ensuring that the mechanical state during the installation process is fully known and controllable at all times.

[0126] 3. Breakthrough in process coordination efficiency

[0127] In traditional operations, processes such as hoisting, positioning, and fastening are fragmented, requiring multiple teams to alternate operations, resulting in low efficiency and high coordination costs. This solution realizes parallel and continuous operations of multiple processes through the deep coupling of intelligent path planning algorithms and automated actuators. The system can autonomously optimize the hoisting trajectory, predict process conflicts, and dynamically adjust execution parameters, significantly shortening the installation cycle of a single unit. Especially in complex scenarios such as high altitude and large span, the efficiency advantage is more prominent.

[0128] 4. Enhanced environmental adaptability

[0129] Traditional equipment often needs to suspend construction under extreme temperature, strong wind and other harsh working conditions. This solution enables the system to actively adapt to sudden environmental changes through a multi-physical field coupling compensation mechanism, incorporating environmental variables such as temperature gradient, wind load, and vibration interference into the control model, and can maintain high-precision and high-stability operation under working conditions where traditional methods cannot operate, greatly expanding the construction window period.

[0130] 5. Significantly optimized resource consumption

[0131] In traditional construction, the waste of materials and time caused by rework and manual adjustment is eradicated. This solution realizes green and low-carbon construction from the root by minimizing trial-and-error operations through a precise prediction-execution closed-loop, and at the same time relying on intelligent algorithms to optimize energy distribution and reduce no-load losses of equipment.

[0132] 6. Substantially reduced safety risks

[0133] Traditional high-altitude operations rely on personnel experience to judge risks, and it is difficult to quantitatively control potential hazards. This solution constructs a three-level early warning-response system. Through real-time assessment of the mechanical state and the equipment's self-protection mechanism, the risk prevention and control is transformed from "post-event handling" to "pre-event blocking". Especially in high-risk working conditions, it can actively trigger emergency measures to comprehensively ensure the safety of personnel and equipment.

[0134] 7. Improved technical scalability

[0135] Compared with the function solidification of traditional special equipment, this solution adopts a modular architecture and an open interface design, which can quickly adapt to different curtain wall types and construction scenarios, and supports seamless docking with systems such as BIM and smart construction sites, providing core support for the digital upgrade of construction.

[0136] This solution breaks through the bottleneck that it is difficult to synergistically improve "precision - efficiency - safety" in traditional curtain wall installation technology. Through the full - link intelligent reconstruction of perception - analysis - execution, it realizes the innovation of the operation mode from "manual - dominated" to "machine - autonomous", the upgrade of the control dimension from "static preset" to "dynamic evolution", and the transformation of project management from "experience - driven" to "data - driven". These advantages make this solution not only applicable to conventional curtain wall projects, but also provide reliable technical support for complex scenarios such as super high - rise buildings, special - shaped curved curtain walls, and renovation of existing buildings, promoting the curtain wall installation into a new stage of precision and intelligence.

[0137] Embodiment 2:

[0138] An auxiliary installation control system for a building curtain wall, which can implement the auxiliary installation control method of a building curtain wall described in Embodiment 1, includes:

[0139] A data acquisition module: used to obtain the detection data during the installation of the building curtain wall;

[0140] A data processing module: used to calculate the comprehensive positioning error, comprehensive balance force, and optimal hoisting time during the installation of the building curtain wall based on the detection data during the installation of the building curtain wall through a dynamic error compensation algorithm, a multi - body mechanical balance equation, and a real - time path optimization algorithm;

[0141] An auxiliary execution module: based on the comprehensive positioning error, comprehensive balance force, and optimal hoisting time during the installation of the building curtain wall, controls the actuator to assist in the installation of the building curtain wall.

[0142] Embodiment 3:

[0143] The embodiment of the present invention also provides an auxiliary installation control device for a building curtain wall, which can implement the auxiliary installation control method of a building curtain wall described in Embodiment 1, including a processor and a storage medium;

[0144] The storage medium is used to store instructions;

[0145] The processor is used to operate according to the instructions to execute the steps of the following method:

[0146] Obtain the detection data during the installation of the building curtain wall;

[0147] Based on the detection data during the installation process of the building curtain wall, calculate the comprehensive positioning error, comprehensive balance force, and optimal hoisting time during the installation process of the building curtain wall through the dynamic error compensation algorithm, multi-body mechanical balance equation, and real-time path optimization algorithm;

[0148] Based on the comprehensive positioning error, comprehensive balance force, and optimal hoisting time during the installation process of the building curtain wall, control the actuator to assist in the installation of the building curtain wall.

[0149] Embodiment 4:

[0150] The embodiment of the present invention also provides a computer-readable storage medium, which can implement the auxiliary installation control method of a building curtain wall described in Embodiment 1. There is a computer program stored thereon, and when the program is executed by a processor, the steps of the following method are implemented:

[0151] Obtain the detection data during the installation process of the building curtain wall;

[0152] Based on the detection data during the installation process of the building curtain wall, calculate the comprehensive positioning error, comprehensive balance force, and optimal hoisting time during the installation process of the building curtain wall through the dynamic error compensation algorithm, multi-body mechanical balance equation, and real-time path optimization algorithm;

[0153] Based on the comprehensive positioning error, comprehensive balance force, and optimal hoisting time during the installation process of the building curtain wall, control the actuator to assist in the installation of the building curtain wall.

[0154] As is known by technical common sense, the present invention can be implemented by other implementation schemes that do not depart from its spiritual essence or necessary features. Therefore, the above-disclosed implementation schemes are illustrative in all aspects and are not the only ones. All changes within the scope of the present invention or within the scope equivalent to the present invention are encompassed by the present invention.

[0155] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0156] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce means for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0157] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0158] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that modifications or equivalent replacements can still be made to the specific embodiments of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A method for controlling the auxiliary installation of a building curtain wall, characterized in that: include: Obtain inspection data during the installation of building curtain walls; Based on the detection data during the installation of the building curtain wall, the comprehensive positioning error, comprehensive balance force and optimal hoisting time during the installation of the building curtain wall are calculated through the dynamic error compensation algorithm, multi-body mechanics equilibrium equation and real-time path optimization algorithm; Based on the comprehensive positioning error, comprehensive balancing force and optimal hoisting time during the installation of the building curtain wall, the actuator is controlled to assist in the installation of the building curtain wall.

2. The auxiliary installation control method of the building curtain wall according to claim 1 is characterized in that: The detection data is obtained by sensors installed in the building curtain wall unit, and the sensors include a laser rangefinder array, a six-axis inertial navigation unit, a visual recognition device, a wireless anemometer, a distributed temperature sensor chain, a fiber grating strain sensor, a barometric altimeter, a dual-axis inclination sensor and a millimeter wave radar.

3. The auxiliary installation control method of the building curtain wall according to claim 1 is characterized in that: The dynamic error compensation algorithm is: ΔS=k·sqrt(Δx 2 +Δy 2 )+(1+α·T)·Δz Where: ΔS: comprehensive positioning error; Δx, Δy: plane x, y coordinate deviation; Δz: elevation deviation; k: environmental correction coefficient; α: thermal expansion coefficient; T: temperature difference.

4. The auxiliary installation control method of the building curtain wall according to claim 1 is characterized in that: The multi-body mechanics equilibrium equation is: F_equilibrium=(E·A·ΔL) / L0+q·H 2 / (8·f)≤F_allowable Where: F_equilibrium: comprehensive balance force; E: elastic modulus; A: cross-sectional area of ​​the connector; L0: original length; ΔL: deformation; q: wind load; H: curtain wall unit height; f: preload safety factor; F_allowable: allowable bearing capacity.

5. The auxiliary installation control method of the building curtain wall according to claim 1 is characterized in that: The real-time path optimization algorithm is: t_min=Σ[(d_i) / (v_i·cosθ_i)]+β·ΣΔθ_i Where: t_min: optimal hoisting time; d_i: segment path length; v_i: hoisting speed; θ_i: path inclination; β: steering penalty coefficient; Δθ_i: angle change.

6. The auxiliary installation control method of the building curtain wall according to claim 1 is characterized in that: The control actuator assists in the installation of the building curtain wall, including: controlling the servo motor for motion compensation based on the comprehensive positioning error, adjusting the tightening torque based on the comprehensive balance force, and controlling the servo motor for speed planning based on the optimal hoisting time. The motion compensation based on the comprehensive positioning error control of the servo motor includes error decomposition and motion mapping, dynamic compensation and motor action execution, the tightening torque adjustment based on the comprehensive balance force includes bolt tightening torque correction and servo motor thrust limitation, and the speed planning based on the optimal hoisting time control of the servo motor includes path-speed coupling control and dynamic obstacle avoidance.

7. The auxiliary installation control method of the building curtain wall according to claim 6 is characterized in that: The bolt tightening torque correction calculation expression is: T_actual=T_design×min(1.0,0.8F_allowable / F_equilibrium) Where: T_actual is the actual applied torque; T_design is the design torque; F_allowable: allowable bearing capacity; F_eq uilibrium: comprehensive balance force; The servo motor thrust limit calculation expression is: F_motor_max=0.8×(F_allowable-F_equilibrium) F_motor_max is the maximum thrust of the motor.

8. An auxiliary installation control system for a building curtain wall, characterized in that: include: Data acquisition module: used to obtain detection data during the installation process of building curtain walls; Data processing module: used to calculate the comprehensive positioning error, comprehensive balance force and optimal hoisting time during the installation of the building curtain wall based on the detection data during the installation of the building curtain wall through the dynamic error compensation algorithm, multi-body mechanics equilibrium equation and real-time path optimization algorithm; Auxiliary execution module: Based on the comprehensive positioning error, comprehensive balance force and optimal hoisting time during the installation of the building curtain wall, the actuator is controlled to assist in the installation of the building curtain wall.

9. An auxiliary installation control device for a building curtain wall, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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