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

Abstract

The invention belongs to the technical field of building construction, and discloses an external wall panel hoisting and positioning device and method for green building construction, and the method comprises the steps that a route planning module plans a suspension arm moving route; the connecting piece is connected with an embedded bolt of the external wall panel; the external wall panel is lifted to a vertical state; the two L-shaped telescopic arms synchronously move towards the two sides; the U-shaped plate is clamped to the outer wall plate, and the lifting belt is fixed to the periphery of the outer wall plate; the turnover driving mechanism enables the bracket assembly to support the bottom of the outer wallboard; the abnormity analysis module recognizes abnormal conditions in the hoisting positioning process; identifying a potential collision risk; a positioning analysis module is installed for positioning analysis; and then the outer wall is installed and fixed to a preset position. Efficient hoisting and accurate positioning are achieved, and stable supporting is conducted through the bracket assembly; the abnormity analysis module can timely discover abnormal conditions in the hoisting positioning process; and the installation positioning analysis module can quickly and accurately analyze the installation positioning of the external wall panel, so that the construction efficiency is improved.

Description

Technical Field

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

[0002] To advocate green building construction, concrete casting forms are usually used, and then complete exterior wall panels are obtained. Therefore, it is more environmentally friendly and easy to operate. During construction, only a lifting device is needed to lift the exterior wall panels, which is more convenient and fast. By using concrete casting forms to make exterior wall panels, the widely available building material concrete can be fully utilized, reducing the demand for scarce or high-energy-consuming materials, thus saving natural resources. Compared with traditional brick or stone exterior walls, the exterior wall panels cast using forms generate less waste during the production process, and this waste can often be recycled, reducing the environmental burden. The production process of form-cast exterior wall panels is relatively simple and does not require complex processing and cutting, thus reducing energy consumption. At the same time, since the exterior wall panels have standard sizes and regular shapes, they are convenient for quick installation during the construction process, further reducing construction energy consumption.

[0003] The prior art document with the publication number CN215364464U provides a lifting and positioning device for exterior wall panels used in green building construction, including a first sliding track and a second sliding track. The first sliding track and the second sliding track are arranged in parallel, and the first sliding track and the second sliding track have the same structure. A plurality of positioning moving blocks are respectively slidably connected to the mutually close side surfaces of the first sliding track and the second sliding track. Support legs are respectively fixedly connected to both ends of the first sliding track, fixing plates are respectively fixedly connected to both ends of the second sliding track, and positioning rollers are installed on the fixing plates. An electric hoist is arranged in the middle of the second sliding track. For this kind of lifting and positioning device for exterior wall panels used in green building construction, by setting two mutually symmetrical sliding tracks, the upper and lower ends of the exterior wall panel can be fixedly clamped, initially fixing the two ends of the exterior wall panel, facilitating lifting, and a plurality of positioning moving blocks are respectively arranged on the two sliding tracks, which can respectively fix the two ends of the clamped exterior wall panel.

[0004] Although the above prior art solution can achieve relevant beneficial effects through the structure of the prior art, there are still the following defects:

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

[0006] 1. Technical Problems to be Solved

[0007] The purpose of the present application is to provide a device and method for hoisting and positioning exterior wall panels for green building construction, which solves the technical problems raised in the above-mentioned background technology and realizes efficient hoisting and precise positioning: through a crane and a synchronous unfolding mechanism, the exterior wall panels can be efficiently lifted to a vertical state, and stably supported by a bracket assembly to prevent accidental falling or shaking of the exterior wall panels, thereby ensuring the accuracy of the hoisting and positioning of the exterior wall panels; the abnormality analysis module can promptly detect abnormal situations during the hoisting and positioning process; the installation positioning analysis module can quickly and accurately analyze the installation positioning of the exterior wall panels, so that the holes at the bottom of the exterior wall panels are aligned with the holes or bolts on the exterior wall panels below, thereby improving the technical effect of construction efficiency.

[0008] 2. Technical solution

[0009] The technical solution of the present application provides a hoisting and positioning device for exterior wall panels used in green building construction, comprising: a hoisting arm, an L-shaped telescopic arm, a bracket assembly, a connecting piece, a flip driving mechanism, a rotation adjustment mechanism, an electric telescopic rod, a high-definition camera A, a synchronous unfolding mechanism and a hoisting belt;

[0010] There are three lifting rings fixed on the boom; the boom can be fixed to the crane through the lifting rings; there are safety locks on the lifting rings;

[0011] Two L-shaped telescopic arms are symmetrically slidably arranged on the boom;

[0012] A bracket assembly is rotatably provided at the lower end of the L-shaped telescopic arm;

[0013] Three connecting pieces are fixedly arranged on the boom, which are connected to the embedded bolts of the prefabricated exterior wall panels through the connecting pieces;

[0014] A flip driving mechanism is fixedly arranged on the L-shaped telescopic arm; the flip driving mechanism is hinged to the corresponding bracket assembly;

[0015] A rotation adjustment mechanism is fixedly arranged on the L-shaped telescopic arm; an electric telescopic rod is rotatably arranged on the L-shaped telescopic arm; a high-definition camera A is fixedly arranged on the movable rod of the electric telescopic rod; the rotation adjustment mechanism is transmission-connected to the electric telescopic rod, and the rotation adjustment mechanism can drive the electric telescopic rod to rotate; the high-definition camera A is used for real-time monitoring of the hoisting status of the exterior wall panel.

[0016] A synchronous unfolding mechanism is fixedly arranged on the boom; the synchronous unfolding mechanism is transmission-connected with the L-shaped telescopic arm, and the synchronous unfolding mechanism can drive the two L-shaped telescopic arms to move synchronously in opposite directions.

[0017] The two L-shaped telescopic arms are detachably fixed with lifting straps.

[0018] A high-definition camera B is fixedly installed on the boom.

[0019] A monitoring mechanism is fixedly arranged on the boom; the monitoring mechanism includes a high-definition camera A, a high-definition camera B, an inclination sensor, and a gravity sensor.

[0020] An inclination sensor is fixedly arranged on the boom for monitoring the inclination angle of the exterior wall panel. A gravity sensor is fixedly arranged on the boom for monitoring the weight change during the hoisting process.

[0021] Through the above technical solution, the boom is fixed to the crane through a lifting ring; it is connected to the embedded bolt of the precast exterior wall panel through a connecting piece; the hoisting belt is wound around the side of the exterior wall panel and tightened and fixed; the bracket assembly is driven to rotate by the flipping drive mechanism so that the bracket assembly supports the bottom plate of the exterior wall panel; then the crane can be used to perform the hoisting and positioning operation of the exterior wall panel. The monitoring mechanism monitors the hoisting and positioning process of the exterior wall panel, promotes the rapid progress of the positioning and installation, and at the same time discovers abnormal situations during the hoisting process.

[0022] As an alternative solution of the present invention, the connecting piece includes a steel cable and a lifting ring nut;

[0023] Three steel cables are fixedly arranged under the boom, and a lifting ring nut is detachably fixedly arranged at the lower end of the steel cable; the length of the steel cable can be adjusted as needed.

[0024] Through the above technical solution, the lifting ring nut can be connected to the embedded bolt on the exterior wall panel, and then the exterior wall panel is hoisted.

[0025] As an alternative solution of the present invention, the synchronous unfolding mechanism includes a biaxial motor and a lead screw;

[0026] A biaxial motor is fixedly arranged on the boom; a lead screw is fixedly arranged at the output end of the biaxial motor; the thread directions of the two lead screws are opposite. The two lead screws are respectively in threaded engagement with the corresponding L-shaped telescopic arms.

[0027] Through the above technical solution, the biaxial motor is started to drive the two lead screws to rotate, thereby driving the two L-shaped telescopic arms to move synchronously in the opposite direction, so that the two L-shaped telescopic arms are synchronously unfolded or retracted.

[0028] As an alternative solution of the present invention, the flipping drive mechanism includes an electric push rod, a top block, and a rotating plate;

[0029] An electric push rod is fixedly arranged on the L-shaped telescopic arm; a top block is fixedly arranged on the movable rod of the electric push rod; a rotating plate is rotatably arranged on the top block; the rotating plate is rotatably hinged to the bracket assembly.

[0030] Through the above technical solution, the electric push rod is started; the electric push rod drives the bracket assembly to rotate through the top block and the rotating plate.

[0031] As an alternative embodiment of the present invention, a U-shaped plate is fixedly arranged on the L-shaped telescopic arm; the rotation adjustment mechanism is arranged on the U-shaped plate, and the electric telescopic rod is rotatably arranged on the U-shaped plate;

[0032] The rotation adjustment mechanism comprises a motor A, a driving gear and a driven gear;

[0033] The U-shaped plate is fixedly provided with a motor A; the output end of the motor A is coaxially and fixedly provided with a driving gear; the driven gear is fixedly arranged on the electric telescopic rod; the driving gear and the driven gear are meshed and drivingly connected.

[0034] By the above technical solution, starting the motor A drives the driving gear to rotate, the driving gear drives the driven gear to rotate; the driven gear drives the electric telescopic rod to rotate.

[0035] As an alternative embodiment of the present invention, the bracket assembly includes an upper U-shaped frame and a lower U-shaped frame;

[0036] The upper U-shaped frame is rotatably arranged at the lower end of the L-shaped telescopic arm;

[0037] The lower U-shaped frame is slidably arranged on the upper U-shaped frame;

[0038] The upper U-shaped frame is fixedly provided with a motor B, and the output end of the motor B is coaxially and fixedly provided with a screw rod; the screw rod is in threaded engagement with the lower U-shaped frame.

[0039] A rubber pad is fixedly arranged inside the lower U-shaped frame.

[0040] Preferably, arc-shaped rubber pads are arranged inside the upper U-shaped frame and the lower U-shaped frame as required to protect the exterior wall panel.

[0041] Preferably, a plurality of micro electric push rods are arranged inside the upper U-shaped frame and the lower U-shaped frame as required, and a rubber round pad is fixedly arranged on the movable rod of the micro electric push rod; the rubber round pad is driven by the micro electric push rod to be pressed against the exterior wall panel for fixing to prevent shaking.

[0042] As an alternative embodiment of the present invention, the monitoring mechanism includes:

[0043] Data collection module: Collect a large amount of data of the exterior wall panel and data of surrounding personnel and environment, label the data, and use it as a reference sample;

[0044] Route planning module: According to the information provided by the data collection module, intelligently plan the movement route of the boom to avoid collision between the exterior wall panel and surrounding objects and personnel. Adopt an advanced path planning algorithm, combine three-dimensional modeling and simulation technology, simulate the movement path of the boom, and adjust it in real time to avoid obstacles. Continuously optimize the route planning according to real-time data and feedback to improve the hoisting efficiency.

[0045] Image acquisition module: includes high-definition camera A and high-definition camera B; acquires high-definition images of the exterior wall panel and the surrounding environment;

[0046] Image processing module: preprocesses the acquired images, including filtering for noise reduction, image enhancement, image segmentation, grayscale conversion, and normalization;

[0047] Image enhancement: uses image enhancement techniques such as contrast adjustment and sharpening to make the images clearer.

[0048] Image segmentation: divides the image into different regions or objects for subsequent feature extraction and recognition.

[0049] Feature extraction module: extracts features from the preprocessed images, and the extracted features include color, texture, and shape;

[0050] Abnormality analysis module: analyzes and recognizes the images after feature extraction, and promptly identifies abnormal situations (including collisions, rope cracking, abnormal tilting, etc.) during the hoisting and positioning process; by monitoring the movement trajectories of the boom and the exterior wall panel, potential collision risks are promptly identified. Through image processing and feature extraction techniques, the integrity of the hoisting ropes is detected, and abnormal situations such as rope cracking or breakage are promptly discovered.

[0051] Installation positioning analysis module: analyzes the installation positioning of the exterior wall panel, so that the holes at the bottom of the exterior wall panel are quickly and accurately aligned with the holes or bolts on the lower exterior wall panel, realizing rapid installation.

[0052] Alarm module: includes an alarm, which promptly issues an alarm when an abnormal situation is detected.

[0053] Control center: is network-connected to the data collection module, route planning module, image acquisition module, image processing module, feature extraction module, abnormality analysis module, and installation positioning analysis module.

[0054] As an alternative solution of the present invention, the abnormality analysis module analyzes and recognizes the images after feature extraction, and promptly identifies abnormal situations during the hoisting and positioning process; including the following steps:

[0055] 1. Data preparation:

[0056] Step 1.1: Receive the processed image data from the feature extraction module, including feature information such as color, texture, and shape.

[0057] Step 1.2: Load the pre-trained recognition models and threshold settings, which are used to detect different types of abnormal situations.

[0058] 2. Collision risk identification:

[0059] Step 2.1: By monitoring the movement trajectories of the boom and the exterior wall panel, use image processing technology to track their real-time positions.

[0060] Step 2.2: Calculate the distances between the boom, the exterior wall panel and the preset safety distance or obstacles, and determine whether there is a potential collision risk.

[0061] In the formula, D current is the current distance between the boom or the exterior wall panel and the obstacle. x1, y1, z1 are the coordinates of the obstacle in three-dimensional space. x2, y2, z2 are the coordinates of the boom or the exterior wall panel in three-dimensional space.

[0062] Step 2.3: If the detected distance is less than the preset safety threshold, trigger a collision risk alarm and mark the potential collision points.

[0063] 3. Rope Integrity Detection:

[0064] Step 3.1: Use image processing technologies such as edge detection and texture analysis to conduct a detailed analysis of the hoisting ropes.

[0065] Step 3.2: According to the characteristics of the rope such as texture and color, identify whether there are abnormal conditions such as cracking, fracture or wear on the rope. Conduct rope integrity detection according to the following formula:

[0066] In the formula, S score is the total score of the rope abnormality degree, which is a value between 0 and 1. 0 indicates no abnormality, and 1 indicates serious abnormality. w1 and w2 are weight coefficients used to balance the influence of the rope texture and color characteristics on the total score. These coefficients are usually determined through model training. T texture is the actual texture feature value of the rope, which can be extracted through image processing technology. T norm is the normal texture feature value of the rope, which is a preset reference value used for comparison with the actual value. σT is the standard deviation of the rope texture feature value, which describes the distribution range of the normal texture feature value. C color is the actual color feature value of the rope, which can be extracted through image processing technology. C norm is the normal color feature value of the rope, which is a preset reference value used for comparison with the actual value. σC is the standard deviation of the rope color feature value, which describes the distribution range of the normal color feature value.

[0067] Step 3.3: If rope abnormality is detected, immediately trigger a rope integrity alarm and display the specific position and degree of the rope abnormality.

[0068] 4. Abnormal Tilt Identification:

[0069] Step 4.1: Detect the inclination angle of the exterior wall panel through image processing technology.

[0070] Step 4.2: Compare the detected inclination angle with a preset inclination threshold to determine whether there is abnormal inclination of the exterior wall panel.

[0071] Step 4.3: If abnormal inclination is detected, immediately trigger an inclination alarm and display the specific inclination angle and possible hazards.

[0072] 5. Alarm and Recording: When any type of abnormal situation is identified, immediately trigger the corresponding alarm and notify the operator by means of sound, light or screen display, etc. Record the detailed information of the abnormal situation, including the type of abnormality, occurrence time, specific location, scope of influence, etc., for subsequent analysis and improvement.

[0073] 6. Real-time Monitoring and Feedback: Continuously monitor the image data during the hoisting process and update the analysis results of abnormal situations in real time. Adjust the thresholds and strategies for abnormal identification according to the real-time data and feedback to improve the accuracy and reliability of identification.

[0074] Through the above technical solution, the abnormal analysis module can achieve detailed analysis and identification of the image data during the hoisting positioning process, promptly identify abnormal situations such as potential collision risks, abnormal ropes and abnormal inclination, and trigger the corresponding alarms and records to ensure the safe and smooth progress of the hoisting process.

[0075] As an optional solution of the present invention, the installation positioning analysis module analyzes the installation positioning of the exterior wall panel to quickly and accurately align the holes at the bottom of the exterior wall panel with the holes or bolts on the lower exterior wall panel, etc., to achieve rapid installation, including the following steps:

[0076] 1. Data Processing:

[0077] Step 1.1: Receive the accurate position data of the exterior wall panel and its lower connection points from the data collection module, including the size of the exterior wall panel, the hole position distribution, and the accurate coordinates of the lower exterior wall panel or bolts.

[0078] Step 1.2: Load the pre-trained positioning analysis model and calibration parameters, which are used to achieve the accurate alignment of the exterior wall panel.

[0079] 2. Image Preprocessing and Feature Extraction;

[0080] Step 2.1: Use the high-definition images provided by the image acquisition module to perform image preprocessing on the exterior wall panel and its lower connection points, including denoising, enhancing contrast, grayscale conversion, etc.

[0081] Step 2.2: Extract the feature information of the holes at the bottom of the exterior wall panel and the connection points below through image processing technology, such as shape, size, position, etc.

[0082] 3. Initial position estimation:

[0083] Step 3.1: According to the extracted feature information, use the positioning analysis model to preliminarily estimate the positional relationship of the exterior wall panel relative to the connection points below.

[0084] Step 3.2: Calculate the deviation between the initial position and the ideal position, including horizontal offset, vertical offset, rotation angle, etc.

[0085] 4. Precise alignment adjustment:

[0086] Step 4.1: According to the deviation estimated in the initial position, fine-tune the exterior wall panel through the control of the boom and the hoisting system to reduce the deviation. The fine-tuning is carried out according to the following formula:

[0087] In the formula, C adjust is the fine-tuning control signal, which is a vector containing three components, corresponding to the adjustment amounts in the horizontal, vertical, and rotation directions respectively. k x , k y and k θ are the basic control gains in the horizontal, vertical, and rotation directions respectively. These gain coefficients determine the sensitivity of the fine-tuning in the corresponding directions. e is the base of the natural logarithm, α x , α y and α θ are the attenuation coefficients in the horizontal, vertical, and rotation directions respectively. These coefficients affect the attenuation rate of the fine-tuning response over time. t is the time variable, representing the time from the start of fine-tuning to the current moment, used to calculate the exponential decay term. x offset is the offset of the exterior wall panel in the horizontal direction, representing the gap between the current position and the target position of the exterior wall panel in the horizontal direction. y offset is the offset of the exterior wall panel in the vertical direction, representing the gap between the current position and the target position of the exterior wall panel in the vertical direction. θ offset is the rotation angle offset of the exterior wall panel, representing the rotation angle gap between the current attitude and the target attitude of the exterior wall panel.

[0088] Step 4.2: During the fine-tuning process, update the position information of the exterior wall panel in real time, and re-perform feature extraction and position estimation to form a closed-loop feedback control.

[0089] Step 4.3: Repeat steps 4.1 and 4.2 until the holes at the bottom of the exterior wall panel are precisely aligned with the holes or bolts on the lower exterior wall panel, meeting the installation accuracy requirements.

[0090] 5. Installation completion verification:

[0091] Step 5.1: After the outer wall panel is accurately aligned with the lower connection point, use fasteners (such as bolts, nuts, etc.) to fix the outer wall panel in place.

[0092] Step 5.2: Verify the installation quality, including checking the stability, levelness, and perpendicularity of the outer wall panel, etc., to ensure that the installation quality meets the design requirements.

[0093] 6. Data recording and analysis: Record the key data during the installation process, including the position information of the outer wall panel, fine-tuning steps, installation time, etc.

[0094] Analyze the installation data to evaluate the accuracy and efficiency of the installation positioning analysis, providing a basis for subsequent improvement.

[0095] Through the above technical solutions, the installation positioning analysis module can achieve precise analysis of the installation positioning of the outer wall panel, enabling the holes at the bottom of the outer wall panel to be quickly and accurately aligned with the holes or bolts on the lower outer wall panel, etc., so as to achieve rapid installation, improve construction efficiency and quality.

[0096] The present invention provides a method for hoisting and positioning an outer wall panel for green building construction, including the following steps:

[0097] S1. The route planning module intelligently plans the movement route of the jib according to the information provided by the data collection module, avoiding collisions between the outer wall panel and surrounding objects and personnel. Continuously optimize the route planning according to real-time data and feedback;

[0098] S2. The crane drives the jib to move to the position of the outer wall panel to be hoisted, and fixedly connects the connecting piece to the embedded bolt on the outer wall panel;

[0099] S3. Lift one end of the outer wall panel to a vertical state by the crane; start the synchronous expansion mechanism to make the two L-shaped telescopic arms move synchronously to both sides to a suitable position; make the U-shaped plate snap onto the outer wall panel, and fix the lifting belt to the periphery of the outer wall panel;

[0100] S4. Start the flipping drive mechanism to make the bracket assembly rotate to a vertical state, support the bottom of the outer wall panel, prevent the outer wall panel from accidentally falling or shaking, and improve the stability of the hoisting and positioning of the outer wall panel.

[0101] S5. The image acquisition module of the monitoring mechanism acquires high-definition images of the outer wall panel and the surrounding environment; the inclination sensor real-time monitors the inclination angle of the outer wall panel. Once the inclination angle exceeds the preset safety range, an alarm is immediately triggered; the gravity sensor monitors the weight change during the hoisting process. If the weight suddenly increases or decreases, it indicates that there may be an abnormal situation, such as loosening of the connecting piece or detachment of the outer wall panel. At this time, an alarm will also be triggered.

[0102] S6. The image processing module preprocesses the collected images, including filtering out noise, image enhancement, image segmentation, grayscale conversion, and normalization; the feature extraction module extracts features from the preprocessed images, and the extracted features include color, texture, and shape.

[0103] S7. The anomaly analysis module analyzes and identifies the images after feature extraction, and promptly identifies abnormal situations during the hoisting and positioning process; by monitoring the movement trajectories of the boom and the exterior wall panel, potential collision risks can be promptly identified.

[0104] S8. The installation and positioning analysis module analyzes the installation and positioning of the exterior wall panel, enabling the holes at the bottom of the exterior wall panel to be quickly and accurately aligned with the holes or bolts on the lower exterior wall panel, etc., to achieve rapid installation.

[0105] S9. The hoisting machine drives the exterior wall panel to move to a predetermined position for installation and fixation of the exterior wall panel; before the final assembly of the exterior wall panel is completed, the flipping drive mechanism is activated to rotate the bracket assembly to a horizontal state (at this time, the exterior wall panel is hoisted and positioned by the connecting piece and the hoisting belt), and the support for the exterior wall panel is cancelled; then the exterior wall is installed and fixed to the predetermined position.

[0106] S10. When an abnormal situation is detected, the alarm module promptly issues an alarm.

[0107] 3. Beneficial effects

[0108] One or more of the technical solutions provided in the technical solution of the present application have at least the following technical effects or advantages:

[0109] 1. In the present invention, through the route planning module, this method can intelligently plan the movement route of the boom, effectively avoid collisions between the exterior wall panel and surrounding objects and personnel, and greatly improve the safety of construction.

[0110] 2. High-efficiency hoisting and precise positioning can be achieved: through the hoisting machine and the synchronous deployment mechanism, the exterior wall panel can be efficiently lifted to a vertical state and stably supported by the bracket assembly, preventing the exterior wall panel from accidentally falling or shaking, and ensuring the accuracy of the hoisting and positioning of the exterior wall panel.

[0111] 3. It has a real-time monitoring and early warning function: the monitoring mechanism, through the image acquisition module, the inclination sensor, and the gravity sensor, monitors the state of the exterior wall panel and the surrounding environment in real time. Once abnormal situations are detected, such as excessive inclination angle, sudden change in weight, etc., an alarm is immediately triggered, effectively preventing the occurrence of construction accidents.

[0112] 4. The anomaly analysis module can promptly detect abnormal situations during the hoisting and positioning process, such as collisions, rope cracking, etc., and identify potential collision risks by monitoring the movement trajectories of the boom and the exterior wall panel, further ensuring the safety of construction.

[0113] 5. Quick installation and positioning analysis: The installation and positioning analysis module can quickly and accurately analyze the installation and positioning of the exterior wall panel, align the holes at the bottom of the exterior wall panel with the holes or bolts on the lower exterior wall panel, etc., realizing the quick installation of the exterior wall panel and improving the construction efficiency. Through comprehensive monitoring and a timely alarm mechanism, this method can detect and handle abnormal situations during construction in a timely manner, ensuring the smooth progress of the construction process. Description of the Drawings

[0114] Figure 1 FIG. is an overall schematic diagram of an exterior wall panel hoisting and positioning device for green building construction disclosed in a preferred embodiment of the present application;

[0115] Figure 2 FIG. is a schematic diagram of a synchronous unfolding mechanism of an exterior wall panel hoisting and positioning device for green building construction disclosed in a preferred embodiment of the present application;

[0116] Figure 3 FIG. is a schematic diagram of a flipping drive mechanism and a rotational adjustment mechanism of an exterior wall panel hoisting and positioning device for green building construction disclosed in a preferred embodiment of the present application;

[0117] Figure 4 FIG. is a schematic diagram of a bracket assembly of an exterior wall panel hoisting and positioning device for green building construction disclosed in a preferred embodiment of the present application.

[0118] Reference Signs:

[0119] 1, boom; 2, L-shaped telescopic boom; 3, bracket assembly; 4, connecting piece; 5, flipping drive mechanism; 6, rotational adjustment mechanism; 7, electric telescopic rod; 8, high-definition camera A; 9, synchronous unfolding mechanism; 10, hoisting belt; 11, lifting ring; 12, high-definition camera B; 21, U-shaped plate; 31, upper U-frame; 32, lower U-frame; 321, rubber pad; 33, screw; 41, steel cable; 42, lifting ring nut; 51, electric push rod; 52, top block; 53, rotating plate; 61, motor A; 62, driving gear; 63, driven gear; 91, dual-axis motor; 92, lead screw. Detailed Description of the Embodiment

[0120] The present application will be further described in detail below with reference to the accompanying drawings of the specification.

[0121] Referring to Figure 1 and Figure 2 , an embodiment of the present application provides an exterior wall panel hoisting and positioning device for green building construction, including: boom 1, L-shaped telescopic boom 2, bracket assembly 3, connecting piece 4, flipping drive mechanism 5, rotational adjustment mechanism 6, electric telescopic rod 7, high-definition camera A 8, synchronous unfolding mechanism 9 and hoisting belt 10;

[0122] Three lifting rings 11 are fixedly arranged on the boom 1; the boom 1 can be fixed to the crane through the lifting rings 11; the lifting rings are provided with safety locks; the boom 1 is made of high-strength light alloy material to ensure that the overall weight is reduced while bearing heavy loads, and is easy to operate and move. The surface of the boom is treated with anti-corrosion to adapt to various harsh construction environments.

[0123] Two L-shaped telescopic arms 2 are symmetrically slidably arranged on the boom 1;

[0124] The lower end of the L-shaped telescopic arm 2 is rotatably provided with a bracket assembly 3;

[0125] Three connecting members 4 are fixedly provided on the boom 1; the connecting members 4 are connected to the embedded bolts of the prefabricated exterior wall panels;

[0126] A flip driving mechanism 5 is fixedly arranged on the L-shaped telescopic arm 2; the flip driving mechanism 5 is hinged to the corresponding bracket assembly 3;

[0127] A rotation adjustment mechanism 6 is fixedly provided on the L-shaped telescopic arm 2; an electric telescopic rod 7 is rotatably provided on the L-shaped telescopic arm 2; a high-definition camera A8 is fixedly provided on the movable rod of the electric telescopic rod 7; the rotation adjustment mechanism 6 and the electric telescopic rod 7 are transmission-connected, and the rotation adjustment mechanism 6 can drive the electric telescopic rod 7 to rotate; the high-definition camera A8 is used for real-time monitoring of the hoisting status of the exterior wall panel.

[0128] A synchronous unfolding mechanism 9 is fixedly provided on the boom 1; the synchronous unfolding mechanism 9 is transmission-connected with the L-shaped telescopic arms 2, and the synchronous unfolding mechanism 9 can drive the two L-shaped telescopic arms 2 to move synchronously in opposite directions.

[0129] A lifting belt 10 is detachably fixedly provided on the two L-shaped telescopic arms 2 .

[0130] A high-definition camera B12 is fixedly mounted on the boom 1 .

[0131] A monitoring mechanism is fixedly installed on the boom 1; the monitoring mechanism includes high-definition cameras A8 and B12 (for global monitoring), tilt sensors (to monitor the tilt angle of the exterior wall panels), gravity sensors (to monitor weight changes during the hoisting process), etc. The monitoring mechanism is connected to the monitoring center at the construction site through a wireless network to transmit data in real time. When an abnormal situation is detected, such as the tilt angle of the exterior wall panels is too large or the weight is abnormal, the monitoring mechanism will immediately issue an alarm to remind the operator to take measures. The monitoring mechanism monitors the hoisting and positioning process of the exterior wall panels, prompts the positioning and installation to proceed quickly, and detects abnormal situations during the hoisting process.

[0132] A tilt sensor is fixedly installed on the boom to monitor the tilt angle of the exterior wall panel. A gravity sensor is fixedly installed on the boom to monitor the weight change during the lifting process.

[0133] In this technical solution, the boom 1 is fixed to the crane through the lifting ring 11; it is connected to the embedded bolts of the precast exterior wall panel through the connecting member 4; the lifting belt 10 is wound around the side of the exterior wall panel and tightened and fixed; the bracket assembly 3 is driven to rotate by the flipping drive mechanism 5, so that the bracket assembly 3 supports the bottom plate of the exterior wall panel; then the crane can be used to hoist and position the exterior wall panel. The monitoring mechanism monitors the hoisting and positioning process of the exterior wall panel, promotes the rapid positioning and installation, and at the same time discovers abnormal situations during the hoisting process.

[0134] Refer to Figure 1 , the connecting member 4 includes a steel cable 41 and a lifting ring nut 42;

[0135] Three steel cables 41 are fixedly arranged under the boom 1, and the lower ends of the steel cables 41 are detachably fixedly provided with lifting ring nuts 42; the length of the steel cable 41 can be adjusted as required.

[0136] The steel cable 41 is made of high-strength and corrosion-resistant stainless steel or alloy steel material to ensure sufficient strength and durability when bearing the weight of the exterior wall panel. The length of the steel cable 41 can be adjusted according to actual needs to adapt to the hoisting requirements of exterior wall panels at different heights and positions. One end of the steel cable 41 is fixed under the boom 1 by welding or high-strength bolts, and the other end is connected to the lifting ring nut 42.

[0137] The lifting ring nut 42 is designed in the shape of a standard lifting ring nut, which is convenient for quick connection with the embedded bolts on the exterior wall panel. The lifting ring nut 42 is made of high-strength alloy material to ensure that it will not break or deform during the hoisting process. The connection method between the lifting ring nut 42 and the steel cable 41 can be detachable, such as using threaded connection or snap connection, so as to facilitate disassembly and reuse after hoisting.

[0138] In this technical solution, the lifting ring nut 42 can be connected to the embedded bolts on the exterior wall panel, and then the exterior wall panel is hoisted.

[0139] Refer to Figure 2 , the synchronous deployment mechanism 9 includes a biaxial motor 91 and a lead screw 92;

[0140] A biaxial motor 91 is fixedly arranged on the boom 1; the output end of the biaxial motor 91 is fixedly provided with a lead screw 92; the thread directions of the two lead screws 92 are opposite. The two lead screws 92 are respectively in threaded fit connection with the corresponding L-shaped telescopic arms 2.

[0141] In this technical solution, when the biaxial motor 91 is started to drive the two lead screws 92 to rotate, the two L-shaped telescopic arms 2 are driven to move synchronously and in opposite directions, so that the two L-shaped telescopic arms 2 are synchronously deployed or retracted.

[0142] Refer to Figure 3The flip driving mechanism 5 includes an electric push rod 51, a top block 52 and a rotating plate 53;

[0143] An electric push rod 51 is fixedly provided on the L-shaped telescopic arm 2 ; a top block 52 is fixedly provided on the movable rod of the electric push rod 51 ; a rotating plate 53 is rotatably provided on the top block 52 ; and the rotating plate 53 is rotatably hinged to the bracket assembly 3 .

[0144] In this technical solution, the electric push rod 51 is started; the electric push rod 51 drives the bracket assembly 3 to rotate through the top block 52 and the rotating plate 53.

[0145] Furthermore, a U-shaped plate 21 is fixedly disposed on the L-shaped telescopic arm 2; a rotation adjustment mechanism 6 is disposed on the U-shaped plate 21, and an electric telescopic rod 7 is rotatably disposed on the U-shaped plate 21;

[0146] The rotation adjustment mechanism 6 includes a motor A61, a driving gear 62 and a driven gear 63;

[0147] A motor A61 is fixedly arranged on the U-shaped plate 21; a driving gear 62 is coaxially fixedly arranged on the output end of the motor A61; a driven gear 63 is fixedly arranged on the electric telescopic rod 7; and the driving gear 62 and the driven gear 63 are meshed and transmission-connected.

[0148] In this technical solution, the starting motor A61 drives the driving gear 62 to rotate, and the driving gear 62 drives the driven gear 63 to rotate; the driven gear 63 drives the electric telescopic rod 7 to rotate.

[0149] Reference Figure 4 , the bracket assembly 3 includes an upper U frame 31 and a lower U frame 32;

[0150] The upper U frame 31 is rotatably disposed at the lower end of the L-shaped telescopic arm 2;

[0151] A lower U frame 32 is slidably disposed on the upper U frame 31;

[0152] A motor B is fixedly disposed on the upper U frame 31 , and a screw rod 33 is coaxially fixedly disposed on the output end of the motor B; the screw rod 33 is threadably connected to the lower U frame 32 .

[0153] A rubber pad 321 is fixedly disposed on the inner side of the lower U frame 32 .

[0154] Arc-shaped rubber pads are provided inside the upper U frame 31 and the lower U frame 32 as needed to protect the exterior wall panels.

[0155] A plurality of micro electric push rods are arranged inside the upper U frame 31 and the lower U frame 32 as needed, and rubber round pads are fixedly arranged on the movable rods of the micro electric push rods; the rubber round pads are driven by the micro electric push rods to push against the outer wall panels to fix them and prevent shaking.

[0156] In this technical solution, the starting motor B drives the screw 33 to rotate, and the screw 33 drives the lower U-frame 32 to move.

[0157] Further, the monitoring mechanism includes:

[0158] Data collection module: Collect a large amount of data on exterior wall panels (such as dimensions, weights, materials, etc.) and data on surrounding personnel and the environment (such as personnel positions, item placement, weather conditions, etc.), and label the data as reference samples.

[0159] Route planning module: According to the information provided by the data collection module, intelligently plan the movement route of the jib 1 to avoid collisions between the exterior wall panel and surrounding items and personnel. Adopt advanced path planning algorithms, combined with 3D modeling and simulation technologies, to simulate the movement path of the jib and adjust it in real time to avoid obstacles. Continuously optimize the route planning based on real-time data and feedback to improve the hoisting efficiency.

[0160] Image acquisition module: Includes high-definition camera A8 and high-definition camera B12; acquires high-definition images of the exterior wall panel and the surrounding environment.

[0161] Image processing module: Preprocesses the acquired images, including filtering and denoising, image enhancement, image segmentation, grayscale conversion, and normalization.

[0162] Image enhancement: Adopts image enhancement technologies, such as contrast adjustment, sharpening, etc., to make the images clearer.

[0163] Image segmentation: Divides the images into different regions or objects for subsequent feature extraction and recognition.

[0164] Feature extraction module: Extracts features from the preprocessed images, and the extracted features include color, texture, and shape.

[0165] Abnormality analysis module: Analyzes and recognizes the images after feature extraction, and promptly identifies abnormal situations (including collisions, rope cracking, abnormal tilting, etc.) during the hoisting and positioning process; by monitoring the movement trajectories of the jib and the exterior wall panel, promptly identifies potential collision risks. Through image processing and feature extraction technologies, detects the integrity of the hoisting ropes and promptly discovers abnormal situations such as rope cracking or breakage.

[0166] Installation and positioning analysis module: Analyzes the installation and positioning of the exterior wall panel to quickly and accurately align the holes at the bottom of the exterior wall panel with the holes or bolts on the lower exterior wall panel for rapid installation.

[0167] Alarm module: Includes an alarm, which promptly issues an alarm when an abnormal situation is detected.

[0168] Control Center: Network-connected to the data collection module, route planning module, image acquisition module, image processing module, feature extraction module, anomaly analysis module, and installation location analysis module.

[0169] Furthermore, the route planning module conducts intelligent planning for the movement route of the jib 1, including the following steps:

[0170] 1. Data collection and analysis:

[0171] Step 1.1: Obtain detailed information about the exterior wall panel, jib 1, and the surrounding environment (including personnel, objects, buildings, etc.) from the data collection module. This includes the dimensions, weight, and position of the exterior wall panel, the current state of the jib 1 (such as length, angle, speed, etc.), as well as the positions of personnel, movement trajectories, and the positions and shapes of obstacles.

[0172] Step 1.2: Analyze the data to determine potential collision points and risk areas. This includes evaluating the space that the exterior wall panel may occupy during the hoisting process and the obstacles that the jib 1 may encounter during movement.

[0173] 2. 3D modeling and simulation:

[0174] Step 2.1: Use 3D modeling technology to create a 3D model of the construction site based on the collected data. This includes 3D representations of the exterior wall panel, jib 1, personnel, objects, and buildings.

[0175] Step 2.2: Simulate the movement path of the jib 1 in the 3D model. This includes determining the starting position, target position, and movement trajectory of the jib 1.

[0176] Step 2.3: Through simulation technology, simulate the obstacles that the jib 1 may encounter during movement and evaluate potential collision risks.

[0177] 3. Path planning:

[0178] Step 3.1: Adopt advanced path planning algorithms, such as the A* algorithm, Dijkstra algorithm, genetic algorithm, or reinforcement learning algorithm, etc., to plan the optimal movement path of the jib 1 based on the 3D model and simulation results.

[0179] Step 3.2: Consider the movement limitations of the jib 1 (such as maximum length, maximum angle, maximum speed, etc.), as well as the positions of the exterior wall panel and obstacles, to optimize the path planning and ensure that the jib 1 can move safely and efficiently.

[0180] 4. Real-time adjustment and optimization:

[0181] Step 4.1: During the hoisting process, use sensors and cameras to monitor the position, speed, and attitude of the jib 1 in real time, as well as the position changes of the exterior wall panel and obstacles.

[0182] Step 4.2: According to the real-time data and feedback, make real-time adjustments to the path planning. This includes avoiding potential collision points, bypassing suddenly emerging obstacles, or adjusting the moving speed of the boom 1, etc.

[0183] Step 4.3: Record the data and information during the hoisting process, including the moving trajectory of the boom 1, the position change of the exterior wall panel, the collision risk assessment, etc., for subsequent analysis and optimization.

[0184] In this technical solution, the route planning module can provide intelligent and efficient path planning services during the hoisting and positioning of the exterior wall panel, ensuring that the boom 1 and the exterior wall panel can move safely and accurately, avoiding collisions with surrounding objects and personnel, thereby improving the efficiency and accuracy of hoisting.

[0185] Furthermore, the anomaly analysis module analyzes and identifies the images after feature extraction, and promptly identifies abnormal situations during the hoisting and positioning process; it includes the following steps:

[0186] 1. Data preparation:

[0187] Step 1.1: Receive the processed image data from the feature extraction module, including feature information such as color, texture, and shape.

[0188] Step 1.2: Load the pre-trained recognition models and threshold settings, which are used to detect different types of abnormal situations.

[0189] 2. Collision risk identification:

[0190] Step 2.1: By monitoring the moving trajectories of the boom and the exterior wall panel, use image processing technology to track their real-time positions.

[0191] Step 2.2: Calculate the distances between the boom, the exterior wall panel and the preset safety distance or obstacles, and judge whether there is a potential collision risk.

[0192] In the formula, D current is the current distance between the boom or the exterior wall panel and the obstacle. x1, y1, z1 are the coordinates of the obstacle in three-dimensional space. x2, y2, z2 are the coordinates of the boom or the exterior wall panel in three-dimensional space.

[0193] Step 2.3: If it is detected that the distance is less than the preset safety threshold, trigger a collision risk alarm and mark the potential collision points.

[0194] 3. Rope integrity detection:

[0195] Step 3.1: Use image processing techniques, such as edge detection and texture analysis, to conduct a detailed analysis of the hoisting ropes.

[0196] Step 3.2: Based on the characteristics of the rope, such as texture and color, identify whether there are any abnormal conditions such as cracking, fracture, or wear on the rope. Conduct a rope integrity detection according to the following formula:

[0197] In the formula, S score is the total score of the rope abnormality degree, which is a value between 0 and 1. 0 indicates no abnormality, and 1 indicates severe abnormality. w1 and w2 are weight coefficients used to balance the influence of the rope's texture and color characteristics on the total score. These coefficients are usually determined through model training. T texture is the actual texture feature value of the rope, which can be extracted through image processing techniques. T norm is the normal texture feature value of the rope, which is a preset reference value used for comparison with the actual value. σT is the standard deviation of the rope texture feature value, which describes the distribution range of the normal texture feature value. C color is the actual color feature value of the rope, which can be extracted through image processing techniques. C norm is the normal color feature value of the rope, which is a preset reference value used for comparison with the actual value. σC is the standard deviation of the rope color feature value, which describes the distribution range of the normal color feature value.

[0198] Step 3.3: If rope abnormalities are detected, immediately trigger a rope integrity alarm and display the specific location and degree of the rope abnormality.

[0199] 4. Abnormal tilt identification:

[0200] Step 4.1: Detect the tilt angle of the exterior wall panel through image processing techniques.

[0201] Step 4.2: Compare the detected tilt angle with a preset tilt threshold to determine whether there is an abnormal tilt of the exterior wall panel.

[0202] Step 4.3: If an abnormal tilt is detected, immediately trigger a tilt alarm and display the specific tilt angle and possible hazards.

[0203] 5. Alarm and recording: When any type of abnormal situation is identified, immediately trigger the corresponding alarm and notify the operator through means such as sound, light, or screen display. Record the detailed information of the abnormal situation, including the type of abnormality, occurrence time, specific location, and scope of influence, for subsequent analysis and improvement.

[0204] 6. Real-time monitoring and feedback: Continuously monitor the image data during the hoisting process and update the analysis results of abnormal situations in real time. Adjust the thresholds and strategies for anomaly recognition based on real-time data and feedback to improve the accuracy and reliability of recognition.

[0205] In this technical solution, the anomaly analysis module can achieve a detailed analysis and recognition of the image data during the hoisting positioning process, promptly identify potential abnormal situations such as collision risks, rope anomalies, and abnormal tilts, and trigger corresponding alarms and records to ensure the safety and smooth progress of the hoisting process.

[0206] Furthermore, the installation positioning analysis module analyzes the installation positioning of the exterior wall panel, enabling the holes at the bottom of the exterior wall panel to be quickly and accurately aligned with the holes or bolts on the lower exterior wall panel, achieving rapid installation, including the following steps:

[0207] 1. Data processing:

[0208] Step 1.1: Receive the precise position data of the exterior wall panel and its lower connection points from the data collection module, including the dimensions of the exterior wall panel, the hole position distribution, and the precise coordinates of the lower exterior wall panel or bolts.

[0209] Step 1.2: Load the pre-trained positioning analysis model and calibration parameters, which are used to achieve the precise alignment of the exterior wall panel.

[0210] 2. Image preprocessing and feature extraction;

[0211] Step 2.1: Utilize the high-definition images provided by the image acquisition module to perform image preprocessing on the exterior wall panel and its lower connection points, including denoising, enhancing contrast, grayscale conversion, etc.

[0212] Step 2.2: Through image processing techniques, extract the feature information of the hole positions at the bottom of the exterior wall panel and the lower connection points, such as shape, size, position, etc.

[0213] 3. Initial position estimation:

[0214] Step 3.1: Based on the extracted feature information, use the positioning analysis model to preliminarily estimate the positional relationship of the exterior wall panel relative to the lower connection points.

[0215] Step 3.2: Calculate the deviation between the initial position and the ideal position, including horizontal offset, vertical offset, and rotation angle, etc.

[0216] 4. Precise alignment adjustment:

[0217] Step 4.1: According to the deviation estimated in the initial position estimation, fine-tune the exterior wall panel through the control of the boom and hoisting system to reduce the deviation. The fine-tuning is carried out according to the following formula:

[0218] In the formula, C adjust is the fine-tuning control signal, which is a vector containing three components, corresponding to the adjustment amounts in the horizontal, vertical, and rotational directions respectively. k x , k y and k θ are the basic control gains in the horizontal, vertical, and rotational directions respectively. These gain coefficients determine the sensitivity of the fine-tuning in the corresponding directions. e is the base of the natural logarithm, approximately equal to 2.71828, which is used to calculate the exponential function. α x , α y and α θ are the attenuation coefficients in the horizontal, vertical, and rotational directions respectively. These coefficients affect the attenuation rate of the fine-tuning response over time. t is the time variable, representing the time from the start of fine-tuning to the current moment, which is used to calculate the exponential decay term. x offset is the offset of the exterior wall panel in the horizontal direction, indicating the gap between the current position and the target position of the exterior wall panel in the horizontal direction. y offset is the offset of the exterior wall panel in the vertical direction, indicating the gap between the current position and the target position of the exterior wall panel in the vertical direction. θ offset is the rotational angle offset of the exterior wall panel, indicating the rotational angle gap between the current attitude and the target attitude of the exterior wall panel.

[0219] Step 4.2: During the fine-tuning process, the position information of the exterior wall panel is updated in real time, and feature extraction and position estimation are performed again to form a closed-loop feedback control.

[0220] Step 4.3: Repeat Steps 4.1 and 4.2 until the holes at the bottom of the exterior wall panel are precisely aligned with the holes or bolts on the lower exterior wall panel, meeting the installation accuracy requirements.

[0221] 5. Installation Completion Verification:

[0222] Step 5.1: When the exterior wall panel is precisely aligned with the lower connection point, use fasteners (such as bolts, nuts, etc.) to fix the exterior wall panel in place.

[0223] Step 5.2: Verify the installation quality, including checking the stability, levelness, and perpendicularity of the exterior wall panel, etc., to ensure that the installation quality meets the design requirements.

[0224] 6. Data Recording and Analysis: Record the key data during the installation process, including the position information of the exterior wall panel, fine-tuning steps, installation time, etc.

[0225] Analyze the installation data to evaluate the accuracy and efficiency of the installation positioning analysis, providing a basis for subsequent improvement.

[0226] In this technical solution, the installation positioning analysis module can achieve precise analysis of the installation positioning of the exterior wall panel, enabling the holes at the bottom of the exterior wall panel to quickly and accurately align with the holes or bolts on the lower exterior wall panel, etc., so as to achieve rapid installation and improve the construction efficiency and quality.

[0227] The present invention provides a method for hoisting and positioning an exterior wall panel for green building construction, comprising the following steps:

[0228] S1. The route planning module intelligently plans the movement route of the boom 1 according to the information provided by the data collection module, avoiding collisions between the exterior wall panel and surrounding objects and personnel. Continuously optimize the route planning according to real-time data and feedback;

[0229] S2. The crane drives the boom 1 to move to the position of the exterior wall panel to be hoisted, and fixedly connects the connecting piece 4 with the embedded bolt on the exterior wall panel;

[0230] S3. Lift one end of the exterior wall panel to a vertical state by the crane; start the synchronous expansion mechanism 9 to make the two L-shaped telescopic arms 2 synchronously move to appropriate positions on both sides; make the U-shaped plate 21 snap onto the exterior wall panel, and fix the lifting belt 10 around the exterior wall panel;

[0231] S4. Start the flipping drive mechanism 5 to rotate the bracket assembly 3 to a vertical state, support the bottom of the exterior wall panel, prevent the exterior wall panel from accidentally falling or shaking, and improve the stability of the hoisting and positioning of the exterior wall panel.

[0232] S5. The image acquisition module of the monitoring mechanism acquires high-definition images of the exterior wall panel and the surrounding environment; the inclination sensor real-time monitors the inclination angle of the exterior wall panel. Once the inclination angle exceeds the preset safety range, an alarm is immediately triggered; the gravity sensor monitors the weight change during the hoisting process. If the weight suddenly increases or decreases, it indicates that there may be abnormal situations such as loosening of the connecting piece or detachment of the exterior wall panel, and an alarm will also be triggered at this time.

[0233] S6. The image processing module preprocesses the acquired images, including filtering and denoising, image enhancement, image segmentation, grayscale conversion, and normalization; the feature extraction module extracts features from the preprocessed images, and the extracted features include color, texture, and shape;

[0234] S7. The abnormal analysis module analyzes and identifies the images after feature extraction, and promptly identifies abnormal situations (including collisions, rope cracking, abnormal inclination, etc.) during the hoisting and positioning process; by monitoring the movement trajectories of the boom and the exterior wall panel, potential collision risks are promptly identified.

[0235] S8. The installation positioning analysis module analyzes the installation positioning of the exterior wall panel, enabling the holes at the bottom of the exterior wall panel to quickly and accurately align with the holes or bolts on the lower exterior wall panel, etc., to achieve rapid installation.

[0236] S9. Drive the exterior wall panel to move to the predetermined position by a crane and install and fix the exterior wall panel; before the final assembly of the exterior wall panel is completed, start the flipping drive mechanism 5 to rotate the bracket assembly 3 to the horizontal state (at this time, the exterior wall panel is hoisted and positioned by the connecting piece 4 and the hoisting belt 10), cancel the support for the exterior wall panel; then install and fix the exterior wall to the predetermined position;

[0237] S10. When an abnormal situation is detected, the alarm module promptly issues an alarm.

[0238] The working principle of an exterior wall panel hoisting and positioning device for green building construction of the present invention is as follows: The route planning module intelligently plans the movement route of the boom 1 according to the information provided by the data collection module to avoid collisions between the exterior wall panel and surrounding objects and personnel. Continuously optimize the route planning according to real-time data and feedback; the crane drives the boom 1 to move to the position of the exterior wall panel to be hoisted, and fixedly connects the connecting piece 4 with the embedded bolts on the exterior wall panel; lift one end of the exterior wall panel to the vertical state by the crane; start the synchronous unfolding mechanism 9 to make the two L-shaped telescopic arms 2 move synchronously to both sides to a suitable position; make the U-shaped plate 21 snap onto the exterior wall panel and fix the hoisting belt 10 around the exterior wall panel; start the flipping drive mechanism 5 to rotate the bracket assembly 3 to the vertical state to support the bottom of the exterior wall panel to prevent the exterior wall panel from accidentally falling or shaking and improve the stability of the hoisting and positioning of the exterior wall panel. The image acquisition module of the monitoring mechanism acquires high-definition images of the exterior wall panel and the surrounding environment; the inclination sensor continuously monitors the inclination angle of the exterior wall panel, and immediately triggers an alarm once the inclination angle exceeds the preset safety range; the gravity sensor monitors the weight change during the hoisting process. The image processing module preprocesses the acquired images, including filtering and denoising, image enhancement, image segmentation, grayscale conversion, and normalization; the feature extraction module extracts features from the preprocessed images, and the extracted features include color, texture, and shape; the abnormal analysis module analyzes and identifies the images after feature extraction to promptly identify abnormal situations during the hoisting and positioning process; by monitoring the movement trajectories of the boom and the exterior wall panel, potential collision risks are promptly identified. The installation and positioning analysis module analyzes the installation and positioning of the exterior wall panel to quickly and accurately align the holes at the bottom of the exterior wall panel with the holes or bolts on the lower exterior wall panel to achieve rapid installation. Drive the exterior wall panel to move to the predetermined position by the crane and install and fix the exterior wall panel; when an abnormal situation is detected, the alarm module promptly issues an alarm.

[0239] Through the route planning module, the present invention can intelligently plan the movement route of the boom, effectively avoiding collisions between the exterior wall panel and surrounding objects and personnel, and greatly improving the safety of construction. Through the crane and the synchronous deployment mechanism, the exterior wall panel can be efficiently lifted to a vertical state and stably supported by the bracket assembly to prevent the exterior wall panel from accidentally falling or shaking, ensuring the accuracy of the hoisting and positioning of the exterior wall panel. The monitoring mechanism, through the image acquisition module, the inclination sensor and the gravity sensor, monitors the state of the exterior wall panel and the surrounding environment in real time. Once an abnormal situation is detected, such as an excessive inclination angle, a sudden change in weight, etc., an alarm is immediately triggered, effectively preventing the occurrence of construction accidents. The abnormal analysis module can timely detect abnormal situations during the hoisting and positioning process, such as collisions, rope cracking, etc., and identify potential collision risks by monitoring the movement trajectories of the boom and the exterior wall panel, further ensuring the safety of construction. The installation and positioning analysis module can quickly and accurately analyze the installation and positioning of the exterior wall panel, align the holes at the bottom of the exterior wall panel with the holes or bolts on the lower exterior wall panel, etc., realizing the rapid installation of the exterior wall panel and improving the construction efficiency.

[0240] As described above, 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for hoisting and positioning an exterior wall panel used in green building construction, characterized in that, It includes the following steps: S1. The route planning module intelligently plans the movement route of the jib. S2. The crane drives the jib to move to the position of the exterior wall panel to be hoisted, and fixedly connects the connecting piece with the embedded bolt on the exterior wall panel. S3. The crane lifts one end of the exterior wall panel to a vertical state. Start the synchronous expansion mechanism to make the two L-shaped telescopic arms move synchronously to both sides; make the U-shaped plate clip onto the exterior wall panel, and fix the lifting belt to the periphery of the exterior wall panel. S4. The flipping drive mechanism rotates the bracket assembly to a vertical state to support the bottom of the exterior wall panel. S5. The image acquisition module of the monitoring mechanism acquires high-definition images of the exterior wall panel and the surrounding environment; the inclination sensor monitors the inclination angle of the exterior wall panel in real time; the gravity sensor monitors the weight change during the hoisting process. S6. The image processing module preprocesses the acquired images; the feature extraction module extracts features from the preprocessed images. S7. The anomaly analysis module analyzes and identifies the images after feature extraction to identify anomalies during the hoisting positioning process; by monitoring the movement trajectories of the jib and the exterior wall panel, potential collision risks are identified. S8. The installation positioning analysis module analyzes the installation positioning of the exterior wall panel to quickly and accurately align the holes at the bottom of the exterior wall panel with the holes or bolts on the lower exterior wall panel. S9. The crane drives the exterior wall panel to move to the predetermined position. Before the final assembly of the exterior wall panel is completed, start the flipping drive mechanism to rotate the bracket assembly to a horizontal state and cancel the support for the exterior wall panel; then install and fix the exterior wall to the predetermined position. S10. When an anomaly is detected, the alarm module issues an alarm in a timely manner.

2. The method for hoisting and positioning the exterior wall panel for green building construction according to claim 1, characterized in that: Step S7 includes the following steps: S71. Data preparation: Receive the processed image data from the feature extraction module, including color, texture, and shape feature information; load the pre-trained recognition model and threshold settings for detecting different types of anomalies. S72. Collision risk identification: By monitoring the movement trajectories of the jib and the exterior wall panel, use image processing technology to track their real-time positions; calculate the distances between the jib, the exterior wall panel and the preset safety distance or obstacles to determine whether there are potential collision risks. Where D current is the current distance between the jib or the exterior wall panel and the obstacle; x1, y1, z1 are the coordinates of the obstacle in three-dimensional space; x2, y2, z2 are the coordinates of the jib or the exterior wall panel in three-dimensional space; S73. Rope integrity detection: Use edge detection image processing technology to conduct a detailed analysis of the hoisting ropes; based on the texture and color features of the ropes, identify whether there are anomalies such as cracking, breaking, or wear on the ropes. S73.3: If rope anomalies are detected, immediately trigger a rope integrity alarm and display the specific location and degree of the rope anomalies. S74. Abnormal inclination identification: Use image processing technology to detect the inclination angle of the exterior wall panel; compare the detected inclination angle with the preset inclination threshold to determine whether there is an abnormal inclination of the exterior wall panel. S75. Alarm and recording: When any type of anomaly is identified, immediately trigger the corresponding alarm. S76. Real-time monitoring and feedback: Continuously monitor the image data during the hoisting process, and update the analysis results of anomalies in real time; adjust the thresholds and strategies for anomaly identification based on real-time data and feedback.

3. The method for hoisting and positioning the exterior wall panel for green building construction according to claim 2, wherein: In step S73, the rope integrity detection is carried out according to the following formula: In the formula, S score is the total score of the rope abnormality level; w1 and w2 are weight coefficients used to balance the influence of the texture and color characteristics of the rope on the total score; T texture is the actual texture characteristic value of the rope; T norm is the normal texture characteristic value of the rope; σT is the standard deviation of the rope texture characteristic value; C color is the actual color characteristic value of the rope; C norm is the normal color characteristic value of the rope; σC is the standard deviation of the rope color characteristic value.

4. The method for hoisting and positioning the exterior wall panel for green building construction according to claim 1, characterized in that: Step S8 includes the following steps: S81. Data Processing: Receive the precise position data of the exterior wall panel and its lower connection points from the data collection module; load the pre-trained positioning analysis model and calibration parameters; S82. Image Preprocessing and Feature Extraction: Use the high-definition images provided by the image acquisition module to perform image preprocessing on the exterior wall panel and its lower connection points, and extract the feature information of the bottom holes of the exterior wall panel and the lower connection points through image processing techniques; S83. Initial Position Estimation: According to the extracted feature information, use the positioning analysis model to preliminarily estimate the positional relationship between the exterior wall panel and the lower connection points; calculate the deviation between the initial position and the ideal position; S84. Precise Alignment Adjustment; S85. Installation Completion Verification: When the exterior wall panel is precisely aligned with the lower connection points, use fasteners to fix the exterior wall panel in place; conduct verification of the installation quality; S86. Data Recording and Analysis: Record the key data during the installation process; analyze the installation data to evaluate the accuracy and efficiency of the installation positioning analysis.

5. The external wall panel hoisting and positioning method for green building construction according to claim 4, characterized in that: Step S84 includes the following steps: S84.1: According to the deviation of the initial position estimation, fine-tune the exterior wall panel through the control of the boom and the hoisting system to reduce the deviation; perform fine-tuning according to the following formula: In the formula, C adjust is the fine-tuning control signal, including the adjustment amounts in the horizontal, vertical, and rotation directions; k x , k y and k θ are the basic control gains in the horizontal, vertical, and rotation directions respectively; e is the base of the natural logarithm, α x , α y and α θ are the attenuation coefficients in the horizontal, vertical, and rotation directions respectively; t is the time variable; x offset is the offset of the outer wall panel in the horizontal direction; y offset is the offset of the outer wall panel in the vertical direction; θ offset is the rotation angle offset of the outer wall panel; S84.2: During the fine-tuning process, update the position information of the exterior wall panel in real time, and re-perform feature extraction and position estimation to form a closed-loop feedback control; S84.3: Repeat steps S84.1 and S84.2 until the holes at the bottom of the exterior wall panel are precisely aligned with the holes or bolts on the lower exterior wall panel, meeting the installation accuracy requirements.

6. The method for hoisting and positioning the exterior wall panel for green building construction according to claim 1, characterized in that: Step S1 includes the following steps: S11. Data Collection and Analysis: Obtain the detailed information of the exterior wall panel, the boom, and the surrounding environment from the data collection module; analyze the data to determine potential collision points and risk areas; S12. 3D Modeling and Simulation: Use 3D modeling technology to create a 3D model of the construction site based on the collected data; simulate the movement path of the boom in the 3D model; through simulation technology, simulate the obstacles that the boom may encounter during movement and evaluate the potential collision risks; S13. Path Planning: According to the 3D model and the simulation results, adopt the Dijkstra path planning algorithm to plan the optimal movement path of the boom; S14. Real-time Adjustment and Optimization: During the hoisting process, monitor the position, speed, and attitude of the boom in real time, as well as the position changes of the exterior wall panel and the obstacles; perform real-time adjustment of the path planning according to the real-time data and feedback.

7. The lifting and positioning method for the exterior wall panel used in green building construction according to claim 1, characterized in that: The synchronous deployment mechanism includes a biaxial motor and a lead screw; A biaxial motor is fixedly arranged on the boom; the output end of the biaxial motor is fixedly provided with a lead screw; the thread directions of the two lead screws are opposite; the two lead screws are respectively in threaded fit connection with the corresponding L-shaped telescopic arms; The flipping drive mechanism includes an electric push rod, a top block, and a rotating plate; an electric push rod is fixedly arranged on the L-shaped telescopic arm; a top block is fixedly arranged on the movable rod of the electric push rod; a rotating plate is rotatably arranged on the top block; the rotating plate is rotatably hinged to the bracket assembly.

8. The method for hoisting and positioning the exterior wall panel for green building construction according to claim 1, characterized in that: The bracket assembly includes an upper U-shaped frame and a lower U-shaped frame; The upper U-shaped frame is rotatably arranged at the lower end of the L-shaped telescopic arm; The lower U-shaped frame is slidably arranged on the upper U-shaped frame; The upper U frame is fixedly provided with a motor B, and the output end of the motor B is coaxially fixedly provided with a screw rod; the screw rod is threadably connected with the lower U frame; a rubber pad is fixedly provided on the inner side of the lower U frame; A U-shaped plate is fixedly arranged on the L-shaped telescopic arm; a rotation adjustment mechanism is arranged on the U-shaped plate, and an electric telescopic rod is rotatably arranged on the U-shaped plate; The rotation adjustment mechanism includes a motor A, a driving gear and a driven gear; the motor A is fixedly arranged on the U-shaped plate; the output end of the motor A is coaxially fixedly arranged with the driving gear; the driven gear is fixedly arranged on the electric telescopic rod; the driving gear and the driven gear are meshed and driven in connection.

9. The method for hoisting and positioning the exterior wall panel for green building construction according to claim 1, wherein: Monitoring agencies include: Data collection module: collects a large amount of data on exterior wall panels and surrounding personnel and environment, and labels the data as reference samples; Route planning module: intelligently plans the moving route of the boom based on the information provided by the data collection module; Image acquisition module: collects high-definition images of exterior wall panels and surrounding environment; Image processing module: pre-process the collected images; Feature extraction module: extract features from preprocessed images; Abnormal analysis module: Analyze and identify the image after feature extraction, timely identify abnormal situations in the lifting and positioning process, and timely identify potential collision risks; Installation positioning analysis module: Analyze the installation positioning of the exterior wall panel to quickly and accurately align the holes at the bottom of the exterior wall panel with the holes or bolts on the exterior wall panel below to achieve rapid installation; Alarm module: including alarm, which will send out alarm in time when abnormal situation is detected; Control center: network connected with data collection module, route planning module, image acquisition module, image processing module, feature extraction module, abnormality analysis module and installation positioning analysis module.

10. An external wall panel hoisting and positioning device for green building construction, comprising: A boom, an L-shaped telescopic arm, a bracket assembly, a connecting piece, a flip driving mechanism, a rotation adjustment mechanism, an electric telescopic rod, a high-definition camera A, a synchronous unfolding mechanism and a lifting belt; characterized in that: Three lifting rings are fixed on the boom, and safety lock buckles are provided on the lifting rings; Two L-shaped telescopic arms are symmetrically slidably arranged on the boom; a bracket assembly is rotatably arranged at the lower ends of the L-shaped telescopic arms; Three connecting pieces are fixedly arranged on the boom, which are connected to the embedded bolts of the prefabricated exterior wall panels through the connecting pieces; A flip driving mechanism is fixedly arranged on the L-shaped telescopic arm; the flip driving mechanism is hinged to the corresponding bracket assembly; A rotation adjustment mechanism is fixedly arranged on the L-shaped telescopic arm; an electric telescopic rod is rotatably arranged on the L-shaped telescopic arm; a high-definition camera A is fixedly arranged on the movable rod of the electric telescopic rod; the rotation adjustment mechanism is transmission-connected to the electric telescopic rod, and the rotation adjustment mechanism can drive the electric telescopic rod to rotate; A synchronous unfolding mechanism is fixedly arranged on the boom; the synchronous unfolding mechanism is transmission-connected with the L-shaped telescopic arm, and the synchronous unfolding mechanism can drive the two L-shaped telescopic arms to move synchronously in opposite directions; The two L-shaped telescopic arms are detachably fixed with lifting belts; and the lifting arms are fixedly provided with a monitoring mechanism.

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