Intelligent hoisting system and method for building external wall panel

Abstract

The invention discloses a building external wall panel intelligent hoisting system and method, and the building external wall panel intelligent hoisting system comprises an intelligent terminal, an autonomous walking positioning mechanism, a suspension positioning mechanism, a wall panel quality and installation precision detection module and a communication module. The intelligent terminal is in communication connection with the autonomous walking positioning mechanism, the suspension positioning mechanism and the wallboard quality and installation precision detection module through the communication module. The autonomous walking positioning mechanism is used for moving and preliminarily positioning the suspension positioning mechanism; the suspension positioning mechanism is used for hoisting and aligning the external wall panel; the wallboard quality and installation precision detection module is used for detecting the installation quality and precision of the externally-hung wallboard. According to the data-driven hoisting method constructed on the basis of the system, automation of the whole process from wallboard arrangement, quality pre-inspection, path planning to precise installation is achieved, and the intelligence and efficiency level of externally-hung wallboard construction is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building exterior walls, and in particular to an intelligent hoisting system and method for building exterior wall panels. Background Art

[0002] In recent years, with the widespread adoption of prefabricated buildings, external wall panels have become the mainstream form of modern building envelope due to their ease of construction, energy conservation, and environmental protection. However, existing external wall panel installation still relies primarily on traditional equipment such as tower cranes or truck cranes, with manual operations required to transport and position the panels. The overall construction method remains relatively crude and suffers from significant shortcomings. First, due to limitations in on-site costs and space, construction equipment is generally insufficient to meet the demands of collaborative operations across multiple work surfaces. Frequent equipment dispatching and high idle rates severely restrict construction efficiency. Second, the wall panel installation process relies heavily on manual experience for posture adjustment and positioning, and the operating methods lack standardization and information support, which can easily lead to large fluctuations in installation accuracy, low efficiency, and frequent rework. Furthermore, existing wall panel layout and construction organization plans are typically static and lack the ability to dynamically respond to actual deviations and changes on site. This results in errors accumulating along the construction path, increasing the difficulty and cost of subsequent corrections. The above problems have, to a certain extent, restricted the progress of construction efficiency, quality control and intelligent development of prefabricated buildings. There is an urgent need for an efficient, flexible, automatic perception and dynamic decision-making intelligent lifting system and method for external wall panels to solve them. Summary of the Invention

[0003] The purpose of this invention is to construct a system and method for intelligent lifting of building exterior wall panels based on Internet of Things perception and adaptive decision-making, so as to realize the full-process intelligent operation of building exterior wall panels from intelligent arrangement, quality inspection to precise installation, so as to significantly improve construction efficiency, ensure installation quality, and reduce errors caused by manual intervention.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: an intelligent lifting system for building exterior wall panels, comprising an intelligent terminal, an autonomous traveling and positioning mechanism, a suspension positioning mechanism, a wall panel quality and installation accuracy detection module, and a communication module, wherein the intelligent terminal is respectively connected to the autonomous traveling and positioning mechanism, the suspension positioning mechanism, and the wall panel quality and installation accuracy detection module via the communication module; The autonomous traveling positioning mechanism is used to move and preliminarily position the suspension positioning mechanism; The suspension positioning mechanism is used for hoisting and aligning the external wall panels; The wall panel quality and installation accuracy detection module is used to detect the installation quality and accuracy of the external wall panels.

[0005] Furthermore, the intelligent terminal is a computer deployed with Revit modeling software, Dynamo visual programming platform, external wall panel layout optimization design engine, lifting operation parameter solution program, and installation quality deviation assessment module.

[0006] Furthermore, the autonomous walking and positioning mechanism includes a guide rail mechanism, a GNSS positioning unit, an encoder detection system and a PID motion controller; wherein, the guide rail mechanism includes a longitudinal fixed frame, a longitudinal translation mechanism arranged on the longitudinal fixed frame and a transverse translation guide rail connected to the longitudinal translation mechanism, the suspension positioning mechanism is connected to the transverse translation guide rail, and the guide rail mechanism is used to support and guide the suspension positioning mechanism to move in the horizontal plane; the PID motion controller is used to coordinate the longitudinal translation mechanism and the transverse translation guide rail, and its signal input source includes the position information collected by the GNSS positioning unit and the speed data provided by the encoder detection system, and the intelligent terminal provides path parameters.

[0007] Furthermore, the longitudinal translation mechanism includes a servo motor, a transmission screw, a guide support rod, a translation slide and a screw slider, wherein the servo motor is fixed on the longitudinal fixing frame and fixedly connected to the transmission screw, the transmission screw is arranged longitudinally along the longitudinal fixing frame, the screw slider forms a transmission connection with the transmission screw, the translation slide is fixed to the screw slider, and the transverse translation guide rail is fixedly connected to the translation slide.

[0008] Furthermore, the GNSS positioning unit is installed on the top of the suspension positioning mechanism to collect the position information of the suspension positioning mechanism; the encoder detection system is arranged at the shaft end of the transmission screw to detect the speed and displacement information of the screw slider in real time; the PID motion controller is electrically connected to the servo motor and fixed on the longitudinal fixing frame or the transverse translation guide rail to achieve integrated layout with the guide rail mechanism.

[0009] Furthermore, the lateral translation guide rail includes two lateral translation frames, which are fixedly connected by a plurality of detachable connecting arms, and a translation guide wheel is provided at the bottom of the connecting arm; one end of the lateral translation frame is provided with an assembly groove, and the other end is provided with an assembly plug for cooperating with the assembly groove on the other lateral translation frame; a plurality of locking holes are evenly distributed on the surface of the lateral translation frame.

[0010] Furthermore, the suspension positioning mechanism includes two electric guide vehicles, which are equipped with a winch, an absolute value encoder, an L-shaped bracket, a lifting cable, a hook and a counterweight. The lifting cable connects the hook and the winch, the L-shaped bracket is connected to the boom, and the boom supports the lifting cable. The shaft end of the winding roller of the winch is connected to the absolute value encoder. The rotation of the winding roller of the winch drives the absolute value encoder to rotate, and the absolute value encoder transmits the detection data to the intelligent terminal through the communication module; the intelligent terminal calculates the stop position information of the winch according to the size of the external wall panel, and sends it to the absolute value encoder to control the winch to stop.

[0011] Furthermore, the wall panel quality and installation accuracy detection module includes an installation quality detection system, a laser scanner and a visual camera; the visual camera takes pictures of the external wall panels to be installed, and the laser scanner scans the installed external walls, and respectively packages the pictures and point cloud data and transmits them to the smart terminal through the communication module. The smart terminal judges the installation quality of the external wall panels through the installation quality detection system.

[0012] In order to solve the above technical problems, the present invention also adopts the following technical solution: a method for intelligently lifting building exterior wall panels, based on the above-mentioned intelligent lifting system for building exterior wall panels, comprising the following steps: S1. Calculate the movement trajectory and operating parameters of the autonomous traveling mechanism and suspension positioning mechanism using the building exterior wall panel layout design generated by the intelligent terminal. S2 autonomous traveling mechanism drives the suspension positioning mechanism to move to the target station; S3 suspension positioning mechanism guides the hook to grab the external wall panel and lift the external wall panel to the installation height; S4. The wall panel quality and installation accuracy detection module automatically inspects the exterior wall panels before and after installation. S5. The intelligent terminal monitors deviations during the installation of external wall panels in real time and performs graded corrections. S6. After completing the grading correction of the external wall panel, update the BIM model data and the operating parameters of the subsequent suspension positioning mechanism, and control the autonomous traveling mechanism and suspension positioning mechanism to start positioning and hoisting the next external wall panel.

[0013] Furthermore, in the intelligent hoisting system for building exterior wall panels, the wall panel quality and installation accuracy detection module includes a quality detection system, a laser scanner, and a visual camera; the visual camera takes pictures of the exterior wall panels to be installed, and the laser scanner scans the installed exterior walls, and respectively packages the pictures and point cloud data and transmits them to the intelligent terminal through the communication module; Step S4 specifically includes the following steps: S41, a visual camera takes a picture of the external wall panel to be installed to obtain a surface image of the wall panel; S42, grayscales and performs noise reduction processing on the surface image of the wall panel to obtain the edge feature value of each pixel; S43, determines the damaged area or unsuitable area of the external wall panel to be installed based on the edge feature value, and marks the abnormal position on the surface image of the wall panel; S44, a laser scanner performs a three-dimensional scan on the installed external wall panel to collect point cloud data of the external wall panel.

[0014] In step S5, the intelligent terminal monitors the deviation in the installation process of the external wall panels in real time and performs graded correction, which specifically includes the following steps: S51, processing the point cloud data of the installed external wall panels collected by the laser scanner, extracting the actual position and joint size data of the installed external wall panels through noise reduction and segmentation operations, and obtaining measured data; S52, comparing and analyzing the measured data with the theoretical design values in the BIM model, and activating the corresponding graded correction according to the comparison results.

[0015] The beneficial effects of the present invention are as follows: This intelligent lifting system for building exterior wall panels relies on intelligent terminals and multi-objective optimization algorithms, integrating modules such as visual recognition, laser scanning, and path planning to build an intelligent lifting system that integrates design, detection, and control, and realizes automatic perception and adaptive decision-making throughout the entire process of exterior wall panel construction. The use of autonomous traveling mechanisms to replace traditional lifting equipment, combined with automatic detection and electric drive systems, significantly reduces construction labor costs and equipment energy consumption, achieving highly economical operations. It supports parallel construction on two working surfaces and flexible lifting and positioning, effectively breaking through the bottleneck of traditional single-point operations, significantly shortening construction periods, and improving facade construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a front cross-sectional view of the intelligent lifting system for building exterior wall panels of the present invention; Figure 2 Schematic diagram of the structure of the guide rail mechanism of the present invention; Figure 3 Schematic diagram of the structure of the transverse translation guide rail of the present invention; Figure 4 It is a structural schematic diagram of the suspension positioning mechanism of the present invention; Figure 5 This is a schematic diagram of the disassembled structure of the suspension positioning mechanism of the present invention; Figure 6 It is a front cross-sectional view of the suspension positioning mechanism of the present invention; Figure 7 is a bottom cross-sectional view of the electric guided vehicle of the present invention; Figure 8 It is a structural schematic diagram of the winch of the present invention; Figure 9 This is a schematic structural diagram of the intelligent pod of the present invention; Figure 10 This is a structural diagram of the intelligent pod of the present invention in working state; Figure 11 For the present invention Figure 10 Enlarged view of detail A; Figure 12 Schematic diagram of the intelligent pod of the present invention from a bottom view; Figure 13 This is a schematic diagram of the electrical structure of the intelligent pod of the present invention; Figure 14 This is a schematic diagram of the process of the intelligent lifting system for building exterior wall panels of the present invention. Figure 1 ; Figure 15 This is a schematic diagram of the process of the intelligent lifting system for building exterior wall panels of the present invention. Figure 2 .

[0017] Description of labels: 1. Guide rail mechanism; 101. Longitudinal fixing frame; 102. Servo motor; 103. Drive screw; 104. Screw slider; 105. Translation slide; 106. Guide support rod; 107. Riveted seat; 108. Horizontal translation guide rail; 1081. Horizontal translation frame; 1082. Connecting arm; 1083. Locking hole; 1084. Assembly groove; 1085. Assembly plug; 1086. Translation guide wheel; 2. Suspension positioning mechanism; 201. Electric guided vehicle; 202. Rotating motor; 203. Turntable; 204. Locking platform; 205. Small drive element; 206. Locking plug; 207. L-shaped bracket; 208. Winch; 2081. Winding platform; 2082. Winding roller; 2083. Speed reducer; 209. Counterweight; 210. Tower crane platform; 211. Tower crane support; 212. Steel cable; 213. Boom; 214. Fixed pulley; 215. Hook; 216. Hoisting cable; 217. Center column; 218. Worm gear; 219. Worm; 3. Smart pod; 301. Hatch door; 302. Pod body; 3021. Upper lifting ring; 3022. Guide tube; 3023. Telescopic hole; 3024. Lower lifting ring; 303. Tilt sensor; 304. Wind speed detection module; 3041. Wind speed sensor; 3042. Electric telescopic rod; 305. Control box; 3051. Track; 3052. Threaded hole; 3053. Visual camera. DETAILED DESCRIPTION

[0018] To illustrate the technical content, achieved objectives and effects of the present invention in detail, the following description is given in conjunction with the embodiments and accompanying drawings.

[0019] Please refer to Figures 1 to 15A first embodiment of the present invention is a smart hoisting system for building exterior wall panels, comprising a smart terminal, an autonomous traveling and positioning mechanism, a suspension positioning mechanism 2 (i.e., a tower crane), a wall panel quality and installation accuracy detection module, and a communication module, wherein the smart terminal is respectively connected to the autonomous traveling and positioning mechanism, the suspension positioning mechanism 2, and the wall panel quality and installation accuracy detection module via the communication module; The autonomous traveling positioning mechanism is used to move and preliminarily position the suspension positioning mechanism 2; The suspension positioning mechanism 2 is used for hoisting and aligning the external wall panels; The wall panel quality and installation accuracy detection module is used to detect the installation quality and accuracy of the external wall panels to ensure the quality of the external wall panels.

[0020] The intelligent terminal is a computer deployed with Revit modeling software, Dynamo visual programming platform, external wall panel layout optimization design engine, lifting operation parameter solution program, and installation quality deviation assessment module.

[0021] The communication module enables real-time data exchange and coordinated control between the intelligent terminal, the autonomous travel positioning mechanism, the suspension positioning mechanism 2, and the wall panel quality and installation accuracy detection module, ensuring accurate command transmission and timely status feedback from all system components. This communication module consists of a wireless transmission unit (using a 5G / Wi-Fi dual-module), an industrial-grade CAN bus wired transmission unit, a data protocol converter, and an anti-interference signal amplifier. The wireless transmission unit is responsible for long-distance communication between the mobile components and the intelligent terminal, the wired transmission unit ensures stable data transmission between core devices, the data protocol converter enables compatible conversion between different communication protocols, and the signal amplifier enhances signal stability in complex construction environments.

[0022] The autonomous walking and positioning mechanism includes a guide rail mechanism 1, a GNSS positioning unit, an encoder detection system and a PID motion controller; wherein, the guide rail mechanism 1 includes a longitudinal fixed frame 101, a longitudinal translation mechanism arranged on the longitudinal fixed frame 101 and a transverse translation guide rail 108 connected to the longitudinal translation mechanism, the suspension positioning mechanism 2 is connected to the transverse translation guide rail 108, and the guide rail mechanism 1 is used to support and guide the suspension positioning mechanism 2 to move in the horizontal plane; the PID motion controller is used to coordinate the longitudinal translation mechanism and the transverse translation guide rail 108, and its signal input source includes the position information collected by the GNSS positioning unit and the speed data provided by the encoder detection system, and the intelligent terminal provides path parameters.

[0023] Optionally, the longitudinal fixing frame 101 is in the shape of a rectangular frame as a whole, and a plurality of riveted seats 107 are fixedly provided at the bottom of both sides of the longitudinal fixing frame 101, and the riveted seats 107 are used to fix the guide rail mechanism 1 as a whole to the ground or a supporting structure; the longitudinal translation mechanism is used to control the transverse translation guide rail 108 to move along the longitudinal direction, and the longitudinal translation mechanism includes a servo motor 102, a transmission screw 103, a guide support rod 106, a translation slide 105 and a screw slider 104, wherein the servo motor 102 is fixed on the longitudinal fixing frame 101, The output end of the servo motor 102 is fixedly connected to the transmission screw 103, and the transmission screw 103 is arranged longitudinally along the longitudinal fixed frame 101. The screw slider 104 forms a threaded transmission connection with the transmission screw 103, the translation slide 105 is fixed to the screw slider 104, and the transverse translation guide rail 108 is fixedly connected to the translation slide 105. The servo motor 102 drives the transmission screw 103 to rotate, so as to drive the translation slide 105 fixedly connected to the screw slider 104 to drive the transverse translation guide rail 108 to reciprocate along the length direction of the longitudinal fixed frame 101.

[0024] In order to ensure the smooth sliding of the translation slide 105, a guide strut 106 is also provided on the longitudinal fixing frame 101. The guide strut 106 is parallel to the transmission screw 103. The translation slide 105 is provided with a guide hole that cooperates with the guide strut 106. The guide strut 106 is used to provide guiding support for the translation slide 105. Preferably, the guide strut 106 is provided on both sides of the transmission screw 103.

[0025] In one or more embodiments, the transverse translation guide rail 108 adopts an expandable design. In this embodiment, the transverse translation guide rail 108 includes two transverse translation frames 1081, and a plurality of locking holes 1083 are evenly distributed on the surface of the transverse translation frames 1081. The two transverse translation frames 1081 are fixedly connected by a plurality of detachably connected connecting arms 1082. A translation guide wheel 1086 is provided at the bottom of the connecting arm 1082. The presence of multiple connecting arms 1082 can effectively ensure the structural stability of the transverse translation guide rail 108. One end of the transverse translation frame 1081 is provided with an assembly groove 1084, and the other end is provided with an assembly plug 1085 for cooperating with the assembly groove 1084 on the other transverse translation frame 1081. During use, the user can increase or decrease the number of transverse translation frames 1081 according to actual needs, thereby completing the length adjustment of the transverse translation guide rail 108 to form a customized guide rail, thereby meeting different usage requirements. It is easy to understand that in the transverse translation guide rail 108 , the transverse translation frame 1081 closest to the translation slide 105 is fixedly connected to the translation slide 105 .

[0026] In this embodiment, the two sides of the translation slide 105 are respectively connected to the transverse translation guide rails 108. When the translation slide 105 moves along the longitudinal fixed frame 101 driven by the servo motor 102, it drives the transverse translation guide rails 108 on both sides to move synchronously. The translation guide wheel 1086 at the bottom of the transverse translation guide rail 108 contacts the ground or the supporting structure and rolls, thereby supporting the transverse translation guide rail 108 and ensuring the smooth movement of the transverse translation guide rail 108.

[0027] The suspension positioning mechanism 2 includes two electric guide vehicles 201, and the two electric guide vehicles 201 are respectively arranged on the transverse translation frame 1081 on both sides of the translation slide 105. The electric guide vehicle 201 walks on the inner tooth pad of the transverse translation frame 1081 through the built-in driving wheel, forming a two-dimensional plane coordinated positioning with the longitudinal movement of the translation slide 105. Specifically, a locking platform 204 is fixed on the outer side of the electric guide vehicle 201, and a small driving component 205 is provided on the locking platform 204. The small driving component 205 includes but is not limited to a cylinder, a linear push rod, etc. The output end of the small driving component 205 is connected to a locking plug 206, and the locking plug 206 is used to lock with the said locking plug 206 on the transverse translation frame 1081. In cooperation with the locking hole 1083, when the electric guide vehicle 201 moves to the target position on the lateral translation frame 1081, the small driving component 205 pushes the locking plug 206 to be inserted into the locking hole 1083 of the lateral translation frame 1081 for mechanical locking, thereby realizing the precise positioning and stable parking of the electric guide vehicle 201 during operation; in one or more embodiments, the small driving components 205 are respectively provided on both sides of the electric guide vehicle 201. In this embodiment, two or more small driving components 205 are provided on one side of the electric guide vehicle 201, and the locking plugs 206 driven by different small driving components 205 cooperate with different locking holes 1083, thereby achieving multiple mechanical locking effects.

[0028] The electric guide vehicle 201 is equipped with a winch 208, an absolute encoder, an L-shaped bracket 207, a hoisting cable 216, a hook 215 and a counterweight 209. Specifically, the electric guide vehicle 201 includes a base, the built-in driving wheel is arranged on the base, and a rotating motor 202 and a turntable 203 are also arranged on the base. The rotating motor 202 is connected to the turntable 203 to drive the turntable 203 to rotate. The turntable 203 is provided with an L-shaped bracket 207, and the L-shaped bracket 207 is provided on the L-shaped bracket 207. A tower crane pillar 211 and a tower crane platform 210 are provided. The tower crane pillar 211 is vertically connected to the tower crane platform 210. The hoist 208 and the counterweight 209 are respectively arranged on the tower crane platform 210. The tower crane platform 210 is provided with a counterweight locking device. The counterweight 209 is positioned by the counterweight locking device for dynamically balancing the hoisting load; the hoisting cable 216 connects the hook 215 and the hoist 208, and the L-shaped bracket 207 is connected to the boom 213. The boom 213 supports the hoisting cable 216. In detail, the arm 213 is provided with a fixed pulley 214, and the cable 216 passes through the fixed pulley 214 to be guided by the fixed pulley 214 to ensure the stability of the vertical up and down movement of the hook 215; in this embodiment, the winch 208 includes a winding platform 2081, a reduction motor 2083 and a winding roller connected by a drive, the winding roller is rotatably arranged on the winding platform 2081, and a winding roller 2082 is provided on the winding roller, and the reduction motor 2083 is used to drive the winding roller to rotate To drive the winding roller 2082 to rotate, the shaft end of the winding roller of the winch 208 is connected to the absolute value encoder. The rotation of the winding roller of the winch 208 drives the absolute value encoder to rotate. The absolute value encoder detects the pay-out length of the suspension cable 216 in real time through the rotation of the winding roller, and transmits the detection data to the smart terminal through the communication module; the smart terminal calculates the stop position information of the winch 208 according to the size of the external wall panel, and sends it to the absolute value encoder to control the winch 208 to stop.

[0029] Specifically, the turntable 203 is fixedly connected to a central rotating column 217, and the central rotating column 217 is rotatably provided on the base and is transmission-connected to the rotating motor 202. In order to improve the working stability of the rotation of the turntable 203, in this embodiment, a worm 219 is rotatably provided on the base, and a worm wheel 218 engaged with the worm 219 is provided on the central rotating column 217.

[0030] The electric guided vehicle 201 is also provided with a steel cable 212, and the top of the tower support 211 is provided with a through hole. One end of the steel cable 212 is connected to the tower platform 210 provided with one end of the counterweight block 209, and the other end of the steel cable 212 passes through the through hole to connect to the boom 213.

[0031] In addition, to ensure the environmental safety of the lifting operation, the electric guide vehicle 201 is also provided with a wind speed detection module 304. The wind speed detection module 304 includes a connected wind speed sensor 3041 and an electric telescopic rod 3042. The wind speed sensor 3041 can adjust the detection angle according to the operation needs and provide real-time feedback of wind speed information.

[0032] The GNSS positioning unit is installed on the top of the suspension positioning mechanism 2 and is used to collect the position information of the suspension positioning mechanism 2; the encoder detection system is arranged at the shaft end of the transmission screw 103 and is used to detect the speed and displacement information of the screw slider 104 in real time; the PID motion controller is electrically connected to the servo motor 102 and is fixed on the longitudinal fixing frame 101 or the transverse translation guide rail 108 to achieve integrated layout with the guide rail mechanism 1.

[0033] The wall panel quality and installation accuracy detection module includes an installation quality detection system, a laser scanner and a visual camera 3053; the visual camera 3053 takes pictures of the external wall panels to be installed, and the laser scanner scans the installed external walls, and respectively packages the pictures and point cloud data and transmits them to the smart terminal through the communication module. The smart terminal judges the installation quality of the external wall panels through the installation quality detection system.

[0034] In one or more embodiments, the L-shaped bracket 207 is further provided with an intelligent pod 3, and the wind speed detection module 304 is provided on the intelligent pod 3. Specifically, the intelligent pod 3 includes a pod body 302, the pod body 302 has a door 301, and the top of the pod body 302 is provided with an upper lifting ring 3021 and a tilt sensor 303. The tilt sensor 303 is used to monitor the posture changes of the external wall panel during the lifting process and assist in completing the lifting posture control; at least one side of the pod body 302 is provided with a guide tube 3022. In this embodiment, the guide tubes 3022 are respectively provided on the opposite sides of the pod body 302, and the guide tubes 3022 are used to cooperate with the guide rods on the L-shaped bracket 207; the bottom of the pod body 302 is provided with a telescopic hole 3023 and a lower lifting ring 3024, and the electric telescopic rod 3042 is provided on the pod body 302 Inside, the output end of the electric telescopic rod 3042 is connected to the wind speed sensor 3041 through the telescopic hole 3023. In some embodiments, the wind speed sensor 3041 is movably connected to the electric telescopic rod 3042 so that the wind speed sensor 3041 can adjust the detection angle; a control box 305 is also provided in the pod body 302, and a track 3051 is provided on the top of the control box 305. The track 3051 is slidably provided with a sliding block, and the sliding block is provided with the visual camera 3053. Optionally, the top surface of the control box 305 is also provided with at least one row of threaded holes 3052, and the threaded holes 3052 are arranged close to the track 3051, and also include a fastening screw that cooperates with the threaded hole 3052, and the fastening screw is used to lock the sliding block to lock the relative position relationship between the visual camera 3053 and the control box 305.

[0035] The present invention also provides a method for intelligently hoisting building exterior wall panels. The method is based on the above-mentioned intelligent hoisting system for building exterior wall panels and includes the following steps: S1. A design plan for the building's exterior wall panels is generated through a smart terminal. The movement trajectory and operating parameters of the autonomous travel mechanism and suspension positioning mechanism are calculated. Specifically, the smart terminal's intelligent panel arrangement module generates an optimized wall panel layout plan. S2 autonomous traveling mechanism drives the suspension positioning mechanism to move to the target station; S3 suspension positioning mechanism guides the hook to grab the external wall panel and lift the external wall panel to the installation height; S4. The wall panel quality and installation accuracy detection module automatically inspects the exterior wall panels before and after installation. S5. The intelligent terminal monitors deviations during the installation of external wall panels in real time and performs graded corrections. S6. After completing the grading correction of the external wall panel, update the BIM model data and the operating parameters of the subsequent suspension positioning mechanism, and control the autonomous traveling mechanism and suspension positioning mechanism to start positioning and hoisting the next external wall panel.

[0036] In step S1, a building BIM model is established using a smart terminal equipped with Revit modeling software and the Dynamo visual programming platform, from which the geometric parameters of the building facade are extracted as optimization inputs. Structural and construction constraints are set during the layout of the external wall panels according to relevant design specifications. Multi-objective optimization goals are set, including maximizing the material utilization of the external wall panels, optimizing joint uniformity, and minimizing the lifting path. The intelligent panel layout optimization engine deployed in the smart terminal then uses a multi-objective optimization algorithm to optimize the parameters of the external wall panel layout. During the optimization process, Revit's generative design method is combined to automatically generate and evaluate candidate layout schemes in the Dynamo environment to select the optimal layout scheme. Finally, the optimization results are fed back to the Revit environment to generate a visual model of the optimized external wall panels, achieving a full-process integrated design from initial model construction, parameter extraction, layout optimization, to component modeling.

[0037] As a possible implementation, the multi-objective optimization algorithm in step S1 further selects the NSGA-II multi-objective genetic algorithm. This algorithm implements iterative population evolution through individual selection, crossover, and mutation operations, incorporating an elite retention strategy to ensure the diversity and convergence of candidate solutions during the evolutionary process. The multi-objective optimization algorithm integrates a constraint verification module and a fitness evaluation module to perform compliance verification and multi-objective performance scoring on individual layout solutions in each generation of the population, thereby automatically screening out the Pareto optimal solution set that meets the project requirements. The optimization process is tightly integrated with the generative design functionality in Revit. Leveraging Dynamo's parametric modeling capabilities, a large number of candidate layout solutions are automatically generated, and the optimization results are fed back in real time. After obtaining the Pareto optimal solution, the optimization results are converted into a visual, constructible exterior wall panel layout model through the BIM data interface, realizing an integrated and automated design-optimization-modeling process, significantly improving the intelligence and constructability of the exterior wall panel layout.

[0038] Step S2, in which the autonomous traveling mechanism drives the suspension positioning mechanism to move to the target station, includes: after the external wall panel arrangement plan is generated, the target station coordinates and path parameters are sent by the intelligent terminal through the communication module. After the electric guide vehicle receives the target coordinates, the PID motion controller adjusts the coordinated movement of the servo motor and the lateral translation guide rail in combination with the initial position data obtained by the GNSS positioning unit and the real-time displacement information fed back by the encoder detection system. The encoder in the encoder detection system feeds back the displacement data in real time to ensure that the translation slide moves accurately along the guide support rod. After the suspension positioning mechanism reaches the target position, the small drive component pushes the locking plug into the locking hole to complete the relative fixation of the electric guide vehicle and the lateral translation frame. At the same time, the rotary motor drives the turntable to rotate to adjust the orientation of the mechanism platform.

[0039] The specific working process of the suspension positioning mechanism in step S3 is as follows: When the system issues the task of lifting the external wall panel, the two electric guide vehicles move to the designated workstations respectively, and the position is fixed by the cooperation of the locking plug and the locking hole. Subsequently, the winch controls the release of the lifting cable, and the hook descends to the connection point of the external wall panel and completes the grabbing; at the same time, the absolute encoder transmits the retraction and extension data of the lifting cable to the smart terminal. The smart terminal combines the installation height of the external wall panel in the BIM model, calculates the target stop position, and feeds back the control signal to the winch, driving the hook to lift to the precise height. During the lifting process, the tilt sensor continuously monitors the posture of the lifted external wall panel, and the wind speed module detects the external environment in real time. The system dynamically adjusts the operating parameters according to the feedback information to ensure that the external wall panel is lifted and positioned in a stable and safe posture.

[0040] The wall panel quality and installation accuracy detection module intelligently identifies and automatically evaluates the surface quality and geometric accuracy of external wall panels before and after installation, ensuring that installation quality meets design specifications. Integrated into the intelligent pod, this module forms a complete quality inspection subsystem.

[0041] Step S4 specifically includes the following steps: S41, the visual camera takes a picture of the external wall panel to be installed in a suspended state, obtains a surface picture of the wall panel and transmits the photographed surface picture data of the wall panel to the installation quality inspection system through the communication module; S42, the installation quality inspection system grayscales and de-noises the surface picture of the wall panel, extracts the contour and texture features of the external wall panel to be installed through the edge detection algorithm, and obtains the edge feature value of each pixel; S43, determines the damaged area or unsuitable area (such as a deformed area, etc.) of the external wall panel to be installed according to the edge feature value, compares the detection result with the standard image parameters of the external wall panel in the BIM model, marks the abnormal position on the wall panel surface picture, and sends the marked image data to the smart terminal through the communication module to assist the user in making precise repairs; S44, the laser scanner performs a three-dimensional scan on the installed external wall panel, collects the point cloud data of the external wall panel, and sends the collected point cloud data to the smart terminal through the communication module.

[0042] The deviation processing module deployed in the intelligent terminal analyzes the point cloud data collected by the laser scanner during the installation of the external wall panels, monitors and dynamically corrects the installation accuracy of the external wall panels in real time, and ensures that the wall panel installation quality meets the design requirements. In step S5, the intelligent terminal monitors the deviation of the external wall panel installation process in real time and performs graded correction, which specifically includes the following steps: S51, processing the point cloud data of the installed external wall panels collected by the laser scanner, extracting the actual position and joint size data of the installed external wall panels through noise reduction and segmentation operations, and obtaining measured data; S52, comparing and analyzing the measured data with the theoretical design values in the BIM model, activating the corresponding graded correction based on the comparison results, and performing manual fine-tuning when the installation error is within the allowable range; when the error exceeds the allowable range, initiating the re-optimization design process for the subsequent external wall panel arrangement plan, regenerating the installation position, joint width, autonomous travel structure station, and suspension mechanism operating parameters of the uninstalled external wall panels.

[0043] Specifically, the deviation processing module first performs noise reduction and segmentation on the collected point cloud data, extracting the actual boundary contours, installation locations, joint dimensions, and flatness information of the exterior wall panels. Subsequently, the intelligent terminal uses a point cloud registration algorithm to perform a three-dimensional alignment analysis between the measured data and the BIM design model, thereby calculating position deviation parameters in real time, including key indicators such as plane displacement, verticality deviation, and joint width error.

[0044] Based on the above-mentioned installation accuracy-related indicators, the deviation processing module determines whether the installation deviation of the current external wall panel exceeds the set threshold range, and accordingly activates a graded response mechanism to perform graded corrections. In this embodiment, the graded response mechanism includes: 1. When the installation deviation is detected to be less than 20mm, the system will perform real-time calibration through point cloud scanning and fine-tune the installation position of the next wall panel. The encoder will accurately control the hoist to adjust the height and position of the hook to ensure that the subsequent installation errors are gradually converged. 2. When the installation deviation value is detected to be greater than 20mm, the system automatically terminates the current installation process, issues an alarm through the communication module, and generates a deviation report including the deviation type, location and size.

[0045] In step S6, if the system detects an installation deviation of an external wall panel exceeding 20mm, it first updates the installation status and geometric parameter data of the corresponding component in the BIM model to ensure that the model information is consistent with the actual on-site situation. The system then invokes the optimization engine to recalculate the optimal layout of the remaining uninstalled external wall panels based on the updated data of the installed external wall panels. This optimization process comprehensively considers the actual deviations and performs component size adjustment, installation position reconfiguration, and joint structure reconstruction. It also simultaneously updates the workstation allocation and suspension path planning parameters of the autonomous travel mechanism.

[0046] After optimization is complete, the system simulates and verifies the newly generated layout. Once verified, the control parameters are sent to the operation terminal, driving the autonomous travel mechanism to automatically move to the next installation point and linking the selected suspension positioning module to accurately position and hoist the next external wall panel.

[0047] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An intelligent lifting system for building exterior wall panels, characterized in that: It includes an intelligent terminal, an autonomous traveling positioning mechanism, a suspension positioning mechanism, a wall panel quality and installation accuracy detection module, and a communication module. The intelligent terminal is connected to the autonomous traveling positioning mechanism, the suspension positioning mechanism, and the wall panel quality and installation accuracy detection module through the communication module. The autonomous traveling positioning mechanism is used to move and preliminarily position the suspension positioning mechanism; The suspension positioning mechanism is used for hoisting and aligning the external wall panels; The wall panel quality and installation accuracy detection module is used to detect the installation quality and accuracy of the external wall panels.

2. The intelligent hoisting system for building exterior wall panels according to claim 1 is characterized in that: The intelligent terminal is a computer deployed with Revit modeling software, Dynamo visual programming platform, external wall panel layout optimization design engine, lifting operation parameter solution program, and installation quality deviation assessment module.

3. The intelligent hoisting system for building exterior wall panels according to claim 1 is characterized in that: The autonomous walking and positioning mechanism includes a guide rail mechanism, a GNSS positioning unit, an encoder detection system and a PID motion controller; wherein, the guide rail mechanism includes a longitudinal fixed frame, a longitudinal translation mechanism arranged on the longitudinal fixed frame and a transverse translation guide rail connected to the longitudinal translation mechanism, the suspension positioning mechanism is connected to the transverse translation guide rail, and the guide rail mechanism is used to support and guide the suspension positioning mechanism to move in the horizontal plane; the PID motion controller is used to coordinate the longitudinal translation mechanism and the transverse translation guide rail, and its signal input source includes the position information collected by the GNSS positioning unit and the speed data provided by the encoder detection system, and the intelligent terminal provides path parameters.

4. The intelligent hoisting system for building exterior wall panels according to claim 3 is characterized in that: The longitudinal translation mechanism includes a servo motor, a transmission screw, a guide support rod, a translation slide and a screw slider, wherein the servo motor is fixed on the longitudinal fixing frame and fixedly connected to the transmission screw, the transmission screw is arranged longitudinally along the longitudinal fixing frame, the screw slider forms a transmission connection with the transmission screw, the translation slide is fixed to the screw slider, and the transverse translation guide rail is fixedly connected to the translation slide.

5. The intelligent hoisting system for building exterior wall panels according to claim 4 is characterized in that: The GNSS positioning unit is installed on the top of the suspension positioning mechanism and is used to collect the position information of the suspension positioning mechanism; the encoder detection system is arranged at the shaft end of the transmission screw and is used to detect the speed and displacement information of the screw slider in real time; the PID motion controller is electrically connected to the servo motor and fixed on the longitudinal fixing frame or the transverse translation guide rail to achieve integrated layout with the guide rail mechanism.

6. The intelligent hoisting system for building exterior wall panels according to claim 3 is characterized in that: The lateral translation guide rail includes two lateral translation frames, which are fixedly connected by multiple detachable connecting arms, and a translation guide wheel is provided at the bottom of the connecting arm; one end of the lateral translation frame is provided with an assembly groove, and the other end is provided with an assembly plug for cooperating with the assembly groove on the other lateral translation frame; a plurality of locking holes are evenly distributed on the surface of the lateral translation frame.

7. The intelligent hoisting system for building exterior wall panels according to claim 1 is characterized in that: The suspension positioning mechanism includes two electric guide vehicles, which are equipped with a winch, an absolute value encoder, an L-shaped bracket, a lifting cable, a hook and a counterweight. The lifting cable connects the hook and the winch, and the L-shaped bracket is connected to the boom, which supports the lifting cable. The shaft end of the winding roller of the winch is connected to the absolute value encoder. The rotation of the winding roller of the winch drives the absolute value encoder to rotate. The absolute value encoder transmits the detection data to the intelligent terminal through the communication module; the intelligent terminal calculates the stop position information of the winch according to the size of the external wall panel, and sends it to the absolute value encoder to control the winch to stop.

8. The intelligent hoisting system for building exterior wall panels according to claim 1 is characterized in that: The wall panel quality and installation accuracy detection module includes an installation quality detection system, a laser scanner and a visual camera; the visual camera takes pictures of the external wall panels to be installed, and the laser scanner scans the installed external walls, and the pictures and point cloud data are packaged and transmitted to the smart terminal through the communication module. The smart terminal judges the installation quality of the external wall panels through the installation quality detection system.

9. A method for intelligently lifting building exterior wall panels, characterized in that: The intelligent hoisting system for building exterior wall panels according to any one of claims 1 to 7 comprises the following steps: S1. Calculate the movement trajectory and operating parameters of the autonomous traveling mechanism and suspension positioning mechanism using the building exterior wall panel layout design generated by the intelligent terminal. S2 autonomous traveling mechanism drives the suspension positioning mechanism to move to the target station; S3 suspension positioning mechanism guides the hook to grab the external wall panel and lift the external wall panel to the installation height; S4. The wall panel quality and installation accuracy detection module automatically inspects the exterior wall panels before and after installation. S5. The intelligent terminal monitors deviations during the installation of external wall panels in real time and performs graded corrections. S6. After completing the grading correction of the external wall panel, update the BIM model data and the operating parameters of the subsequent suspension positioning mechanism, and control the autonomous traveling mechanism and suspension positioning mechanism to start positioning and hoisting the next external wall panel.

10. The intelligent hoisting method for building exterior wall panels according to claim 9, characterized in that: In the intelligent hoisting system for building exterior wall panels, the wall panel quality and installation accuracy detection module includes a quality detection system, a laser scanner, and a visual camera; the visual camera takes pictures of the exterior wall panels to be installed, and the laser scanner scans the installed exterior wall, and the pictures and point cloud data are packaged and transmitted to the intelligent terminal through the communication module; Step S4 specifically includes the following steps: S41, taking a picture of the exterior wall panel to be installed with a visual camera to obtain a surface image of the wall panel; S42, gray-scaling and noise reduction processing the surface image of the wall panel to obtain the edge feature value of each pixel; S43. Determine the damaged or unsuitable areas of the external wall panels to be installed based on the edge feature values, and mark the abnormal locations on the wall panel surface image to assist the user in making accurate repairs. S44. Perform a three-dimensional scan of the installed external wall panels using a laser scanner to collect point cloud data of the external wall panels. In step S5, the intelligent terminal monitors the deviation in the installation process of the external wall panels in real time and performs graded correction, which specifically includes the following steps: S51, processing the point cloud data of the installed external wall panels collected by the laser scanner, extracting the actual position and joint size data of the installed external wall panels through noise reduction and segmentation operations, and obtaining measured data; S52, comparing and analyzing the measured data with the theoretical design values in the BIM model, and activating the corresponding graded correction according to the comparison results.

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