Automatic positioning and mounting equipment and method for movable ceiling board

Abstract

The invention discloses movable ceiling board automatic positioning and mounting equipment and method, and the equipment comprises multi-degree-of-freedom regulation and control mechanical equipment, an image positioning system and a position and posture control system, the multi-degree-of-freedom regulation and control mechanical equipment comprises a moving and supporting module, a visual module, an operation table module, a lifting and rotating workbench module and a workbench module, the visual module shoots the current ceiling board installation condition, the image positioning system analyzes and processes the current ceiling board installation condition to determine the installation position of the next ceiling board, and data is transmitted to the position and posture control system; the system generates a control command and transmits the control command to each module, and each module coordinates to grab the suspended ceiling plate and lift the suspended ceiling plate to the mounting position for mounting, so that the whole-course automatic process operation is realized, the construction efficiency and the mounting precision of the suspended ceiling plate are improved, the labor cost is reduced, and the construction risk is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of building decoration, and more specifically, relates to an automatic positioning and installation device and method for movable ceiling panels. Background Art

[0002] As an essential component of interior decoration, the decorative effect and functionality of suspended ceilings directly impact the overall quality of a building space. Modern suspended ceilings must not only meet aesthetic requirements but also integrate functions such as sound control, lighting installation, ventilation, and fire protection equipment. Among these, movable ceiling panels are one of the most commonly used types of suspended ceiling panels in suspended ceiling projects due to their ease of installation and removal. However, currently, during renovation construction, suspended ceiling panels are bulky and heavy, often requiring multiple workers to coordinate their handling, positioning, and securing. This is labor-intensive and time-consuming, not only inefficient but also posing safety risks. Summary of the Invention

[0003] In response to the above-mentioned defects or improvement needs of the prior art, the present invention provides an automatic positioning and installation device and method for movable ceiling panels. The device identifies the current installation progress through an image recognition system and determines the installation position of the next panel. The position and posture control system sends instructions to control the modules of the multi-degree-of-freedom control mechanical equipment, coordinates the modules to automatically grab the panels, determines the moving route, adjusts to the target position and state, and completes the automatic installation of the panels. Automated operations are achieved from positioning, grabbing to installation, thereby improving the construction efficiency and installation accuracy of the ceiling panels and reducing construction risks.

[0004] To achieve the above-mentioned object, according to one aspect of the present invention, the present invention provides an automatic positioning and installation device for movable ceiling panels, comprising a multi-degree-of-freedom control mechanical device, an image positioning system, and a position and posture control system. The multi-degree-of-freedom control mechanical device comprises a moving and supporting module, a vision module, an operating table module, a lifting and rotating workbench module, and a workbench module, wherein:

[0005] The moving and supporting module includes a moving platform;

[0006] The lifting and rotating workbench module includes a workbench base, a first lifting mechanism, a second lifting mechanism hinged to the first lifting mechanism, and a rotating mechanism connected to the second lifting mechanism; the rotating mechanism includes a first rotating gear and a second rotating gear meshing with each other.

[0007] The workbench module includes a first workbench installed at the end of the first rotating gear, first slide drive blocks are symmetrically installed at the four corners of the first workbench, and a first slide screw is fixed between the two first slide drive blocks along the long side of the first workbench, and the first slide is sleeved on the first slide screw; a second workbench is fixed on the first slide, second slide drive blocks are symmetrically installed at the four corners of the second workbench, and a second slide screw is fixed between the two second slide drive blocks along the long side of the second workbench, and the second slide is sleeved on the second slide screw; suction cup telescopic arms are evenly installed on the second slide, and suction cups are installed on the ends of the suction cup telescopic arms.

[0008] Furthermore, the moving and supporting module also includes a driving motor and a tire mounting block fixed on the bottom of the mobile platform, the tire mounting block is equipped with a tire connecting shaft, the two ends of the tire connecting shaft are equipped with the platform tires, and the driving motor is connected to the tire connecting shaft through the tire transmission shaft to drive the platform tire to rotate.

[0009] Furthermore, the first lifting mechanism includes a first lifting hydraulic cylinder, at the end of which a first lifting arm is installed; the second lifting mechanism includes a second lifting hydraulic cylinder connected to the first lifting arm via a rotating shaft, at the end of the second lifting hydraulic cylinder a second lifting arm is connected, and a workbench support column is installed on the second lifting arm.

[0010] Furthermore, the rotating mechanism also includes a rotating platform fixed at the end of the workbench support column, and a workbench rotating motor and a workbench rotating bearing are installed on both sides of the rotating platform, the output shaft of the workbench rotating motor is connected to the rotating motor drive shaft, the second rotating gear is installed on the rotating motor drive shaft, and the end of the workbench rotating bearing is connected to the first rotating gear that meshes with the second rotating gear.

[0011] Furthermore, the first lifting mechanism also includes an electric push rod arranged between the first lifting arm and the second lifting hydraulic cylinder, and a lifting arm baffle arranged on the top of the first lifting arm.

[0012] Furthermore, the vision module includes a camera lifting arm installed at two corners of the short side of the movable platform, a camera bracket is installed at the end thereof, a camera mounting platform is fixed on the camera bracket, and an industrial camera is installed on the camera mounting platform.

[0013] Furthermore, it also includes a plate placement groove installed at the short side position on the other side of the movable platform, including two platform lifting pillars fixed on the movable platform, and a plate storage platform, lifting fixing buckle and lifting rolling bearing sequentially sleeved on the platform lifting pillars from top to bottom.

[0014] Furthermore, the plate placement slot also includes two plate guard plates fixed on the movable carrier and arranged on the outside of the platform lifting pillar, and a plate protection net installed between the two plate guard plates.

[0015] According to another aspect of the present invention, a method for automatically positioning and installing a movable ceiling panel is provided, which is implemented using the aforementioned automatic positioning and installation device for movable ceiling panels, and includes the following specific steps:

[0016] S100: Uses an industrial camera to capture RGB images and depth images of the location where the ceiling panels are to be installed and transmits them to the image positioning system.

[0017] S200: The RGB image is pre-processed by the image positioning system and fed into the target detection model to obtain the category information of the plate installation position. At the same time, the depth data of the depth image and the internal and external parameter matrix of the camera are used to calculate the location information to be installed.

[0018] S300: The position and posture control system controls the automatic positioning and installation equipment for movable ceiling panels, enabling precise gripping and installation of ceiling panels.

[0019] Furthermore, step S300 includes the following specific steps:

[0020] S301: The position of the workbench is adjusted by adjusting the first lifting hydraulic cylinder and the second lifting hydraulic cylinder. The workbench drives multiple sets of suction cups to move to the top of the plate storage groove where the plate is stored, and makes the multiple sets of suction cups close to the top of the plate. By turning on the suction device of the air pump, the multiple sets of suction cups adsorb the plate, thereby realizing the process of picking up the plate using the suction cups.

[0021] S302: After the plate is picked up, the second lifting hydraulic cylinder is rotated 90 degrees to a vertical position by adjusting the electric push rod 23 to facilitate the installation of the ceiling plate.

[0022] S303: Start the drive motor to provide power to drive the front and rear platform tires, and move the equipment to the position where the ceiling panels need to be installed.

[0023] S304: By controlling the first lifting hydraulic cylinder and the second lifting hydraulic cylinder to drive the first lifting arm and the second lifting arm to rise, the height of the workbench is adjusted to a height suitable for installing the ceiling panels. During this process, the lifting arm baffle can provide a limit and support function.

[0024] S305: Turn on the workbench rotating motor to drive the rotating motor drive shaft on it to rotate, thereby driving the second rotating gear to rotate. After the second rotating gear rotates, it drives the first rotating gear to rotate through engagement, thereby driving the workbench rotating bearing connected to it to rotate, driving the first workbench on it to rotate the angle, thereby realizing the rotation adjustment of the installation direction of the plate; by sliding the first slide and the second slide respectively, the plate on the second slide is controlled to perform precise adjustment of the horizontal position of the two directions in the plane.

[0025] S306: By controlling the length of the telescopic arm of the suction cup, the out-of-plane angle of the ceiling panel can be fine-tuned, so that the panel can be placed in the gap of the installed keel; the air pump is controlled to exhaust, and the air pressure inside and outside the suction cup is balanced to place the ceiling panel, completing the entire installation process.

[0026] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0027] 1. The automatic positioning and installation equipment for movable ceiling panels of the present invention accurately locates the installation position of the panels through an image positioning system, and controls the multi-degree-of-freedom control mechanical equipment through a position and posture control system to adjust the installation height and angle to lift the ceiling panels to the installation position to meet the installation position requirements, and finally completes the installation of the ceiling panels. No human intervention is required in the entire process from positioning to installation, and automated operation is realized. One staff member can monitor and operate multiple devices at the same time to perform ceiling installation at the same time, reducing labor costs, improving work efficiency, and improving safety.

[0028] 2. The movable ceiling panel automatic positioning and installation equipment of the present invention uses an industrial camera to take real-time photos combined with an image recognition algorithm through an image positioning system, which can accurately locate the currently installed ceiling panel and determine the next panel to be installed. It effectively solves the problem that traditional auxiliary installation tools are inaccurate in positioning or still require staff to operate and position, and improves the degree of automation of ceiling panel installation.

[0029] 3. The multi-degree-of-freedom control mechanical equipment of the movable ceiling panel automatic positioning and installation equipment of the present invention adjusts the height and position of the workbench through the first lifting hydraulic cylinder and the second lifting hydraulic cylinder, and then grasps the panel by pressing against the top of the panel through multiple sets of suction cups, moves the entire device by moving the carrier, adjusts the pitch angle of the workbench by the electric push rod, and drives the second rotating gear to rotate by rotating the workbench motor, drives the first rotating gear engaged with it to rotate and then drives the rotation angle of the first workbench to adjust the installation direction of the ceiling panel, and controls the panel on the second slide to perform precise adjustment of the bidirectional horizontal position in the plane by sliding the first slide and the second slide, and realizes fine adjustment of the out-of-plane angle of the ceiling panel by the suction cup telescopic arm, integrating the grabbing, transportation and installation of the ceiling panel, solving the problem of consuming a lot of manpower in the transportation and installation of ceiling engineering panels, effectively improving the installation efficiency and saving labor costs.

[0030] 4. The multi-degree-of-freedom control mechanical equipment of the movable ceiling panel automatic positioning and installation equipment of the present invention adopts a position and attitude control system to control the multi-degree-of-freedom control mechanical equipment, thereby realizing the adjustment of any degree of freedom of the ceiling panel in three-dimensional space, solving the problem that traditional ceiling panel auxiliary installation tools have insufficient adjustable degrees of freedom and cannot achieve refined and high-precision installation, effectively improving the quality of ceiling panel installation and reducing the workload of staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a structural diagram of an automatic positioning and installation device for movable ceiling panels according to an embodiment of the present invention;

[0032] Figure 2 This is a schematic structural diagram from another angle of an automatic positioning and installation device for movable ceiling panels according to an embodiment of the present invention;

[0033] Figure 3 This is an automatic positioning and installation device for movable ceiling panels according to an embodiment of the present invention. Figure 1 Medium A large sample drawing (schematic diagram of the working platform module structure);

[0034] Figure 4 This is an automatic positioning and installation device for movable ceiling panels according to an embodiment of the present invention. Figure 1 Another angle drawing of center A (structural diagram of the working platform module from another angle);

[0035] Figure 5 This is a schematic diagram of the structure of a plate storage tank of an automatic positioning and installation device for movable ceiling plates according to an embodiment of the present invention;

[0036] Figure 6 This is a workflow diagram of the visual capture and installation system according to an embodiment of the present invention;

[0037] Figure 7This is a flow chart of a method for automatically positioning and installing movable ceiling panels according to an embodiment of the present invention.

[0038] In all the drawings, the same reference numerals represent the same technical features, specifically: 1-mobile platform; 2-platform tire; 3-tire connecting shaft; 4-workbench base; 5-first lifting hydraulic cylinder; 6-camera lifting arm; 7-camera bracket; 8-camera mounting platform; 9-industrial camera; 10-operating platform bracket; 11-operating platform base; 12-operating platform screen; 13-first lifting arm; 14-lifting arm baffle; 15-plate placement slot; 15-1-plate guard plate; 15-2-plate protection net; 15-3-plate storage platform; 15-4-platform lifting pillar; 15-5-lifting rolling bearing; 15-6-lifting fixing buckle; 16-tire mounting block; 17-drive motor; 18-tire drive shaft; 19 -telescopic mechanism; 20-telescopic arm; 21-support leg hydraulic cylinder; 22-support leg; 23-electric push rod; 24-second lifting hydraulic cylinder; 25-second lifting arm; 26-triangular reinforcement frame; 27-workbench support column; 28-rotating platform; 29-workbench rotating bearing; 30-workbench rotating motor; 31-rotating motor drive shaft; 32-first rotating gear; 33-second rotating gear; 34-first workbench; 35-first slide drive block; 36-first slide; 37-first slide motor; 38-first slide screw; 39-second workbench; 40-second slide drive block; 41-second slide screw; 42-second slide; 43-second slide motor; 44-suction cup telescopic arm; 45-suction cup; 46-air pump. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0040] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0041] In addition, if there are descriptions of "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the present invention, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the sentence "comprise..." do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0042] Example 1

[0043] like Figure 1-2 As shown, an embodiment of the present invention provides an automatic positioning and installation device for movable ceiling panels, including a multi-degree-of-freedom control mechanical device, the multi-degree-of-freedom control mechanical device includes a moving and supporting module, a visual module, an operating table module, a lifting and rotating workbench module, a workbench module and a plate placement slot 15, wherein,

[0044] The moving and supporting module includes a mobile platform 1, a platform tire 2, a tire connecting shaft 3, a tire mounting block 16, a driving motor 17, a tire transmission shaft 18, a telescopic mechanism 19, a telescopic arm 20, a support leg hydraulic cylinder 21 and a support leg 22; the tire mounting blocks 16 are fixed at both ends of the bottom of the mobile platform 1, the tire connecting shaft 3 is installed in the tire mounting block 16, and the platform tires 2 are installed at both ends of the tire connecting shaft 3, which play a supporting and moving role; the driving motor 17 is also installed at the bottom of the mobile platform 1, which is connected to the front and rear tire connecting shafts 3 through the tire transmission shaft 18 to transmit power to the front and rear platform tires 2 to realize the movement of the entire device; the telescopic mechanism 19 is also installed at both ends of the bottom of the mobile platform 1, and the telescopic arms 20 are installed at both ends. The telescopic arms 20 are equipped with support leg hydraulic cylinders 21 and support legs 22 to realize the height increase of the entire device to meet the installation requirements of ceiling panels when the floor height is too high;

[0045] The visual module includes a camera lifting arm 6, a camera bracket 7, a camera mounting platform 8 and an industrial camera 9; two camera lifting arms 6 are installed at the two corners of the short side of the mobile platform 1, and the camera bracket 7 is installed at the end thereof. The camera mounting platform 8 is fixed to the end of the camera bracket 7, and the industrial camera 9 is installed on the camera mounting platform 8. The camera lifting arm 6 can adjust the height of the industrial camera 9 to compensate for the problem of insufficient camera focal length. The industrial camera 9 can take real-time photos of the ceiling status and transmit them to the image positioning system to determine the current position and the current installation plate through the image recognition algorithm;

[0046] The operating platform module includes an operating platform bracket 10, an operating platform base 11 and an operating platform screen 12. The operating platform bracket 10 is also installed on the side of the visual module installed on the mobile platform 1. The operating platform base 11 and the operating platform screen 12 are installed on the operating platform bracket 10 in sequence. The staff can observe the process of grabbing and installing the panels in real time through the operating platform screen 12, and can manually intervene to control the actions of other modules to complete the precise installation of the ceiling panels.

[0047] The lifting and rotating workbench module includes a workbench base 4, a first lifting mechanism, a second lifting mechanism and a rotating mechanism. The first lifting mechanism includes a first lifting hydraulic cylinder 5, a first lifting arm 13, a lifting arm baffle 14, and an electric push rod 23; the second lifting mechanism includes a second lifting hydraulic cylinder 24, a second lifting arm 25, a triangular reinforcement frame 26, a workbench support column 27, and the rotating mechanism includes a rotating platform 28, a workbench rotating bearing 29, a workbench rotating motor 30, a rotating motor drive shaft 31, a first rotating gear 32 and a second rotating gear 33; the workbench base 4 is installed at the central position of the upper part of the mobile platform 1 for supporting the upper lifting arm and the workbench module, the first lifting hydraulic cylinder 5 is installed on the workbench base 4, and the first lifting arm 13 is installed at its end, which can realize the workbench Regulation of module height; the first lifting arm 13 is connected to the second lifting hydraulic cylinder 24 through a rotating shaft, and the second lifting hydraulic cylinder 24 is connected to the second lifting arm 25, which can realize the regulation of the horizontal position and height of the workbench module, and the electric push rod 23 is also provided at the bottom of the second lifting hydraulic cylinder 24, one end of the electric push rod 23 is fixed to the bottom of the second lifting hydraulic cylinder 24, and the other end is fixed to the first lifting arm 13, which can realize the pitch angle adjustment of the workbench module in the vertical direction; the top of the first lifting arm 13 is provided with the lifting arm baffle 14, which plays a role of limiting and supporting the second lifting hydraulic cylinder 24, and the top of the first lifting arm 13 is also provided with the connected and detachable triangular reinforcement frame 26, which supports the second lifting hydraulic cylinder 24 when it is in a horizontal position;

[0048] The workbench support column 27 is installed at the end of the second lifting arm 25, and the rotating platform 28 is fixed to the end of the workbench support column 27. The workbench rotating motor 30 is installed on the same side as the workbench support column 27, and the workbench rotating bearing 29 and the rotating motor driving shaft 31 are installed on the other side. The output shaft of the workbench rotating motor 30 passes through the rotating platform 28 and is connected to the rotating motor driving shaft 31. The workbench rotating bearing 29 is connected to the first rotating gear 32, and the rotating motor driving shaft 31 is installed on the rotating motor driving shaft 31. The first rotating gear 32 is meshed with the second rotating gear 33, and the workbench module is installed on the first rotating gear 32;

[0049] like Figure 3-4 As shown, the workbench module includes a first workbench 34, a first slide drive block 35, a first slide 36, a first slide motor 37, a first slide screw 38, a second workbench 39, a second slide drive block 40, a second slide screw 41, a second slide 42, a second slide motor 43, a suction cup telescopic arm 44 and a suction cup 45; the first slide motor 37 is installed on the first workbench 34 to provide power to the first slide 36, four first slide drive blocks 35 are symmetrically installed at the four corners of the first workbench 34, and the first slide screw 38 is fixed between the two first slide drive blocks 35 along the long side of the first workbench 34, and the first slide screw 38 is sleeved on the first slide 36 that can slide translationally along it;

[0050] The second workbench 39 is fixed on the first slide 36, on which the second slide motor 43 for providing power to the second slide 42 is installed. Four second slide drive blocks 40 are symmetrically installed at the four corners of the second workbench 39, and a second slide screw 41 is fixedly connected between two second slide drive blocks 40 along the long side of the second workbench 39, on which the second slide 42 is sleeved and can slide translationally along the second slide;

[0051] The suction cup telescopic arm 44 is evenly installed on the second slide 42, which can control the extension and contraction of the suction cup to achieve a small range of angle adjustment in the vertical direction during the installation of the ceiling panels. The suction cup telescopic arm 44 is installed with the suction cup 45, and the output end of the suction cup 45 is connected to the air inlet of the air pump 46 installed at the bottom of the movable platform 1. The air pump 46 controls the intake and exhaust to control the internal air pressure of the suction cup, thereby achieving the adsorption and placement of the ceiling panels.

[0052] like Figure 5As shown, the plate placement slot 15 includes a plate guard plate 15-1, a plate protection net 15-2, a plate storage platform 15-3, a platform lifting support 15-4, a lifting rolling bearing 15-5 and a lifting fixing buckle 15-6;

[0053] The plate placement groove 15 is installed on the other end of the mobile platform 1 relative to the visual module, and the two platform lifting pillars 15-4 are fixed on the mobile platform 1. The plate storage platform 15-3 is connected to the column through the lifting rolling bearing 15-5 and the lifting fixing buckle 15-6. The plate storage platform 15-3 can be moved up and down along the platform lifting pillar 15-4 through the lifting rolling bearing 15-5 to adapt to plates of different sizes, and the lifting rolling bearing 15-5 is locked by the lifting fixing buckle 15-6 to fix the height of the plate storage platform 15-3; two L-shaped plate guards 15-1 fixed to the mobile platform 1 are also provided on the outside of the two platform lifting pillars 15-4, and the plate protection net 15-2 is installed between the two plate guards 15-1 to protect the plates.

[0054] Example 2

[0055] The embodiment of the present invention provides a visual grasping and installation system to complete the grasping and automatic installation of ceiling panels, including an image positioning system and a position and posture control system, which is used to realize the image acquisition, visual detection processing, and grasping and installation operations of the multi-degree-of-freedom control mechanical equipment in Example 1, etc. Figure 6 This is the workflow diagram of the visual grasping and installation system, where:

[0056] The image positioning system includes a positioning chip and an image recognition algorithm, etc., and obtains image information through the industrial camera of the vision module. The image positioning system is established based on the principle of binocular stereo vision. Binocular stereo vision is composed of two cameras with the same horizontal position but different vertical positions synchronously shooting images of the position of the ceiling panels to be installed. Since the position of the ceiling panels is at different imaging points of the two cameras, there will definitely be pixel differences, i.e. parallax. Then, based on the principle of similar triangle ranging and stereo matching, the three-dimensional position information of the ceiling panels to be installed can be obtained. The industrial camera needs to be calibrated before formal work. Through calibration, the internal parameters such as the focal length, principal point position and distortion coefficient of the camera and the external parameters such as the relative position of the two cameras, the rotation matrix and the translation vector can be determined. The calibration steps are:

[0057] Step 1: Fix the positions of the two cameras and take at least 50 pictures of the calibration plate at different angles and positions, and ensure the integrity of the calibration plate in the left and right cameras.

[0058] Step 2: Import the captured calibration plate photos into the StereoCameraCalibrator module in the MATLAB toolbox. This module is a tool module in MATLAB software specifically for binocular camera calibration and 3D reconstruction. By entering the calibration plate parameters in this module, the corner points can be automatically extracted and the coordinate system of the calibration plate can be generated. At the same time, unqualified calibration plate photos will be eliminated to reduce calibration errors. The position and angle relationship of the calibration plate compared to the binocular camera are obtained to complete the calibration.

[0059] The automatic position and attitude control system is based on inverse kinematics analysis. This involves inferring the required extension and extension lengths or rotation angles of each module based on the desired position of the multi-degree-of-freedom control robot's end-mounted platform. If the target position is outside the reach of the multi-degree-of-freedom control robot's end-mounted platform, the system will automatically report an error. When the target position is within the effective range of the robotic arm, the system automatically uses pre-programmed analytical code to solve the transformation matrix between the robotic arm's Cartesian space and joint space. This matrix is then input into each module to control its extension and extension to a specific length or rotation angle.

[0060] Example 3

[0061] like Figure 7 As shown, an embodiment of the present invention provides a method for automatically positioning and installing a movable ceiling panel, which is implemented using the equipment and system in the above embodiments, and includes the following specific steps:

[0062] S100: Uses an industrial camera to capture RGB images and depth images of the location where the ceiling panels are to be installed and transmits them to the image positioning system.

[0063] S200: The RGB image is preprocessed by the image positioning system and fed into the target detection model to obtain the category information of the panel installation location (such as the main keel installation point, the secondary keel connection position, the lamp reserved hole, etc.). At the same time, the depth data of the depth image and the internal and external parameter matrix of the camera are used to calculate the location information to be installed;

[0064] Among them, after configuring the preprocessing parameters of a large number of RGB images, they are input into the deep learning model for training to obtain the target detection model and perform the target detection task.

[0065] S300: Controls multi-degree-of-freedom mechanical equipment through a position and attitude control system to precisely grasp and install ceiling panels. Specifically, it includes:

[0066] S301: The position of the workbench is adjusted by adjusting the first lifting hydraulic cylinder 5 and the second lifting hydraulic cylinder 24. The workbench drives the multiple sets of suction cups 45 to move to the top of the plate storage groove 15 where the plate is stored, and makes the multiple sets of suction cups 45 close to the top of the plate. By turning on the suction device of the air pump 46, the multiple sets of suction cups 45 adsorb the plate, thereby realizing the process of picking up the plate using the suction cups.

[0067] S302: After the plate is picked up, the second lifting hydraulic cylinder 24 is rotated 90 degrees to a vertical position by adjusting the electric push rod 23 to facilitate the installation of the ceiling plate.

[0068] S303: Start the drive motor 17 to provide power to drive the front and rear platform tires 2 to move the device to the position where the ceiling plate needs to be installed.

[0069] S304: By controlling the first lifting hydraulic cylinder 5 and the second lifting hydraulic cylinder 24 to drive the first lifting arm 13 and the second lifting arm 25 to rise, the height of the workbench is adjusted to a height suitable for installing the ceiling panels. During this process, the lifting arm baffle 14 can provide a limit and support function.

[0070] S305: Turn on the workbench rotating motor 30 to drive the rotating motor driving shaft 31 on it to rotate, thereby driving the second rotating gear 33 to rotate. After the second rotating gear 33 rotates, it drives the first rotating gear 32 to rotate through engagement, thereby driving the workbench rotating bearing 29 connected to it to rotate, and driving the first workbench 34 on it to rotate the angle, thereby realizing the rotation adjustment of the installation direction of the plate; by sliding the first slide 36 and the second slide 42 respectively, the plate on the second slide 42 is controlled to perform precise adjustment of the horizontal position of the two directions in the plane.

[0071] S306: By controlling the length of the suction cup telescopic arm 44, the out-of-plane angle of the ceiling panel can be fine-tuned, so that the panel can be placed in the gap of the installed keel; the air pump 46 is controlled to exhaust, and the internal and external air pressure of the suction cup 45 is balanced to place the ceiling panel, completing the entire installation process.

[0072] In the above embodiments, the image positioning system identifies the current installation progress and determines the installation position of the next panel. After the installation position of the next panel is determined, the position and attitude automatic control system adjusts the movement path of the mobile platform according to the current position of the installation equipment, and adjusts the equipment's lifting and rotating workbench modules, workbench modules, and panel placement slots to adapt to the installation position. Each module coordinates to lift the ceiling panel to the installation position to complete the installation of the panel.

[0073] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic positioning and installation device for movable ceiling panels, characterized in that: It includes multi-degree-of-freedom control mechanical equipment, image positioning system and position and posture control system. The multi-degree-of-freedom control mechanical equipment includes a moving and supporting module, a visual module, an operating table module, a lifting and rotating workbench module and a workbench module, wherein: The moving and supporting module includes a moving platform (1); The lifting and rotating workbench module comprises a workbench base (4), a first lifting mechanism, a second lifting mechanism hinged to the first lifting mechanism, and a rotating mechanism connected to the second lifting mechanism; the rotating mechanism comprises a first rotating gear (32) and a second rotating gear (33) meshing with each other; The workbench module includes a first workbench (34) installed at the end of the first rotating gear (32), first slide drive blocks (35) are symmetrically installed at the four corners of the first workbench (34), and a first slide screw (38) is fixed between the two first slide drive blocks (35) along the long side of the first workbench (34), and a first slide (36) is sleeved on the first slide screw (38); a second workbench (39) is fixed on the first slide (36), second slide drive blocks (40) are symmetrically installed at the four corners of the second workbench (39), and a second slide screw (41) is fixed between the two second slide drive blocks (40) along the long side of the second workbench (39), and a second slide (42) is sleeved on the second slide screw (41); the second slide (42) is evenly installed with suction cup telescopic arms (44), and a suction cup (45) is installed at the end of the suction cup telescopic arm (44).

2. The automatic positioning and installation device for movable ceiling panels according to claim 1, characterized in that: The moving and supporting module also includes a driving motor (17) and a tire mounting block (16) fixedly mounted on the bottom of the moving platform (1), wherein a tire connecting shaft (3) is mounted in the tire mounting block (16), and the platform tires (2) are mounted at both ends of the tire connecting shaft (3), and the driving motor (17) is connected to the tire connecting shaft (3) via a tire transmission shaft (18) to drive the platform tire (2) to rotate.

3. The automatic positioning and installation device for movable ceiling panels according to claim 1, characterized in that: The first lifting mechanism comprises a first lifting hydraulic cylinder (5), a first lifting arm (13) being mounted on the end of the first lifting hydraulic cylinder (5); the second lifting mechanism comprises a second lifting hydraulic cylinder (24) connected to the first lifting arm (13) via a rotating shaft, a second lifting arm (25) being connected to the end of the second lifting hydraulic cylinder (24), and a workbench support column (27) being mounted on the second lifting arm (25).

4. The automatic positioning and installation device for movable ceiling panels according to claim 3, characterized in that: The rotating mechanism further includes a rotating platform (28) fixed at the end of the workbench support column (27), a workbench rotating motor (30) and a workbench rotating bearing (29) are installed on both sides of the rotating platform (28), the output shaft of the workbench rotating motor (30) is connected to the rotating motor drive shaft (31), the rotating motor drive shaft (31) is installed with the second rotating gear (33), and the end of the workbench rotating bearing (29) is connected to the first rotating gear (32) meshing with the second rotating gear (33).

5. The automatic positioning and installation device for movable ceiling panels according to claim 4, characterized in that: The first lifting mechanism further includes an electric push rod (23) arranged between the first lifting arm (13) and the second lifting hydraulic cylinder (24), and a lifting arm baffle (14) arranged on the top of the first lifting arm (13).

6. The automatic positioning and installation device for movable ceiling panels according to claim 1, characterized in that: The visual module comprises a camera lifting arm (6) installed at two corners of the short side of the movable platform (1), a camera bracket (7) being installed at the end thereof, a camera mounting platform (8) being fixed on the camera bracket (7), and an industrial camera (9) being installed on the camera mounting platform (8).

7. The automatic positioning and installation device for movable ceiling panels according to any one of claims 1 to 6, characterized in that: The invention also includes a plate placement groove (15) installed at the short side position of the other side of the movable carrier (1), including two platform lifting pillars (15-4) fixed on the movable carrier (1), a plate storage platform (15-3) sleeved on the platform lifting pillars (15-4) from top to bottom, a lifting fixing buckle (15-6) and a lifting rolling bearing (15-5).

8. The automatic positioning and installation device for movable ceiling panels according to claim 7, characterized in that: The plate placement slot (15) further comprises two plate guard plates (15-1) arranged outside the platform lifting pillar (15-4) and fixed on the movable carrier (1), and a plate protection net (15-2) installed between the two plate guard plates (15-1).

9. A method for automatically positioning and installing a movable ceiling panel, implemented using the automatic positioning and installing device for a movable ceiling panel according to any one of claims 1 to 8, characterized in that: The specific steps include: S100: Uses an industrial camera to capture RGB images and depth images of the location where the ceiling panels are to be installed and transmits them to the image positioning system. S200: The RGB image is pre-processed by the image positioning system and fed into the target detection model to obtain the category information of the plate installation position. At the same time, the depth data of the depth image and the internal and external parameter matrix of the camera are used to calculate the location information to be installed. S300: Controls multi-degree-of-freedom mechanical equipment through a position and attitude control system to achieve precise gripping and installation of ceiling panels.

10. The method for automatically positioning and installing a movable ceiling panel according to claim 9, wherein: The step S300 includes the following specific steps: S301: The position of the workbench is adjusted by adjusting the first lifting hydraulic cylinder and the second lifting hydraulic cylinder. The workbench drives the multiple sets of suction cups to move to the top of the plate storage tank, and the multiple sets of suction cups are closely attached to the top of the plate. The suction device of the air pump is turned on to make the multiple sets of suction cups absorb the plate, thereby realizing the process of using the suction cups to pick up the plate; S302: After the plate is picked up, the second lifting hydraulic cylinder is rotated 90 degrees to a vertical position by adjusting the electric push rod to facilitate the installation of the ceiling plate. S303: Start the drive motor to provide power to drive the front and rear platform tires, and move the equipment to the position where the ceiling panels need to be installed. S304: By controlling the first lifting hydraulic cylinder and the second lifting hydraulic cylinder to drive the first lifting arm and the second lifting arm to rise, the height of the workbench is adjusted to a height suitable for installing the ceiling panels. During this process, the lifting arm baffle can provide a limit and support function. S305: Turn on the workbench rotating motor to drive the rotating motor drive shaft on it to rotate, thereby driving the second rotating gear to rotate. After the second rotating gear rotates, it drives the first rotating gear to rotate through engagement, thereby driving the workbench rotating bearing connected to it to rotate, driving the first workbench on it to rotate the angle, thereby realizing the rotation adjustment of the installation direction of the plate; by sliding the first slide and the second slide respectively, the plate on the second slide is controlled to perform precise adjustment of the horizontal position of the two directions in the plane. S306: By controlling the length of the telescopic arm of the suction cup, the out-of-plane angle of the ceiling panel can be fine-tuned, so that the panel can be placed in the gap of the installed keel; the air pump is controlled to exhaust, and the air pressure inside and outside the suction cup is balanced to place the ceiling panel, completing the entire installation process.

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