Method and device for adjusting posture of fabricated building module

Abstract

The invention relates to a posture adjusting method and device for a fabricated building module. The method comprises the following steps: acquiring parameter information of a fabricated building module, and selecting a control moment gyroscope according to the parameter information; fixing the control moment gyroscope on the fabricated building module according to the set hanging point position; hoisting equipment is used for hoisting the fabricated building module to a designated position, actual attitude data of the fabricated building module is monitored through the control moment gyroscope, a corresponding control moment is calculated according to a target installation position, and attitude adjustment is conducted on the fabricated building module according to the control moment; and moving the assembled building module after posture adjustment to a target installation position for installation. According to the embodiment of the invention, the attitude is adjusted by using the control moment gyroscope, so that the safety risk is reduced, the attitude can be quickly and accurately adjusted, and the mounting efficiency of the fabricated building module is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of prefabricated building engineering, and in particular relates to a posture adjustment method and device for a prefabricated building module. Background Art

[0002] Prefabricated construction involves shifting much of the on-site work involved in traditional construction methods to the factory. Building components and accessories, such as floor slabs, wall panels, stairs, and balconies, are manufactured in the factory and transported to the construction site. They are then assembled and installed on-site using hoisting and positioning techniques, such as cranes and mechanical adjustments. Traditional prefabricated construction positioning techniques typically involve physically moving and rotating components using cranes or other mechanical equipment, or fine-tuning the components' positioning by adjusting the length and angle of the lifting equipment's slings to achieve the desired position and angle. Traditional prefabricated construction hoisting and positioning techniques require extensive manual labor to adjust the sling length, resulting in low assembly efficiency and difficulty adapting to sudden environmental changes such as gusts. This increases labor intensity and poses safety risks when working at height. Furthermore, at certain stages of building installation, such as in confined or complex spaces, traditional hoisting techniques become limited, unable to achieve ideal positioning and precision. Summary of the Invention

[0003] The present application provides a method and device for adjusting the posture of an assembled building module, aiming to solve at least one of the above-mentioned technical problems in the prior art to a certain extent.

[0004] In order to solve the above problems, this application provides the following technical solutions:

[0005] A method for adjusting the posture of an assembled building module, comprising:

[0006] Obtaining parameter information of the prefabricated building module and selecting a control moment gyro according to the parameter information;

[0007] Fixing the control moment gyro on the assembled building module according to the set hanging point position;

[0008] Using a lifting device to lift the prefabricated building module to a designated location, monitoring the actual posture data of the prefabricated building module through the control torque gyro, calculating the corresponding control torque according to the target installation position, and adjusting the posture of the prefabricated building module according to the control torque;

[0009] The assembled building module after the posture adjustment is moved to the target installation position for installation.

[0010] The technical solution adopted in the embodiment of the present application also includes: the parameter information of the prefabricated building module includes size, weight and target installation position, and the control moment gyro is selected according to the parameter information, specifically:

[0011] For a single control moment gyro, the output torque during its operation is:

[0012]

[0013] Where δ is the gyro frame angle and h is the angular momentum of the gyro;

[0014] The maximum output torque T of the control moment gyro max The relationship between the size and weight of prefabricated building modules is expressed as follows:

[0015]

[0016] Where T max Indicates the maximum output torque of the control moment gyro, I xx , I yy , I zz are the inertia moments of the prefabricated building modules relative to their own x, y, and z coordinate axes, α max is the maximum angular acceleration during the movement of the prefabricated building module.

[0017] The technical solution adopted in the embodiment of the present application further includes: fixing the control moment gyro on the assembled building module according to the set hanging point position, specifically:

[0018] Setting the hanging point position according to the structural characteristics and assembly requirements of the prefabricated building module, and after the hanging point position is set, fixing the control moment gyro to the prefabricated building module by a predetermined fixing method, wherein the fixing method includes bolts or welding;

[0019] Check and debug the electrical connections, communication functions and mechanical operation of the fixed control moment gyro.

[0020] The technical solution adopted in the embodiment of the present application also includes: the actual posture data includes the current three-dimensional coordinate position data, linear acceleration data and angular velocity data of the prefabricated building module; the corresponding control torque is calculated according to the target installation position, and the posture of the prefabricated building module is adjusted according to the control torque, specifically:

[0021] After obtaining the actual posture data of the prefabricated building module, the control torque gyroscope uses a PID controller to calculate the corresponding control torque, changes the direction of the gyroscope axis through the control torque, and adjusts the prefabricated building module to the desired posture using the principle of conservation of angular momentum.

[0022] The technical solution adopted in the embodiment of the present application further includes: moving the prefabricated building module after the posture adjustment to the target installation position for installation, specifically:

[0023] The assembled building module after posture adjustment is moved to the target installation position by hoisting equipment and docked with the adjacent module. After the docking is completed, the control moment gyro is turned off and the assembled building module is fixed.

[0024] The technical solution adopted in the embodiment of the present application further includes: after the posture-adjusted assembled building module is moved to the target installation position for installation, the following steps are further included:

[0025] The control moment gyro is removed from the hanging point of the prefabricated building module.

[0026] Another technical solution adopted in the embodiment of the present application is: a posture adjustment device for an assembled building module, comprising:

[0027] Parameter acquisition module: used to obtain parameter information of the prefabricated building module and select the control moment gyro according to the parameter information;

[0028] Control torque gyro: fixed on the prefabricated building module according to the set hanging point position, used to monitor the actual posture data of the prefabricated building module during the hoisting process, calculate the corresponding control torque according to the target installation position, and adjust the posture of the prefabricated building module according to the control torque;

[0029] Hoisting equipment: used to hoist the prefabricated building module fixed with the control torque gyro to the specified position, and move the prefabricated building module to the target installation position for installation after the control torque adjusts the posture of the prefabricated building module.

[0030] The technical solution adopted in the embodiment of the present application further includes: the parameter information acquired by the parameter acquisition module includes size, weight and target installation position, and the control moment gyro is selected according to the parameter information, specifically:

[0031] For a single control moment gyro, the output torque during its operation is:

[0032]

[0033] Where δ is the gyro frame angle and h is the angular momentum of the gyro;

[0034] The maximum output torque T of the control moment gyro max The relationship between the size and weight of prefabricated building modules is expressed as follows:

[0035]

[0036] Where T max Indicates the maximum output torque of the control moment gyro, I xx , I yy , I zz are the inertia moments of the prefabricated building modules relative to their own x, y, and z coordinate axes, α max is the maximum angular acceleration during the movement of the prefabricated building module.

[0037] The technical solution adopted in the embodiment of the present application also includes: the actual posture data includes the current three-dimensional coordinate position data, linear acceleration data and angular velocity data of the prefabricated building module; the control torque gyro calculates the corresponding control torque according to the target installation position, and adjusts the posture of the prefabricated building module according to the control torque, specifically:

[0038] After obtaining the actual posture data of the prefabricated building module, a PID controller is used to calculate the corresponding control torque, and the direction of the gyroscope axis is changed by the control torque, and the prefabricated building module is adjusted to the desired posture using the principle of conservation of angular momentum.

[0039] Compared with the prior art, the beneficial effects produced by the embodiments of the present application are as follows: the posture adjustment method and device of the prefabricated building module of the embodiment of the present application selects a matching control moment gyro according to the parameters of the prefabricated building module, installs the control moment gyro on the prefabricated building module, and performs real-time posture adjustment of the prefabricated building module through the control moment gyro during the hoisting process of the prefabricated building module, thereby achieving precise docking of the prefabricated building module with the adjacent module. The embodiment of the present application utilizes the control moment gyro for posture adjustment, which can respond to external environmental changes such as gusts in real time, allowing for small and precise position adjustments of the prefabricated building module, ensuring precise docking of the prefabricated building module with the adjacent module, reducing the need for traditional hoisting and manual operations, reducing the reliance on heavy hoisting equipment and the safety risks brought by high-altitude operations and complex operations, and can quickly and accurately adjust the posture, thereby improving the installation efficiency of the prefabricated building module. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flow chart of a method for adjusting the posture of an assembled building module according to an embodiment of the present application;

[0041] Figure 2 This is a schematic diagram of the installation of the control moment gyroscope in an embodiment of the present application;

[0042] Figure 3 This is a schematic diagram of the control principle of the control moment gyroscope on the prefabricated building module according to an embodiment of the present application;

[0043] Figure 4 This is a schematic structural diagram of the posture adjustment device of the prefabricated building module according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0045] The terms "first," "second," and "third" in this application are used only for descriptive purposes and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of such features. In the description of this application, "multiple" means at least two, for example, two, three, etc., unless otherwise specifically defined. All directional indications in the embodiments of this application (such as up, down, left, right, front, back...) are only used to explain the relative positional relationship, movement, etc. between the components under a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications also change accordingly. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products, or devices.

[0046] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] Specifically, see Figure 1 , is a flow chart of a method for adjusting the posture of an assembled building module according to an embodiment of the present application. The method for adjusting the posture of an assembled building module according to an embodiment of the present application comprises the following steps:

[0048] S100: Obtaining parameter information such as the size, weight, and target installation position of the prefabricated building module, and selecting a matching control moment gyro based on the parameter information;

[0049] In this step, the prefabricated building module includes installation components such as floor panels, wall panels, stairs and balconies. For a single control moment gyro, the output torque during its operation is:

[0050]

[0051] Where δ is the gyro frame angle and h is the angular momentum of the gyro.

[0052] The maximum output torque of the control moment gyro T max The relationship between the size and weight of prefabricated building modules is expressed as follows:

[0053]

[0054] Where T max Indicates the maximum output torque of the control moment gyro, I xx , I yy , I zz are the inertia moments of the prefabricated building modules relative to their own x, y, and z coordinate axes, α max is the maximum angular acceleration during the movement of the prefabricated building module.

[0055] S110: Fix the control moment gyro to the prefabricated building module according to the set hanging point position, and perform system joint debugging and testing on the control moment gyro after installation;

[0056] In this step, the location of the hanging point for installing the control moment gyroscope needs to be set according to the structural characteristics and assembly requirements of each prefabricated building module. The location of the hanging point needs to take into account the structural characteristics and stress conditions of each prefabricated building module to ensure that it can withstand the weight and force of the control moment gyroscope. After setting the hanging point location, the control moment gyroscope can be fixed to the prefabricated building module by bolts, welding or other fixing methods, and then the electrical connection, communication function and mechanical operation of the control moment gyroscope can be checked and debugged to ensure that it can work normally. It can be understood that the number of control moment gyroscopes that can be installed on each prefabricated building module can be one or more, which is specifically set according to parameters such as the size and weight of each prefabricated building module. Specifically, Figure 2 As shown, it is a schematic diagram of the installation of the control moment gyroscope in an embodiment of the present application. Two control moment gyroscopes are respectively installed on two sides of the prefabricated building module to ensure that the installation of the control moment gyroscope does not affect the structural integrity.

[0057] S120: Using a lifting device to lift the prefabricated building module to a designated location, starting a control torque gyro to monitor the actual posture data of the prefabricated building module in real time, and calculating a corresponding control torque according to the target installation position, and adjusting the prefabricated building module to a desired posture according to the control torque;

[0058] In this step, the hoisting equipment includes but is not limited to cranes and other equipment. The actual posture data of the prefabricated building module monitored in real time by the control torque gyro includes: the current three-dimensional coordinate position data, linear acceleration data and angular velocity data of the prefabricated building module (i.e., the rotational angular velocity of the prefabricated building module around each axis of the control torque gyro). After obtaining the actual posture data of the prefabricated building module, the control torque gyro uses a PID (Proportion Integration Differentiation) controller to calculate the corresponding control torque, changes the direction of the gyro's rotation axis by the control torque, and uses the principle of conservation of angular momentum to adjust the prefabricated building module to the desired posture. The posture of the prefabricated building module can be accurately adjusted and controlled, and the prefabricated building module can be adjusted to the desired posture. Specifically, the control principle of the control torque gyro on the prefabricated building module is as follows: Figure 3 The embodiments of the present application adjust the posture of the prefabricated building modules by controlling the moment gyroscope, which can respond to external environmental changes such as gusts in real time, allowing for small and precise position adjustments of the prefabricated building modules, ensuring the precise docking of the prefabricated building modules with adjacent modules. This reduces the need for traditional hoisting and manual labor, reduces the reliance on heavy hoisting equipment, and reduces the safety risks associated with high-altitude operations and complex operations. It can quickly and accurately adjust the posture, thereby improving the installation efficiency of the prefabricated building modules.

[0059] S130: Using a hoisting device, the prefabricated building module with the adjusted posture is moved to a target installation position, docked and fixed with adjacent modules, and the control moment gyro is removed from the installation hanging point of the prefabricated building module, thereby completing the installation of the prefabricated building module;

[0060] In this step, after the posture of the prefabricated building module is adjusted, it is slowly moved to the target installation position by the hoisting equipment and docked with the adjacent module. After the docking is completed, the control torque gyro is turned off and the prefabricated building module is fixed. Then, the control torque gyro is removed from the hanging point position of the prefabricated building module.

[0061] Based on the above, the posture adjustment method of the prefabricated building module in the embodiment of the present application selects a matching control moment gyro according to the parameters of the prefabricated building module, installs the control moment gyro on the prefabricated building module, and performs real-time posture adjustment of the prefabricated building module through the control moment gyro during the hoisting process of the prefabricated building module, thereby achieving precise docking of the prefabricated building module with the adjacent module. The embodiment of the present application utilizes the control moment gyro for posture adjustment, which can respond to external environmental changes such as gusts in real time, allowing for small and precise position adjustments of the prefabricated building module, ensuring precise docking of the prefabricated building module with the adjacent module, reducing the need for traditional hoisting and manual operations, reducing the dependence on heavy hoisting equipment and the safety risks brought by high-altitude operations and complex operations, and can quickly and accurately adjust the posture, thereby improving the installation efficiency of the prefabricated building module.

[0062] See also Figure 4 , is a structural diagram of the posture adjustment device of the prefabricated building module according to an embodiment of the present application. The posture adjustment device 40 of the prefabricated building module according to an embodiment of the present application comprises:

[0063] Parameter acquisition module 41: used to obtain parameter information of the prefabricated building module and select the control moment gyro according to the parameter information;

[0064] Control torque gyro 42: fixed to the prefabricated building module according to the set hanging point position, used to monitor the actual posture data of the prefabricated building module during the hoisting process, calculate the corresponding control torque according to the target installation position, and adjust the posture of the prefabricated building module according to the control torque;

[0065] Hoisting equipment 43: used to hoist the prefabricated building module fixed with the control torque gyro to a specified position, and move the prefabricated building module to the target installation position for installation after the control torque adjusts the posture of the prefabricated building module.

[0066] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0067] The device provided in the embodiment of the present application can be applied in the aforementioned method embodiment. For details, please refer to the description of the aforementioned method embodiment, which will not be repeated here.

[0068] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0069] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. The above is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the content of the description and drawings of this application, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for adjusting the posture of an assembled building module, characterized in that: include: Obtaining parameter information of the prefabricated building module and selecting a control moment gyro according to the parameter information; Fixing the control moment gyro on the assembled building module according to the set hanging point position; Using a lifting device to lift the prefabricated building module to a designated location, monitoring the actual posture data of the prefabricated building module through the control torque gyro, calculating the corresponding control torque according to the target installation position, and adjusting the posture of the prefabricated building module according to the control torque; The assembled building module after the posture adjustment is moved to the target installation position for installation.

2. The method for adjusting the posture of an assembled building module according to claim 1, wherein: The parameter information of the prefabricated building module includes size, weight and target installation position, and the control moment gyro is selected according to the parameter information, specifically: For a single control moment gyro, the output torque during its operation is: Where δ is the gyro frame angle and h is the angular momentum of the gyro; The maximum output torque T of the control moment gyro max The relationship between the size and weight of prefabricated building modules is expressed as follows: Where T max Indicates the maximum output torque of the control moment gyro, I xx , I yy , I zz are the inertia moments of the prefabricated building modules relative to their own x, y, and z coordinate axes, α max is the maximum angular acceleration during the movement of the prefabricated building module.

3. The method for adjusting the posture of an assembled building module according to claim 2, wherein: The control moment gyro is fixed on the assembled building module according to the set hanging point position, specifically: Setting the hanging point position according to the structural characteristics and assembly requirements of the prefabricated building module, and after the hanging point position is set, fixing the control moment gyro to the prefabricated building module by a predetermined fixing method, wherein the fixing method includes bolts or welding; Check and debug the electrical connections, communication functions and mechanical operation of the fixed control moment gyro.

4. The method for adjusting the posture of an assembled building module according to any one of claims 1 to 3, characterized in that: The actual posture data includes the current three-dimensional coordinate position data, linear acceleration data, and angular velocity data of the prefabricated building module. The corresponding control torque is calculated according to the target installation position, and the posture of the prefabricated building module is adjusted according to the control torque. Specifically, After obtaining the actual posture data of the prefabricated building module, the control torque gyroscope uses a PID controller to calculate the corresponding control torque, changes the direction of the gyroscope axis through the control torque, and adjusts the prefabricated building module to the desired posture using the principle of conservation of angular momentum.

5. The method for adjusting the posture of an assembled building module according to claim 4, wherein: The step of moving the posture-adjusted assembled building module to a target installation position for installation is specifically as follows: The assembled building module after posture adjustment is moved to the target installation position by hoisting equipment and docked with the adjacent module. After the docking is completed, the control moment gyro is turned off and the assembled building module is fixed.

6. The method for adjusting the posture of an assembled building module according to claim 5, characterized in that: After the posture-adjusted assembled building module is moved to a target installation position for installation, the method further includes: The control moment gyro is removed from the hanging point of the prefabricated building module.

7. A posture adjustment device for an assembled building module, characterized in that: include: Parameter acquisition module: used to obtain parameter information of the prefabricated building module and select the control moment gyro according to the parameter information; Control torque gyro: fixed on the prefabricated building module according to the set hanging point position, used to monitor the actual posture data of the prefabricated building module during the hoisting process, calculate the corresponding control torque according to the target installation position, and adjust the posture of the prefabricated building module according to the control torque; Hoisting equipment: used to hoist the prefabricated building module fixed with the control torque gyro to the specified position, and move the prefabricated building module to the target installation position for installation after the control torque adjusts the posture of the prefabricated building module.

8. The posture adjustment device for prefabricated building modules according to claim 7, characterized in that: The parameter information acquired by the parameter acquisition module includes size, weight and target installation position, and the control moment gyro is selected according to the parameter information, specifically: For a single control moment gyro, the output torque during its operation is: Where δ is the gyro frame angle and h is the angular momentum of the gyro; The maximum output torque T of the control moment gyro max The relationship between the size and weight of prefabricated building modules is expressed as follows: Where T max Indicates the maximum output torque of the control moment gyro, I xx , I yy , I zz are the inertia moments of the prefabricated building modules relative to their own x, y, and z coordinate axes, α max is the maximum angular acceleration during the movement of the prefabricated building module.

9. The posture adjustment device for prefabricated building modules according to claim 7 or 8, characterized in that: The actual posture data includes the current three-dimensional coordinate position data, linear acceleration data, and angular velocity data of the prefabricated building module. The control torque gyro calculates the corresponding control torque according to the target installation position, and adjusts the posture of the prefabricated building module according to the control torque, specifically: After obtaining the actual posture data of the prefabricated building module, a PID controller is used to calculate the corresponding control torque, and the direction of the gyroscope axis is changed by the control torque, and the prefabricated building module is adjusted to the desired posture using the principle of conservation of angular momentum.

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