Substation wallboard alignment installation method and robot

Abstract

The application discloses a transformer substation wallboard alignment installation method and robot, and relates to the field of wallboard installation. At present, the efficiency of manual wallboard installation is low, the joints are misaligned, and the wall surface is uneven; the application comprises the following steps: projecting horizontal laser beams on multiple purlins through a laser instrument; a binocular camera collects the laser beam picture, a reference plane is formed based on the laser beam, whether the center distance of adjacent purlins meets the set error requirement is checked, and if not, the purlin is adjusted; a reference straight line is generated by selecting the coordinates of the endpoints of any two laser beams on the upper end of the purlin, the perpendicular distance error of each endpoint to the straight line is calculated, and the process continues after the set threshold is met; an installation plane of the vertical reference plane is established through the reference straight line, a mechanical arm is driven to place a buckle on the installation plane and make the buckle coincide with the corresponding purlin; and the mechanical arm installs the wallboard on the buckle. Through laser reference plane construction, binocular vision detection and mechanical arm cooperative control, the technical scheme realizes wallboard joint alignment, improves the installation efficiency and flatness of the transformer substation wall surface.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wallboard installation, and particularly relates to a substation wallboard alignment installation method and robot. BACKGROUND

[0002] In the process of substation construction, wallboards need to be installed on the purlins of the wall to complete the enclosure construction. The traditional wallboard installation method relies on manual operation: first, workers manually fix the buckles on the purlins on the wall, and then place the wallboard on the buckle to limit and fix the position of the wallboard through the buckle. In order to ensure the flatness of the wall, workers need to knock the wallboard with a hammer or other tools to adjust the position, and rely on visual judgment to determine whether the joint of the wallboard is aligned.

[0003] However, the traditional installation method has many shortcomings:

[0004] The construction efficiency is low, especially in high-altitude operation scenarios, manual operation is time-consuming and labor-intensive, which greatly prolongs the construction period.

[0005] When knocking and adjusting the wallboard with a hammer or other tools, the corners of the wallboard are easily damaged, which not only affects the service life of the wallboard, but also reduces the aesthetic degree of the wall surface.

[0006] The manual visual judgment of joint alignment precision is low, and it is difficult to achieve millimeter-level precise control, resulting in wallboard installation deviation.

[0007] The existing method adjusts the position of the wallboard block by block from the local, lacks a global reference, is easy to accumulate errors, and finally causes the overall wall surface to be uneven, which seriously affects the installation quality. SUMMARY

[0008] The purpose of the present application is to solve the technical problems in the prior art and provide a substation wallboard alignment installation method and robot.

[0009] TECHNICAL SCHEME

[0010] In a first aspect, the present application provides a substation wallboard alignment installation method for installing wallboards at specific positions of purlins, comprising the following steps:

[0011] Step 1. A horizontal laser beam is emitted on multiple purlins by a laser instrument;

[0012] Step 2. A picture of the horizontal laser beam on the purlin is obtained by a binocular camera, a reference plane is formed based on all the laser beams falling on the purlin, whether the distance between the centers of every two purlins meets the installation requirements set by the user is judged, and if yes, the next step is entered;

[0013] Step 3. Obtain the reference straight line through the coordinates of the endpoints of the purlin by any two horizontal laser beams, calculate whether the vertical distance error of the laser beam from the endpoint of the purlin to the reference straight line meets the installation requirements set by the user, if it meets, then go to the next step;

[0014] Step 4. Obtain the installation plane perpendicular to the reference plane through the reference straight line, drive the mechanical arm to place the buckle to be installed on the installation plane coinciding with the corresponding purlin;

[0015] Step 5. Calculate the number of tapping and tap the fixing hole position on the buckle;

[0016] Step 6. Place the wallboard to be installed on the buckle by driving the mechanical arm to install.

[0017] The technical solution uses a laser instrument to construct a reference plane by emitting horizontal laser beams, combines a binocular camera to accurately collect the position information of the laser beams on the purlin, and judges the purlin spacing and position error through geometric calculation, thereby replacing the traditional manual visual inspection and experience judgment, and greatly reducing human error. At the same time, the position and attitude of the buckle and the wallboard are accurately controlled by the mechanical arm to ensure the alignment accuracy of the wallboard joint. The reference plane and the reference straight line composed of laser beams are used as a global unified reference, and all buckles and wallboards are installed based on the reference, avoiding the error accumulation problem caused by "local adjustment" in the traditional method, and ensuring the flatness of the entire wall from the root cause, and improving the overall installation quality. The mechanical arm replaces the traditional manual hammering adjustment method, and the wallboard is placed and fixed stably through automatic positioning and installation, avoiding physical damage to the wallboard corners caused by tool knocking, protecting the integrity of the wallboard, and improving the yield and the appearance of the wall. The mechanical arm can automatically complete the buckle installation, tapping, and wallboard placement processes, reducing manual high-altitude work and repetitive labor, especially suitable for large-area wallboard installation scenes, significantly shortening the construction period and reducing the labor operation intensity. Through remote operation of the mechanical arm, the time of manual high-altitude work is reduced, and the safety risk is reduced.

[0018] Preferably, whether the distance between the centers of every two purlins meets the installation requirements set by the user is judged, including the following formula:

[0019] ;

[0020] Wherein, m j and m j+1 represent the coordinates of the midpoint of the laser beam on the jth and j+1th purlin respectively;

[0021] dis(m j+1 ,m j ) is the actual distance between the midpoints of adjacent purlins;

[0022] The design interval of the two purline, The allowable error;

[0023] Determine whether the distance between the centers of every two purlines meets the above formula. If yes, the installation requirement is met. If not, adjust the purline and repeat the above formula determination.

[0024] Preferably, the reference straight line is obtained by the coordinates of the end points of the two horizontal laser beams on the purline, including:

[0025] Find a reference straight line in the reference plane based on the coordinates of the end points of the two horizontal laser beams on the purline on the reference plane, so that all the end points of the laser beams on the purline are located on the same side of the straight line or on the straight line. The formula is as follows:

[0026]

[0027] Wherein, is the coordinate of the end point of the i-th laser beam;

[0028] i is the serial number of the end point of the laser beam, , , is the coefficient of the reference straight line;

[0029] Determine whether the distance of the point of the arbitrary laser beam to the reference straight line meets the maximum installation error requirement. If yes, the position of the purline meets the installation requirement set by the user. If not, adjust the purline corresponding to the end point of the laser beam and repeat the above steps.

[0030] Preferably, the distance of the point of the arbitrary laser beam to the reference straight line is determined whether it meets the maximum installation error requirement. If yes, the position of the purline meets the installation requirement set by the user, including the following formula:

[0031] ;

[0032] If is met, the position of the purline corresponding to the point meets the installation requirement set by the user.

[0033] Wherein, is the preset maximum installation error of the purline, is the coordinate of the i-th laser beam end point, is the distance from the i-th laser beam end point to the reference straight line.

[0034] Preferably, the mechanical arm is driven to place the buckle to be installed on the installation plane to coincide with the corresponding purline, including:

[0035] mounting the jth buckle on the jth purlin, so that the straight line formed by the projection of the end point of the laser beam on the mounting plane on the jth purlin coincides with the upper surface of the mounted buckle;

[0036] calculating the normal vector of the buckle, so that the normal vector of the buckle coincides with the normal vector of the mounting plane, and the normal vector of the buckle satisfies the following formula:

[0037] ;

[0038] wherein, the normal vector of the buckle, the normal vector of the mounting plane, the direction vector of the reference straight line, the vertical direction in the robot coordinate system.

[0039] Preferably, determined by the following steps:

[0040] fixing the gyroscope at the end of the robot arm to obtain the robot attitude angle and the gyroscope reading ;

[0041] convert the gyroscope data into the vertical direction in the robot coordinate system by the rotation matrix satisfying:

[0042] .

[0043] Preferably, the number of tapping holes in the buckle is calculated to fix the position of the tapping hole in the buckle, including:

[0044] collecting the purlin end point coordinates by the binocular camera, and fitting the purlin plane equation;

[0045] calculating the vertical distance from the buckle hole center point to the purlin plane to obtain the projection distance;

[0046] calculating the number of tapping turns, and the formula is as follows:

[0047] ;

[0048] wherein, the standard thread pitch of the tapping screw, the standard total number of turns of the screw, the projection distance.

[0049] In a second aspect, an embodiment of the present application provides a transformer substation wallboard alignment installation robot, comprising a laser instrument, a gyroscope, a mechanical arm, a binocular camera, and a control system for implementing the above-mentioned transformer substation wallboard alignment installation method. The laser instrument, the mechanical arm, the binocular camera, and the gyroscope are electrically connected to the control system. The laser instrument, the gyroscope, and the binocular camera are arranged on the mechanical arm.

[0050] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory. The memory is configured to store one or more computer programs. When the one or more computer programs stored in the memory are executed by the processor, the electronic device is capable of implementing the above-mentioned transformer substation wallboard alignment installation method.

[0051] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned transformer substation wallboard alignment installation method is implemented.

[0052] In a fifth aspect, an embodiment of the present application further provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the above-mentioned transformer substation wallboard alignment installation method.

[0053] Advantages:

[0054] Improved installation accuracy. The laser positioning, binocular camera measurement, and mechanical arm control technologies are used to accurately determine the position and posture of the buckles and wallboards, significantly reducing the errors caused by manual visual inspection, and improving the accuracy of wallboard joint alignment.

[0055] Elimination of cumulative errors. A unified installation reference plane is established by laser, and each wallboard is installed based on this plane, which fundamentally avoids the error accumulation problem caused by piece-by-piece adjustment in the traditional method, and ensures the flatness of the entire wall surface.

[0056] Reduction of wallboard damage. The traditional hammering adjustment method is replaced by mechanical arm automatic installation and positioning, which avoids damage to the corners of the wallboard caused by violent operation, and improves the yield and construction quality.

[0057] Improved construction efficiency. The mechanical arm automatically grabs, positions, taps, and installs the wallboard and buckle, significantly reducing the labor intensity of manual operation, shortening the construction period, and being particularly suitable for large-area wallboard installation scenarios.

[0058] Strong adaptability and high safety. The method can still operate stably in high-altitude or complex construction environments, reduces high-altitude operation time, improves construction safety, and meets the needs of modern building industrial assembly development. BRIEF DESCRIPTION OF DRAWINGS

[0059] Figure 1Provide a method framework diagram for the present application;

[0060] Figure 2 Provide a purlin structure diagram for the present application;

[0061] Figure 3 Provide a buckle installed on the purlin structure diagram for the present application;

[0062] Figure 4 Provide a wallboard installed on the buckle structure diagram for the present application;

[0063] Figure 5 Provide another view of the buckle installed on the purlin structure diagram for the present application;

[0064] Figure 6 Provide a device structure diagram for an embodiment of the present application;

[0065] Figure 7 Provide a control system structure diagram for the present application.

[0066] In the figure: 1, purlin; 2, laser beam; 3, buckle; 31, first row of buckles; 32, second row of buckles; 4, wallboard; 301, mechanical arm; 302, control system; 303, binocular camera; 304, gyroscope; 305, laser instrument; 401, processor; 402, memory; 403, display; 404, computer program; 405, communication bus. DETAILED DESCRIPTION

[0067] To make the technical solutions of the present application clearer, the following will make a further detailed description of the present application in combination with specific embodiments and the accompanying drawings.

[0068] Embodiment 1

[0069] To make the purpose, technical solutions and advantages of the present application clearer, the following will make a clear and complete description of the technical solutions in the embodiments of the present application in combination with the drawings of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application. Unless otherwise defined, the technical terms or scientific terms used herein should be understood as the usual meanings by those skilled in the art. The use of "including" and similar words in this document means that the elements or objects before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0070] In view of the problems existing in the prior art, such as Figure 1As shown, a substation wallboard alignment installation method for installing wallboard 4 at a specific position of purlin 1, comprising the steps of:

[0071] Step 1. Draw a horizontal laser beam 2 on multiple purlins 1 by laser instrument 305, as shown Figure 2 As shown, the light beam generated by laser instrument 305 hits the purlin 1, forming a high-brightness endpoint on the edge of the purlin 1, and the laser beam is horizontal, and the laser beam endpoint is also on a plane, denoted as reference plane Due to the horizontal characteristic of the horizontal laser instrument, the reference plane Parallel to the horizontal plane, measure the coordinates of the two endpoints of the laser beam on each purlin 1 with a binocular camera, and convert to mechanical arm coordinates denoted as Calculate the midpoint of the laser beam on each purlin 1 denoted as ;

[0072] Step 2. Acquire the image of the horizontal laser beam 2 on the purlin 1 by the binocular camera 303, and form a reference plane based on all the laser beams 2 falling on the purlin 1 Determine whether the distance between the centers of every two purlins 1 meets the installation requirements set by the user, and if so, proceed to the next step;

[0073] In some specific embodiments, determining whether the distance between the centers of every two purlins 1 meets the installation requirements set by the user includes the following formula:

[0074] ;

[0075] Wherein, m j and m j+1 denote the coordinates of the midpoint of the laser beam 2 on the jth and j+1th purlin 1, respectively;

[0076] dis(m j+1 ,m j ) is the actual distance between the midpoints of adjacent purlins 1;

[0077] is the designed distance between the two purlins 1, is the allowable error;

[0078] Determine whether the distance between the centers of every two purlins 1 meets the above formula, and if so, it meets the installation requirements set, and if not, adjust the purlin 1 and repeat the above formula determination.

[0079] Specifically, for any two adjacent purlins 1, such as the jth purlin and the j+1th purlin, calculate the actual distance between their center points The calculated actual distance is compared with the preset purlin 1 design spacing The difference is calculated to determine whether it is less than the error tolerance

[0080] If the above conditions are met, the positions of the two purlins 1 meet the installation requirements, and the next installation process can be entered.

[0081] If not, the system records the number of the pair of purlins 1, issues a prompt, and requires position adjustment. After adjustment, the above detection process is repeated until the design requirements are met.

[0082] The explicit error expression and threshold judgment mechanism enable the installation system to have self-checking and error correction capabilities. The purlin 1 spacing consistency is a prerequisite for the subsequent wall panel flatness. This process ensures the structural stability and visual consistency after wall installation through pre-calibration. The binocular camera and laser ranging technology can accurately identify the position of each purlin 1 and quantify the deviation, achieving millimeter-level spacing error control and ensuring the installation foundation precision of subsequent buckles and wall panels.

[0083] Step 3. Obtain a reference straight line through the coordinates of the upper endpoints of the purlins 1 by any two horizontal laser beams 2, calculate whether the vertical distance error of the laser beams 2 from the upper endpoints of the purlins 1 to the reference straight line meets the user's installation requirements, and if so, proceed to the next step.

[0084] In some specific embodiments, obtaining a reference straight line through the coordinates of the upper endpoints of the purlins 1 by any two horizontal laser beams 2 includes:

[0085] Finding a reference straight line in the reference plane based on the coordinates of the upper endpoints of the purlins 1 by any two horizontal laser beams 2 on the reference plane So that the endpoints of all laser beams 2 on the purlins 1 are located on the same side of the straight line or on the straight line, the formula is as follows:

[0086]

[0087] Wherein, is the coordinate of the endpoint of the i-th laser beam;

[0088] i is the serial number of the laser beam endpoint, , , is the coefficient of the reference straight line;

[0089] Determine whether the distance from the point of any laser beam 2 to the reference straight line meets the maximum installation error requirement. If so, the position of the purlin 1 meets the user's installation requirements. If not, adjust the purlin 1 corresponding to the endpoint of the corresponding laser beam 2 and repeat the above steps. ​​

[0090] Specifically, a reference plane is established by the horizontal laser beams In the reference plane, the laser end points of the optional two purlins 1 are fitted to a reference straight line The standard expression of the reference straight line is as follows:

[0091] ;

[0092] It is determined whether all the laser end points are on the same side of the straight line or exactly on the straight line, that is:

[0093] ;

[0094] When the above inequality is established, it indicates that all the end points are arranged on one side of the reference straight line and have a consistent distribution direction, which helps to ensure that the edges of the wall panels are straight;

[0095] If there is one or more end points that do not satisfy the above inequality, the system considers that the end point positions of the purlin 1 are deviated, and prompts the user to adjust the purlin 1, and returns to the re-detection step until all the end points satisfy the condition;

[0096] The direction of the laser end points is unified to avoid misalignment or curved distribution of the end points of the purlin 1 along the wall surface, thereby ensuring that the edges of the wall panels after installation are a straight line, improving the visual and structural effects, predicting abnormal points and visually prompting the adjustment range, avoiding misalignment, biting difficulty and other problems in subsequent buckling or wall panel installation, and improving the overall construction efficiency from the source;

[0097] It is worth mentioning that the reference straight line and the end point k i (x i ,y i ) coordinates in the embodiment are coordinates of a coordinate system re-established on the reference plane , which are different from the three-dimensional end point coordinates obtained by the binocular camera.

[0098] In some specific embodiments, it is determined whether the distance of an arbitrary laser beam 2 point to the reference straight line meets the maximum installation error requirement, and if so, the position of the purlin 1 meets the installation requirements set by the user, including the following formula:

[0099] ;

[0100] If the following condition is met: , then the point corresponding to the position of the purlin 1 meets the installation requirements set by the user;

[0101] Wherein, is the preset maximum installation error of the purlin, and is the i-th laser beam end point coordinate The distance from the i-th laser beam end point to the reference straight line.

[0102] Specifically, after completing the "fitting reference straight line" step, this step further calculates the distance of each laser end point to the reference straight line and judges the error, and the process is as follows:

[0103] The reference straight line is known The equation is

[0104] Using the standard geometric distance formula from a point to a straight line, the perpendicular distance from each laser end point to the straight line is calculated:

[0105]

[0106] Set the maximum allowable error value (such as 1mm~2mm) as the qualified judgment threshold, if the distance of a certain end point exceeds the error range, the purlin 1 corresponding to the end point is considered to be out of standard, which does not meet the installation accuracy requirement set by the user;

[0107] Through strict point-to-line error calculation, it can be effectively determined whether there is local protrusion or depression, which ensures that the subsequent wallboard installation surface forms an ideal straight line, greatly improving the flatness of the final assembly.

[0108] Step 4. Combined Figure 3 , a mounting plane perpendicular to the reference plane is obtained by passing through the reference straight line, and the mechanical arm 301 is driven to place the buckle 3 to be installed on the mounting plane and coincide with the corresponding purlin 1;

[0109] In some specific embodiments, the mechanical arm 301 is driven to place the buckle 3 to be installed on the reference plane and coincide with the corresponding purlin 1, including:

[0110] The j-th buckle 3 is installed on the j-th purlin 1, so that the straight line formed by the projection of the laser beam 2 end point on the j-th purlin 1 on the installation plane coincides with the upper surface of the installed buckle 3;

[0111] The normal vector of the buckle 3 is calculated, which satisfies that the normal vector of the buckle 3 coincides with the normal vector of the installation plane, so that the normal vector of the buckle 3 satisfies the following formula:

[0112]

[0113] Wherein, is the normal vector of the buckle 3, is the normal vector of the installation plane, is the direction vector of the reference straight line, and is the vertical direction in the coordinate system of the mechanical arm 301.​​​​​

[0114] Specifically, after meeting the installation conditions, the buckle 3 is started to be installed, and the straight line is calculated, and the plane perpendicular to , all buckles 3 and wallboards should be installed in the plane , and the first buckle 3 is taken as an example, which is installed on the first purlin 1, and the corresponding end point is , the vertical projection of the two end points on the plane is recorded as , and the upper edge of the buckle should coincide with the straight line formed by during installation, and is perpendicular to the horizontal plane. For the buckle 3, the normal vector of its upper surface is calculated, which requires that the normal vector is consistent with the normal vector of the installation plane, and the mechanical arm is controlled to accurately install the buckle in the position meeting the above attitude requirements.

[0115] The installation angle of the buckle is constrained by the geometric vector, and the normal vectors of all buckles are consistent, so that the wallboards are naturally coplanar after installation, without edge lifting or height difference. Compared with the traditional rough method of “only position”, the present application realizes the double precise control of “position + attitude”, and the structural precision is higher. The installation normal vector is judged by the mechanical arm and the gyroscope data, without manual visual inspection or leveling, which significantly improves the degree of automation.

[0116] In some specific embodiments, is determined by the following steps:

[0117] The gyroscope 304 is fixed at the end of the mechanical arm 301 to obtain the attitude angle of the mechanical arm 301 and the reading

[0118] of the gyroscope 304; The data of the gyroscope 304 is converted into the vertical direction in the coordinate system of the mechanical arm 301 by the rotation matrix , which satisfies:

[0119] .

[0120] .

[0121] Specifically, based on the gyroscope reading, the rotation matrix is constructed, and the global vertical direction vector (usually in the world coordinate system) is transformed into the direction representation in the coordinate system of the mechanical arm by the rotation matrix, and is obtained.

[0122] ​Through coordinate system conversion, the physical vertical direction is obtained in the standard form in the mechanical arm coordinate system, ensuring that all postures and normal vector calculations are based on the uniform, and the direction vector is an important input for the cross product calculation of the normal vector, which can accurately control the perpendicularity of the surface of the buckle to the installation plane, and avoid angle deviation.

[0123] Step 5. Calculate the number of tapping and thread the hole on the buckle 3;

[0124] In some specific embodiments, calculating the number of tapping and threading the hole on the buckle 3 includes:

[0125] The end point coordinates of the purlin 1 are collected by the binocular camera 303, and the purlin 1 plane equation is fitted;

[0126] The vertical distance from the hole center point of the buckle 3 to the purlin 1 plane is calculated to obtain the projection distance;

[0127] The number of tapping is calculated, and the formula is as follows:

[0128] ;

[0129] Wherein, is the standard thread pitch of the tapping screw, is the standard total number of threads of the screw, is the projection distance.

[0130] Specifically, in order to make the buckle firmly installed on the purlin 1 and ensure that it is exactly coplanar with the installation surface, the present application adopts a tapping method of adjusting the screw length on demand, which avoids the height error of the buckle caused by the non-coplanar purlin 1; the three-dimensional coordinates of the end points of the purlin 1 corresponding to the buckle installation in space are obtained by the binocular camera 303; these points are fitted to obtain the mathematical equation of the plane where the purlin 1 is located (i.e. the purlin 1 plane); the center point coordinates of the screw hole on the buckle 3 are obtained; the vertical projection distance of the point to the purlin 1 plane is calculated , that is, the actual depth that the screw needs to "eat into", the number of tapping required is calculated using the above formula, and the mechanical arm is controlled to complete the screw rotation operation according to the calculated number of turns n;

[0131] The purlin 1 is not completely coplanar, and the tapping length is calculated "customized" for each buckle to automatically adapt to the slight height difference, improve the overall flatness of the wall surface, accurately quantify the tapping depth that was originally adjusted by experience as "number of turns", and ensure that all screw installation depths are uniform, avoiding loosening or cracking.

[0132] Step 6. Combined Figure 4 and Figure 5 , the wallboard 4 to be installed is placed on the buckle 3 by driving the mechanical arm 301 for installation.

[0133] In some specific embodiments, the buckle 3 includes a first row of buckles 31 (the bottommost buckles), the installation of the first row of buckles 31 is described in the present application, and then the wallboard 4 is installed on the first row of buckles 31, the buckle 3 further includes a second row of buckles 32, and a third batch of buckles, a fourth batch of buckles in turn, when installing the wallboard 4, the mechanical arm will directly place the second row of buckles 32 at the upper end position of the wallboard 4 and the horizontal position consistent with the first row of buckles 31, when fixing the wallboard 4 on the purlin 1, the pose of the second row of buckles 32 is fixed, and the above-mentioned step 5 needs to be repeated to complete the fixation of the second row of buckles 32, and then the second row of wallboards 4 can be installed (the aforementioned wallboards 4 mentioned in the present application are all first row wallboards) on the second row of buckles 32, and the same buckle 3 can complete the limiting of the wallboards 4 on the upper side and the lower side respectively, and the installation of multiple layers of wallboards is completed in this way.

[0134] In some other embodiments of the present application, in combination Figure 6 , the wallboard alignment installation robot disclosed in the embodiments of the present application comprises a laser instrument 305, a gyroscope 304, a mechanical arm 301, a binocular camera 303 and a control system 302 for implementing the substation wallboard alignment installation method according to the above-mentioned embodiment one, the laser instrument 305, the mechanical arm 301, the binocular camera 303 and the gyroscope 304 are electrically connected with the control system, and the laser instrument 305, the gyroscope 304 and the binocular camera 303 are arranged on the mechanical arm 301.

[0135] All related contents of each step involved in the above-mentioned method embodiments can be cited to the function description of the corresponding function module, and will not be repeated here.

[0136] In some other embodiments of the present application, the control system 302 disclosed in the embodiments of the present application comprises Figure 7 as shown, the electronic device can include one or more processors 401, a memory 402, a display 403, one or more application programs (not shown) and one or more computer programs 404, the above-mentioned devices can be connected through one or more communication buses 405. Wherein the one or more computer programs 404 are stored in the above-mentioned memory 402 and are configured to be executed by the one or more processors 401, the one or more computer programs 404 include instructions, the instructions can be used to execute each step in the Figures 1 to 5 and the corresponding embodiments.

[0137] Those skilled in the art can clearly understand the technical solutions of the present application according to the above description of the embodiments, and for the convenience and brevity of description, only the division of the above functional modules is taken as an example, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0138] The various functional units in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware, or in the form of a software functional unit.

[0139] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: a flash memory, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and various media that can store program codes.

[0140] The above description is only a specific implementation of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any change or replacement within the technical scope disclosed in the embodiments of the present application should be covered in the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be subject to the protection scope of the claims.

Claims

1. A substation wall panel alignment installation method, characterized by, A method for installing wall panels at specific positions of purlins, comprising the steps of: Step 1. Drawing horizontal laser beams on multiple purlins by a laser instrument; Step 2. Acquiring images of the horizontal laser beams on the purlins by a binocular camera, constructing a reference plane based on all the laser beams falling on the purlins, and determining whether the distance between the centers of every two purlins meets the installation requirements set by a user, if yes, proceeding to the next step; Step 3. Obtaining a reference straight line through the coordinates of the endpoints of any two horizontal laser beams on the purlins, and determining whether the vertical distance error from the endpoints of the laser beams on the purlins to the reference straight line meets the installation requirements set by the user, if yes, proceeding to the next step; Step 4. Obtaining an installation plane perpendicular to the reference plane through the reference straight line, and placing a buckle to be installed on the installation plane in coincidence with the corresponding purlin by driving a mechanical arm; Step 5. Calculating the number of threads for tapping and tapping the fixing hole position on the buckle; Step 6. Placing a wall panel to be installed on the buckle by driving the mechanical arm to install it.

2. A substation wall panel alignment installation method according to claim 1, characterised in that, Determining whether the distance between the centers of every two purlins meets the installation requirements set by the user comprises the following formula: ； wherein m j and m j+1 respectively represent the coordinates of the midpoint of the laser beam on the jth and j+1th purlin. dis(m j+1 ,m j ) is the actual distance between the midpoints of adjacent purlins; Design spacing for two purlins, Allowance for error; If the distance between the centers of every two purlins meets the formula, it meets the installation requirements set by the user, otherwise, adjusting the purlins and repeating the judgment of the formula.

3. A substation wall panel alignment installation method as claimed in claim 1, wherein, Obtaining a reference straight line through the coordinates of the endpoints of any two horizontal laser beams on the purlins comprises: Finding a reference straight line in the reference plane based on the coordinates of the endpoints of any two horizontal laser beams on the purlins on the reference plane, so that the endpoints of all the laser beams on the purlins are located on the same side of the straight line or on the straight line, and the formula is as follows: wherein, Xi, yi are coordinates of the end point of the i-th laser beam; i is the index of the end point of the laser beam, , , is the coefficient of the reference straight line; Determining whether the distance from the endpoint of any laser beam to the reference straight line meets the maximum installation error requirement, if yes, the position of the purlin meets the installation requirements set by the user, otherwise, adjusting the purlin corresponding to the endpoint of the laser beam and repeating the above steps.

4. A substation wall panel alignment installation method according to claim 3, characterised in that, Determining whether the distance from the endpoint of any laser beam to the reference straight line meets the maximum installation error requirement, if yes, the position of the purlin meets the installation requirements set by the user, comprising the following formula: ； If the following conditions are met , then the point ) corresponds to the position of the purline that meets the user's installation requirements. in, The preset maximum installation error for purlins, ( Let be the coordinates of the endpoint of the i-th laser beam. For the i-th laser beam endpoint ( The distance from the reference line.

5. A substation wall panel alignment installation method according to claim 3, wherein, Placing a buckle to be installed on the installation plane in coincidence with the corresponding purlin by driving a mechanical arm comprises: Installing the jth buckle on the jth purlin, so that the straight line formed by the projection of the endpoint of the laser beam on the jth purlin on the installation plane coincides with the upper surface of the installed buckle; Calculating the normal vector of the buckle, so that the normal vector of the buckle coincides with the normal vector of the installation plane, and the normal vector of the buckle satisfies the following formula: ； wherein, is the normal vector of the snap, is the normal vector of the mounting plane, is the direction vector of the reference straight line, is the direction vector of the vertical direction in the robot coordinate system.

6. A substation wall panel alignment installation method according to claim 5, characterised in that, Determined by the following steps: fixing the gyroscope on the end of the mechanical arm to obtain the attitude angle of the mechanical arm and the gyroscope reading ; By rotation matrix The gyro data is converted to the vertical direction in the robot coordinate system, which satisfies: 。 7. A substation wall panel alignment installation method according to claim 5, wherein Calculating the number of threads for tapping and tapping the fixing hole position on the buckle comprises: Acquiring the coordinates of the endpoints of the purlins by the binocular camera, and fitting the plane equation of the purlins; Calculating the vertical distance from the center point of the buckle hole to the purlin plane to obtain the projection distance; Calculating the number of threads for tapping, and the formula is as follows: ； wherein, is the standard thread pitch of the tapped screw, is the standard total number of turns of the screw, is the projection distance.

8. A substation wall panel alignment installation robot comprising a laser instrument, a gyroscope, a mechanical arm, a binocular camera and a control system implementing a method of substation wall panel alignment installation according to any one of claims 1 to 7, characterized in that, Comprising: The laser instrument, the mechanical arm, the binocular camera, and the gyroscope are electrically connected with the control system, and the laser instrument, the gyroscope, and the binocular camera are arranged on the mechanical arm.

9. A control system characterized by, An apparatus comprising a memory and a processor, the memory having stored thereon computer programs that are executable by the processor, the computer programs, when executed by the processor, causing the processor to implement a method for aligning installation of a substation wall panel as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium having stored therein a computer program, characterized in that, The computer programs, when executed by the processor, implement a method for aligning installation of a substation wall panel as claimed in any one of claims 1 to 7.

Images