Equipment installation adjusting method and system, electronic equipment and storage medium

Abstract

The invention discloses an equipment installation and adjustment method and device, electronic equipment and a storage medium, and relates to the technical field of intelligent equipment installation and adjustment. The method comprises the following steps: establishing a space coordinate system corresponding to a target building, and calculating target point theoretical coordinates and adjusting point theoretical coordinates of at least three preset target points of to-be-installed equipment and adjusting points corresponding to the target points in the space coordinate system; receiving the actual coordinates of the current target point of the to-be-installed equipment in the space coordinate system, wherein the actual coordinates are collected by absolute position measuring equipment installed in the target building; based on the theoretical coordinates of the target point and the actual coordinates of the current target point, constructing a rotation matrix equation corresponding to each adjustment dimension according to a preset adjustment sequence, and calculating the adjustment quantity of each adjustment point in the corresponding adjustment dimension; and the adjusting quantity is displayed so that an operator can adjust the to-be-installed equipment to the target position based on the adjusting quantity. By implementing the technical scheme provided by the invention, accurate positioning can be realized through one-time adjustment, so that the equipment mounting efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of intelligent installation and adjustment of equipment, specifically to an equipment installation and adjustment method, system, electronic device, and storage medium. Background Technology

[0002] In the field of mechanical equipment installation and positioning, with the development of industries such as industrial equipment installation and construction, the requirements for equipment installation accuracy and efficiency are increasing. High-precision equipment installation ensures production stability and product quality; in some high-precision applications, accurate positioning is crucial. This not only affects the performance of the equipment itself but also the smooth operation of the entire production process. For example, in some high-end manufacturing industries, precise equipment installation can effectively improve product qualification rates, reduce defect rates, and thus improve the economic benefits of enterprises. Simultaneously, in fields such as construction, precise equipment installation also helps ensure the quality and safety of projects.

[0003] In traditional mechanical equipment installation, there are usually several solutions to the problem of position adjustment. A common approach is to make multiple adjustments, with each adjustment followed by remeasurement, gradually bringing the equipment closer to the target position. Another method is to use measuring equipment such as laser trackers to obtain the actual position of the target and then make adjustments based on this data. Additionally, there is a combination of manual adjustment and manual calculation, where operators determine the adjustment amount based on their experience and manual calculations. For example, in industrial equipment installation sites, workers often first roughly place the equipment, then make multiple fine adjustments, and then measure it again with simple measuring tools, repeating this process until the equipment position reaches a certain level of accuracy. Similar methods are also used in building construction, involving multiple trials and measurements to install large mechanical equipment.

[0004] However, these traditional methods have significant drawbacks. In high-precision alignment scenarios, manual adjustments and calculations are prone to complexity and errors, becoming major factors limiting accuracy and efficiency. Furthermore, regardless of the method used, multiple adjustments are required to finally install the equipment in place, a tedious and time-consuming process. The inability to accurately position the equipment in a single adjustment severely impacts installation efficiency. Summary of the Invention

[0005] This application provides a method for adjusting equipment installation, which can achieve precise positioning through a single adjustment, thereby improving equipment installation efficiency.

[0006] In a first aspect, this application provides a device installation and adjustment method, applied to a device installation management terminal, the method comprising: Establish a spatial coordinate system corresponding to the target building, and calculate the theoretical coordinates of the target points and the adjustment points corresponding to each target point in the spatial coordinate system for at least three preset target points of the equipment to be installed. Receive the actual coordinates of the current target point of the device to be installed in the spatial coordinate system. The actual coordinates of the current target point are collected by an absolute position measuring device installed in the target building. Based on the theoretical coordinates of the target point and the actual coordinates of the current target point, the rotation matrix equations corresponding to each adjustment dimension are constructed according to the preset adjustment order to calculate the adjustment amount of each adjustment point in the corresponding adjustment dimension. The adjustment dimension includes the Z-axis direction, the X-axis direction and the Y-axis direction. The adjustment values ​​of each adjustment point under each adjustment dimension are displayed so that operators can adjust the equipment to be installed to the target position based on each adjustment value and complete the installation of the equipment.

[0007] By adopting the above technical solution, a spatial coordinate system corresponding to the target building is first established, and the theoretical coordinates of the target point and adjustment point are obtained, providing an accurate reference system for subsequent installation and adjustment. The actual coordinates of the current target point are received from the absolute position measuring equipment, ensuring the reliability of the acquired actual position information. A rotation matrix equation is constructed according to the preset adjustment sequence to calculate the adjustment amount of the adjustment point in each adjustment dimension, enabling precise multi-dimensional adjustment of the equipment. Based on these adjustment amounts, the equipment to be installed is adjusted to the target position, allowing for efficient and accurate equipment installation, improving installation efficiency and accuracy, and reducing manual adjustment errors.

[0008] Optionally, the adjustment sequence is to first adjust the Z-axis direction, and then adjust the X-axis direction and Y-axis direction in sequence.

[0009] By adopting the above technical solution, the adjustment sequence of first adjusting the Z-axis and then the X-axis and Y-axis conforms to the actual operational logic of equipment installation, from vertical positioning to precise horizontal adjustment. Determining the vertical position first provides a stable foundation for subsequent horizontal adjustments. Adjusting the X-axis and Y-axis later allows for more efficient and accurate equipment installation, ensuring the equipment reaches the target position precisely. This avoids confusion and repetitive operations during the adjustment process, improving installation efficiency and precision.

[0010] Optionally, the step of constructing rotation matrix equations corresponding to each adjustment dimension based on the theoretical coordinates of the target point and the actual coordinates of the current target point, and calculating the adjustment amount of each adjustment point in the corresponding adjustment dimension according to a preset adjustment order, includes: The current adjustment dimension is determined according to the preset adjustment order, and any adjustment point is determined as the current target adjustment point. The straight line determined by the other two adjustment points is used as the rotation axis, and the corresponding rotation angle is determined according to the current target adjustment point and the rotation axis. Based on the rotation angle, rotation axis, theoretical coordinates of the target point, and actual coordinates of the current target point, the rotation matrix of the current target adjustment point in the current adjustment dimension is constructed using the Rodrigues rotation formula. Based on the rotation matrix, the current target adjustment amount of the current target adjustment point in the current adjustment dimension is calculated. Determine the theoretical coordinates of the new adjustment point corresponding to the current target adjustment point based on the current target adjustment amount, and repeat the above steps using the new theoretical coordinates of the adjustment point until the calculation of the target adjustment amount corresponding to each target adjustment point under all adjustment dimensions is completed. The step of displaying the adjustment amount of each adjustment point under each adjustment dimension so that the operator can adjust the equipment to be installed to the target position based on each adjustment amount to complete the installation of the equipment includes: The target adjustment amount corresponding to each target adjustment point under each adjustment dimension is displayed so that the operator can adjust the equipment to be installed to the target position based on each adjustment amount and complete the installation of the equipment.

[0011] By adopting the above technical solution, during the equipment installation and adjustment process, the current adjustment dimension is first determined according to the preset adjustment sequence. Any adjustment point is selected as the current target adjustment point, and the rotation angle is calculated using the straight line determined by the other two points as the rotation axis. The first adjustment amount is calculated by constructing a rotation matrix using the Rodrigues rotation formula. Then, the theoretical coordinates of the current target adjustment point are updated accordingly, thereby completing the calculation of the adjustment amount of each target adjustment point under the current adjustment dimension. This step-by-step calculation method makes the calculation of the adjustment amount more accurate and can determine the specific adjustment amount of each adjustment point in each adjustment dimension according to the actual situation of the equipment. This helps to improve the accuracy and efficiency of equipment installation and adjustment, allowing the equipment to be adjusted to the target position more precisely and ensuring the quality of equipment installation.

[0012] Optionally, the calculation of the target adjustment amount corresponding to each target adjustment point under all adjustment dimensions includes: The current adjustment dimension is determined according to the preset adjustment order. Any adjustment point is determined as the first target adjustment point. The straight line determined by the other two adjustment points is used as the rotation axis. The corresponding rotation angle is determined according to the first target adjustment point and the rotation axis. Based on the rotation angle, rotation axis, theoretical coordinates of the target point, and actual coordinates of the current target point, the rotation matrix of the first target adjustment point in the current adjustment dimension is constructed using the Rodrigues rotation formula, and the first adjustment amount of the first target adjustment point in the current adjustment dimension is calculated based on the rotation matrix. Any adjustment point other than the first target adjustment point is determined as the second target adjustment point. Based on the theoretical coordinates of the adjustment point of the first target adjustment point and the first adjustment amount, the second rotation axis and the second rotation angle of the second target adjustment point in the current adjustment dimension are calculated. Based on the second rotation angle, the second rotation axis, the theoretical coordinates of the target point and the actual coordinates of the current target point, the rotation matrix of the second target adjustment point in the current adjustment dimension is constructed using the Rodrigues rotation formula, and the second adjustment amount of the second target adjustment point in the current adjustment dimension is calculated based on the rotation matrix. The adjustment point other than the first target adjustment point and the second target adjustment point is determined as the third target adjustment point. Based on the theoretical coordinates of the adjustment point of the first target adjustment point and the first adjustment amount, as well as the theoretical coordinates of the adjustment point of the second target adjustment point and the second adjustment amount, the third rotation axis and the third rotation angle of the third target adjustment point in the current adjustment dimension are calculated. Based on the third rotation angle, the third rotation axis, the theoretical coordinates of the target point, and the actual coordinates of the current target point, the rotation matrix of the third target adjustment point in the current adjustment dimension is constructed using the Rodrigues rotation formula, and the third adjustment amount of the third target adjustment point in the current adjustment dimension is calculated based on the rotation matrix. The process of adjusting the device to be installed to the target position based on the adjustment amount of each adjustment dimension to complete the installation of the device includes: The first adjustment amount, the second adjustment amount, and the third adjustment amount are displayed so that operators can adjust each target adjustment point in the current adjustment dimension. The system receives a confirmation command indicating that the adjustment of each target adjustment point in the current adjustment dimension is complete and locks the adjustment device in the current adjustment dimension. It then obtains the actual coordinates of the current target point of the device to be installed. Using the actual coordinates and theoretical coordinates of the current target point, the system determines the next adjustment dimension as the current adjustment dimension according to a preset adjustment sequence. The system repeats the above steps to calculate the first, second, and third adjustment amounts corresponding to each target adjustment point in the next adjustment dimension, until all target adjustment points in all adjustment dimensions have been adjusted, thus completing the installation of the device to be installed.

[0013] By adopting the above technical solution, a spatial coordinate system corresponding to the target building is first established, the theoretical coordinates of the target point and adjustment point of the equipment to be installed are calculated, and the actual coordinates of the current target point of the equipment to be installed are received by the absolute position measuring device in the target building, so as to accurately grasp the position information of the equipment in space. Then, according to the adjustment sequence of Z-axis first, then X-axis, and finally Y-axis, by determining the rotation axis and rotation angle, the rotation matrix is ​​constructed using the Rodrigues rotation formula to calculate the adjustment amount of each adjustment point in different adjustment dimensions, so as to accurately determine the adjustment range of each adjustment point of the equipment in each adjustment dimension. After calculating the adjustment amount of each adjustment point in the current adjustment dimension, the target adjustment amount of each target adjustment point is determined sequentially. After completing the adjustment of the current adjustment dimension, the adjustment device is locked. Then, the actual coordinates of the current target point after the adjustment of the current adjustment dimension are obtained to calculate the adjustment amount of the next adjustment dimension. This allows for precise adjustment of the equipment to be installed to the target position step by step in each adjustment dimension, completing the installation of the equipment. It achieves precise and orderly adjustment of the equipment to be installed in each adjustment dimension, efficiently adjusting the equipment to the target position to complete the installation, improving installation accuracy and efficiency. At the same time, it can ensure the stability and accuracy of the adjustment in each adjustment dimension and avoid the accumulation of errors during the adjustment process.

[0014] Optionally, displaying the adjustment amount of each adjustment point under each adjustment dimension to facilitate the operator in adjusting the equipment to be installed to the target position based on each adjustment amount further includes: Obtain the target point adjustment coordinates of the device to be installed, and calculate the deviation between the theoretical coordinates of the target point and the adjusted coordinates of the target point; The deviation value is compared with a preset deviation threshold. When the deviation value is greater than the preset deviation threshold, a first alarm signal is generated and the alarm device is controlled to provide an alarm prompt based on the first alarm signal. When the deviation value is less than or equal to the preset deviation threshold, a second alarm signal is generated and the alarm device is controlled to provide an alarm prompt based on the second alarm signal.

[0015] By adopting the above technical solution, during the adjustment of the equipment to be installed, the target point adjustment coordinates of each target point are collected in real time using an absolute position measuring device. The deviation between the adjusted target point coordinates and the theoretical target point coordinates is calculated. By comparing the deviation value with a preset deviation threshold, the status of the equipment to be installed can be understood in a timely manner. Two alert situations are generated based on the comparison between the deviation value and the preset deviation threshold: the deviation value is within the preset deviation threshold, and the deviation value is outside the preset deviation threshold. When the deviation value is greater than the preset deviation threshold, indicating that the equipment to be installed has not been adjusted to the target position, a first alarm signal is generated, and the alarm device is controlled to issue an alarm alert based on the first alarm signal. When the deviation value is less than or equal to the preset deviation threshold, indicating that the equipment to be installed has been adjusted to the target position, a second alarm signal is generated, and the alarm device is controlled to issue an alarm alert based on the second alarm signal. This allows operators to monitor the adjustment status of the equipment to be installed in real time, thereby improving the adjustment accuracy of the equipment.

[0016] Optionally, an adjustment device is installed at each of the adjustment points.

[0017] By adopting the above technical solution, adjustment devices are installed at each adjustment point, and the adjustment at each adjustment point of the equipment is achieved by operating the adjustment devices.

[0018] Optionally, establishing the spatial coordinate system corresponding to the target building includes: Acquire the three-dimensional coordinate data of at least three pre-arranged marker points within the target building in the local coordinate system of an absolute position measuring device, wherein the absolute position measuring device is a device capable of identifying the marker points and feeding back data to the device installation and management terminal; Based on the three-dimensional coordinate data of at least three non-collinear marker points in the local coordinate system, the transformation parameters from the local coordinate system to the global spatial coordinate system of the device are calculated by a rigid body transformation algorithm. The transformation parameters include a rotation matrix and a translation vector. Based on the transformation parameters, the three-dimensional coordinate data of all marker points in the local coordinate system are transformed to the global spatial coordinate system, thus completing the establishment of the building spatial coordinate system.

[0019] By adopting the above technical solution, the three-dimensional coordinate data of at least three pre-arranged marker points within the target building in the local coordinate system of the absolute position measuring device are first obtained. The absolute position measuring device, which can identify the marker points and provide feedback data, can accurately acquire basic data. Then, based on the three-dimensional coordinate data of at least three non-collinear marker points in the local coordinate system, the transformation parameters from the local coordinate system to the global spatial coordinate system are calculated using a rigid body transformation algorithm, enabling accurate conversion between different coordinate systems. Finally, based on the transformation parameters, the three-dimensional coordinate data of all marker points in the local coordinate system are converted to the global spatial coordinate system, completing the establishment of the building's spatial coordinate system. This provides an accurate spatial reference for the precise positioning and adjustment of the equipment to be installed, improving the accuracy and efficiency of equipment installation and adjustment.

[0020] A second aspect of this application provides an equipment installation and adjustment system, the system comprising: an equipment installation management terminal, an absolute position measuring device, and an adjustment device; The equipment installation management terminal is communicatively connected to the absolute position measuring device and the adjustment device, respectively, and is used to execute the method as described in the first aspect and any possible implementation of the first aspect; The absolute position measuring device is used to collect the position data of each marker point within the target building and send the position data of each marker point back to the equipment installation management terminal; it is also used to collect the position data of each target point on the device to be installed and send the position data of each target point back to the equipment installation management terminal. The adjustment device is installed at each adjustment point of the equipment to be installed, and includes an adjustment component and a locking component. The adjustment component is used to adjust the equipment to be installed; the locking component is used to lock the adjustment component after each adjustment dimension is completed.

[0021] A third aspect of this application provides an electronic device including a processor, a memory, a user interface, and a network interface, wherein the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method described in the first aspect and any possible implementation thereof. A fourth aspect of this application provides a computer-readable storage medium storing instructions that, when executed, perform the method described in the first aspect and any possible implementation thereof.

[0022] In summary, one or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. By acquiring the three-dimensional coordinate data of the marker points inside the target building in the local coordinate system of the absolute position measuring device, the transformation parameters are obtained through the rigid body transformation algorithm, and the data is transformed to the global spatial coordinate system to establish the building spatial coordinate system. Combined with the data collected by the absolute position measuring device, the error of manual measurement is avoided, and the accuracy of equipment installation and adjustment is greatly improved. 2. By following the preset adjustment sequence of first adjusting the Z-axis direction, and then adjusting the X-axis and Y-axis directions in turn, the adjustment amount of each adjustment point in the corresponding adjustment dimension can be calculated by constructing a rotation matrix equation. This can efficiently adjust the equipment to be installed to the target position, thereby improving installation efficiency. 3. During the adjustment process of the equipment to be installed, the deviation between the theoretical coordinates and the adjusted coordinates of the target point is calculated in real time and compared with the preset deviation threshold. The alarm device is controlled to provide different prompts based on whether the deviation is too large or within the allowable range. This allows the operator to keep track of the adjustment status of the equipment to be installed in real time, ensuring the accuracy of the equipment installation, effectively reducing the probability of failure caused by installation errors, and thus improving the reliability and safety of the equipment installation. Attached Figure Description

[0023] Figure 1 This is a schematic flowchart of a device installation and adjustment method provided in an embodiment of this application; Figure 2 This is a schematic diagram of an optimized process for a device installation and adjustment method provided in an embodiment of this application; Figure 3 This is a schematic diagram illustrating the implementation process of a device installation and adjustment method provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an equipment installation and adjustment system provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0024] Explanation of reference numerals in the attached figures: 500, electronic device; 501, processor; 502, communication bus; 503, user interface; 504, network interface; 505, memory. Detailed Implementation

[0025] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0026] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0027] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0028] In this embodiment, the equipment installation and adjustment method is mainly applicable to the installation of equipment that requires high-precision positioning in buildings, such as magnets, vacuum pipes, and beam measuring elements of particle accelerators.

[0029] Reference Figure 1 This is a schematic flowchart illustrating a device installation and adjustment method disclosed in an embodiment of this application. This device installation and adjustment method is applied to a device installation management terminal. Figure 1 As shown, the equipment installation and adjustment method may include the following steps: S100, establish the spatial coordinate system corresponding to the target building, and calculate the theoretical coordinates of the target point and the adjustment point corresponding to each target point in the spatial coordinate system for at least three preset target points of the equipment to be installed.

[0030] Specifically, before placing the equipment to be installed in the target building, marker points and absolute position measuring devices are first set up in the target building. The absolute position measuring devices collect information from the marker points and feed the information back to the equipment adjustment and management terminal. The equipment adjustment and management terminal analyzes the information of each marker point to determine the spatial coordinate system of the target building, and calculates the theoretical coordinates of at least three preset target points and the adjustment points corresponding to each target point in the spatial coordinate system based on the basic information of the equipment to be installed.

[0031] The basic information of the equipment to be installed includes, but is not limited to, the name, type, and model of the equipment to be installed. The position of the equipment to be installed on the equipment is set in advance. Based on the position of the target point on the equipment to be installed and the basic information of the equipment to be installed, the theoretical coordinates of the target point and the theoretical coordinates of the adjustment point corresponding to the target point in the spatial coordinate system are calculated.

[0032] The theoretical coordinate calculation process for the target point in the spatial coordinate system involves first determining the target installation pose of the equipment to be installed within the target building, including the target position and target orientation. This requires determining the coordinates of the equipment origin in the spatial coordinate system and the rotation matrix of the equipment coordinate system relative to the spatial coordinate system. The target installation position of the equipment can be set by the equipment installation manager through the human-machine interface module of the equipment installation management terminal, or it can be determined by the equipment installation management terminal in conjunction with information about the target building and the basic information of the equipment to be installed, thus allowing the equipment to be installed in a suitable location within the target building.

[0033] The coordinates of each target point on the device to be installed in the device coordinate system can be measured in advance and obtained from the three-dimensional model of the device to be installed. The coordinates of each target point in the device coordinate system are transformed to the spatial coordinate system corresponding to the target building through rigid body transformation, thereby obtaining the theoretical coordinates of each target point in the spatial coordinate system.

[0034] The adjustment points and target points are set in correspondence, and the geometric relationship between each adjustment point and its corresponding target point is known. The theoretical coordinates of the adjustment points also need to be transformed into the spatial coordinate system through rigid body transformation based on the coordinates of the adjustment points in the equipment coordinate system. The coordinates of the adjustment points in the equipment coordinate system of the equipment to be installed can be pre-measured and input into the equipment installation management terminal, or they can be obtained from the 3D model of the equipment to be installed. Thus, through rigid body transformation, the coordinates of each adjustment point in the equipment coordinate system are transformed into the spatial coordinate system corresponding to the target building, obtaining the theoretical coordinates of each adjustment point in the spatial coordinate system.

[0035] For example, the equipment to be installed is horizontally installed in the target building, and the target position is T = (1.0, 2.0, 1.5), i.e., the rotation matrix R = I, where I is the identity matrix, and one of the target points is P. D = (0.1, -0.2, 0.3), then the target point P D The formula for transforming to a spatial coordinate system is P. W =R·P D +T, then P W=(1.0+0.1, 2.0-0.2, 1.5+0.3)=(1.1, 1.8, 1.8), that is, the theoretical coordinates of the target point PD in the spatial coordinate system are (1.1, 1.8, 1.8); similarly, the calculation formulas for transforming each adjustment point from the equipment coordinate system to the spatial coordinate system are similar. Let the adjustment point be Q. D The formula for calculating the rigid body transformation of the adjustment point is Q. W =R·Q D +T, if the adjustment point is Q in the device coordinate system D = (0.0, 0.0, -0.5) (located at the bottom of the device), then Q W =(1.0+0.0,2.0+0.0,1.5-0.5)=(1.0,2.0,1.0), which means that the adjustment point should be located at room coordinates (1.0,2.0,1.0)(1.0,2.0,1.0).

[0036] Understandably, when determining the position of the device to be installed in the spatial coordinate system using target points, in order to improve the accuracy of the position of the device to be installed in the spatial coordinate system, the target points are not collinear when set on the device to be installed, and at least 3 target points are set. Three non-collinear target points can uniquely determine a rigid body transformation.

[0037] Understandably, when establishing a spatial coordinate system for a target building, permanent feature points of the target building can be prioritized as markers, such as concrete column corners, embedded steel plates, or steel structure welding points, to ensure its long-term stability. Markers on the target building can also include reflective spheres installed on the building's interior walls.

[0038] Target points are physical markers fixed to the equipment to be installed, such as reflective balls, and are used to be detected by sensors in the room.

[0039] Absolute position measuring equipment can be laser trackers, total stations, absolute articulation measuring machines, or other devices with high-precision data acquisition capabilities and the ability to transmit data.

[0040] like Figure 2As shown, the method for establishing the spatial coordinate system corresponding to the target building includes the following steps: S101, acquiring the three-dimensional coordinate data of at least three pre-arranged marker points within the target building in the local coordinate system of an absolute position measuring device, wherein the absolute position measuring device is a device capable of identifying marker points and feeding back data to the device installation and management terminal; S102, based on the three-dimensional coordinate data of at least three non-collinear marker points in the local coordinate system, calculating the transformation parameters from the device's local coordinate system to the global spatial coordinate system using a rigid body transformation algorithm, wherein the transformation parameters include a rotation matrix and a translation vector; S103, based on the transformation parameters, transforming the three-dimensional coordinate data of all marker points in the local coordinate system to the global spatial coordinate system, thereby completing the establishment of the building's spatial coordinate system.

[0041] Specifically, at least three non-collinear marker points are pre-positioned inside the target building, and these marker points are identified using an absolute position measuring device. This device measures and records the three-dimensional coordinate data (x, y, x) of each marker point in its own local coordinate system (i.e., the device coordinate system). i y i , z i Meanwhile, the data is fed back to the equipment installation and management terminal in real time to ensure the accuracy and completeness of the coordinate information.

[0042] Based on the 3D coordinate data of at least three marker points in the local coordinate system, a rigid body transformation algorithm is used to calculate the transformation parameters from the device's local coordinate system to the global spatial coordinate system. Specific steps include: solving for the rotation matrix R: calculating the optimal rotation through corresponding point set matching (such as the Kabsch algorithm or ICP) to align the marker points in the local coordinate system with the target points in the global coordinate system. Solving for the translation vector T: after rotation correction, calculating the offset of the origin of the local coordinate system in the global coordinate system to ensure coordinate system consistency. The final output is the transformation parameters (R, T).

[0043] Using the obtained rotation matrix R and translation vector T, the three-dimensional coordinates of all marker points in the local coordinate system are uniformly transformed to the global spatial coordinate system. The transformation formula is Pglobal = R·Plocal + T. By comparing the transformed marker point coordinates with the theoretical coordinates of the architectural design, the accuracy of the coordinate system establishment is verified. If the error is within the allowable range, the architectural spatial coordinate system is considered to have been successfully established, providing a reference framework for subsequent equipment installation.

[0044] S200 receives the actual coordinates of the current target point of the device to be installed in the spatial coordinate system. The actual coordinates of the current target point are collected by the absolute position measuring device installed in the target building.

[0045] Specifically, in the initial stage of equipment installation, the equipment is placed in its basic position, and an absolute position measuring device installed within the target building collects real-time data on the actual spatial coordinates of preset target points on the equipment. These target points are typically arranged on the equipment surface using high-precision reflective spheres, infrared markers, or visual feature identifiers. The absolute position measuring device obtains the precise three-dimensional coordinates (X, Y, Z values) of each target point in the global spatial coordinate system through optical recognition or laser ranging technology, and transmits the collected actual coordinate data of the current target points to the equipment installation management terminal via wired or wireless communication. After receiving this real-time coordinate data, the terminal system compares and analyzes it with the preset theoretical target point coordinates, providing a data foundation for subsequent equipment pose calculations and installation adjustments, ensuring that the installation accuracy meets engineering requirements.

[0046] S300: Based on the theoretical coordinates of the target point and the actual coordinates of the current target point, construct the rotation matrix equations corresponding to each adjustment dimension according to the preset adjustment order to calculate the adjustment amount of each adjustment point in the corresponding adjustment dimension. The adjustment dimension includes the Z-axis direction, the X-axis direction and the Y-axis direction.

[0047] Specifically, during the device pose adjustment process, the device installation management terminal constructs independent rotation matrix equations for each adjustment point in each adjustment dimension according to the theoretical coordinates of the target point and the actual coordinate data of the current target point measured by the absolute position measuring device, thereby calculating the adjustment amount of each adjustment point in each adjustment dimension.

[0048] In this embodiment, the adjustment sequence is to first adjust the Z-axis direction, and then adjust the X-axis direction and Y-axis direction in sequence.

[0049] like Figure 2 As shown, the calculation method for the adjustment amount of each adjustment point under each adjustment dimension may include the following steps: S301, determine the current adjustment dimension according to the preset adjustment order, and determine any adjustment point as the current target adjustment point, take the straight line determined by the other two adjustment points as the rotation axis, and determine the corresponding rotation angle according to the current target adjustment point and the rotation axis; S302, based on the rotation angle, rotation axis, theoretical coordinates of the target point and actual coordinates of the current target point, construct the rotation matrix of the current target adjustment point under the current adjustment dimension using the Rodrigues rotation formula, and calculate the current target adjustment amount of the current target adjustment point under the current adjustment dimension based on the rotation matrix; S303, determine the theoretical coordinates of the new adjustment point corresponding to the current target adjustment point according to the current target adjustment amount, and repeat the above steps using the theoretical coordinates of the new adjustment point until the calculation of the target adjustment amount corresponding to each target adjustment point under all adjustment dimensions is completed.

[0050] Specifically, when calculating the adjustment amount at each adjustment point under each adjustment dimension, one of the adjustment dimensions is determined as the current adjustment dimension according to a preset adjustment order, and any adjustment point is determined as the current target adjustment point. Before constructing the rotation matrix of the current target adjustment point under the current adjustment dimension, the rotation axis and rotation angle of the current target adjustment point during adjustment are first determined. The straight line determined by the two adjustment points other than the current target adjustment point is used as the rotation axis. The direction vector of the rotation axis is calculated using the theoretical coordinates of the adjustment points corresponding to these two adjustment points. Then, the current target adjustment amount is determined based on the distance from the current target adjustment point to the rotation axis and the current target adjustment amount of the current target adjustment point. The rotation angle is determined, and then the Rodriguez rotation formula is used to calculate the current target adjustment amount of the current target adjustment point in the current adjustment dimension based on the rotation axis, rotation angle, actual coordinates of the current target point, and theoretical coordinates of the target point. Then, the theoretical coordinates of the corresponding new adjustment point are calculated based on the current target adjustment amount and the theoretical coordinates of the current target adjustment point. The theoretical coordinates of the new adjustment point are used as the calculation parameters for the rotation axis and rotation angle of the next target adjustment point. Finally, the corresponding rotation matrix is ​​constructed based on the new rotation angle, new rotation axis, theoretical coordinates of the target point, and actual coordinates of the current target point to calculate the target adjustment amount corresponding to each target adjustment point in the current adjustment dimension.

[0051] Specifically, such as Figure 3As shown, the calculation process of the target adjustment amount corresponding to each target adjustment point under all adjustment dimensions includes: S301', determining the current adjustment dimension according to the preset adjustment order, determining any adjustment point as the first target adjustment point, taking the straight line determined by the other two adjustment points as the rotation axis, and determining the corresponding rotation angle according to the first target adjustment point and the rotation axis; S302', based on the rotation angle, rotation axis, theoretical coordinates of the target point and actual coordinates of the current target point, constructing the rotation matrix of the first target adjustment point under the current adjustment dimension using the Rodrigues rotation formula, and calculating the first adjustment amount of the first target adjustment point under the current adjustment dimension based on the rotation matrix; S303', determining any adjustment point other than the first target adjustment point as the second target adjustment point, and calculating the second rotation axis and second rotation angle of the second target adjustment point under the current adjustment dimension based on the theoretical coordinates of the adjustment point of the first target adjustment point and the first adjustment amount; S304', based on the first... Using the second rotation angle, second rotation axis, theoretical coordinates of the target point, and actual coordinates of the current target point, a rotation matrix of the second target adjustment point in the current adjustment dimension is constructed using the Rodrigue rotation formula. Based on the rotation matrix, the second adjustment amount of the second target adjustment point in the current adjustment dimension is calculated. In step S305', adjustment points other than the first and second target adjustment points are determined as the third target adjustment points. Based on the theoretical coordinates and first adjustment amount of the first target adjustment point, and the theoretical coordinates and second adjustment amount of the second target adjustment point, the third rotation axis and third rotation angle of the third target adjustment point in the current adjustment dimension are calculated. In step S306', based on the third rotation angle, third rotation axis, theoretical coordinates of the target point, and actual coordinates of the current target point, a rotation matrix of the third target adjustment point in the current adjustment dimension is constructed using the Rodrigue rotation formula. Based on the rotation matrix, the third adjustment amount of the third target adjustment point in the current adjustment dimension is calculated.

[0052] For example, after constructing the spatial coordinate system of the target building, the theoretical coordinates of the target points A0, B0, and C0 are calculated as A0(xa0, ya0, za0), B0(xb0, yb0, zb0), and C0(xc0, yc0, zc0), and the theoretical coordinates of the adjustment points O0, P0, and Q0 are calculated as O0(xo0, yo0, zo0), P0(xp0, yp0, zp0), and Q0(xq0, yq0, zq0). Taking the adjustment dimension in the Z direction as an example, the adjustment points are O, P, and Q. The adjustment amounts Zo, Zp, and Zq of the adjustment points O, P, and Q in the Z direction are calculated.

[0053] First, O is designated as the primary target adjustment point. When adjusting Zo, the device to be installed rotates relative to the straight line defined by P0 and Q0. The direction vector of this rotation axis is: The rotation angle θ1 can be determined by Zo: Where d O-axisThe perpendicular distance from point O0 to the PQ axis is used to construct the rotation matrix R1 using Rodrigues' rotation formula: in, The rotated vector Let be the vector to be rotated. It is the unit vector of the rotation axis. Using the equation that the actual coordinates of the current target point after rotation are consistent with the theoretical coordinates of the target point, the first adjustment amount of the first target adjustment point under the Z direction adjustment is calculated, and after rotation, A1, B1, and C1 become A2, B2, and C2.

[0054] Secondly, P is determined as the first target adjustment point. When adjusting Zp, the equipment to be installed rotates around the axis determined by the new O point (xo0, yo0, zo0+Zo) and the original Q0 point. Similarly, the rotation angle θ2 and the rotation matrix R2 are calculated. After rotation, A2, B2, and C2 become A3, B3, and C3.

[0055] Finally, when adjusting Zq with Q as the first target adjustment point, the system rotates around the axis determined by the new O point and the new P point. The rotation angle θ3 and the rotation matrix R3 are calculated. After rotation, A3, B3, and C3 become A4, B4, and C4.

[0056] Ultimately, the deviations of points A4, B4, and C4 after three rotations from their actual positions A0, B0, and C0 should be within the allowable range.

[0057] The following mathematical equation can be established: A4 = A0; B4 = B0; C4 = C0.

[0058] The data equation can be expanded as follows: R3(R2(R1(A1)))=A0; R3(R2(R1(B1)))=B0; R3(R2(R1(C1)))=C0.

[0059] Solving this system of equations yields the target adjustment values ​​Zo, Zp, and Zq in the Z-axis direction corresponding to adjustment points O, P, and Q.

[0060] S400 displays the adjustment amount of each adjustment point under each adjustment dimension so that the operator can adjust the equipment to be installed to the target position based on each adjustment amount and complete the installation of the equipment.

[0061] Specifically, such as Figure 3As shown, the adjustment steps for the equipment to be installed include displaying the target adjustment amounts corresponding to each target adjustment point under each adjustment dimension so that the operator can adjust the equipment to be installed to the target position based on each adjustment amount to complete the installation of the equipment. Specifically, it includes: S401, displaying the first adjustment amount, the second adjustment amount, and the third adjustment amount so that the operator can complete the adjustment of each target adjustment point under the current adjustment dimension; S402, receiving a confirmation command that the adjustment of each target adjustment point under the current adjustment dimension is completed and locking the adjustment device under the current adjustment dimension, obtaining the actual coordinates of the current target point of the equipment to be installed, using the actual coordinates of the current target point and the theoretical coordinates of the target point, determining the next adjustment dimension as the current adjustment dimension according to the preset adjustment sequence, calculating the first adjustment amount, the second adjustment amount, and the third adjustment amount corresponding to each target adjustment point under the next adjustment dimension, until all target adjustment points under all adjustment dimensions are adjusted to ensure the safety of the equipment to be installed.

[0062] In this embodiment, following the steps described above, one adjustment dimension is determined as the current adjustment dimension according to a preset adjustment sequence. The first, second, and third adjustment values ​​for each target adjustment point under the current dimension are calculated and displayed. The operator adjusts the corresponding target adjustment point under the current adjustment dimension according to the first, second, and third adjustment values. After adjustment, the adjustment device under the current adjustment dimension is locked to ensure that the current adjustment dimension does not change during subsequent adjustments. Upon receiving confirmation from the operator that the current adjustment dimension has been adjusted and the corresponding adjustment device locked according to the first, second, and third adjustment values, the equipment installation management terminal acquires the data collected by the absolute position measurement device for each target of the equipment to be installed. The actual coordinates of the current target point corresponding to the punctuation mark are used to determine the next adjustment dimension as the current adjustment dimension according to the preset adjustment order. The first adjustment amount, second adjustment amount, and third adjustment amount corresponding to each target adjustment point in the next adjustment dimension are calculated using the actual coordinates of the current target point. After the calculation of the first adjustment amount, second adjustment amount, and third adjustment amount corresponding to each target adjustment point in each adjustment dimension is completed, they are displayed so that the operator can complete the adjustment of each target adjustment point in the corresponding adjustment dimension. After the adjustment of each adjustment dimension is completed, the adjustment device in the corresponding adjustment dimension is locked. At the same time, after the adjustment of each adjustment dimension is completed, the actual coordinates of the current target point corresponding to each target point are re-acquired to improve the accuracy of the target adjustment amount corresponding to each adjustment point, until the adjustment of each target adjustment point in all dimensions is completed, so as to complete the installation of the equipment to be installed.

[0063] In this embodiment, the preset adjustment sequence is ZXY. First, the Z direction is adjusted so that the deviation between the actual and theoretical Z coordinates of the target point is within the allowable error range. After the Z direction adjustment is in place, the Z-direction adjustment device is locked, and the current target coordinates A1′, B1′, and C1′ are measured. A1′, B1′, and C1′ are input into the adjustment amount calculation algorithm to calculate the X-direction adjustment amounts Xo, Xp, and Xq, adjusting the X-direction position so that the deviation between the actual and theoretical X coordinates of the target point is within the allowable error range. After the X direction adjustment is in place, the X-direction adjustment device is locked, and the current target coordinates A1″, B1″, and C1″ are measured. A1″, B1″, and C1″ are input into the adjustment amount calculation algorithm to calculate the Y-direction adjustment amounts Yo, Yp, and Yq. After adjustment, the adjustment devices in all three directions are locked to achieve accurate device positioning.

[0064] It's easy to see that the Z-direction is the vertical direction, while the X and Y directions are the horizontal directions. In this embodiment, the X-direction is adjusted first, followed by the Y-direction. The Z-direction adjustment is directly affected by gravity, so ensuring the device is horizontal in the vertical direction first provides a stable reference for subsequent adjustments. Horizontal adjustments depend on the stability of the vertical direction; if the Z-direction is not calibrated, the X / Y adjustments may fail due to device tilt.

[0065] In one feasible approach, while displaying the adjustment values ​​of each adjustment dimension to allow operators to adjust the equipment to the target position based on these values, closed-loop control is also formed by determining the deviation value. This improves the accuracy of the equipment installation within the target building. Specifically, this includes the following steps: obtaining the target point adjustment coordinates of the equipment to be installed; calculating the deviation value between the theoretical coordinates and the adjusted coordinates of the target point; comparing the deviation value with a preset deviation threshold; generating a first alarm signal and controlling the alarm device to issue an alarm notification when the deviation value is greater than the preset deviation threshold; and generating a second alarm signal and controlling the alarm device to issue an alarm notification when the deviation value is less than or equal to the preset deviation threshold.

[0066] Specifically, to ensure the installation accuracy of the equipment to be installed within the target building, operators adjust the equipment according to the adjustment amounts corresponding to each adjustment point under each adjustment dimension. During this process, the absolute position measuring device installed within the target building acquires the target point adjustment coordinates in real time and transmits these coordinates to the equipment installation management terminal. The terminal calculates the deviation value based on the target point adjustment coordinates and the theoretical target point coordinates. It then compares the deviation value with a preset deviation threshold to determine whether the equipment to be installed is within the allowable deviation range after adjustment. When the deviation value is less than or equal to the preset deviation threshold, it indicates that each adjustment... After the nodes have undergone adjustments in various dimensions, the equipment to be installed is within the allowable deviation range. At this point, a second alarm signal is generated, and the alarm device is controlled to issue an alarm notification based on the second alarm signal. When the deviation value is greater than the preset deviation threshold, it indicates that after the adjustment points have undergone adjustments in various dimensions, the equipment to be installed is still not installed within the allowable deviation range. When the equipment to be installed is still not in the target installation position after the adjustment is completed, the equipment installation management terminal generates a first alarm signal and controls the alarm device to issue an alarm notification based on the first alarm signal to remind the equipment installation management personnel to adjust the installation of the equipment to be installed in a timely manner.

[0067] The deviation between the theoretical coordinates and the adjusted coordinates of the target point can be determined based on the calculated distance between them. The preset deviation value can be a range of distance deviations; alternatively, it can be the deviation of each directional component, calculated according to the adjustment dimension. For example, the theoretical coordinates of target point A are P. 理论 =(X t Y t Z t The target point adjustment coordinates are P. 调节 =(X a Y a Z a (using the Euclidean distance formula) Where ΔD is the spatial straight-line distance between the adjusted coordinates of the target point and the theoretical coordinates of the target point; the deviation of each directional component can be calculated by the following formula: ΔZ = Z a -Z t ΔX=X a -X t ΔY=Y a -Y tWhere ΔZ is the deviation value in the Z direction, ΔX is the deviation value in the X direction, and ΔY is the deviation value in the Y direction, and corresponding deviation thresholds are set for the Z direction, X direction, and Y direction. By comparing the deviation value in each direction with the corresponding deviation threshold, it is determined whether the adjustment in each direction is within the allowable deviation range, thereby installing the equipment to be installed in the target location within the target building.

[0068] The equipment installation management terminal needs to display the adjustment amounts of each adjustment point under each adjustment dimension; therefore, the equipment installation management terminal is equipped with a human-machine interface. Alarm devices include, but are not limited to, visual alarms and sound alarms. Sound alarms can be devices such as speakers built into the equipment installation management terminal, while visual alarms can either provide prompts about the installation results through the human-machine interface or be equipped with indicator lights on the equipment installation management terminal.

[0069] For example, taking an indicator light installed on the equipment installation management terminal as an alarm device, and a laser tracker as the absolute position measuring device, with a Z-direction deviation threshold of ±0.2mm and X and Y-direction deviation thresholds of ±0.1mm as an example, when the operator adjusts the equipment to be installed according to the adjustment amount of each adjustment point in each adjustment dimension displayed on the human-machine interface of the equipment installation management terminal, during the adjustment of the Z-direction, the laser tracker collects the target point adjustment coordinates of each target point on the equipment to be installed in real time and transmits them to the equipment installation management terminal. The equipment installation management terminal calculates the deviation value during the adjustment process based on the target point adjustment coordinates and the theoretical target point coordinates. When the deviation value is greater than 0.2mm, the equipment installation management terminal generates a first alarm signal to control the indicator light to turn red, to prompt the operator that further adjustment is needed; when the deviation value is less than or equal to 0.2mm, the equipment installation management terminal generates a second alarm signal to control the indicator light to turn green, to prompt the operator that the equipment to be installed is currently within the allowable deviation range, that is, the equipment to be installed is in the target position in the Z-direction.

[0070] It is understandable that the adjustment device of the equipment to be installed can also be an electric adjustment device that is automatically adjusted by the equipment installation management terminal. After calculating the adjustment amount corresponding to each target adjustment point under each adjustment dimension, the equipment installation management terminal controls the electric adjustment device to adjust each adjustment point under that adjustment dimension according to the adjustment dimension and adjustment point corresponding to the adjustment amount. After the adjustment is completed, the adjustment device of each adjustment point under that adjustment dimension is locked to prevent it from affecting subsequent adjustments.

[0071] In this embodiment, the deviation value between the adjusted coordinates of the target point and the theoretical coordinates of the target point during the adjustment process is calculated and a deviation threshold is preset. An alarm device is then used to alert the operator, enabling timely detection of potential errors during equipment installation and preventing equipment malfunctions and safety hazards caused by installation errors. By monitoring and comparing deviation values ​​in real time, an immediate alert is issued once the deviation exceeds the allowable range, allowing the operator to take timely corrective measures. This further improves the quality and safety of equipment installation and enhances the reliability and stability of the entire installation system.

[0072] In this embodiment, when the installation of the device to be installed in a target building is required, marker points and absolute position measuring devices are pre-arranged on the target building. At least three non-collinear target points and corresponding adjustment points are set on the device to be installed. The position information of the marker points in the target building is measured by the absolute position measuring devices and transmitted to the device installation management terminal to establish the spatial coordinate system corresponding to the target building. The theoretical coordinates of each target point and the theoretical coordinates of each adjustment point in the spatial coordinate system are calculated based on the information of the device to be installed. During the installation, the device to be installed is first placed in the target building. Then, the actual position of each target point is measured by the absolute position measuring devices and transmitted back to the device installation management terminal to obtain the current actual coordinates of each target point. Then, the target adjustment amount corresponding to each adjustment point in each adjustment dimension is calculated based on the theoretical coordinates of the target points and the current actual coordinates of the target points. The adjustment amount of each adjustment point in each adjustment dimension is displayed so that the operator can complete the adjustment of the device to be installed, thereby completing the installation of the device. When calculating the target adjustment amount corresponding to each adjustment point in each adjustment dimension, firstly, any one of the adjustment points is taken as the current target adjustment point, and the straight line determined by the other two adjustment points is taken as the rotation axis. The corresponding rotation angle is determined according to the current target adjustment point and the rotation axis. Using the Rodrigues rotation formula, a rotation matrix of the current target adjustment point is constructed based on the rotation cycle, rotation angle, theoretical coordinates of the target point, and actual coordinates of the current target point to calculate the current target adjustment amount. Then, the theoretical coordinates of the current target adjustment point are updated according to the current target adjustment amount to form the new theoretical coordinates of the adjustment point. Finally, the target adjustment amount of the next adjustment point in the current adjustment dimension is calculated using the new theoretical coordinates of the adjustment point. In this way, the target adjustment amount corresponding to each adjustment point in the current adjustment dimension is calculated. The system adjusts the current adjustment dimension based on the target adjustment amount of each adjustment point. After the current adjustment dimension is adjusted, the adjustment device for the current adjustment dimension is locked. The actual coordinates of the current target points after the adjustment are measured by an absolute position measuring device. The actual coordinates of the current target points are used to realize the target adjustment amount of each adjustment point in the next adjustment dimension. After each adjustment dimension is adjusted, the actual coordinates of the current target points are reacquired. The reacquired actual coordinates of the target points after adjustment are used as the calculation parameters for the adjustment amount of the next headphone dimension to ensure the accuracy of the target adjustment amount corresponding to each adjustment dimension. This improves the installation accuracy of the equipment to be installed in the target building, achieves precise positioning with one adjustment, and improves the installation efficiency of the equipment.

[0073] It should be noted that the methods and system embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the system embodiments, which will not be repeated here.

[0074] Reference Figure 4This is a schematic diagram of the structure of a device installation and adjustment system disclosed in an embodiment of this application. Figure 4 As shown, the system includes an equipment installation management terminal, an absolute position measuring device, and an adjustment device. The equipment installation management terminal is communicatively connected to both the absolute position measuring device and the adjustment device, and is used to execute the aforementioned equipment installation and adjustment method. The absolute position measuring device is used to collect the position data of each marker point within the target building and feed it back to the equipment installation management terminal. It is also used to collect the position data of each target point on the equipment to be installed and feed it back to the equipment installation management terminal. The adjustment device is installed at each adjustment point of the equipment to be installed. It is used to receive control from the equipment installation management terminal to adjust the equipment to be installed to the target position, and is also used to lock the device after completing the adjustment in each dimension.

[0075] The equipment installation management terminal can be a computer or server with powerful data processing and computing capabilities, capable of storing and processing large amounts of coordinate data and adjustment parameters. Absolute position measuring equipment can be the aforementioned laser tracker, total station, etc., capable of accurately collecting coordinate data of marker points and target points. Adjustment devices can be bolts or screws, which engage with adjustment holes opened at the adjustment points of the equipment to be installed to achieve adjustment and locking of each adjustment point; electric adjustment devices can be electric jacks, hydraulic push rods, linear motor modules, etc., capable of precisely adjusting the position of the equipment according to the adjustment values ​​sent by the equipment installation management terminal.

[0076] In this embodiment, the system achieves automation and precision in equipment installation through the coordinated operation of an equipment installation management terminal, an absolute position measuring device, and an adjustment device. The equipment installation management terminal is responsible for data processing and control, the absolute position measuring device is responsible for data acquisition, and the adjustment device is responsible for equipment adjustment. The three work together to form a complete equipment installation and adjustment system, which improves the accuracy and efficiency of equipment installation and reduces labor costs and installation risks.

[0077] This application also discloses an electronic device 500. (See reference...) Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device 500 disclosed in an embodiment of this application. The electronic device 500 may include: at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, and at least one communication bus 502.

[0078] The communication bus 502 is used to enable communication between these components.

[0079] The user interface 503 may include a display screen. Optionally, the user interface 503 may also include a standard wired interface or a wireless interface.

[0080] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0081] The processor 501 may include one or more processing cores. The processor 501 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 505, and by calling data stored in memory 505. Optionally, the processor 501 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 501 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 501 and may be implemented as a separate chip.

[0082] The memory 505 may include random access memory (RAM) or read-only memory. Optionally, the memory 505 may include a non-transitory computer-readable storage medium. The memory 505 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 505 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 505 may also be at least one storage device located remotely from the aforementioned processor 501. (Refer to...) Figure 5 The memory 505, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a device installation and adjustment method.

[0083] exist Figure 5 In the illustrated electronic device 500, the user interface 503 is mainly used to provide an input interface for the user and to acquire user input data; while the processor 501 can be used to call an application program stored in the memory 505 for a device installation and adjustment method. When executed by one or more processors 501, the electronic device 500 performs one or more of the methods described in the above embodiments. It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0084] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0085] In the various embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0086] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0087] Furthermore, the functional units in the various embodiments of this 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 integrated unit can be implemented in hardware or as a software functional unit.

[0088] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory 505 and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory 505 includes various media capable of storing program code, such as a USB flash drive, external hard drive, magnetic disk, or optical disk.

[0089] The above description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Other embodiments of this disclosure will be readily apparent to those skilled in the art upon consideration of the specification and the disclosure of practical truths.

[0090] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A method for installing and adjusting equipment, characterized in that, The method, applied to an equipment installation and management terminal, includes: Establish a spatial coordinate system corresponding to the target building, and calculate the theoretical coordinates of the target points and the adjustment points corresponding to each target point in the spatial coordinate system for at least three preset target points of the equipment to be installed. Receive the actual coordinates of the current target point of the device to be installed in the spatial coordinate system. The actual coordinates of the current target point are collected by an absolute position measuring device installed in the target building. Based on the theoretical coordinates of the target point and the actual coordinates of the current target point, the rotation matrix equations corresponding to each adjustment dimension are constructed according to the preset adjustment order to calculate the adjustment amount of each adjustment point in the corresponding adjustment dimension. The adjustment dimension includes the Z-axis direction, the X-axis direction and the Y-axis direction. The adjustment values ​​of each adjustment point under each adjustment dimension are displayed so that operators can adjust the equipment to be installed to the target position based on each adjustment value and complete the installation of the equipment.

2. The equipment installation and adjustment method according to claim 1, characterized in that, The adjustment sequence is to first adjust the Z-axis direction, and then adjust the X-axis direction and Y-axis direction in sequence.

3. The equipment installation and adjustment method according to claim 2, characterized in that, The step of constructing rotation matrix equations for each adjustment dimension based on the theoretical coordinates of the target point and the actual coordinates of the current target point, and calculating the adjustment amount of each adjustment point in the corresponding adjustment dimension according to a preset adjustment order, includes: The current adjustment dimension is determined according to the preset adjustment order, and any adjustment point is determined as the current target adjustment point. The straight line determined by the other two adjustment points is used as the rotation axis, and the corresponding rotation angle is determined according to the current target adjustment point and the rotation axis. Based on the rotation angle, rotation axis, theoretical coordinates of the target point, and actual coordinates of the current target point, the rotation matrix of the current target adjustment point in the current adjustment dimension is constructed using the Rodrigues rotation formula. Based on the rotation matrix, the current target adjustment amount of the current target adjustment point in the current adjustment dimension is calculated. Determine the theoretical coordinates of the new adjustment point corresponding to the current target adjustment point based on the current target adjustment amount, and repeat the above steps using the new theoretical coordinates of the adjustment point until the calculation of the target adjustment amount corresponding to each target adjustment point under all adjustment dimensions is completed. The step of displaying the adjustment amount of each adjustment point under each adjustment dimension so that the operator can adjust the equipment to be installed to the target position based on each adjustment amount to complete the installation of the equipment includes: The target adjustment amount corresponding to each target adjustment point under each adjustment dimension is displayed so that the operator can adjust the equipment to be installed to the target position based on each adjustment amount and complete the installation of the equipment.

4. The equipment installation and adjustment method according to claim 3, characterized in that, The calculation of the target adjustment amount corresponding to each target adjustment point under all adjustment dimensions includes: The current adjustment dimension is determined according to the preset adjustment order. Any adjustment point is determined as the first target adjustment point. The straight line determined by the other two adjustment points is used as the rotation axis. The corresponding rotation angle is determined according to the first target adjustment point and the rotation axis. Based on the rotation angle, rotation axis, theoretical coordinates of the target point, and actual coordinates of the current target point, the rotation matrix of the first target adjustment point in the current adjustment dimension is constructed using the Rodrigues rotation formula, and the first adjustment amount of the first target adjustment point in the current adjustment dimension is calculated based on the rotation matrix. Any adjustment point other than the first target adjustment point is determined as the second target adjustment point. Based on the theoretical coordinates of the adjustment point of the first target adjustment point and the first adjustment amount, the second rotation axis and the second rotation angle of the second target adjustment point in the current adjustment dimension are calculated. Based on the second rotation angle, the second rotation axis, the theoretical coordinates of the target point and the actual coordinates of the current target point, the rotation matrix of the second target adjustment point in the current adjustment dimension is constructed using the Rodrigues rotation formula, and the second adjustment amount of the second target adjustment point in the current adjustment dimension is calculated based on the rotation matrix. The adjustment point other than the first target adjustment point and the second target adjustment point is determined as the third target adjustment point. Based on the theoretical coordinates of the adjustment point of the first target adjustment point and the first adjustment amount, as well as the theoretical coordinates of the adjustment point of the second target adjustment point and the second adjustment amount, the third rotation axis and the third rotation angle of the third target adjustment point in the current adjustment dimension are calculated. Based on the third rotation angle, the third rotation axis, the theoretical coordinates of the target point, and the actual coordinates of the current target point, the rotation matrix of the third target adjustment point in the current adjustment dimension is constructed using the Rodrigues rotation formula, and the third adjustment amount of the third target adjustment point in the current adjustment dimension is calculated based on the rotation matrix. The process of adjusting the device to be installed to the target position based on the adjustment amount of each adjustment dimension to complete the installation of the device includes: The first adjustment amount, the second adjustment amount, and the third adjustment amount are displayed so that operators can adjust each target adjustment point in the current adjustment dimension. The system receives a confirmation command indicating that the adjustment of each target adjustment point in the current adjustment dimension is complete and locks the adjustment device in the current adjustment dimension. It then obtains the actual coordinates of the current target point of the device to be installed. Using the actual coordinates and theoretical coordinates of the current target point, the system determines the next adjustment dimension as the current adjustment dimension according to a preset adjustment sequence. The system repeats the above steps to calculate the first, second, and third adjustment amounts corresponding to each target adjustment point in the next adjustment dimension, until all target adjustment points in all adjustment dimensions have been adjusted, thus completing the installation of the device to be installed.

5. The equipment installation and adjustment method according to claim 1, characterized in that, The step of displaying the adjustment amount of each adjustment point under each adjustment dimension so that the operator can adjust the equipment to be installed to the target position based on each adjustment amount also includes: Obtain the target point adjustment coordinates of the device to be installed, and calculate the deviation between the theoretical coordinates of the target point and the adjusted coordinates of the target point; The deviation value is compared with a preset deviation threshold. When the deviation value is greater than the preset deviation threshold, a first alarm signal is generated and the alarm device is controlled to provide an alarm prompt based on the first alarm signal. When the deviation value is less than or equal to the preset deviation threshold, a second alarm signal is generated and the alarm device is controlled to provide an alarm prompt based on the second alarm signal.

6. The equipment installation and adjustment method according to claim 1, characterized in that, An adjustment device is installed at each of the aforementioned adjustment points.

7. The equipment installation and adjustment method according to claim 1, characterized in that, The establishment of the spatial coordinate system corresponding to the target building includes: Acquire the three-dimensional coordinate data of at least three pre-arranged marker points within the target building in the local coordinate system of an absolute position measuring device, wherein the absolute position measuring device is a device capable of identifying the marker points and feeding back data to the device installation and management terminal; Based on the three-dimensional coordinate data of at least three non-collinear marker points in the local coordinate system, the transformation parameters from the local coordinate system to the global spatial coordinate system of the device are calculated by a rigid body transformation algorithm. The transformation parameters include a rotation matrix and a translation vector. Based on the transformation parameters, the three-dimensional coordinate data of all marker points in the local coordinate system are transformed to the global spatial coordinate system, thus completing the establishment of the building spatial coordinate system.

8. A device installation and adjustment system according to any one of claims 1-7, characterized in that, The system includes: an equipment installation and management terminal, an absolute position measuring device, and an adjustment device; The equipment installation and management terminal is communicatively connected to the absolute position measuring device and the adjustment device, respectively, and is used to execute the method as described in any one of claims 1-7; The absolute position measuring device is used to collect the position data of each marker point within the target building and send the position data of each marker point back to the equipment installation management terminal; it is also used to collect the position data of each target point on the device to be installed and send the position data of each target point back to the equipment installation management terminal. The adjustment device is installed at each adjustment point of the equipment to be installed, and includes an adjustment component and a locking component. The adjustment component is used to adjust the equipment to be installed; the locking component is used to lock the adjustment component after each adjustment dimension is completed.

9. An electronic device, characterized in that, The device includes a processor (501), a memory (505), a user interface (503), and a network interface (504). The memory (505) is used to store instructions. The user interface (503) and the network interface (504) are used to communicate with other devices. The processor (501) is used to execute the instructions stored in the memory (505) to cause the electronic device (500) to perform any of the methods described in claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed, perform any one of the methods described in claims 1-7.

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