A curtain wall unit intelligent positioning installation method and system

Abstract

The application discloses a curtain wall unit intelligent positioning installation method and system, relates to the technical field of building curtain wall installation, and comprises the following steps: collecting spatial position information and multi-point strain data of a curtain wall unit, performing time-frequency domain spectrum analysis to extract stress fluctuation characteristics, and identifying a stress transmission channel; mapping the stress transmission channel to the spatial position information to obtain a stress singular point distribution diagram, and predicting an installation stress mutation position and a mutation degree; calculating a stress elimination sequence according to the mutation position and the mutation degree, generating an installation track avoiding the stress singular point, dividing the track into a plurality of stress transition intervals, and generating corresponding compensation parameters; controlling the movement of a mechanical arm according to the compensation parameters, collecting real-time strain data, and reconstructing to obtain real-time stress distribution; calculating stress singular point elimination progress, updating the compensation parameters, and controlling the mechanical arm to install the curtain wall unit to a set position. The application effectively solves the problem of uneven stress in the curtain wall installation process, and improves installation precision and reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building curtain wall installation, in particular to a curtain wall unit intelligent positioning and installation method and system. BACKGROUND

[0002] With the improvement of the level of building industrialization, the installation quality of the curtain wall unit has an important influence on the overall performance of the building facade. The traditional curtain wall unit installation process mainly relies on manual experience, and uneven stress distribution problems are prone to occur during installation, resulting in quality problems such as deformation and cracking of the curtain wall unit after installation.

[0003] The installation of the curtain wall unit usually adopts a mechanical arm assisted positioning method to complete the spatial positioning of the curtain wall unit through a preset installation trajectory. Due to the lack of real-time monitoring and analysis of the stress distribution state during installation, it is difficult to ensure uniform stress transmission during installation, and stress singular points are easily formed at some local positions. These stress singular points will cause uneven deformation of the curtain wall unit during installation and use, affecting the overall performance of the curtain wall.

[0004] Although strain sensors are used to monitor the installation process in the prior art, only single-point strain data collection is performed, and the stress transmission channel and the distribution characteristics of the stress singular points cannot be effectively identified and predicted. The existing installation trajectory planning method lacks dynamic optimization capability for stress distribution, and it is difficult to actively eliminate stress singular points. SUMMARY

[0005] The purpose of the present application is to provide a curtain wall unit intelligent positioning and installation method and system, which can identify the stress transmission channel and predict the distribution characteristics of the stress singular points by real-time monitoring and analysis of the stress distribution state during installation, so as to generate an optimized installation trajectory and actively eliminate stress singular points, thereby improving the installation quality of the curtain wall unit.

[0006] A curtain wall unit intelligent positioning and installation method provided in an embodiment of the present application includes the following steps:

[0007] The spatial position information and multi-point strain data of the curtain wall unit are collected, the multi-point strain data is subjected to time-frequency domain spectrum analysis to extract stress fluctuation characteristics, and the stress transmission channel is identified based on the stress fluctuation characteristics;

[0008] The stress transmission channel is mapped to the spatial position information to obtain a stress singular point distribution map, and the installation stress mutation position and mutation degree are predicted according to the stress singular point distribution map;

[0009] A stress elimination sequence is calculated according to the stress mutation position and mutation degree, an installation trajectory that avoids the stress singular points is generated based on the stress elimination sequence, the installation trajectory is divided into multiple stress transition intervals and corresponding compensation parameters are generated.

[0010] According to the compensation parameter control mechanical arm in the stress transition interval, collect real-time strain data and reconstruction of real-time stress distribution, based on the real-time stress distribution calculation stress singular point elimination progress, according to the elimination progress update compensation parameter, control mechanical arm movement will the curtain wall unit installed to the set position.

[0011] Further, the spatial position information and multi-point strain data of the curtain wall unit are collected, the stress fluctuation characteristics are extracted by time-frequency domain spectrum analysis on the multi-point strain data, and the stress transmission channel is identified based on the stress fluctuation characteristics, including:

[0012] The multi-point strain data of the curtain wall unit is collected by using a strain sensor array, the spatial position information of the curtain wall unit is obtained by using a laser tracker, and a dynamic strain measurement point distribution structure is constructed according to the collection time sequence of the multi-point strain data and the spatial position information;

[0013] The time-frequency spectrum characteristics are obtained by time domain decomposition and frequency domain transformation on the multi-point strain data, the spatial weighting processing is performed on the time-frequency spectrum characteristics based on the dynamic strain measurement point distribution structure, and the stress fluctuation law is identified according to the weighted time-frequency spectrum characteristics;

[0014] The stress transmission relationship between adjacent measurement points is calculated according to the stress fluctuation law, the stress transmission path is formed by connecting adjacent measurement points in the dynamic strain measurement point distribution structure according to the stress transmission relationship, and the stress fluctuation characteristics are generated based on the space-time distribution characteristics of the stress transmission path;

[0015] The stress fluctuation characteristics are layered and mapped in the dynamic strain measurement point distribution structure according to the stress transmission strength, and the stress transmission channel is formed according to the layered mapping result.

[0016] Further, the stress transmission channel is mapped to the spatial position information to obtain a stress singular point distribution map, and the installation stress mutation position and mutation degree are predicted according to the stress singular point distribution map, including:

[0017] The stress transmission channel is mapped to the spatial position information to obtain a transmission path point set, the continuous transmission path is obtained by performing piecewise linear interpolation on the transmission path point set, and the stress change rate and stress accumulation between adjacent points of the continuous transmission path are calculated;

[0018] The stress mutation point is identified according to the stress change rate, the spatial distribution density of the stress mutation point is counted, the stress aggregation area is obtained by grouping the stress mutation point, and the stress intensity of the stress aggregation area is calculated according to the stress accumulation;

[0019] The stress aggregation area and the stress intensity are mapped to the spatial position information, the stress intensity difference and the stress intensity change rate in the stress aggregation area are calculated, and the stress singular point distribution map is generated.

[0020] A stress mutation position is determined according to a position in the stress singularity distribution map where a stress intensity difference is higher than a preset intensity threshold, and a mutation degree at the stress mutation position is determined based on a stress intensity change rate.

[0021] Further, a stress elimination sequence is calculated according to the stress mutation position and the mutation degree, an installation trajectory that avoids the stress singularity is generated based on the stress elimination sequence, the installation trajectory is divided into a plurality of stress transition intervals, and corresponding compensation parameters are generated, including:

[0022] The spatial distance of the stress mutation position and the difference value of the mutation degree are calculated, the stress superposition effect of adjacent mutation positions is analyzed, and the influence range overlap degree is determined based on the stress superposition effect.

[0023] An elimination priority is calculated according to a combination of the influence range overlap degree and the mutation degree, and a stress elimination sequence is generated from high to low according to the elimination priority.

[0024] An avoidance path is constructed in the order of the stress elimination sequence, a safety distance of each point on the avoidance path from the stress mutation position is calculated, and a feasible trajectory is marked, and a path with the smallest stress consumption in the feasible trajectory is selected as the installation trajectory that avoids the stress singularity.

[0025] Stress change characteristics on the installation trajectory are extracted, inflection points and mutation points of the stress change characteristics are identified as demarcation points, and the installation trajectory is divided into a plurality of stress transition intervals.

[0026] The stress distribution in each stress transition interval is analyzed, displacement compensation and angle compensation are calculated according to stress changes, and compensation parameters corresponding to each stress transition interval are generated.

[0027] Further, an avoidance path is constructed in the order of the stress elimination sequence, a safety distance of each point on the avoidance path from the stress mutation position is calculated, and a feasible trajectory is marked, and a path with the smallest stress consumption in the feasible trajectory is selected as the installation trajectory that avoids the stress singularity, including:

[0028] The connection direction of adjacent mutation positions is calculated along the stress elimination sequence, a dissipation plane perpendicular to the connection direction is constructed, and an avoidance path is generated on the dissipation plane.

[0029] Node positions of the avoidance path are extracted, stress superposition intensity and stress diffusion direction at the node positions are calculated, and a safety distance from the stress mutation position is determined according to the stress superposition intensity and the stress diffusion direction.

[0030] mark the avoidance path greater than the safety distance as a feasible trajectory, analyze stress attenuation characteristics and stress transfer characteristics on the feasible trajectory, and calculate stress consumption according to the stress attenuation characteristics and the stress transfer characteristics;

[0031] Based on the uniformity of the distribution of the stress consumption, in combination with the spatial distribution of the stress superposition strength, a feasible trajectory with the minimum stress consumption is selected as an installation trajectory for avoiding the stress singular point.

[0032] Further, according to the compensation parameters, the mechanical arm is controlled to move in the stress transition interval, real-time strain data are collected and real-time stress distribution is reconstructed, the elimination progress of the stress singular point is calculated based on the real-time stress distribution, the compensation parameters are updated according to the elimination progress, and the mechanical arm is controlled to move to install the curtain wall unit to the set position, including:

[0033] According to the compensation parameters, the mechanical arm is controlled to move in the stress transition interval, strain data of multiple measuring points are collected in the movement process by using the strain sensor array, the strain data are arranged in time sequence and are subjected to spatial domain interpolation reconstruction to obtain real-time stress distribution;

[0034] The direction gradient and the strength gradient are calculated according to the real-time stress distribution, the stress transfer path is obtained by gradient superposition, the stress distribution is extracted along the stress transfer path, and the position of the stress singular point is identified;

[0035] The stress transfer characteristics at the stress singular point are analyzed, the stress variation amount between adjacent measuring points is calculated in combination with the stress transfer path, and the elimination progress of the stress singular point is determined based on the stress transfer characteristics and the stress variation amount;

[0036] The compensation parameters are updated according to the elimination progress, the mechanical arm is controlled to move according to the updated compensation parameters, strain collection and stress analysis are continuously performed until the stress distribution is balanced, and the curtain wall unit is installed to the set position.

[0037] Further, the stress transfer characteristics at the stress singular point are analyzed, the stress variation amount between adjacent measuring points is calculated in combination with the stress transfer path, and the elimination progress of the stress singular point is determined based on the stress transfer characteristics and the stress variation amount, including:

[0038] A local coordinate system is established with the stress singular point as the origin, the coordinate axes are determined according to the direction of the stress transfer path, and the stress distribution data are decomposed into stress transfer characteristics along the stress transfer path;

[0039] Based on the stress transfer characteristics, the stress variation amount between adjacent measuring points on the stress transfer path is calculated, the variation trend of the stress variation amount along the transfer path is taken as the stress attenuation characteristics, and the stress uniformization level on the transfer path is determined according to the continuity of the attenuation characteristics;

[0040] The stress transmission characteristics are utilized to extract the transverse stress distribution of each measuring point on the stress transmission path, to calculate the deviation degree of the transverse stress distribution of adjacent measuring points, and to take the spatial variation of the deviation degree as the stress diffusion characteristics, so as to determine the transverse stress homogenization level according to the consistency of the diffusion characteristics.

[0041] Based on the coupling relationship between the stress homogenization level on the transmission path and the transverse stress homogenization level, the elimination progress of the stress singular point is determined.

[0042] In the embodiment of the application, a curtain wall unit intelligent positioning and installation system is provided, and the system comprises:

[0043] A data acquisition module is configured to acquire spatial position information and multi-point strain data of the curtain wall unit, to perform time-frequency domain spectrum analysis on the multi-point strain data to extract stress fluctuation characteristics, and to identify a stress transmission channel based on the stress fluctuation characteristics.

[0044] A stress analysis module is configured to map the stress transmission channel to the spatial position information to obtain a stress singular point distribution map, and to predict an installation stress mutation position and mutation degree according to the stress singular point distribution map.

[0045] A trajectory planning module is configured to calculate a stress elimination sequence according to the stress mutation position and mutation degree, to generate an installation trajectory for avoiding the stress singular point based on the stress elimination sequence, to divide the installation trajectory into a plurality of stress transition intervals and to generate corresponding compensation parameters.

[0046] An execution control module is configured to control the movement of a mechanical arm in the stress transition intervals according to the compensation parameters, to acquire real-time strain data and to reconstruct real-time stress distribution, to calculate the elimination progress of the stress singular point based on the real-time stress distribution, to update the compensation parameters according to the elimination progress, and to control the movement of the mechanical arm to install the curtain wall unit to a set position.

[0047] In the embodiment of the application, a technical solution is also provided, which is an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps in any of the preceding methods when executing the computer program.

[0048] In the embodiment of the application, a technical solution is also provided, which is a computer readable storage medium having computer program instructions stored thereon, wherein the computer program instructions are executable on a processor to implement the steps in any of the preceding methods.

[0049] The present application realizes accurate positioning and prediction of stress singular points by monitoring the stress distribution state in the curtain wall unit installation process in real time, performing time-frequency domain spectrum analysis on multi-point strain data, and accurately identifying stress transmission channels. Mapping the stress transmission channel to the spatial location information, establishing the stress singular point distribution map can intuitively reflect the stress mutation position and mutation degree in the installation process. Based on the installation trajectory generated by the stress elimination sequence, the installation process is divided into multiple stress transition intervals, so that the stress distribution of the curtain wall unit in the installation process is more uniform. The stress distribution information obtained by real-time strain data reconstruction dynamically adjusts the compensation parameters to ensure that the robot arm can actively avoid and eliminate stress singular points during movement, effectively prevent local deformation of the curtain wall unit, and realize intelligent optimization of stress distribution in the curtain wall unit installation process. The present application improves the installation precision and quality, reduces the risk of quality problems such as deformation and cracking after installation, and prolongs the service life of the curtain wall. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0051] Figure 1 A flow chart of a curtain wall unit intelligent positioning and installation method provided by the present application embodiment is shown in the figure.

[0052] Figure 2 A curtain wall unit installation stress balancing control flow chart provided by the present application embodiment is shown in the figure.

[0053] Figure 3 A structure schematic diagram of a curtain wall unit intelligent positioning and installation system provided by the present application embodiment is shown in the figure. DETAILED DESCRIPTION

[0054] The exemplary embodiments will be described in detail here, and their examples are shown in the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated.

[0055] The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with one or more embodiments of the present specification. It should be noted that the steps of the corresponding method are not necessarily performed in the order shown and described in the present specification in other embodiments. In some other embodiments, the steps included in the method can be more or less than described in the present specification. In addition, a single step described in the present specification can be divided into a plurality of steps for description in other embodiments, and a plurality of steps described in the present specification can be combined into a single step for description in other embodiments.

[0056] As shown in Figure 1 , Figure 1 A flowchart of a curtain wall unit intelligent positioning and installation method is provided for an embodiment of the present application, and the method comprises the following steps:

[0057] Collecting spatial position information and multi-point strain data of the curtain wall unit, performing time-frequency domain spectrum analysis on the multi-point strain data to extract stress fluctuation characteristics, and identifying a stress transmission channel based on the stress fluctuation characteristics;

[0058] Mapping the stress transmission channel to the spatial position information to obtain a stress singular point distribution map, and predicting an installation stress mutation position and mutation degree according to the stress singular point distribution map;

[0059] Calculating a stress elimination sequence according to the stress mutation position and mutation degree, generating an installation trajectory avoiding the stress singular point based on the stress elimination sequence, dividing the installation trajectory into a plurality of stress transition intervals and generating corresponding compensation parameters;

[0060] Controlling the movement of the mechanical arm in the stress transition interval according to the compensation parameters, collecting real-time strain data and reconstructing to obtain real-time stress distribution, calculating the elimination progress of the stress singular point based on the real-time stress distribution, updating the compensation parameters according to the elimination progress, and controlling the movement of the mechanical arm to install the curtain wall unit to the set position.

[0061] In an alternative embodiment, collecting spatial position information and multi-point strain data of the curtain wall unit, performing time-frequency domain spectrum analysis on the multi-point strain data to extract stress fluctuation characteristics, and identifying a stress transmission channel based on the stress fluctuation characteristics comprises:

[0062] Using a strain sensor array to collect multi-point strain data of the curtain wall unit, using a laser tracker to obtain spatial position information of the curtain wall unit, and constructing a dynamic strain measurement point distribution structure according to the collection time sequence of the multi-point strain data and the spatial position information;

[0063] Performing time domain decomposition and frequency domain transformation on the multi-point strain data to obtain time-frequency spectrum characteristics, performing spatial weighting processing on the time-frequency spectrum characteristics based on the dynamic strain measurement point distribution structure, and identifying a stress fluctuation law according to the weighted time-frequency spectrum characteristics;

[0064] According to the stress fluctuation law, a stress transmission relationship between adjacent measuring points is calculated, adjacent measuring points are connected to form a stress transmission path in the dynamic strain measuring point distribution structure according to the stress transmission relationship, and a stress fluctuation feature is generated based on the time and space distribution characteristics of the stress transmission path;

[0065] The stress fluctuation feature is layered and mapped according to the stress transmission strength in the dynamic strain measuring point distribution structure, and a stress transmission channel is formed according to the layered mapping result.

[0066] In this embodiment, the curtain wall unit is accurately monitored and analyzed by a strain sensor array and a laser tracking technology. A plurality of sensors are installed in a grid-like distribution at key structural parts of the curtain wall unit, the sensor spacing can be set to 150 mm, forming a high-density monitoring network. The sensor sampling frequency is set to 200 Hz to ensure the capture of transient strain changes, and the data is transmitted in real time to the data processing terminal through the wireless transmission module. A high-precision laser tracker is deployed to monitor the three-dimensional space position of the curtain wall unit, and the tracking accuracy can reach ±0.02 mm, and the sampling frequency is 50 Hz.

[0067] In the data acquisition process, the strain sensor array records the dynamic strain data of each monitoring point of the curtain wall unit, and the laser tracker records the spatial displacement and rotation angle change of the curtain wall unit during the installation process. The system synchronizes the two types of data according to the time stamp, constructs a dynamic strain measuring point distribution structure, which includes the spatial coordinates of the measuring points and the corresponding time sequence strain values, forming a four-dimensional data model. This model can intuitively reflect the strain distribution and change law of each part of the curtain wall unit, providing a basis for subsequent analysis.

[0068] The collected multi-point strain data is processed by time domain decomposition, and the sliding time window method is used to divide the continuous strain data into several time segments, the window length is set to 5s, and the overlap rate is 50%. The data in each time window is subjected to frequency domain transformation, converted into frequency spectrum representation form, and the time-frequency spectrum describing the periodic characteristics of strain change is obtained. Based on the constructed dynamic strain measuring point distribution structure, the spatial weighted processing of the time-frequency spectrum feature is performed, and the weight coefficients are assigned according to the spatial correlation between the measuring points, the weight coefficient of adjacent measuring points is set to 0.8, and the weight coefficient of measuring points with a distance exceeding 300 mm is attenuated in inverse proportion to the distance. Through the weighted time-frequency spectrum feature, the stress fluctuation law of the curtain wall unit during the installation process is identified, including the fluctuation amplitude, the main frequency component and the propagation direction and other key features.

[0069] Based on the identified stress fluctuation law, the stress transmission relationship between adjacent measuring points is calculated, and the stress transmission intensity between measuring points is determined by correlation analysis method. When the correlation coefficient is greater than 0.65, it is considered that there is a significant stress transmission relationship between the two measuring points. According to the stress transmission relationship, adjacent measuring points in the dynamic strain measuring point distribution structure are connected to form a stress transmission path network. The path weight is valued according to the size of the correlation coefficient, and the higher the correlation coefficient, the stronger the stress transmission. Based on the constructed stress transmission path network, the spatial and temporal distribution characteristics are analyzed, including path density distribution, transmission directionality and time sequence evolution characteristics, and the stress fluctuation characteristic map describing the overall stress state of the curtain wall unit is generated.

[0070] The generated stress fluctuation characteristics are mapped in the dynamic strain measuring point distribution structure, and the transmission channels are divided into multiple levels according to the stress transmission intensity. Based on the correlation coefficient, the stress transmission channels are divided into high-intensity transmission channels (correlation coefficient > 0.85), medium-intensity transmission channels (correlation coefficient 0.75-0.85) and low-intensity transmission channels (correlation coefficient 0.65-0.75). Through visualization technology, stress transmission channels of different intensities are displayed on the measuring point distribution structure with different line types and colors to form an intuitive stress transmission channel diagram, directly reflecting the stress transmission relationship and intensity distribution between different parts of the curtain wall unit.

[0071] For example, a commercial building curtain wall installation process is monitored, and 64 strain sensors are installed on a single curtain wall unit to form a monitoring network, and a laser tracker is used to record the position changes during installation. The stress transmission channel displayed by the analysis method above shows that there is high-intensity stress transmission at the corners of the curtain wall unit, forming an "X" type main transmission channel; while in the middle area of the unit frame, a ring-shaped secondary transmission channel is formed; and in the glass panel area, a star-shaped low-intensity transmission channel network is formed. This result accurately reflects the stress distribution characteristics of the curtain wall unit during installation, providing a basis for installation process optimization and connection structure improvement.

[0072] Through the integration of strain sensor array and laser tracking technology, the internal stress distribution and transmission law of the curtain wall unit during installation are accurately captured and analyzed. The stress transmission channel can be visualized, and the stress state of the curtain wall unit can be evaluated in real time, effectively preventing structural deformation and stress concentration problems that may occur during installation. Through the hierarchical mapping of stress transmission channels, installation personnel can intuitively judge the stress state of each region of the curtain wall unit and adjust the installation strategy in a timely manner. The accuracy and safety of curtain wall installation are improved, the risk of curtain wall deformation and glass breakage caused by installation deviation is reduced, the service life of the curtain wall is prolonged, and the maintenance cost is reduced, providing effective technical support for the intelligent installation of high-rise building curtain wall systems.

[0073] In an alternative embodiment, the stress transmission path is mapped to the spatial position information to obtain a stress singularity distribution map, and the installation stress mutation position and mutation degree are predicted according to the stress singularity distribution map, which comprises:

[0074] The stress transmission path is mapped to the spatial position information to obtain a transmission path point set, and the transmission path point set is subjected to piecewise linear interpolation to obtain a continuous transmission path, and the stress change rate and stress accumulation between adjacent points of the continuous transmission path are calculated;

[0075] The stress mutation points are identified according to the stress change rate, the spatial distribution density of the stress mutation points is counted, the stress mutation points are grouped to obtain a stress accumulation area, and the stress intensity of the stress accumulation area is calculated according to the stress accumulation;

[0076] The stress accumulation area and the stress intensity are mapped to the spatial position information, the stress intensity difference and the stress intensity change rate of the stress accumulation area are calculated, and a stress singularity distribution map is generated;

[0077] The installation stress mutation position is determined according to the position where the stress intensity difference in the stress singularity distribution map is higher than a preset intensity threshold, and the mutation degree at the installation stress mutation position is determined based on the stress intensity change rate.

[0078] In the embodiment, the node data in the stress transmission path is corresponded to the actual spatial position by using the laser tracker measurement data obtained in the foregoing, to form a transmission path point set. The spatial coordinate accuracy of the transmission path point set reaches millimeter level, ensuring the accuracy of subsequent analysis. The transmission path point set obtained is subjected to piecewise linear interpolation processing, and the interpolation interval is set to 10 mm, to generate a continuous and smooth stress transmission path. The interpolation adopts a cubic spline interpolation algorithm, ensuring the first derivative of the path at the node to be continuous, and avoiding non-physical mutation. Based on the generated continuous transmission path, the stress change rate and the stress accumulation between adjacent points are calculated. The stress change rate is calculated by dividing the stress difference between two adjacent points by the distance between the points; and the stress accumulation is the stress integral value along the transmission path, reflecting the overall stress level on the path.

[0079] According to the calculated stress rate of change data, stress mutation points are identified. When the stress rate of change exceeds a set threshold value (such as 5 MPa / mm), the point is marked as a stress mutation point. Stress mutation points often occur at the corner connection areas and force support points of the curtain wall unit. The spatial distribution density of the identified stress mutation points is counted, and the number of mutation points per unit area is calculated. The density clustering algorithm is applied to group the stress mutation points, and the density parameter is set to 5. The mutation points that are close in space are grouped into the same stress concentration area. For example, in a curtain wall installation case of a certain commercial building, 12 stress concentration areas are identified, mainly distributed at the four corner connectors and the middle reinforcing rib positions of the curtain wall unit. According to the stress accumulation calculated above, the stress intensity in each stress concentration area is calculated. The stress intensity is obtained by weighted average of the stress accumulation of all points in the area, and the weight factor is proportional to the mutation degree of the point.

[0080] The identified stress concentration areas and the calculated stress intensity data are mapped back to the spatial position information to generate a stress distribution map of the curtain wall unit. The stress intensity is represented using a color gradient, with high intensity areas displayed in red and low intensity areas displayed in green. In the stress concentration area, the spatial difference and rate of change of stress intensity are calculated. The stress intensity difference is the difference between the maximum and minimum stress intensity in the area, reflecting the unevenness of the stress distribution in the area; the stress intensity change rate is the derivative of the stress intensity along the spatial direction, indicating the rate of change of the stress intensity per unit distance. Based on the calculation results, a stress singularity distribution map is generated. A singularity point refers to a position with an abnormally high stress intensity change rate, which usually indicates a potential structural risk point.

[0081] The stress singularity distribution map is displayed in the form of a heat map, with color depth representing the singularity degree, and the stress intensity distribution is represented by contour lines. According to the stress singularity distribution map, positions with a stress intensity difference higher than a preset intensity threshold are extracted as installation stress mutation positions. In the installation process of the curtain wall unit, the preset intensity threshold is set to 50 MPa, and areas exceeding this threshold are determined as stress mutation positions that need to be paid special attention to. Based on the stress intensity change rate data, the mutation degree at the installation stress mutation position is determined, and the higher the change rate value, the more serious the mutation degree. The mutation degree is divided into three levels: mild (change rate <10 MPa / cm), moderate (10-20 MPa / cm), and severe (>20 MPa / cm), providing a basis for installation adjustment.

[0082] Four stress mutation positions were identified by the above method: the left upper corner connector (severe mutation), the right lower corner connector (moderate mutation), the middle transverse stiffener and frame connection (moderate mutation), and the middle right area of the glass panel (mild mutation). For these mutation positions, the installation team adjusted the connection bolt torque, support gasket thickness, and frame pre-deformation accordingly, making the stress distribution more uniform and successfully eliminating the stress mutation risks. After the adjustment, the stress intensity difference at all positions was reduced to below the threshold value, ensuring the installation quality and long-term safety of the curtain wall unit.

[0083] The intelligent positioning and installation method of the curtain wall unit provides a scientific basis and technical support for curtain wall installation by accurately identifying and analyzing stress transmission channels and stress mutation positions. It enables installation personnel to intuitively understand the stress state of the curtain wall and promptly identify potential risk points. The analysis of stress singular point distribution accurately locates the stress mutation positions during installation and implements targeted adjustment measures according to the mutation degree, effectively preventing quality problems such as curtain wall deformation and glass breakage caused by uneven stress distribution. This significantly improves the accuracy and reliability of curtain wall installation, reduces installation defects and maintenance costs, and prolongs the service life of the curtain wall system.

[0084] In an alternative embodiment, a stress elimination sequence is calculated according to the stress mutation positions and mutation degrees, an installation trajectory that avoids stress singular points is generated based on the stress elimination sequence, the installation trajectory is divided into multiple stress transition intervals and corresponding compensation parameters are generated, including:

[0085] The difference between the spatial distance of the stress mutation position and the mutation degree is calculated, the stress superposition effect of adjacent mutation positions is analyzed, and the influence range overlap degree is determined based on the stress superposition effect;

[0086] The elimination priority is calculated according to the combination of the influence range overlap degree and the mutation degree, and the stress elimination sequence is generated from high to low according to the elimination priority;

[0087] An avoidance path is constructed in the order of the stress elimination sequence, the safety distance of each point on the avoidance path from the stress mutation position is calculated, and a feasible trajectory is marked, and the path with the smallest stress consumption in the feasible trajectory is selected as the installation trajectory that avoids stress singular points;

[0088] The stress variation characteristics on the installation trajectory are extracted, the inflection points and mutation points of the stress variation characteristics are identified as boundary points, and the installation trajectory is divided into multiple stress transition intervals;

[0089] The stress distribution in each stress transition interval is analyzed, displacement compensation and angle compensation are calculated according to the stress variation, and compensation parameters corresponding to each stress transition interval are generated.

[0090] In this embodiment, after identifying the stress mutation positions, the spatial distance between each mutation position and the mutation degree difference value need to be calculated. The spatial distance is calculated by the Euclidean distance of three-dimensional coordinates, with a unit of mm; the mutation degree difference value is the difference between the mutation degree values of adjacent mutation positions. When the spatial distance between two stress mutation positions is less than 300 mm, the stress superposition effect needs to be considered. The stress superposition effect is calculated by a weighted superposition function, and the weight coefficient is inversely proportional to the distance, that is, the closer the distance, the stronger the superposition effect. The influence range overlap degree is determined based on the stress superposition effect, and the overlap degree is obtained by dividing the intersection area of the influence ranges of two mutation positions by the union area, with a value range of 0 to 1. The higher the overlap degree, the greater the mutual influence.

[0091] The elimination priority is calculated according to the combination of the influence range overlap degree and the mutation degree. The elimination priority calculation adopts a composite scoring function, with a weight coefficient of the overlap degree of 0.4 and a weight coefficient of the mutation degree of 0.6, and the score range is 0 to 100 points. The elimination priorities of the four stress mutation positions are calculated as follows: the left upper corner connector (85 points), the right lower corner connector (72 points), the connection between the middle transverse reinforcing rib and the frame (65 points), and the middle region of the right side of the glass panel (43 points). According to the elimination priority from high to low, a stress elimination sequence is generated, which provides a decision basis for subsequent installation path planning.

[0092] The avoidance path is constructed in the order of the stress elimination sequence. The avoidance path construction adopts an improved A* algorithm, which generates a candidate path set in combination with the stress distribution map based on the straight line from the starting point to the ending point. The safety distance of each point on the avoidance path from the stress mutation position is calculated, and the safety distance is calculated by comprehensively considering the spatial distance and the mutation degree. For a severe mutation position, the safety distance is set to 200 mm, for a moderate mutation position, the safety distance is set to 150 mm, and for a mild mutation position, the safety distance is set to 100 mm. When the distance between a point on the avoidance path and a mutation position is greater than the corresponding safety distance, the point is marked as a feasible trajectory. Among multiple feasible trajectories, the total stress consumption of each path is calculated by stress consumption integral, and the path with the minimum stress consumption is selected as the installation trajectory for avoiding the stress singular point.

[0093] The stress variation characteristics on the installation trajectory are extracted, including the stress size, the variation rate, and the variation acceleration. The stress variation rate represents the change amount of stress per unit distance, with a unit of MPa / mm; the variation acceleration represents the change speed of the variation rate, with a unit of MPa / mm 2 The inflection points and mutation points of the stress variation characteristics are identified by curvature analysis method. The inflection point is the position where the sign of the stress variation rate changes, and the mutation point is the position where the stress variation acceleration exceeds a threshold value (set to 0.05 MPa / mm 2The identified inflection points and mutation points are used as demarcation points to divide the installation trajectory into multiple stress transition intervals. The installation trajectory is divided into five stress transition intervals, each corresponding to different stress variation characteristics.

[0094] The stress distribution characteristics in each stress transition interval are analyzed, and the stress gradient and stress direction in the interval are calculated. The stress gradient represents the degree of unevenness of the stress distribution in space; the stress direction represents the spatial direction of the maximum stress change. The displacement compensation and angle compensation values required according to the stress gradient and direction are calculated. The displacement compensation is determined by the product of the stress gradient and the compensation coefficient; the angle compensation is calculated by the stress direction and the angle conversion function. The first stress transition interval calculates the displacement compensation as +2.5mm (X-axis direction), -1.8mm (Y-axis direction), and the angle compensation as +0.7°; the displacement compensation of the second stress transition interval is -1.2mm (X-axis direction), +3.1mm (Y-axis direction), and the angle compensation is -1.2°; and so on to calculate the compensation parameters of the remaining intervals. The generated compensation parameters are used to guide the precise adjustment during the installation process of the curtain wall unit, ensuring smooth transition of the curtain wall in each stress transition interval, avoiding stress concentration and mutation.

[0095] Through this compensation adjustment method, the installation personnel can apply the corresponding compensation parameters for fine tuning according to the stress transition interval corresponding to the real-time position during the installation process of the curtain wall unit. The precise adjustment mechanism controlled by the servo motor realizes the micro-adjustment of displacement and angle, ensuring uniform stress distribution during the installation process of the curtain wall unit, avoiding stress singular points, and effectively preventing structural damage caused by stress concentration.

[0096] By calculating the related parameters of the stress mutation position and analyzing their mutual influence, a scientific stress elimination strategy is developed, and an optimal installation trajectory is planned, achieving active control of stress distribution during the installation process of the curtain wall. A complete technical system for stress singular point identification and avoidance is established, transforming the curtain wall installation from an experience-based to a data-driven approach. This can significantly reduce stress concentration during curtain wall installation, reduce the risk of glass breakage and structural deformation, and improve installation accuracy and the overall performance of the curtain wall system. The division of stress transition intervals and the application of corresponding compensation parameters realize precise regulation and control during the installation process, ensuring the safe installation of curtain wall units in complex stress environments. Not only does this improve the quality and efficiency of curtain wall installation, but it also extends the service life of the curtain wall system and reduces maintenance costs.

[0097] In an alternative embodiment, an avoidance path is constructed along the order of the stress elimination sequence, the safety distance of each point on the avoidance path from the stress mutation position is calculated, and a feasible trajectory is marked, in which the path with the minimum stress consumption is selected as the installation trajectory that avoids the stress singular point, comprising:

[0098] A connection direction of adjacent mutation positions is calculated along a stress relief sequence, a dissipation plane perpendicular to the connection direction is constructed, and an avoidance path is generated on the dissipation plane;

[0099] A node position of the avoidance path is extracted, a stress superposition strength and a stress diffusion direction at the node position are calculated, and a safety distance from the stress mutation position is determined according to the stress superposition strength and the stress diffusion direction;

[0100] An avoidance path greater than the safety distance is marked as a feasible trajectory, stress attenuation characteristics and stress transfer characteristics on the feasible trajectory are analyzed, and stress consumption is calculated according to the stress attenuation characteristics and the stress transfer characteristics;

[0101] Based on the uniformity of the distribution of stress consumption, in combination with the spatial distribution of stress superposition strength, a feasible trajectory with minimum stress consumption is selected as an installation trajectory for avoiding stress singular points.

[0102] In the stress relief sequence, two adjacent mutation positions are connected by a three-dimensional coordinate to determine a connection vector, which represents the main direction of stress transmission. The direction cosine of the connection vector is calculated to obtain a unit direction vector of the connection. For example, the connection direction vector of the upper left corner connector and the lower right corner connector identified in the installation process of a high-rise building curtain wall is (0.78, -0.62, 0.08). Based on the obtained connection direction vector, a dissipation plane perpendicular to the direction is constructed, and the stress distribution on the plane is relatively uniform, which is suitable as a basis for constructing an avoidance path. The normal vector of the dissipation plane is the connection direction vector, and the orthogonality of any vector on the plane and the connection direction vector is ensured by vector dot product calculation.

[0103] An avoidance path is generated on the determined dissipation plane, and Dijkstra algorithm is used for path planning in combination with stress distribution weight. The dissipation plane is discretized into a grid point set, and the grid spacing is set to 10 mm to form a search space. The grid points are assigned a stress weight, and the weight value is proportional to the stress intensity at the point. During the generation of the avoidance path, the adjacent grid points are explored step by step from the starting point, the total weight of the path is calculated, and the path with the minimum total weight is selected. In the above case, 5 candidate avoidance paths are generated, each path consisting of 20-35 discrete nodes.

[0104] The node positions of the avoidance path are extracted, and stress analysis is performed on each node. The stress superposition intensity at the node position is calculated, which is the comprehensive result considering the influence of all stress singularity positions. For a singularity position at a distance r from the node, its stress contribution to the node is calculated according to a decay function, which adopts an inverse square relationship, that is, the influence intensity is inversely proportional to the square of the distance. The stress contributions of all singularity positions are superimposed to obtain the stress superposition intensity at the node position. The stress diffusion direction is also calculated, which is determined by the direction of the stress gradient field and represents the main trend of stress diffusion in space. The safety distance from the stress singularity position is determined according to the stress superposition intensity and the stress diffusion direction. The safety distance calculation adopts an adaptive function, the basic form of which is the product of the basic safety distance and the stress superposition intensity plus the direction correction term. For a severe singularity position, the basic safety distance is set to 180 mm; for a moderate singularity position, it is set to 130 mm; and for a light singularity position, it is set to 90 mm. The direction correction term considers the angle between the stress diffusion direction and the direction of the line connecting the node to the singularity position. The smaller the angle, the greater the correction value.

[0105] The nodes of the avoidance path greater than the safety distance are marked as feasible nodes, and the continuous feasible nodes constitute a feasible trajectory segment. For the unfeasible nodes existing in the path, the path is corrected through a local adjustment algorithm until a completely feasible trajectory is obtained. The stress attenuation characteristics and stress transfer characteristics on the feasible trajectory are analyzed. The stress attenuation characteristics are calculated by the stress change rate between adjacent nodes on the trajectory; the stress transfer characteristics reflect the distribution of stress in different directions and are obtained by principal direction analysis of the stress tensor. According to the stress attenuation characteristics and the stress transfer characteristics, the stress consumption on the trajectory is calculated, which is the stress integral value along the trajectory and represents the total stress resistance that needs to be overcome by the curtain wall unit during installation along the trajectory.

[0106] In addition to the total stress consumption, the uniformity of stress consumption distribution also needs to be considered. The uniformity of stress consumption distribution is evaluated by calculating the standard deviation of stress consumption on the trajectory, and the smaller the standard deviation, the more uniform the distribution. Combined with the spatial distribution of stress superposition intensity, a comprehensive score function is constructed, and the trajectory with the highest score is selected as the optimal installation trajectory for avoiding stress singularities.

[0107] During the installation of the curtain wall unit, the selected optimal installation trajectory is converted into control instructions to guide the precise positioning and installation of the curtain wall unit along the trajectory. The precise tracking of the trajectory is realized through a high-precision servo mechanism, and at the same time, real-time stress monitoring data are used for fine tuning to ensure that the stress distribution is always under control during the installation process.

[0108] The stress mutation position is accurately analyzed, the mutual relationship is constructed, a scientific avoidance strategy is constructed, and the stress distribution in the installation process is accurately controlled. Not only the static stress distribution is considered, but also the dynamic stress change in the installation process is analyzed, and the stress control of the curtain wall unit in the whole process is realized. Through the adaptive calculation of the safety distance and the balanced evaluation of the stress consumption, the safety and efficiency of the installation track are ensured.

[0109] The accuracy and reliability of the curtain wall installation are improved, the installation defect rate and the later maintenance cost are reduced, the service life of the curtain wall system is prolonged, and an advanced technical solution is provided for the curtain wall engineering of high-rise buildings.

[0110] As shown in Figure 2 , the curtain wall unit installation stress balance control flowchart provided by the embodiment of the application is shown in Figure 2 .

[0111] In an alternative embodiment, the mechanical arm is controlled to move in the stress transition interval according to the compensation parameters, real-time strain data are collected and real-time stress distribution is reconstructed, the elimination progress of the stress singular point is calculated based on the real-time stress distribution, the compensation parameters are updated according to the elimination progress, and the mechanical arm is controlled to move to install the curtain wall unit to the set position, comprising:

[0112] The mechanical arm is controlled to move in the stress transition interval according to the compensation parameters, strain data of multiple measuring points are collected in the movement process by using the strain sensor array, the strain data are arranged in time sequence and are subjected to spatial domain interpolation reconstruction to obtain real-time stress distribution;

[0113] The direction gradient and the intensity gradient are calculated according to the real-time stress distribution, the stress transmission path is obtained by gradient superposition, the stress distribution is extracted along the stress transmission path, and the stress singular point position is identified;

[0114] The stress transmission characteristics at the stress singular point are analyzed, the stress change amount between adjacent measuring points is calculated in combination with the stress transmission path, and the elimination progress of the stress singular point is determined based on the stress transmission characteristics and the stress change amount;

[0115] The compensation parameters are updated according to the elimination progress, the mechanical arm is controlled to move according to the updated compensation parameters, the strain collection and stress analysis are continuously carried out until the stress distribution is balanced, and the curtain wall unit is installed to the set position.

[0116] In this embodiment, the mechanical arm adopts a six-degree-of-freedom structure, and the end effector is configured with a vacuum chuck and a force feedback device, which is used to grasp the curtain wall unit and perceive the contact force. The mechanical arm converts the stress transition interval into a motion trajectory through a segmented trajectory planning algorithm, and each segment of the trajectory corresponds to a set of displacement compensation and angle compensation parameters. Displacement compensation is achieved by fine-tuning the end effector in the X, Y, and Z directions; angle compensation is achieved by coordinated changes in joint angles. The mechanical arm control system uses a real-time feedback adjustment mechanism to ensure smooth motion in the transition interval.

[0117] The strain sensor array collects strain data from multiple measurement points during the movement of the mechanical arm. The number of sensors is 64, arranged in an 8x8 grid structure, covering the key parts of the curtain wall unit. Each sensor has a sampling frequency of 200 Hz and a sensitivity of 0.5, which can accurately capture small strain changes. The collected strain data is processed by a signal conditioning circuit and sent in real time to the data processing unit through a wireless transmission module. The strain data is arranged in time sequence to form a three-dimensional data matrix of time-space-strain. Due to the limited spatial distribution of the sensor array, it is necessary to reconstruct the continuous stress distribution through spatial domain interpolation. Radial basis function interpolation algorithm is adopted, and the interpolation grid spacing is set to 5 mm to generate a high-density stress distribution map covering the entire curtain wall unit. The reconstructed stress distribution map clearly shows the stress concentration phenomenon at the four corner connection points and the middle reinforcing rib position of the curtain wall unit.

[0118] The direction gradient and intensity gradient are calculated according to the real-time stress distribution. The direction gradient represents the rate of change of stress direction in space, which is calculated by dividing the angle difference between adjacent points by the distance; the intensity gradient represents the rate of change of stress intensity in space, which is calculated by dividing the stress intensity difference between adjacent points by the distance. The stress transfer path is obtained by using the gradient superposition algorithm, and the direction gradient and intensity gradient are weighted and superimposed according to the weight ratio of 0.4:0.6 to construct a comprehensive gradient field. In the comprehensive gradient field, starting from the stress source point, iteratively track along the gradient direction to form the stress transfer path. Along the stress transfer path, the stress distribution is extracted, and through the analysis of the second derivative of the stress distribution curve, the curvature abnormal points are identified as the positions of stress singular points.

[0119] The stress transmission characteristics at the stress singular points are analyzed, including transmission directionality, transmission rate, and transmission attenuation coefficient. The transmission directionality is determined by the principal direction of the stress gradient field around the singular point; the transmission rate represents the propagation distance of the stress in a unit of time; and the transmission attenuation coefficient represents the degree of weakening of the stress with the propagation distance. The stress variation between adjacent measuring points is calculated in combination with the stress transmission path, and the stress variation is calculated by the stress intensity difference between the adjacent two points on the path. The elimination progress of the stress singular point is determined based on the stress transmission characteristics and the stress variation. The elimination progress is expressed by a percentage, and the calculation formula is the difference between the initial stress and the current stress divided by the initial stress value. When the elimination progress reaches 85%, it is considered that the stress singular point has been basically eliminated.

[0120] The compensation parameters are updated according to the elimination progress, and an adaptive compensation adjustment algorithm is adopted. When the elimination progress is less than 30%, the compensation parameters are enlarged in a linear proportion, and the gain coefficient is 1.2; when the elimination progress is between 30% and 70%, the compensation parameters remain the original value; and when the elimination progress exceeds 70%, the compensation parameters are gradually reduced according to a non-linear decay function, so as to avoid excessive compensation leading to new stress concentration. The updated compensation parameters are transmitted to the mechanical arm control system in real time through the control interface, and the mechanical arm continues to move according to the updated parameters.

[0121] The strain collection and stress analysis are continuously performed, and a real-time feedback control loop is constructed. The stress analysis result is updated every 100 ms, and the compensation parameter is updated every 500 ms. Through iterative adjustment, the stress singular points are gradually eliminated until the overall stress distribution is balanced. The judgment standard for the balanced stress distribution is that the maximum stress value is less than 15 MPa, and the stress standard deviation is less than 3 MPa. When the balanced standard is reached, the mechanical arm accurately installs the curtain wall unit to the set position, and the installation positioning is completed. In the last stage of installation, the mechanical arm completes the final positioning at a low speed of 0.5 mm / s, so as to ensure the installation accuracy and stability. During the whole process, the stress state of each connecting point is monitored in real time, so as to ensure the uniform distribution of the installation force and avoid local overload or underload.

[0122] The method realizes the accurate control of the whole process of curtain wall installation, effectively solves the stress concentration problem in the traditional installation through real-time strain monitoring and adaptive compensation adjustment, establishes a closed-loop feedback mechanism from stress analysis to execution control, makes the installation process have adaptive ability, and can dynamically adjust the installation strategy according to the actual stress state. The accuracy and reliability of the curtain wall installation are improved, the risk of material damage and deformation caused by uneven stress is greatly reduced, and the service life of the curtain wall system is prolonged.

[0123] In an alternative embodiment, the stress transmission characteristics at the stress singular points are analyzed, the stress variation between adjacent measuring points is calculated in combination with the stress transmission path, and the elimination progress of the stress singular point is determined based on the stress transmission characteristics and the stress variation include:

[0124] A local coordinate system is established with the stress singularity point as the origin, the coordinate axes are determined according to the direction of the stress transmission path, and the stress distribution data is decomposed into stress transmission characteristics along the stress transmission path;

[0125] Based on the stress transmission characteristics, the stress variation between adjacent measuring points on the stress transmission path is calculated, the variation trend of the stress variation along the transmission path is taken as the stress attenuation characteristic, and the stress homogenization level on the transmission path is determined according to the continuity of the attenuation characteristic;

[0126] Using the stress transmission characteristics, the transverse stress distribution at each measuring point on the stress transmission path is extracted, the deviation degree of the transverse stress distribution of adjacent measuring points is calculated, the spatial variation of the deviation degree is taken as the stress diffusion characteristic, and the transverse stress homogenization level is determined according to the consistency of the diffusion characteristic;

[0127] Based on the coupling relationship between the stress homogenization level on the transmission path and the transverse stress homogenization level, the elimination progress of the stress singularity point is determined.

[0128] In this embodiment, a local coordinate system is established with the stress singularity point as the origin, the coordinate axes are determined according to the main direction of the stress transmission path, the main direction is set as the positive direction of the x-axis, the direction perpendicular to the main direction and located in the plane of the curtain wall is set as the positive direction of the y-axis, and the direction perpendicular to the plane of the curtain wall is set as the positive direction of the z-axis, forming a right-handed coordinate system. The main direction of the stress transmission path is determined by principal component analysis, and the characteristic vector direction corresponding to the maximum eigenvalue is taken for eigenvalue decomposition of the stress gradient field. For example, the stress singularity point at the upper left corner connector of a high-rise building curtain wall during installation, the main direction of the stress transmission path is (0.82, -0.57, 0.05). After establishing the local coordinate system, the original stress distribution data is mapped into the new coordinate system through coordinate transformation to obtain the stress distribution data relative to the singularity point. The transformed data is decomposed to extract the stress components along the x-axis direction, the stress components along the y-axis direction and the tangential stress components, which together constitute the stress transmission characteristics.

[0129] Based on the stress transmission characteristics, the stress variation between adjacent measuring points on the stress transmission path is calculated. Along the x-axis direction, equidistant measuring points are set on the transmission path with an interval of 10 mm, and the stress value at each measuring point is sampled. The difference of each stress component between adjacent measuring points is calculated to obtain the stress variation. The variation trend of the stress variation along the transmission path is taken as the stress attenuation characteristic. The stress attenuation characteristic can be represented as a stress distribution curve along the x-axis, which usually shows a decreasing trend from the singular point outward. By analyzing the shape characteristics of the stress attenuation curve, especially the smoothness and attenuation rate of the curve, the stress uniformization level on the transmission path can be determined. The smoothness is evaluated by the second derivative of the curve, and the smaller the derivative value, the smoother the curve; the attenuation rate is evaluated by the first derivative of the curve in different intervals, and a stable rate indicates uniform attenuation.

[0130] Using the stress transmission characteristics, the transverse stress distribution at each measuring point on the stress transmission path is extracted. At each x-axis measuring point position, the stress distribution data perpendicular to the transmission path is collected along the y-axis direction, with a sampling range of ±50 mm and a sampling interval of 5 mm. The deviation degree of the transverse stress distribution of adjacent measuring points is calculated, and the deviation degree is quantified by the similarity of two transverse distribution curves. The cosine similarity calculation method is adopted, with a value range of 0 to 1, and the closer the value to 1, the smaller the deviation. The spatial variation of the deviation degree is taken as the stress diffusion characteristic, reflecting the transverse diffusion of stress in the transmission process. According to the consistency of the diffusion characteristic, the transverse stress uniformization level is determined, and the consistency is evaluated by the standard deviation of the deviation degree sequence. The smaller the standard deviation, the higher the consistency, and the better the transverse stress uniformization level. In the initial state, the deviation degree of the transverse stress distribution varies significantly between different measuring points, with a standard deviation of 0.28, indicating that the transverse stress distribution is not uniform. After adjustment, the deviation degree tends to be stable, with a standard deviation of 0.06, and the transverse stress uniformization level is greatly improved.

[0131] The elimination progress of stress singularities is determined based on the coupling relationship between the stress homogenization level along the transmission path and the lateral stress homogenization level. The coupling relationship is established through a composite scoring function, which comprehensively considers both the stress homogenization index along the transmission path and the lateral stress homogenization index, calculating the overall homogenization score with a weighting of 0.6:0.4. The stress homogenization index along the transmission path is calculated based on the smoothness and stability of the stress attenuation curve; the lateral stress homogenization index is calculated based on the consistency of the degree of deviation in the lateral stress distribution. The homogenization score ranges from 0 to 100, with a higher score indicating a more uniform stress distribution. The elimination progress of stress singularities is defined as the ratio of the current homogenization score to the target homogenization score, expressed as a percentage. The target homogenization score is set based on the curtain wall material characteristics and installation requirements, typically set at 85 points. When the elimination progress reaches or exceeds 95%, the stress singularities are considered to have been essentially eliminated. In the above case, through three compensation adjustments, the homogenization score of the stress singularity point at the upper left corner connector increased from the initial 32 points to 87 points, and the elimination progress reached 102.4%, exceeding the target requirement, thus achieving effective elimination of the stress singularity point.

[0132] This method establishes a local analysis system centered on stress singularities to deeply explore stress transmission characteristics and stress distribution patterns, enabling precise assessment and effective control of the stress singularity elimination progress. It fully considers the attenuation and lateral diffusion characteristics of stress along the transmission path, establishing a comprehensive stress homogenization evaluation system, providing a scientific basis for stress control during curtain wall unit installation. It solves technical problems such as uneven stress distribution and local overload in traditional curtain wall installation, improving the accuracy and reliability of curtain wall installation, reducing the risk of material damage due to stress concentration, and extending the service life of the curtain wall system.

[0133] like Figure 3 As shown, Figure 3 This is a schematic diagram of a smart positioning and installation system for curtain wall units provided in an embodiment of the present invention. The system includes:

[0134] The data acquisition module is used to collect spatial location information and multi-point strain data of the curtain wall unit, perform time-frequency domain spectrum analysis on the multi-point strain data to extract stress fluctuation characteristics, and identify stress transmission channels based on stress fluctuation characteristics.

[0135] The stress analysis module is used to map stress transmission channels to spatial location information to obtain a stress singularity distribution map, and predict the location and degree of stress mutation during installation based on the stress singularity distribution map;

[0136] The trajectory planning module is used to calculate the stress relief sequence based on the location and degree of stress abrupt change, generate an installation trajectory that avoids stress singularities based on the stress relief sequence, divide the installation trajectory into multiple stress transition intervals and generate corresponding compensation parameters.

[0137] The execution control module is configured to control the movement of the mechanical arm in the stress transition interval according to the compensation parameter, collect real-time strain data and reconstruct real-time stress distribution, calculate the elimination progress of the stress singular point based on the real-time stress distribution, update the compensation parameter according to the elimination progress, and control the movement of the mechanical arm to install the curtain wall unit to the set position.

[0138] The embodiment of the present application further provides a technical scheme of an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor implements the steps in any one of the foregoing methods when executing the computer program.

[0139] The embodiment of the present application further provides a technical scheme of a computer readable storage medium, which stores a computer program, and the processor implements the steps in any one of the foregoing methods when executing the computer program.

[0140] The above-mentioned specific embodiments are the preferred embodiments of the present application, and are not intended to limit the specific implementation range of the present application, and the scope of the present application includes but is not limited to the specific embodiments, and equivalent changes made according to the shape and structure of the present application are within the protection scope of the present application.

Claims

1. A method for intelligent positioning and installation of a curtain wall unit, characterized in that, The method comprises the following steps: Collecting spatial position information and multi-point strain data of the curtain wall unit, performing time-frequency domain spectrum analysis on the multi-point strain data to extract stress fluctuation characteristics, and identifying stress transmission channels based on the stress fluctuation characteristics; Mapping the stress transmission channels to the spatial position information to obtain a stress singular point distribution map, and predicting an installation stress mutation position and a mutation degree according to the stress singular point distribution map; Calculating a stress elimination sequence according to the stress mutation position and the mutation degree, generating an installation trajectory avoiding the stress singular point based on the stress elimination sequence, dividing the installation trajectory into a plurality of stress transition intervals, and generating corresponding compensation parameters; Controlling the movement of the mechanical arm in the stress transition interval according to the compensation parameters, collecting real-time strain data, and reconstructing real-time stress distribution, calculating the elimination progress of the stress singular point based on the real-time stress distribution, updating the compensation parameters according to the elimination progress, and controlling the movement of the mechanical arm to install the curtain wall unit to a set position.

2. The method of claim 1, wherein, Collecting spatial position information and multi-point strain data of the curtain wall unit, performing time-frequency domain spectrum analysis on the multi-point strain data to extract stress fluctuation characteristics, and identifying stress transmission channels based on the stress fluctuation characteristics include: Collecting multi-point strain data of the curtain wall unit by using a strain sensor array, obtaining spatial position information of the curtain wall unit by using a laser tracker, and constructing a dynamic strain measurement point distribution structure according to the time sequence of collecting the multi-point strain data and the spatial position information; Performing time domain decomposition and frequency domain transformation on the multi-point strain data to obtain time-frequency spectrum characteristics, performing spatial weighting processing on the time-frequency spectrum characteristics based on the dynamic strain measurement point distribution structure, and identifying stress fluctuation rules according to the weighted time-frequency spectrum characteristics; According to the stress fluctuation rules, the stress transmission relationship between adjacent measurement points is calculated, the stress transmission path is formed by connecting adjacent measurement points in the dynamic strain measurement point distribution structure according to the stress transmission relationship, and the stress fluctuation characteristics are generated based on the space-time distribution characteristics of the stress transmission path; The stress fluctuation characteristics are layered and mapped in the dynamic strain measurement point distribution structure according to the stress transmission strength, and the stress transmission channels are formed according to the layered mapping results.

3. The method of claim 1, wherein, Mapping the stress transmission channels to the spatial position information to obtain a stress singular point distribution map, and predicting an installation stress mutation position and a mutation degree according to the stress singular point distribution map include: Mapping the stress transmission channels to the spatial position information to obtain a transmission path point set, performing piecewise linear interpolation on the transmission path point set to obtain a continuous transmission path, and calculating the stress change rate and stress accumulation between adjacent points of the continuous transmission path; According to the stress change rate, stress mutation points are identified, the spatial distribution density of the stress mutation points is counted, the stress mutation points are grouped to obtain stress accumulation areas, and the stress intensity of the stress accumulation areas is calculated according to the stress accumulation. Mapping the stress accumulation areas and the stress intensity to the spatial position information, calculating the stress intensity difference and the stress intensity change rate in the stress accumulation areas, and generating a stress singular point distribution map; According to the position where the stress intensity difference in the stress singular point distribution map is higher than a preset intensity threshold, the installation stress mutation position is determined, and the mutation degree at the installation stress mutation position is determined based on the stress intensity change rate.

4. The method of claim 1, wherein, The stress elimination sequence is calculated according to the stress mutation position and the mutation degree, the installation trajectory avoiding the stress singular point is generated based on the stress elimination sequence, the installation trajectory is divided into a plurality of stress transition intervals, and the corresponding compensation parameters are generated, including: The difference between the spatial distance of the stress mutation position and the mutation degree is calculated, the stress superposition effect of adjacent mutation positions is analyzed, and the influence range overlap degree is determined based on the stress superposition effect; The elimination priority is calculated according to the combination of the influence range overlap degree and the mutation degree, and the stress elimination sequence is generated from high to low according to the elimination priority; An avoidance path is constructed in the order of the stress elimination sequence, the safety distance of each point on the avoidance path from the stress mutation position is calculated, and a feasible trajectory is marked, and the installation trajectory avoiding the stress singular point is selected as the path with the minimum stress consumption in the feasible trajectory; Stress variation characteristics on the installation trajectory are extracted, and inflection points and mutation points of the stress variation characteristics are identified as boundary points, and the installation trajectory is divided into a plurality of stress transition intervals; The stress distribution in each stress transition interval is analyzed, the displacement compensation and the angle compensation are calculated according to the stress variation, and the compensation parameters corresponding to each stress transition interval are generated.

5. The method of claim 4, wherein, An avoidance path is constructed in the order of the stress elimination sequence, the safety distance of each point on the avoidance path from the stress mutation position is calculated, and a feasible trajectory is marked, and the installation trajectory avoiding the stress singular point is selected as the path with the minimum stress consumption in the feasible trajectory, including: The line direction of adjacent mutation positions is calculated along the stress elimination sequence, a dissipation plane perpendicular to the line direction is constructed, and an avoidance path is generated on the dissipation plane; The node position of the avoidance path is extracted, the stress superposition intensity and the stress diffusion direction at the node position are calculated, and the safety distance from the stress mutation position is determined according to the stress superposition intensity and the stress diffusion direction; The avoidance path greater than the safety distance is marked as a feasible trajectory, the stress attenuation characteristics and the stress transfer characteristics on the feasible trajectory are analyzed, and the stress consumption is calculated according to the stress attenuation characteristics and the stress transfer characteristics; Based on the uniformity of the distribution of the stress consumption, combined with the spatial distribution of the stress superposition intensity, the installation trajectory avoiding the stress singular point is selected as the feasible trajectory with the minimum stress consumption.

6. The method of claim 1, wherein, The mechanical arm is controlled to move in the stress transition interval according to the compensation parameters, real-time strain data is collected, and real-time stress distribution is reconstructed, the elimination progress of the stress singular point is calculated based on the real-time stress distribution, the compensation parameters are updated according to the elimination progress, and the mechanical arm is controlled to move to install the curtain wall unit to the set position, including: The mechanical arm is controlled to move in the stress transition interval according to the compensation parameters, strain data of multiple measurement points is collected in the movement process by using a strain sensor array, the strain data is arranged in time sequence and is subjected to spatial domain interpolation reconstruction to obtain real-time stress distribution; The direction gradient and the intensity gradient are calculated according to the real-time stress distribution, the stress transmission path is obtained by gradient superposition, the stress distribution is extracted along the stress transmission path, and the stress singular point position is identified; The stress transmission characteristics at the stress singular point are analyzed, the stress variation between adjacent measurement points is calculated combined with the stress transmission path, and the elimination progress of the stress singular point is determined based on the stress transmission characteristics and the stress variation. According to the elimination progress, the compensation parameters are updated, the mechanical arm is controlled to move according to the updated compensation parameters, the strain collection and stress analysis are continuously performed until the stress distribution is balanced, and the curtain wall unit is installed to the set position.

7. The method of claim 6, wherein, The stress transmission characteristics at the stress singular points are analyzed, the stress variation between adjacent measuring points is calculated according to the stress transmission path, and the elimination progress of the stress singular points is determined based on the stress transmission characteristics and the stress variation, including: A local coordinate system is established with the stress singular point as the origin, the coordinate axes are determined according to the direction of the stress transmission path, and the stress distribution data is decomposed into stress transmission characteristics along the stress transmission path; Based on the stress transmission characteristics, the stress variation between adjacent measuring points on the stress transmission path is calculated, the variation trend of the stress variation along the transmission path is taken as the stress attenuation characteristics, and the stress homogenization level on the transmission path is determined according to the continuity of the attenuation characteristics; The transverse stress distribution at each measuring point on the stress transmission path is extracted using the stress transmission characteristics, the deviation degree of the transverse stress distribution of adjacent measuring points is calculated, the spatial variation of the deviation degree is taken as the stress diffusion characteristics, and the transverse stress homogenization level is determined according to the consistency of the diffusion characteristics; Based on the coupling relationship between the stress homogenization level on the transmission path and the transverse stress homogenization level, the elimination progress of the stress singular points is determined.

8. A curtain wall unit intelligent positioning installation system for implementing the method of any one of claims 1-7, characterized in that, The system comprises: A data acquisition module for acquiring spatial position information and multi-point strain data of the curtain wall unit, performing time-frequency domain spectrum analysis on the multi-point strain data to extract stress fluctuation characteristics, and identifying stress transmission channels based on the stress fluctuation characteristics; A stress analysis module for mapping the stress transmission channels to the spatial position information to obtain a stress singular point distribution map, and predicting the installation stress mutation position and mutation degree according to the stress singular point distribution map; A trajectory planning module for calculating a stress elimination sequence according to the stress mutation position and mutation degree, generating an installation trajectory that avoids the stress singular points based on the stress elimination sequence, dividing the installation trajectory into multiple stress transition intervals, and generating corresponding compensation parameters; An execution control module for controlling the mechanical arm to move in the stress transition intervals according to the compensation parameters, acquiring real-time strain data and reconstructing to obtain real-time stress distribution, calculating the elimination progress of the stress singular points based on the real-time stress distribution, updating the compensation parameters according to the elimination progress, and controlling the mechanical arm to move to install the curtain wall unit to the set position.

9. An electronic device, comprising: It comprises: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps in the method of any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer program instructions are stored on the computer readable storage medium, and the computer program instructions are executed by the processor to implement the steps in the method of any one of claims 1 to 7.

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